DE102024124919B3 - Installation and/or dismantling of a functional device on/from an overhead electrical line - Google Patents

Abstract

The invention relates to a device (1) for mounting and/or dismounting a functional device (10) on/from an overhead electrical line, in particular on/from an overhead line (7) of a railway or trolleybus route, wherein the device (1) comprises the following:
- a drone (3) with a flight propulsion system,
- a mounting device (13) configured to mount the functional device (10) on the overhead line, and/or a dismantling device configured to dismantle the functional device (10) from the overhead line,
- a capture device (15) designed to restrict at least one degree of freedom of movement of the drone (3) during a flight when the overhead line or the functional device (10) mounted on the overhead line is located in a capture area of the capture device (15).

Description

The invention relates to a device and a method for mounting and/or dismounting a functional device on/from an overhead electrical line, specifically on/from an overhead line of a railway or trolleybus route with grooves. The invention further relates to a method for manufacturing such a device. Thus, the invention relates in particular to the mounting/dismounting of functional devices on overhead lines along vehicle routes. The vehicles can be, for example, rail vehicles or trolleybuses. The vehicles can also be, for example, automated guided vehicles (AGVs) such as those found in warehouses or industrial plants.

Devices with at least one function (hereinafter: functional devices) are known that are attached to a contact wire of an overhead line. For example, EP 2 616 305 A2 This describes an arrangement for transmitting data to and/or from a track element of rail-bound traffic, comprising a power supply unit located in the vicinity of an electric traction conductor. A transmission unit connected to the track element via communication technology serves to wirelessly transmit the data to and/or from the power supply unit. Furthermore, the power supply unit is designed for wirelessly transmitting data to and/or from the track element, as well as for feeding data into and/or out of the electric traction conductor. Generally, a functional device may optionally include such a transmission unit. However, this is not a mandatory feature. For example, it is possible that data stored in the device may be read out occasionally. This can optionally be done via an electrical connection. Further examples of functions of a functional device include those performed by means of at least one sensor within the functional device. A sensor could, for example, be a magnetometer for measuring the magnetic field strength of the overhead line or a temperature sensor.

The functional device has a fastening device by means of which it can be attached to the overhead line. For this purpose, overhead lines have a groove between an upper part of the overhead line and a lower part of the overhead line.

Therefore, one possibility is for the mounting clamps of the functional device to engage in the groove. However, there are also overhead lines whose cross-sectional profile corresponds, for example, to a standard steel cable. Since no current collectors from vehicles run along such overhead lines, clamps suitable for steel cables, for example, can be used to attach a functional device to the overhead line. In any case, however, the functional device must be attached to the overhead line.

Working on overhead power lines is complex. In particular, it requires adherence to safety regulations regarding the height above the ground and the fact that the overhead line carries an electric current or, at the very least, an electrical voltage during its operation.

DE 10 2016 221 701 A1 describes an autonomous aircraft for the autonomous assembly of fittings on a cable of an overhead power line, with a gripping arm that can hold the fitting to be assembled and which includes a fastening unit for actuating a fastening mechanism of a fastening clamp of the fitting.

US 2023/0072185A1 discloses a method and system for installing Stockbridge dampers on wires such as power lines and guy wires. The method and system include the use of a robot to install Stockbridge dampers on the wires, the robot being configured to place Stockbridge dampers on the wire as it moves along the wire.

US 2021/0013705A1 describes a system, method, and/or computer program for mounting and dismounting a cable device on a power cable of an electrical network, wherein the mounting device comprises a first coupling part for attaching the mounting device to an aircraft, a second coupling part for attaching the cable device to the mounting device, and a navigation part that enables a user to navigate the aircraft so that a slot of the cable device is aligned with the power cable, and/or to automatically navigate the aircraft so that the slot of the cable device is aligned with the power cable, and/or to enable a user to navigate the aircraft to the cable device, and/or to automatically navigate the aircraft to the cable device.

CN 1 08 599 007 A relates to a device and a method for installing an insulated rope on a high-voltage power line without human personnel.

US 2016/0023761A1 describes a method for using an unmanned aerial vehicle Equipment for installing objects on wire and overhead line structures is described.

US 2023/0114499A1 provides an arrangement and associated methods for the mechanical installation of an object at a location on a suspended line. The arrangement includes a flying drone component.

DE 10 2022 132 837 A1 The invention relates to a sensor for mounting on a support section of an overhead power line, comprising a sensor body and two or more mounting arms arranged on the sensor body, wherein the mounting arms are designed to automatically grasp or grip the support section of the device. The invention further relates to an aircraft designed to carry and deploy such a sensor and a method for mounting the sensor on the support section.

US 2023/0415928A1 discloses a method and system for installing warning spheres on power lines using existing commercial drones and a unique pre-assembled warning sphere with an inverted U-shaped opening in the lower half and one or more cable clamps in the upper part of the inverted U, corresponding to the diameter, number of strands, and longitudinal spiral pitch of the power cable.

US 2023/0109707A1 provides one or more devices and associated procedures for performing work on a suspended line. A device includes a saddle section to receive the line. The device includes a drive section that engages with the line and moves the device along the line. The device includes an operating section with a mechanism for performing a work task at a location along the line.

It is an object of the present invention to provide a device and a method for the reliable assembly and/or disassembly of a functional device on/from an overhead line having grooves. This object is achieved by a device having the features of claim 1 and by a method having the features of claim 9. Furthermore, it is an object of the invention to provide a method for manufacturing the device. This object is achieved by a method for manufacturing a device according to claim 15.

It is proposed to use a drone, i.e., an unmanned aerial vehicle (UAV) that can be controlled remotely, for the assembly and/or disassembly of the functional device. The invention is not limited to a specific type of drone. However, multicopter drones, i.e., drones with multiple rotors for generating lift, are particularly suitable.

The drone has a mounting device and/or a dismounting device to enable the mounting of the functional device on the overhead line or to enable the removal of the functional device or another functional device from the overhead line. In particular, a single device, which may consist of an arrangement of sub-devices, can be designed as both a mounting device and a dismounting device. This single mounting device can therefore be used both for mounting a functional device on an overhead line and for removing a functional device from the overhead line or from another overhead line.

