CN108092179A - A kind of power circuit Bird's Nest sweep-out method - Google Patents
A kind of power circuit Bird's Nest sweep-out method Download PDFInfo
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- CN108092179A CN108092179A CN201711428107.6A CN201711428107A CN108092179A CN 108092179 A CN108092179 A CN 108092179A CN 201711428107 A CN201711428107 A CN 201711428107A CN 108092179 A CN108092179 A CN 108092179A
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- fixed
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- nest
- unmanned plane
- bird
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Classifications
-
- 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
-
- 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
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Manipulator (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a kind of power circuit Bird's Nest sweep-out methods, power circuit Bird's Nest removing are carried out using unmanned plane, including unmanned plane body, stent, gas cylinder portion, rotation section, balance portion, removing portion, control unit, ground on-vehicle device.Stent is connected with unmanned plane body, and gas cylinder portion is connected with stent, and rotation section is fixed with unmanned plane body bottom portion, and balance portion is connected with rotation section, and removing portion is connected with rotation section, and control unit is fixed with rotation section.Unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, and by the remote control box of ground on-vehicle device, removing portion 6 is directed at Bird's Nest；Removing button is pressed, control unit is outwards sprayed by solenoid valve control gases at high pressure from gas cylinder portion 3 from removing portion 6, removes Bird's Nest；The configuration of the present invention is simple, it is easy to use, it can effectively ensure that electric power is defeated, the work safety of distribution network maintenance staff, improve work efficiency.
Description
Technical field
It is related to unmanned plane power transmission and distribution network operation field, and in particular to power circuit Bird's Nest sweep-out method.
Background technology
Bird's Nest has often been built on transmission and distribution networks steel tower.Branch, grass blade, iron wire that small bird rank is come etc. easily triggers electrical body
Short circuit, cause the equipment that trips or even burn out, cause contact net electro-mechanical force equipment have a power failure, caused to normal transmission and distribution networks
Extreme influence.Situations such as particularly birds peck bad insulator chain, and bird dung causes insulator chain pollution flashover, can cause more serious electric power
Security incident.
The mode for removing Bird's Nest at present based on manual removing, passes through letter in a manner of manually climbing for small scale iron tower, bridge
Single mechanical device the modes such as discloses, cuts, burning and carrying out.For Bird's Nest in, on large-scale bar, steel tower is removed, work coordination is real
Border operation, difficulty are very big, this is one.Secondth, traditional mechanical reset mode operation is not easy, and belongs to the clear of direct contact type
Except mode, electrical shock safety hazard easily is caused to personnel and equipment, especially hook, sling type, towed equipment, it is real outdoors
In the operating process of border, easily make contact, hanging wire, form serious security risk；3rd, contactless removing just has more at present
It is formula of burning, but the Bird's Nest of electric power networks removing at present focused mostly in summer, autumn, avoided the Period of reproductive peak of birds.Bird's Nest
Burning not only be easy to cause outdoor fire risk, is also unfavorable for power equipment safety, meanwhile, equipment is in regular maintenance and uses
Points for attention are numerous and diverse in journey, and security incident easily occurs, inconvenient for use.
It announces and discloses a kind of Bird's Nest remove device one kind based on unmanned plane based on unmanned plane for 204858409 U of CN
Bird's Nest remove device, it is characterized in that：Including connecting plate (1) and Bird's Nest hook (2)；Wherein connecting plate (1) is with removing Bird's Nest
Hook (2) is fixedly connected, and multiple bolts hole (1.1) are offered on connecting plate (1), and spiral shell is used by the bolt hole (1.1)
Bolt can be fixed on the pedestal of unmanned plane；Hook is set to be made of straightway (2.1) and arc segment (2.2), straightway
(2.1) it is fixedly connected with connecting plate (1), arc segment (2.2) uses the camber line with hook solid.The advantageous effect of the utility model is that have
Have simple in structure, stablize, is reliable, can reduce dangerous caused by the Bird's Nest on manual cleaning transmission line of electricity, mitigate worker's labor
Momentum, it is cost-effective.The utility model belongs to contact sweep-out method.In the actual environment, to the operation of unmanned plane manipulator
Level requirement is high, it is difficult to which hook is accurately accurately tangled Bird's Nest.Particularly circuit is more, bird's nest ambient enviroment is complicated
In the case of, the activity space of unmanned plane in itself is very limited, does not possess requirement, it is easier to unmanned plane be made to touch electric power
Facility causes the accident, poor practicability.
The content of the invention
It is above-mentioned to solve the purpose of the present invention is to overcome the above shortcomings and to provide a kind of power circuit Bird's Nest sweep-out method
Problem.
A kind of power circuit Bird's Nest sweep-out method carries out power circuit Bird's Nest removing, including unmanned plane sheet using unmanned plane
Body, stent, gas cylinder portion, rotation section, balance portion, removing portion, control unit, ground on-vehicle device.
The stent is connected with unmanned plane body, and the gas cylinder portion is connected with stent, the rotation section and unmanned plane
Body bottom portion is fixed, and the balance portion is connected with rotation section, and the removing portion is connected with rotation section, the control unit and rotation section
It is fixed.The ground on-vehicle device is connected with rotation section.
The unmanned plane body is rotor wing unmanned aerial vehicle, and the unmanned plane body includes the corresponding earth station of the rotor wing unmanned aerial vehicle
Control system.
The unmanned plane body includes at least a rotor.
Totally two, the stent, is symmetrically fixed on unmanned plane body bottom portion.
The stent is I-shaped, and the pedestal upper end is fixed with unmanned plane body lower part.
The stent center section is the axis of a setting.
The lower part of the stent is fixed with gas cylinder portion in the inner part.
Gas cylinder portion is placed in the lower part of stent, convenient for unmanned plane body takeoff operational and landing operation stability,
It improves the operating experience of staff and expands the landing occasion of unmanned plane body.
The gas cylinder portion includes two gas cylinders, and two gas cylinders are individually fixed in the lower part of two stents,
So that unmanned plane keeps balance.
The outlet nozzle of the gas cylinder is connected by the pneumatic group of hose and rotation section, and then peaceful with removing portion respectively
Weighing apparatus portion connects.
It is gentle that the rotation section includes telescopic rod, stepper motor, reduction gear box, support frame, rotary head, universal ball bearing
Dynamic group.
The telescopic rod upper end and the lower part of unmanned plane body are fixed, and lower end is fixed with reduction gear box.
The upper end of the stepper motor and reduction gear box is fixed, and the reduction gear box lower end is consolidated with support frame upper end
Fixed, the output axis connection of the rotary head and reduction gear box, the lower surface of the rotary head is connected with universal ball bearing, described
Universal ball bearing lower end is fixed in support frame.
The pneumatic group of lower surface for being fixed on support frame.
The telescopic rod is multi-stage expansion structure, adjustable in length, telescopic rod upper end and the lower central of unmanned plane body
Fixed, telescopic rod lower end is fixed with reduction gear box upper face center.Before operation, telescopic rod is adjusted to proper height first,
It is and fixed.
The stepper motor is connected with control unit, and the control unit carries out the rotational angle of stepper motor output shaft accurate
Control.
The reduction gear box is internally provided with train of reduction gears, and the reduction gear box is close to the side of the one side in balance portion
Center is equipped with zero graduation line.
The output shaft of the stepper motor and the input axis connection of reduction gear box are fixed, the output of the reduction gear box
Axis is fixed with rotary head.The reduction gear box upper end is fixed with telescopic rod, and lower end is fixed with support frame.The reduction gear box
The output speed of stepper motor is adjusted, and then rotational angle is further split, improves the control of rotational angle
Precision.
The support frame is frame-shaped construction, and support frame upper end is fixed with reduction gear box, and lower end is fixed with pneumatic group.