Furthermore, it is proposed that the drone or device be equipped with a capture device. This device facilitates the drone's approach to a working position where the functional component can be installed or removed. This is based on the idea that, in many cases, the drone's approach to its working position cannot be precisely planned or preset. One reason for this is that wind and other external influences, such as temperature differences between the overhead line and the ground, have an unpredictable effect on the drone's flight. Another reason is that remotely controlling a drone with millimeter precision is extremely difficult. However, such high precision in reaching the working position is necessary for installing and, in particular, removing a functional component.

The capture device is therefore designed to restrict at least one degree of freedom of the drone's movement during flight when the overhead line or the functional device mounted on the overhead line is within the capture zone of the capture device. In order for the capture device to facilitate or even enable the drone to reach its working position, it is therefore first necessary for the drone to approach the overhead line and the working position. If the overhead line and/or the functional device enters the capture zone of the capture device, at least one degree of freedom of movement is restricted. This, in turn, prevents the drone from moving arbitrarily relative to the overhead line. Preferably, the capture device restricts not only one degree of freedom of movement. The movement of the drone is not limited to a single movement, but rather to several degrees of freedom. These degrees of freedom refer specifically to the six independent degrees of freedom: three linear degrees of freedom and three rotational degrees of freedom. Preferably, the capture device restricts the drone's movement with respect to two linear degrees of freedom and one rotational degree of freedom. Specific configurations of the capture device will be discussed in more detail later.

As will be described in more detail with reference to the figures, the device can have a frame, which is a supporting structure to which at least one component of the device, such as a mounting device, is attached. The safety catch can also be attached to the frame. However, it is also possible that the frame or the supporting structure of the device forms at least part of the safety catch. In particular, the supporting structure (either alone or in combination with a component attached to it) can therefore restrict at least one degree of freedom of movement of the device when it is brought close to the overhead line. It is also possible that a component such as a mounting device is attached to the supporting structure and forms at least part of the safety catch.

In particular, according to the invention, a commercially available drone capable of carrying a load, and therefore especially capable of carrying a superstructure, can be used. Such a superstructure can include the mounting device and/or the mounting device and the capture device. The invention therefore also includes such a superstructure/attachment without the drone. The superstructure does not necessarily have to be attached to the top of the drone and can therefore also be referred to as an attachment. In particular, the superstructure/attachment does not have to be prefabricated in one piece, but can be an arrangement that is to be attached to the drone. However, a prefabricated attachment in one piece is preferred, since, not only in such an attachment but generally with regard to the invention, the relative position and orientation of the mounting/dismounting device on the one hand and the capture device on the other (and also the optionally provided gripping device, see below) should be coordinated for the assembly/disassembly of the functional device.

The capture device facilitates the drone's entry into the working position, allowing the assembly/disassembly device to mount/disassemble the functional unit. If the assembly/disassembly device is not already precisely positioned and aligned in the drone's working position to begin its work (assembly or disassembly), it is generally possible to position and/or align the assembly/disassembly device more precisely, or in other words, to bring it into a state where it can begin its work. According to a preferred embodiment, the device is therefore capable of moving the assembly/disassembly device relative to other parts of the device, for example, by means of a suitable drive. This movement is distinct from a movement performed by the assembly/disassembly device while carrying out its work, such as a screwing motion to tighten or loosen a screw, or a linear movement to grip or release a screw head or nut. The assembly/disassembly device therefore preferably not only has a working drive for performing the work of the assembly/disassembly device during the assembly/disassembly of the functional device, but is additionally designed to use the working drive or an additional drive to adjust its relative position and/or relative orientation to other parts of the device in order to be able to perform its work.

Another way to bring the assembly/disassembly device into its working position is to precisely set the working position. For example, the drone can already be positioned on the overhead line and aligned in a suitable direction along it. Then, it can be moved along the overhead line into the (desired or predetermined) exact working position. For this purpose, the device can, for example, have a drive mechanism that performs the movement along the overhead line, utilizing mechanical contact between the device and the overhead line. Further details on specific configurations will follow.

• - eine Drohne mit einem Flugantrieb,
• - eine Montageeinrichtung, die ausgestaltet ist, die Funktionseinrichtung an der Oberleitung mittels zumindest einer Befestigungsklemme zu montieren, die im befestigten Zustand in die Rillen eingreift, und/oder eine Demontageeinrichtung, die ausgestaltet ist, die Funktionseinrichtung durch Lösen der zumindest einen Befestigungsklemme von der Oberleitung zu demontieren,
• - eine Fangeinrichtung, die ausgestaltet ist, zumindest einen Freiheitsgrad der Bewegung der Drohne während eines Fluges einzuschränken, wenn sich die Oberleitung oder die an der Oberleitung montierte Funktionseinrichtung in einem Fangbereich der Fangeinrichtung befindet.

According to claim 1, the following is proposed: A device for mounting and/or dismounting a functional device on/from an overhead line of a railway or trolleybus route with grooves, wherein the device comprises the following:

• - a drone with a flight propulsion system,
• - a mounting device designed to mount the functional device on the overhead line by means of at least one fastening clamp which engages in the grooves when fastened, and/or a dismantling device tung, which is designed to allow the functional device to be dismantled from the overhead line by releasing at least one fastening clamp,
• - a capture device designed to restrict at least one degree of freedom of movement of the drone during flight when the overhead line or the functional device mounted on the overhead line is located within a capture area of the capture device.

• - Annähern einer Drohne an die Oberleitung während eines Fluges der Drohne,
• - Fangen der Oberleitung und/oder Fangen der an der Oberleitung montierten Funktionseinrichtung mittels einer an der Drohne befestigten Fangeinrichtung, wobei die Fangeinrichtung zumindest einen Freiheitsgrad der Bewegung der Drohne einschränkt, sobald sich die Oberleitung und/oder die an der Oberleitung montierte Funktionseinrichtung in einem Fangbereich der Fangeinrichtung befindet,
• - fortgesetztes Annähern der Drohne an eine Arbeitsposition, während eine Bewegungsfreiheit der Drohne weiter durch die Fangeinrichtung eingeschränkt wird, wobei die Arbeitsposition eine Position ist, in der eine Montageeinrichtung geeignet positioniert ist oder positionierbar ist, um die Funktionseinrichtung an der Oberleitung zu montieren, oder in der die Demontageeinrichtung der Drohne geeignet positioniert ist oder positionierbar ist, um die Funktionseinrichtung von der Oberleitung zu demontieren,
• - Montieren der Funktionseinrichtung an der Oberleitung mittels zumindest einer Befestigungsklemme, die im befestigten Zustand in die Rillen eingreift, oder Demontieren der Funktionseinrichtung von der Oberleitung durch Lösen der zumindest einen Befestigungsklemme.