The support frame is divided into upper half frame and lower half frame.
There is a through hole in the upper half frame upper surface of the support frame, the output shaft of reduction gear box through after the through hole with rotary head
It is fixed.
The universal ball bearing is fixed on lower half frame.
The rotary head is diamond shape, and the output shaft of rotary head upper end and reduction gear box is fixed.
There is hemisphere groove in the rotary head lower surface, and hemisphere groove is connected with the roller ball of universal ball bearing.
The rotary head both ends are connected respectively with cleaning section and balance portion.
One end upper face center of the rotary head close to balance portion has pointer.When rotary head is in zero position, rotate
The pointer of head aligns with the zero graduation line of reduction gear box.
The rotary head is fixed with camera close to the one end in connection removing portion, and the camera is connected with control unit.Institute
Camera captured in real-time work picture is stated, and passes through control unit and is transmitted to ground on-vehicle device, is observed convenient for ground staff.
The universal ball bearing is equipped with roller ball, and roller ball is connected with the hemisphere groove on rotary head following table surface.
Described pneumatic group includes multiple-pass joint, solenoid valve and gas flow transducer.
The solenoid valve is connected with control unit, and the air in solenoid valve can be closed for control unit and flow quantity control.Institute
State multiple-pass joint totally two, one is connected with gas cylinder portion, and is connected with solenoid valve, after another is connected with solenoid valve and with
Gas flow transducer connects, and is finally connected respectively with removing portion and balance portion.
The gas flow transducer is connected with control unit.
The removing portion includes removing connector, removes bar, bucket seat and outlet bucket.
Described removing connector one end is fixed with rotary head, and the other end is connected with removing bar.
Described removing bar one end is connected with removing connector, and the other end is fixed with bucket seat, and the outlet bucket totally two is fixed
On bucket seat.
The removing connector includes female seat, male seat and spring.
The female seat is fixed with rotary head, and the male seat is fixed with removing bar.There is cavity in described female seat one end, in cavity
Spring is connected with, there is raised platform in described male seat one end, is connected with spring.
The bar of removing is hollow to be rod-shaped.The bucket seat connection is with removing bar end.Two outlet buckets are by hose with turning
The gas flow transducer of dynamic head is connected with solenoid valve.The removing bar manufactures for insulating materials.
The balance portion includes balancing pole, clump weight, micro- magnet valve and balance bucket.
The balancing pole is fixed with rotary head one end, and described balancing pole one end is equipped with counterweight base, and the clump weight is fixed
In in counterweight base.The clump weight includes different specifications, and the selected model of bar is removed according to removing portion, and then to counterweight
Block is adjusted.
Micro- magnet valve is fixed with balancing pole, and the balance bucket is connected with micro- magnet valve.The gas of micro- magnet valve and rotary head
Dynamic group connection.Micro- magnet valve is connected with control unit.
The control unit is connected with stepper motor, solenoid valve, gas flow transducer, micro- magnet valve, camera.
The control unit and unmanned plane body power sharing power supply.
The control unit includes figure transmission module, and the image of camera is back to ground on-vehicle device in real time.
The control unit includes calibration knob.
Communication module built in the control unit is communicated with ground on-vehicle device.
The ground on-vehicle device includes air pump, hand-line reel and remote control box.The ground on-vehicle device is positioned over car, just
In field work.
Hose in the hand-line reel is flexible insulated hose, avoids misoperation, the risk of unexpected hanging wire.
The remote control box includes display screen, communication module, control handle and removes button.
The air pump is diesel oil, gasoline air pump, output high-pressure gas.
A kind of electrical power distribution electric network Bird's Nest sweep-out method：
1st, control unit calibration knob is pressed, removing portion 6 and rotary head 404 are calibrated；
2nd, the removing bar 602 of appropriate size is selected, and corresponding clump weight is installed；
3rd, unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, and by the remote control box of ground on-vehicle device, removing portion 6 is directed at bird
Nest；
4th, removing button is pressed, control unit is outside from gas cylinder portion 3 from removing portion 6 by solenoid valve control gases at high pressure
It sprays, removes Bird's Nest；
5th, control unit is detected by gas flow transducer sprays airstream data, and control unit controls micro- magnet valve 503 to open certain mouth
Gas from reversed is excluded, realizes the skyborne balance of unmanned plane by footpath；
6th, the Bird's Nest removed for hardly possible, gas cylinder portion 3 is removed, and 4 lower end of rotation section is pneumatically organized 406 and vehicle-mounted air pump
It is connected by hand-line reel, skips to above-mentioned 3rd step, complete to remove.
The beneficial effects of the present invention are：
The present invention is safe, easy to use, specifically includes
1st, security performance of the present invention is high, belongs to cordless and removes Bird's Nest, avoids direct contact with around Bird's Nest and Bird's Nest
Power equipment causes the hidden danger electrically destroyed to removing equipment；
2nd, the present invention has is beneficial to protection power equipment in use, by the principle that pressure-air quickly sprays by bird
Nest is removed, and avoids the destruction to power equipment；
3rd, the present invention is applied widely, application is extremely strong, and the present invention can hang gas cylinder portion and ground certainly by unmanned plane
Car-mounted device supply two ways removes Bird's Nest, has for all kinds of line environments around all kinds of transmission ＆ distribution pylons, bar and Bird's Nest general
All over applicability；
4th, patent of the present invention actual use middle part management side just, fast reaction is carried out convenient for management unit, by a trolley, two
A operating personnel, you can quickly handled Bird's Nest, greatly improve work efficiency so that be rapidly completed work in summer and autumn
Task；
5th, patent of the present invention can greatly improve the dismounting personnel security of itself, and patent user of service of the present invention is away from work
Make equipment, whole process removes Bird's Nest by way of wireless remote control, has ensured personal safety；
6th, patent of the present invention greatly reduces the technology requirement to unmanned plane manipulator, and network operation personnel are made with simple training
Instruction can carry out operation, convenient for promoting.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the stent of the present invention and gas cylinder portion schematic diagram；
Fig. 3 is the rotation section schematic diagram of the present invention；
Fig. 4 is the rotary head schematic diagram of the present invention；
Fig. 5 is the balance portion schematic diagram of the present invention；
Fig. 6 is the removing connector sectional view of the present invention；
Fig. 7 is the removing portion schematic diagram of the present invention；
Fig. 8 is control and the pneumatic diagram of the present invention.
Marginal data：
1st, unmanned plane body；2nd, stent；3rd, gas cylinder portion；4th, rotation section；401st, telescopic rod；402nd, reduction gear box；
402a, zero graduation line；403rd, support frame；4031st, upper half frame；4032nd, lower half frame；404th, rotary head；404a, hemisphere groove；
404b, pointer；4041st, camera；405th, universal ball bearing；406th, pneumatic group；5th, balance portion；501st, balancing pole；502nd, counterweight
Pedestal；503rd, micro- magnet valve；504th, balance bucket；6th, removing portion；601st, connector is removed；602nd, bar is removed；603rd, struggle against seat；604th, go out
Gas bucket；601a, female seat；601b, male seat；601c, spring.
Specific embodiment
The preferred embodiment of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Referring to Fig. 1, a kind of power circuit Bird's Nest sweep-out method carries out power circuit Bird's Nest removing using unmanned plane,
Power circuit Bird's Nest sweep-out method, including unmanned plane body 1, stent 2, gas cylinder portion 3, rotation section 4, balance portion
5th, removing portion 6, control unit and ground on-vehicle device.