Furthermore, according to claim 9, a method for mounting and/or dismounting a functional device on/from an overhead line of a railway or trolleybus route with grooves is proposed, comprising the following steps:

• - Approaching the overhead power line with a drone during a drone flight,
• - Capture of the overhead line and/or capture of the functional device mounted on the overhead line by means of a capture device attached to the drone, wherein the capture device restricts at least one degree of freedom of movement of the drone as soon as the overhead line and/or the functional device mounted on the overhead line is in a capture area of the capture device,
• - continued approach of the drone to a working position while the drone's freedom of movement is further restricted by the capture device, wherein the working position is a position in which a mounting device is suitably positioned or positionable to mount the functional device on the overhead line, or in which the drone's disassembly device is suitably positioned or positionable to disassemble the functional device from the overhead line,
• - Mounting the functional device on the overhead line using at least one fastening clamp which engages in the grooves when fastened, or dismantling the functional device from the overhead line by releasing the at least one fastening clamp.

• - Bereitstellen einer Drohne mit einem Flugantrieb,
• - Anordnen einer Montageeinrichtung, die ausgestaltet ist, die Funktionseinrichtung an der Oberleitung mittels zumindest einer Befestigungsklemme zu montieren, die im befestigten Zustand in die Rillen eingreift, und/oder einer Demontageeinrichtung, die ausgestaltet ist, die Funktionseinrichtung von der Oberleitung durch Lösen der zumindest einen Befestigungsklemme zu demontieren, an der Drohne,
• - Anordnen einer Fangeinrichtung an der Drohne, die ausgestaltet ist, zumindest einen Freiheitsgrad der Bewegung der Drohne während eines Fluges einzuschränken, wenn sich die Oberleitung oder die an der Oberleitung montierte Funktionseinrichtung in einem Fangbereich der Fangeinrichtung befindet.

Furthermore, according to claim 15, a method for manufacturing a device for mounting and/or dismounting a functional device on/from an overhead line of a railway or trolleybus route with grooves is proposed, wherein the method comprises the following:

• - Providing a drone with a flight propulsion system,
• - Arranging a mounting device designed to mount the functional device on the overhead line by means of at least one mounting clamp which engages in the grooves when mounted, and/or a dismounting device designed to remove the functional device from the overhead line by releasing the at least one mounting clamp, on the drone,
• - Arranging a capture device on the drone, designed to restrict at least one degree of freedom of movement of the drone during flight when the overhead line or the functional device mounted on the overhead line is located within a capture area of the capture device.

The design and features of the processes (of the operating process and the manufacturing process) result from the design and features of the device and vice versa.

In particular, the capture device is designed such that the device can approach the overhead power line from above during flight, and the capture device restricts at least one degree of freedom of movement, preferably increasingly restricting it as the device approaches. Specifically, the capture device is therefore designed to restrict at least one degree of freedom of movement of the drone during flight when the overhead power line or the functional device mounted on the overhead power line is within the capture area of the capture device while the device is approaching the overhead power line from above.

Regarding the procedure for assembling and/or disassembling the functional device, the drone is therefore approached from above towards the overhead power line at least during a certain period of the flight, while the drone's freedom of movement with respect to at least one degree of freedom is increasingly restricted, particularly by the capture device. Specifically, the drone's continued approach to the working position occurs as it approaches the overhead power line from above, while its freedom of movement is further restricted by the capture device. Put simply, this approach of the drone to the working position takes place from above.

Approaching the device from above to the overhead line until it is placed on the overhead line and/or clamped to it is preferred over approaching it from below with the aim of pressing the drone against it from below. to the overhead line, since a locking mechanism for the device is unnecessary when pressed against the overhead line from below. Such a locking mechanism would be required if the aircraft engine were to be shut down (especially switched off) during the assembly or disassembly of the functional device.

The flight propulsion system is specifically designed to power the drone, enabling flight. This system can, for example, include the rotors mentioned above and at least one motor that drives them. The flight propulsion system can be remotely controlled in a manner known per se. In addition to the flight propulsion system, a steering device is also essential, which in one variant is implemented, for example, by controlling the rotational speed and/or orientation of at least one of the rotors. The details of the drone's basic functions, including the flight propulsion system, remote control, and steering, will not be discussed further, as these are already known, and various configurations are also known.

It should be noted, however, that the situation when reaching the overhead power line is unique compared to other uses of drones: Once the drone has made direct or indirect mechanical contact with the overhead line, the lift generated by the flight propulsion system may no longer be needed, or at least not in its entirety. This applies when the overhead line supports at least part of the drone's weight. Nevertheless, it can be advantageous for the flight propulsion system to remain active, particularly to maintain the drone's orientation with respect to its rotational degree of freedom around the longitudinal axis of the overhead line. Therefore, the flight propulsion system can be considered active even if it does not propel the drone forward, but merely maintains its orientation and/or generates lift. Alternatively or additionally, the drone can be secured to the overhead line in its operating position, or at least mechanical means such as clamps can be used to prevent or hinder its rotation around the longitudinal axis of the overhead line.

The proposal to use a catch system, as mentioned, is based on the concept of restricting at least one degree of freedom of movement. This is a degree of freedom of movement relative to the overhead line. The catch system can also be designed as a multi-stage catch system, meaning that a linear degree of freedom of movement is restricted as soon as the overhead line, or at least a part of the functional unit, enters the space. If the device is then moved further towards its operating position, a further space can be defined, analogous to the concept of a second stage of restriction by the catch system, in which the movement of the device is restricted with respect to at least one further degree of freedom of movement, or with respect to at least one other degree of freedom of movement. For example, the drone can be approached to the overhead line in an approximately horizontal direction, so that the overhead line enters the space for the first time, specifically the first part of the space according to the first stage of degree of freedom restriction. If this space is bounded above and below by suitable means, then the linear degree of freedom is restricted in the vertical direction. As the device approaches the overhead line further, it can enter a section of the first part of the space that extends upwards, for example, towards the working position. The device is then moved downwards, allowing the overhead line to enter the second part of the space, defined by the second level of degree-of-freedom constraint. This second part of the space can then be restricted with respect to the linear degree of freedom in the horizontal direction. Afterward, the device or drone can be moved further downwards and into the working position.

According to claim 2, the capture device can be configured in two capture sub-areas spaced apart from each other in a spacing direction, each restricting the drone's movement during flight at least with respect to a first linear degree of freedom, wherein a first direction of movement extends transversely to the spacing direction corresponding to the first linear degree of freedom. This configuration can be modified or further developed by providing an additional such capture sub-area. In particular, all existing capture sub-areas restrict the same first degree of freedom.

Therefore, the device can be approached at two sections of the overhead line that are spaced apart in the direction of separation. This restricts, in particular, the following degrees of freedom of movement: the first linear degree of freedom of movement transverse to the direction of separation, and thus, in particular, transverse to the longitudinal direction of the overhead line, and a rotational degree of freedom of movement about an axis of rotation that runs transversely to the longitudinal direction of the overhead line. This design of the device therefore includes, in particular, an operating procedure in which the drone is approached to the overhead line such that the at least two capture sections restrict the first degree of freedom of movement at longitudinally spaced intervals. Sections of the overhead line can be restricted. Optionally, at least two capture sub-areas can also restrict a further linear degree of freedom of movement, namely a linear degree of freedom whose direction of movement is perpendicular to the first linear degree of freedom of movement.

According to a further, alternative, or additional embodiment, which is the subject of claims 3 and 10, the capture device can have opposing and spaced-apart edge elements, between which there is a space for inserting a section of the overhead line or at least a part of the functional device. According to a corresponding embodiment of the operating procedure, the drone is moved relative to the overhead line or the functional device such that a section of the overhead line or at least a part of the functional device is located in a space between two opposing and spaced-apart edge elements of the capture device, and the drone is then moved into the working position.

In particular, the space for inserting the section of the overhead line according to claim 4 can taper in an insertion direction, such that, as the section of the overhead line or at least the portion of the functional device is inserted, one degree of freedom of movement of the drone is progressively restricted. This facilitates approach to the working position. For example, the tapered space between two opposing edge elements can lead into and end where the overhead line or at least the portion of the functional device is located when the device is in the working position.

The boundary elements can be of any kind, but they all have in common that they define an edge of the space, for example, sheets of metal and arrangements of rods or slotted sheets. If, for example, the overhead line reaches the edge of the space, further movement beyond it is prevented. In other words, the device with the boundary element abuts the overhead line in this case. The same applies if a section of the functional device or the entire functional device is located within the space.

The preferred configuration is the one with two spaced-apart and opposing edge elements. Alternatively or additionally, the respective restricted degree of freedom of movement, particularly the linear one, can also be limited by a stop. In the example described above, where the drone approaches the overhead line horizontally, a single edge element without an opposing second edge element can therefore be present, forming the stop. If the drone were to continue approaching the overhead line only horizontally, it would make mechanical contact with the stop.

Alternatively or additionally, the capture device according to claims 5 and 11 can have a receptacle for receiving a section of the overhead line or at least a portion of the functional device, and the device can be configured to mount the functional device to the overhead line using the mounting device or to dismount the functional device from the overhead line using the dismounting device when the section of the overhead line or at least the portion of the functional device is received in the receptacle. With a corresponding embodiment of the operating procedure, the drone is moved into the working position in which the section of the overhead line or another section of the overhead line is received by a receptacle of the capture device, or in which at least a portion of the functional device is received by a receptacle of the capture device. In particular, such a receptacle further restricts at least one degree of freedom of movement of the device. The receptacle can encompass a longitudinal section of the overhead line or, in another embodiment, offer only limited freedom of movement. In any case, the receptacle has the advantage that the relative movement of the drone and the overhead line is severely restricted, and therefore the working position can either be reached easily and reliably or has already been reached. Assembly/disassembly is therefore easier.

Previously, configurations of the catch device with opposing edge elements and/or a stop were described. Regarding the capture of the functional element, there is another variant: the catch device can have a negative form of the outer contour of the functional element, similar to a hood. In particular, the negative form of the corresponding catch element of the catch device can completely encircle the outer contour of the functional element. This simultaneously restricts at least two linear degrees of freedom and one rotational degree of freedom, namely the rotational degree of freedom about the axis of rotation that is perpendicular to the directions of movement of the two restricted linear degrees of freedom. In this case, rolling is specifically prevented. A drive is required, which is described elsewhere in this description. Preferably, the negative mold of the catch element is designed such that it forms a tapered recess for the functional device. In particular, the edge of the negative mold already surrounds the outer contour of the functional device as soon as the latter enters the enclosed space. As the device further approaches the working position, the range of motion for relative movement of the catch element and the functional device then becomes continuously smaller, until preferably a stop is reached and the range of motion has become minimal.

In particular, the device according to claims 8 and 14 can have at least one clamping device by means of which the device can be clamped to the overhead line. This makes it possible, in particular, to apply higher forces and/or torques during the assembly and/or disassembly of the functional device on or from the overhead line in a clamped state than in a state not clamped to the overhead line or without a clamping device. Therefore, in one embodiment of the device, at least one clamping device can be provided which is configured to clamp the device to the overhead line. In particular, the device can have a drive to actuate the clamping device and thus clamp it to the overhead line and release it from the clamped state. In a corresponding embodiment of the method for assembling and/or disassembling a functional device, the device is clamped to the overhead line, and the assembly of the functional device on the overhead line or the disassembly of the functional device from the overhead line begins during or after this process.

For example, the clamping device can be integrated into a receptacle for holding the overhead line. Such a receptacle will be described later with reference to a figure. However, the receptacle shown does not have a clamping device integrated into it. Alternatively or additionally, the roller drive described in this description can be integrated into the receptacle.