Stent 2 is connected with unmanned plane body 1, and gas cylinder portion 3 is connected with stent 2, rotation section 4 and 1 bottom of unmanned plane body
Portion is fixed, and balance portion 5 is connected with rotation section 4, and removing portion 6 is connected with rotation section 4, and control unit is fixed with rotation section 4.Unmanned plane sheet
Body 1 is stent 2, gas cylinder portion 3, rotation section 4, balance portion 5, removing portion 6, the carrier of control unit.Rotation section 4 controls balance portion
5 and the rotation in removing portion 6, gas cylinder portion 3 (ground on-vehicle device also can) to 6 conveying high-pressure gas of balance portion 5 and removing portion,
Control unit controls the gas flowing in balance portion 5 and removing portion 6, and is communicated with ground on-vehicle device.
Unmanned plane body 1 is rotor wing unmanned aerial vehicle, and unmanned plane body 1 includes the corresponding ground station control system of the rotor wing unmanned aerial vehicle
System.Unmanned plane body 1 includes at least a rotor.Power carrier of the unmanned plane body 1 as the present invention, by present invention lift-off extremely
The corresponding position of steel tower Bird's Nest.It compares with other unmanned plane structures, rotor wing unmanned aerial vehicle has much suitable field operations
Advantage：Firstth, manipulation is simple, and degree of freedom is big, be not required runway can VTOL, suitable for electric power maintenance etc. it is external compared with
For severe place.Rotor wing unmanned aerial vehicle can hover in the air after taking off, and operation degree of freedom is big.Meanwhile rotor wing unmanned aerial vehicle autopilot
Control method is simple, and controller parameter is adjusted also very simply, convenient for being communicated, being integrated with other automatic control systems.The
Two, in terms of rotor wing unmanned aerial vehicle reliability, rotor wing unmanned aerial vehicle especially multi-rotor unmanned aerial vehicle structure does not have too many movable part, it
Reliability be substantially dependent on the reliability of brushless motor, therefore reliability is higher.3rd, in terms of later maintenance, rotor
The duties of unmanned plane are highests, if motor, electron speed regulator, battery, paddle and rack damage, substitute mode is simple, quick, easily
Operation.Making simple training to electric power maintenance staff can be on duty, be suitble to electric power maintenance maintenance field application environment and
Condition.4th, from a cost perspective, with the continuous development of the civilian General Aviation industry in China, unmanned plane especially rotor
Accessory cost, the manufacture cost of unmanned plane (refering in particular to the unmanned plane using electric energy as driving) are more and more lower, the manufacture cost of complete machine
It is more and more lower, convenient for giving full play to its economic benefit.
Totally two, stent 2, is symmetrically fixed on 1 bottom of unmanned plane body.
Stent 2 is I-shaped, and 2 upper end of stent is fixed with 1 lower part of unmanned plane body, and I-shaped stent 2 is compared to
It is big with the connection area of unmanned plane body 1 for "T"-shaped stent 2, it can be carried out according to different 1 types of unmanned plane body
It is fixed, while also enhance the structural strength of the present invention.
2 center section of stent is the axis of a setting.When rotation section 4 rotates, this I-shaped stent 2, which can expand, to be turned
The slewing area in dynamic portion 4 improves the operating angle in removing portion 6.Stent 2 is composite material manufacture, at present in unmanned plane field, extensively
General use is to include resin binder and fibrous material.Unmanned plane has with composite material：First, superior mechanical property,
It is compared with traditional metal materials, composite material has that specific strength and specific stiffness are high, coefficient of thermal expansion is small, anti-fatigue ability and antivibration
The characteristics of ability is strong, being capable of loss of weight 25%~30% compared with common unmanned plane structural material.For example, resin base is compound
Material is with lightweight construction, complexity or large scale structure are easy to shaping, design space is big, specific strength and specific stiffness are high, thermal expansion
Many advantages, such as coefficient is small.2nd, designability is strong：Composite material has designability in itself, is not changing the feelings of construction weight
Under condition, it can be optimized according to the intensity of unmanned plane, rigidity requirement.3rd, lightweight：Unmanned plane composite structure designs
In often using to be the characteristics such as lightweight, the high specific strength specific modulus of composite material.Mainly pass through reinforcing material (carbon fiber, glass
Glass fiber etc.) both the cementation of good mechanical property and basic material (resin) is organically combined into.