It has already been mentioned that the device can move along the overhead line by utilizing mechanical contact with it. This is an aspect of the invention that can also be implemented without a catch device; that is, in this embodiment, a catch device is merely an optional feature. By utilizing the mechanical contact with the overhead line, a specific, and in particular predetermined, working position can be reached precisely. According to the corresponding embodiment of claims 6 and 12, the device has a pair of rollers and a roller drive connected to the roller pair, wherein the roller pair is configured to accommodate a section of the overhead line between them, and wherein the roller drive is configured to drive at least one of the rollers and thereby generate movement of the drone along the overhead line. According to a corresponding embodiment of the operating method, the drone is moved into the working position along the overhead line by means of a roller drive and at least one pair of rollers with a pair of rollers between which a section of the overhead line is located. This embodiment is particularly advantageous for disassembling a functional device from the overhead line. In this case, the working position must be reached with particular precision. In contrast, for the installation of a functional device on an overhead line, there may often be a range of possible working positions.

According to a further alternative or additional embodiment of claims 7 and 13, the device comprises a gripping device for gripping the functional unit, wherein the gripping device has at least one movable gripper that can be engaged by a gripper drive, such that the functional unit can be grasped and released by actuating the gripper drive. According to a corresponding embodiment of the operating method, the functional unit is first gripped by a gripping device of the drone during its installation on the overhead line, and it is released by the gripping device during and/or after its installation on the overhead line. During disassembly, the functional unit is accordingly gripped by a gripping device of the drone during and/or after its removal from the overhead line. Exemplary embodiments of a gripping device are described below. In particular, it is advantageous if the gripping device has at least one projection (for example, a pin-shaped projection) that is movable in a longitudinal direction. For gripping, the projection is then inserted into a corresponding recess (for example, a bore) in the functional unit. When released, the projection is pulled or pushed out of the recess (e.g., if it is spring-loaded by a spring supported by the functional element). This design can also be implemented regardless of whether a catch is present or not.

• 1 eine isometrische Darstellung eines Ausführungsbeispiels einer Vorrichtung mit einer Drohne und einem Aufsatz, welcher eine Fangeinrichtung und weitere Einrichtungen aufweist, von schräg oben,
• 2 eine Ansicht von schräg oben auf eine Stirnseite des Aufsatzes aus 1,
• 3 eine isometrische Teildarstellung des Aufsatzes aus 1 und 2 von schräg oben und verdreht gegenüber der Ansicht aus 2, wobei jedoch die Fangeinrichtung in 3 nicht dargestellt ist,
• 4 schematisch einen Querschnitt durch eine andere Ausgestaltung einer Fangeinrichtung,
• 5 eine isometrische Teildarstellung einer Montageeinrichtung der in 1 bis 3 dargestellten Vorrichtung, wobei die Montageeinrichtung über eine Führungsschiene beweglich mit dem Rahmen des Aufsatzes verbunden ist,
• 6 einen Querschnitt durch einen Teilbereich einer Aufnahme der Vorrichtung aus 1 bis 3 und 5, in der eine Freileitung, nämlich eine Oberleitung, aufgenommen ist,
• 7 eine isometrische Teildarstellung des Ausführungsbeispiels aus 1 bis 3 und 5 bis 6, und zwar einer Anordnung mit einem Bereich des Rahmens, eines Längsabschnitts der Oberleitung, eines Teilbereichs der Funktionseinrichtung und mit einem Teilbereich eines Klemmbügels, über den die Funktionseinrichtung an der Oberleitung festgeklemmt werden kann,
• 8 eine isometrische Teildarstellung des Ausführungsbeispiels aus 1 bis 3 und 5 bis 7, und zwar einer Anordnung mit einem Bereich des Rahmens und mit einer Greifeinrichtung, während sie die Funktionseinrichtung greift, und
• 9 eine schematische Seitenansicht auf einen Abschnitt einer Freileitung, auf zwei Klemmeinrichtungen, die Teil der erfindungsgemäßen Vorrichtung sein können, und auf einen Klemmbügel.

Exemplary embodiments of the invention are now described with reference to the attached drawing. The individual figures in the drawing show:

• 1 an isometric view from a top-down oblique angle of an embodiment of a device with a drone and an attachment which includes a capture device and other devices.
• 2 a view from a slightly oblique angle of one end face of the attachment 1 ,
• 3 an isometric partial representation of the essay from 1 and 2 from an oblique angle above and rotated relative to the view from 2 , however, the trapping device in 3 not shown
• 4 schematically a cross-section through another design of a trapping device,
• 5 an isometric partial view of an assembly device of the in 1 until 3 The illustrated device, wherein the mounting device is movably connected to the frame of the attachment via a guide rail,
• 6 a cross-section through a partial area of a recording of the device 1 until 3 and 5 , in which an overhead line, namely a catenary line, is included,
• 7 an isometric partial representation of the exemplary embodiment from 1 until 3 and 5 until 6 , namely an arrangement comprising a section of the frame, a longitudinal section of the overhead line, a partial section of the functional device and a partial section of a clamping bracket by which the functional device can be clamped to the overhead line,
• 8 an isometric partial representation of the exemplary embodiment from 1 until 3 and 5 until 7 , namely an arrangement with a section of the frame and with a gripping device while it grips the functional device, and
• 9 a schematic side view of a section of an overhead line, of two clamping devices which may be part of the device according to the invention, and of a clamping bracket.

1 Figure 1 shows a device 1 with a drone 3 and an attachment 5. The device 1 is in a working position in which it has mechanical contact with an overhead electrical line 7.

2 shows essay 5 from 1 in enlarged view. The attachment 5 has a frame 11 to which various devices are attached. Furthermore, the frame 11v can be attached to the drone 3 via feet 12, which are shown schematically. 1 to be attached.

This is based on 1 and 2 and also the further 3 and 5 until 8 The described embodiment serves to illustrate features and configurations of the invention. The type of drone 3, the attachment 5, and the frame 11 can vary. Therefore, other types of drones can be used, components of the device can be attached directly to the drone instead of via a frame, and thus, in particular, the frame 11 can be omitted, or different frames and/or other fastening means can be used to attach the individual components.