The lower part of stent 2 is fixed with gas cylinder portion 3 in the inner part.
Gas cylinder portion 3 is placed in the lower part of stent 2, convenient for unmanned plane body 1 takeoff operational and landing operation stabilization
Property, it improves the operating experience of staff and expands the landing occasion of unmanned plane body 1.
Gas cylinder portion 3 includes two gas cylinders, and two gas cylinders are individually fixed in the lower part of two stents 2, make
It obtains unmanned plane and keeps balance.
The outlet nozzle of gas cylinder is connected by the pneumatic group 406 of hose and rotation section 4, so respectively with removing portion 6 and
Balance portion 5 connects.Gas cylinder internal is filled with gases at high pressure, and under the control of control unit, gas cylinder can pass through removing portion 6 and balance portion 5
Quick outwards release gas.The pressure-air that removing portion 6 is flowed out is used to remove Bird's Nest.The air that balance portion 5 is flowed out is used to adjust
Unmanned plane balances.
For Bird's Nest more difficult to remove, the gas cylinder portion 3 of the present apparatus can be removed, by pneumatic group of rotary head 404
406 are connected with the air pump of ground on-vehicle device by hose.Unmanned plane goes up to the air, and ground on-vehicle device constantly puts pipe, when carrying out long
Between supply gas, and then remove obstinate Bird's Nest.
Rotation section 4 includes telescopic rod 401, stepper motor, reduction gear box 402, support frame 403, rotary head 404, universal
Ball bearing 405 and pneumatic group 406.401 upper end of telescopic rod and the lower part of unmanned plane body 1 are fixed, lower end and reduction gear box 402
It is fixed.The upper end of stepper motor and reduction gear box 402 is fixed, and 402 lower end of reduction gear box is fixed with 403 upper end of support frame,
The output axis connection of rotary head 404 and reduction gear box 402, the lower surface of rotary head 404 are connected with universal ball bearing 405, and ten thousand
It is fixed on to 405 lower end of ball bearing in support frame 403.
Pneumatic group 406 is fixed on the lower surface of support frame 403.
Telescopic rod 401 is multi-stage expansion structure, adjustable in length, in the lower part of 401 upper end of telescopic rod and unmanned plane body 1
Centre is fixed, and 401 lower end of telescopic rod is fixed with 402 upper face center of reduction gear box.Before operation, telescopic rod 401 is adjusted first
To proper height, and fix.Stepper motor is connected with control unit, and control unit carries out essence to the rotational angle of stepper motor output shaft
Really control.
Reduction gear box 402 is internally provided with train of reduction gears, and reduction gear box 402 is close to the side of the one side in balance portion 5
Center is equipped with zero graduation line 402a.The output shaft of stepper motor and the input axis connection of reduction gear box 402 are fixed, reduction gearing
The output shaft of case 402 is fixed with rotary head 404.402 upper end of reduction gear box is fixed with telescopic rod 401, lower end and support frame 403
It is fixed.The output speed of stepper motor is adjusted in reduction gear box 402, and then rotational angle is further split,
The control accuracy of rotational angle is improved, convenient in unmanned plane 1 working at height of body, removing portion 6 is accurately directed at Bird's Nest.
Support frame 403 is frame-shaped construction, and 403 upper end of support frame is fixed with reduction gear box 402, and lower end is fixed with pneumatic group
406.Support frame 403 divides for upper half frame 4031 and lower half frame 4032.There is through hole in 4031 upper surface of upper half frame of support frame 403, subtracts
The output shaft of fast gear-box 402 is fixed after passing through the through hole with rotary head 404.