Returning to 2 The device 1 has a mounting device 13 attached to the frame 11. The figure description refers only to a mounting device, even though it could simply be a disassembly device. It could also be a device for both assembly and disassembly. Furthermore, a catch 15 and a receptacle 17 are attached to the frame 11. 2 Figure 1 shows that the overhead line 7 is mounted in the holder 17. On the rear of the frame 11 is another holder into which the overhead line 7 is also mounted. This means that the device 1 is fixed, or at least approximately fixed with a small degree of freedom, with respect to several degrees of freedom of movement: namely, the linear degree of freedom of movement, the direction of which extends horizontally transversely to the longitudinal direction of the overhead line 7; the linear degree of freedom of movement, the direction of which extends vertically (i.e., with respect to a downward movement of the device, but not an upward movement); and the rotational degree of freedom of movement about the axis of rotation, which runs in the vertical direction. The movement of the device is also restricted with respect to the rotational degree of freedom of movement about the axis of rotation, which runs horizontally transversely to the longitudinal direction of the overhead line 7, since the device 1 cannot move downwards.

The arresting device 15 is designed as a sheet metal part with cutouts. A lower section of the arresting device 15 extends in a horizontal direction and is shown in the illustration by 2 Open to the right. Therefore, approaching the device 1 from the left to an overhead line, such as the overhead line 7, is facilitated, where the overhead line enters the space above the lower section of the lightning protection device 15. This space above Half of the lower section is bounded at the top by a horizontally extending upper section of the trapping device 15. In the illustration of 2 To the left of the two horizontal sections of the trapping device 15, these are connected to each other via a vertical section and further sections. This vertical section transitions at the top into an inverted V-shaped section, which has a recess to allow passage of an object shown in the illustration. 2 to enable the concealed functional device 10 and therefore to allow the device 1 to move from above towards the overhead line 7 into the working position shown (if a functional device already mounted on the overhead line 7 is to be dismantled), or (as in the case shown here) to allow the device 1 to move upwards away from the overhead line 7 after the functional device 10 has been mounted. The sections of the catch device 15 mentioned in this paragraph each form edge elements 16 that define the edge of a space in which the overhead line 7 can move relative to the device 1. 2 Only the upper and lower horizontal sections are designated by reference numeral 16. These two sections 16 and the two opposing edge elements of the inverted V-shaped section are also edge elements that limit the movement of the overhead line 7 relative to the device 1 on opposite sides of such a space. The vertical section also limits such a space, but the vertical section does not have an opposing section that limits this space. In the illustration of 2 The edge elements 16 of the trapping device 15 and the aforementioned spaces are located behind the recording 17 shown in the foreground. The trapping device 15 is therefore designed in multiple parts in this embodiment.

Furthermore, in 2 It is evident that the mounting device 13 consists of several parts, namely a part to the right of the overhead line 7 and a part to the left of the overhead line 7. However, this is merely one embodiment. The mounting device 13 can also consist of a single part and/or a single unit and/or can be arranged in the working position exclusively on one side of the overhead line 7. This depends in particular on the design of the fastening of the functional device.

The vertical section of the lightning protection device 15 forms a stop for the horizontal movement of the device 1 as it approaches the overhead line 7. If possible (for example, depending on the prevailing wind), the movement of the device 7 is controlled so that it does not collide with the vertical section, but is moved downwards as soon as it is below the inverted V-shaped section of the lightning protection device 15.

From the partial presentation of essay 5 in 3 The functional device 10, attached to the attachment 5 and to be mounted, is visible from an oblique angle above. However, the catch device 15 is not shown in the illustration. 3 omitted. Clearly recognizable in 3 The image in the foreground is also image 17. Furthermore, it is evident that another image 17 is present on the reverse side of the image. The overhead line 7 is captured by both images 17.

4 illustrates that a trapping device 25 can be designed more simply than the trapping device 15 made of 1 and 2 The catch device 25 has the cross-sectional profile of a hook. However, the interior of the catch device 25 also tapers upwards, as is the case with the inverted V-shaped area of the catch device 15. 1 and 2 This is the case. At the same time, the trapping device 25 forms a receptacle for the in 4 Overhead power line not shown. In the direction perpendicular to the plane of the figure. 4 The arresting device 25, with a constant cross-sectional profile, preferably extends over a corresponding length. Unlike a hook, the arresting device 25 is therefore preferably designed in a plate-like form, for example, a sheet metal corresponding to the one shown in 4 The depicted cross-sectional profile has been bent at its end to form the receptacle. Furthermore, the capture device 25 has a mounting plate 26 for attachment, for example, to a drone's superstructure or directly to a drone. In particular, two capture devices 25 can be provided, positioned perpendicular to the plane of the figure. 4 are spaced apart from each other. This allows an overhead line to be accommodated in the receptacles of the lightning protection devices 25, and a functional device can be arranged between the lightning protection devices 25, similar to the embodiment of 1 until 3 that is the case.

5 shows a partial representation of the attachment of the device made of 1 until 3 The assembly device 13 is visible in the foreground. Within the in 5 The box-shaped part of the assembly device 13 shown below has, in particular, a drive for powering a tool by means of which the functional device 10 can be attached to the overhead line 7 or such attachment can be released. The functional device 10 can be equipped with, not only in relation to the embodiment described here, The mounting device 13 is attached to the overhead line, in this case the overhead line 7, by at least one screw. Tightening the screw, for example, clamps a clamping bracket of the mounting device to the overhead line. In this case, the mounting device 13 has a screw tool that is suitable for the screw. For example, the screw has a hexagonal screw head and the screw tool has a corresponding socket with an internal hexagon. In order to be able to move the screw tool or another tool linearly in the direction of the mounting of the functional device 10 or another functional device (so that, for example, the socket engages the screw head or moves away from the screw head again), a drive for a corresponding linear movement of the mounting device 13 relative to the frame 11 is provided. 5 Figure 1 shows a guide rail 28 that is attached to the frame 11. This guide rail 28, and preferably another guide rail arranged parallel to it, enable and guide the aforementioned linear movement. At least one corresponding guide receptacle 28a for each guide rail 28 is attached to the mounting device 13.

A drive motor for the linear motion of the assembly device 13 can be attached either to the assembly device 13 or to the frame 11. Such a drive motor produces the linear motion, for example, as a rotary motion, which acts on the other part of the drive via a suitable gearbox, for example, via a worm drive that acts on a toothed component (for example, a rack) of the gearbox extending in the direction of the linear motion. Alternatively, a linear motor can be provided for the linear motion.

These are just a few examples of how an assembly or disassembly device can be designed. The assembly/disassembly device can therefore be driven by a motor and moved in a straight, linear direction to bring the device into working contact (as described above, for example, with the nut that holds the screw head) and into contact with a mounting of the functional device, and to mount or dismount the functional device from the overhead line. By actuating the motor again in the opposite direction, the device can be disengaged from its working contact.

For example, to enable the aforementioned socket to engage the screw head, which is designed as an external hexagon, the socket can be spring-loaded and allow a rotational movement relative to the screw head to bring it into working contact. Only then is the socket coupled to the tool drive of the assembly device, which transmits a torque to the screw head via the socket to tighten or loosen the screw. Alternatively, such a coupling can be present beforehand, in which case the tool drive allows the socket to come into working contact with the screw head through a passive rotational movement. During this passive rotational movement, the spring-loaded socket slides into a rotational position in which it engages the screw head. It is known how a socket can be shaped accordingly to make this possible.

6 Figure 1 shows a state in which two opposing end regions 29 of a clamping bracket are either about to engage in a groove 30 of the overhead line 7, thereby clamping the clamping bracket to the overhead line 7 and thus mounting the functional device 10 to the overhead line 7, or are about to be released from such engagement and detach the functional device 10 from the overhead line 7. The overhead line 7 is located in the position shown in Figure 1. 6 the state shown in the recording room of recording 17 (see in particular 2 and 3 ). Furthermore, in 6 It is evident that the upper end sections 27 of the lightning protection device 15 terminate directly below the receiving space of the receiver 17. Since the space between the upper end sections 27 tapers upwards, the overhead line 7 can be reliably and easily inserted into the receiving space.

6 Figure 1 shows a view in which the end sections 29 of the clamping bracket are arranged behind the receptacle 17, because the clamping bracket serves to clamp the functional device to the overhead line 7. In another embodiment of the device, the 6 However, it is also possible to describe the situation where the device according to the invention is clamped to the overhead line 7 in the area of the receptacle 17. In this case, the end regions 29 would not be end regions of the clamping bracket for clamping the functional device, but rather end regions of clamping jaws of the device for clamping the device to the overhead line 7 or another overhead line.

Out of 7 The fastening is in the same condition as in 6 recognizable. In the foreground of the 7 A portion of the clamping bracket 31 is visible, along with one of the end sections 29 of the clamping bracket. An end section of a screw 33 is inserted through a recess in the clamping bracket 31. A nut 32 is also connected to the clamping bracket 31, and the end section of the screw 33 is screwed into this nut. If the depicted condition is a state during the disassembly of the radio If the functional device 10 is attached to the overhead line 7, then the end section of the screw 33 is further unscrewed from the nut 32, thus completely releasing the clamping connection of the clamping bracket 31 to the overhead line 7. If the depicted state is a state during the assembly of the functional device 10 to the overhead line 7, then the end section of the screw 33 is further screwed into the nut 32, thus completely establishing the clamping connection of the clamping bracket 31 to the overhead line 7. In this process, the end sections 29 of the clamping bracket 31 increasingly engage further into the grooves of the overhead line 7 until the clamping bracket 31 is firmly clamped to the overhead line 7.

Furthermore, from 7 The openings of two reception rooms 34 of the functional facility 10 are recognizable. As can be seen from 8 As described, 34 projections, namely pin-shaped projections in the exemplary embodiment, can be inserted into these receiving spaces to hold the functional device 10 to the frame 11. The projections are parts of a gripping device.

8 Figure 1 shows a gripping device 35, which is attached to the frame 11. It grips with its two pin-shaped projections into the 7 The depicted recording rooms 34 of the functional facility 10 are included. Not shown in 8 A further gripping device 35 is provided to the right of the functional device 10 on its opposite side and also engages in receiving spaces of the functional device 10 with two pin-shaped projections. The pin-shaped projections are movable grippers 36 of the gripping device 35. In order to move the grippers 36 into and out of the receiving spaces 34, the gripping device 35 has a corresponding drive, for example, an electric motor that drives each of the two grippers 36 via a gearbox. Alternatively, at least one linear motor can be provided that drives one or both of the grippers 36.

9 shows a section of an overhead line 37, which, for example, includes the overhead line 7 from 1 until 3 In the middle section, a clamping bracket 31 is visible, such as the one in 7 clamping bracket 31 shown. To the left of the one in 9 Depending on the design of the functional device to be attached to the overhead line 37, the clamping bracket 31 shown may be joined by another clamping bracket. The clamping bracket 31 shown is clamped to the overhead line 37 by screwing a screw 33 into a nut 32. The screw head of the screw 33 is located in the view of the 9 behind the clamping bracket 31. A curved arrow indicates the direction in which the corresponding torque acts.

Furthermore, in 9 Two clamping devices 38 are shown schematically, one to the left of the clamping bracket 31 and one to the right of the clamping bracket 31. The clamping device 38 shown to the right of the clamping bracket 31 is in a state in which it is clamped to the overhead line 37. In contrast, the clamping device 38 shown to the left of the clamping bracket 31 is in a state in which it is not clamped to the overhead line 37. As mentioned, the representations of the clamping devices 38 are to be understood schematically. This means that, as schematically shown, it is not necessary for clamping jaws or other clamping elements to be pressed against the overhead line 37 from above and below, even though this is a possible embodiment. Rather, it is preferred that the clamping elements are approached from opposite sides in an approximately horizontal direction to be clamped to the overhead line.

In particular, at least one of these clamping devices 38 can be part of the device according to the invention. Both clamping devices 38 can also be part of the device according to the invention. In the 9 In the depicted configuration with two clamping devices 38, the device is therefore clamped to the overhead line 37 to the right of the clamping bracket 31. A high torque can thus be applied to the screw 33 without the risk of the device being lifted off the overhead line to the right of the clamping bracket 31. It is assumed that the device is placed on the overhead line 37 and therefore cannot unintentionally move downwards away from the overhead line 37 to the left of the clamping bracket 31.

The at least one clamping device 38 can refer to the representation of the 3 For example, it may be located outside the frame 11 in one of the areas between the frame 11 and one of the mounts 17. Alternatively or additionally, at least one roller of a previously mentioned roller drive may be located in this area.

To release the clamping bracket 31 from the overhead line 37, a torque must be applied in the opposite direction. In this case, the clamping device 38 shown to the left of the clamping bracket 31 would therefore be clamped to the overhead line 37.

Reference symbol list

1

device

3

drone

5

essay

7

Overhead line

10

Functional device

11

Frame

12

Foot

13

Assembly equipment

15

Catching device

16

Edge element

17

Recording

25

Catching device

26

Mounting plate

27

End area of the trapping device

28

Guide rail

28a

Guided tour

29

End area of the clamping bracket

30

Groove of the overhead line

31

Clamping bracket

32

nut

33

screw

35

Gripping device

36

Grabber

37

overhead line

38

Clamping device

Claims (15)

Device (1) for mounting and/or dismounting a functional device (10) on/from an overhead line (7) of a railway or trolleybus route with grooves (30), wherein the device (1) comprises: - a drone (3) with a flight propulsion system, - a mounting device (13) configured to mount the functional device (10) on the overhead line (7) by means of at least one mounting clamp which engages in the grooves (30) when mounted, and/or a dismounting device configured to dismount the functional device (10) from the overhead line (7) by releasing the at least one mounting clamp, - a capture device (15) configured to restrict at least one degree of freedom of movement of the drone (3) during flight when the overhead line (7) or the functional device (10) mounted on the overhead line (7) is within a capture area of the capture device (15). Device (1) according Claim 1 , wherein the capture device (15) is configured in two capture sub-areas spaced apart from each other in a distance direction, to restrict the movement of the drone (3) during flight at least with respect to a first linear degree of freedom of movement, wherein a first direction of movement extends perpendicular to the distance direction in accordance with the first linear degree of freedom of movement. Device (1) according Claim 1 or 2 , wherein the trapping device (15) has opposing and spaced-apart edge elements (16) between which there is a space for inserting a section of the overhead line (7) or at least a part of the functional device (10). Device (1) according Claim 3 , wherein the space for inserting the section of the overhead line (7) narrows in an insertion direction, so that when inserting the section of the overhead line (7) or at least the part of the functional device (10) one degree of freedom of movement of the drone (3) is increasingly restricted. Device (1) according to one of the Claims 1 until 4 , wherein the catch device (15) has a receptacle (17) for receiving a section of the overhead line (7) or at least a part of the functional device (10) and wherein the device (1) is configured to mount the functional device (10) on the overhead line (7) by means of the mounting device (13) or to dismantle the functional device (10) from the overhead line (7) by means of the dismantling device when the section of the overhead line (7) or at least the part of the functional device (10) is received in the receptacle (17). Device (1) according to one of the Claims 1 until 5 , wherein the device (1) has a pair of rollers and a roller drive connected to the pair of rollers, wherein the pair of rollers is configured to accommodate a section of the overhead line (7) between them, and wherein the roller drive is configured to drive at least one of the rollers and thereby generate a movement of the drone (3) along the overhead line (7). Device (1) according to one of the Claims 1 until 6 , wherein the device (1) has a gripping device (35) for gripping the functional device (10), wherein the gripping device (35) at least has a movable gripper (36) which can be gripped by a gripper drive, so that the functional device (10) can be grasped and released by actuating the gripper drive. device according to one of the Claims 1 until 7 , wherein the device has a clamping device designed to clamp the device to the overhead line (7). Method for mounting and/or dismounting a functional device (10) on/from an overhead line (7) of a railway or trolleybus route with grooves (30), comprising the following steps: - Approaching a drone (3) to the overhead line (7) during a flight of the drone (3), - Capturing the overhead line (7) and/or capturing the functional device (10) mounted on the overhead line (7) by means of a capture device (15) attached to the drone (3), wherein the capture device (15) restricts at least one degree of freedom of movement of the drone (3) as soon as the overhead line (7) and/or the functional device (10) mounted on the overhead line (7) is within a capture area of the capture device (15), - Continued approach of the drone (3) to a working position while one degree of freedom of movement of the drone (3) is further restricted by the capture device (15), wherein the working position is a position in which a mounting device (13) is or can be positioned appropriately to mount the functional device (10) on the overhead line (7), or in which the disassembly device of the drone (3) is or can be positioned appropriately to disassemble the functional device (10) from the overhead line (7), - Mounting the functional device (10) on the overhead line (7) by means of at least one mounting clamp which, when attached, engages in the grooves (30), or disassembling the functional device (10) from the overhead line (7) by releasing the at least one mounting clamp. Procedure according to Claim 9 , wherein the drone (3) is moved relative to the overhead line (7) or the functional device (10) such that a section of the overhead line (7) or at least a part of the functional device (10) is located in a space between two opposing and spaced-apart edge elements (16) of the capture device (15), wherein the drone (3) is then moved into the working position. Procedure according to Claim 10 , wherein the drone (3) is moved into the working position in which the section of the overhead line (7) or another section of the overhead line (7) is received by a receiver (17) of the interception device (15) or in which at least a part of the functional device (10) is received by a receiver (17) of the interception device (15). Procedure according to one of the Claims 9 until 11 , wherein the drone (3) is moved into the working position along the overhead line (7) by means of a roller drive and at least one pair of rollers with a pair of rollers between which a section of the overhead line (7) is located. Procedure according to one of the Claims 9 until 12 , wherein the functional device (10) is initially gripped by a gripping device (35) of the drone (3) during its installation on the overhead line (7) and is released by the gripping device (35) during and/or after its installation on the overhead line (7). Procedure according to one of the Claims 9 until 12 , wherein the functional device (10) is grasped by a gripping device of the drone (3) during and/or after its dismantling from the overhead line (7). Method for manufacturing a device (1) for mounting and/or dismounting a functional device (10) on/from an overhead line (7) of a railway or trolleybus route with grooves (30), the method comprising: - providing a drone (3) with a flight propulsion system, - providing a mounting device (13) configured to mount the functional device (10) on the overhead line (7) by means of at least one mounting clamp which engages in the grooves (30) when mounted, and/or a dismounting device configured to dismount the functional device (10) from the overhead line (7) by releasing the at least one mounting clamp, on the drone (3), - providing a restraint device (15) on the drone (3) configured to restrict at least one degree of freedom of movement of the drone (3) during flight when the overhead line (7) or the functional device (10) mounted on the overhead line (7) is located in a capture area of the capture device (15).