When being assembled to rotation section 4, telescopic rod 401 and reduction gear box 402 are fixed, by reduction gear box 402
It is fixed with the upper half frame 4031 of support frame 403, and rotary head 404 and the output of reduction gear box 402 is fixed.Again by ten thousand
It is fixed to ball bearing 405 and lower half frame 4032, and pneumatic group 406 and the lower surface of lower half frame 4032 is fixed.It finally, will be universal
After ball bearing 405 is calibrated with rotary head 404, upper half frame 4031 and lower half frame 4032 are fixed.Universal ball bearing is fixed on lower half
On frame 4032.
Rotary head 404 is diamond shape, and 404 upper end of rotary head and the output shaft of reduction gear box 402 are fixed, under rotary head 404
Surface has hemisphere groove 404a, hemisphere groove 404a to be connected with the roller ball of universal ball bearing 405.Distinguish at 404 both ends of rotary head
It is connected with cleaning section and balance portion 5.One end upper face center of the rotary head 404 close to balance portion 5 has pointer 404b.Work as rotary head
404 be in zero position when, the pointer 404b of rotary head 404 aligns with the zero graduation line 402a of reduction gear box 402.Rotary head
404 are fixed with camera 4041 close to the one end in connection removing portion 6, and camera 4041 is connected with control unit.Camera 4041 is real
When shoot work picture, and pass through control unit and be transmitted to ground on-vehicle device, observed convenient for ground staff.
Universal ball bearing 405 is equipped with roller ball, and roller ball and the hemisphere groove 404a on 404 following table surface of rotary head connect
It connects.Since multi-directional ball (also known as buphthalmos bearing) has the characteristics that rolling is flexible so that the objects such as working plate being in contact with it can be non-
It is often flexible to rotate, the distribution density of multi-directional ball can be arbitrarily set according to different bearing requirements, difference can also be selected to hold
The universal ball bearing 405 of loading capability.
Component in the model machine progress many experiments discovery to the present invention, rotary head 404 and reduction gear box 402 is big
Up and down displacement easily occurs after amount use, structure is caused to destroy, cause extreme influence to control accuracy and service using life.Its
The reason is that, bearer connection component of the rotary head 404 as this decoration, is connected with the performers such as removing portion 6, balance portion 5, together
When during the jet of Bird's Nest is removed, multidirectional active force is caused to rotary head 404, and then to rotary head 404 and reduction gearing
The connecting shaft of case 402 is destroyed.Therefore, the present invention sets universal ball bearing 405, the roller ball of universal 405 upper end of ball bearing
It is connected with rotary head 404, reduces during use to the displacement of 402 internal component of rotary head 404 and reduction gear box, rocks brokenly
It is bad, and then improve the service precision and service life of the present apparatus.
Pneumatic group 406 includes multiple-pass joint, solenoid valve and gas flow transducer.Solenoid valve is connected with control unit, and control unit can
Air in solenoid valve is closed and flow quantity control.Multiple-pass joint totally two, one is connected with gas cylinder portion 3, and with
Solenoid valve connect, be connected after another is connected with solenoid valve and with gas flow transducer, finally respectively with removing portion 6 and balance portion 5
Connection.Gas flow transducer is connected with control unit.Gas flow transducer can calculate the air velocity excluded from 6 one end of removing portion, and
Control unit is sent data to, is vented by control unit control balance portion 5, keeps the skyborne balance of unmanned plane.
Removing portion 6 includes removing connector 601, removes bar 602, bucket seat 603, outlet bucket 604.Remove connector 601 1
End is fixed with rotary head 404, and the other end is connected with removing bar 602, is removed 602 one end of bar and is connected with removing connector 601, another
End is fixed with bucket seat 603, outlet bucket 604 totally two, is fixed on bucket seat 603.
Removing connector 601 includes female seat 601a, male seat 601b and spring 601c.Female seat 601a is fixed with rotary head 404,
Male seat 601b is fixed with removing bar 602.There is cavity in female seat 601a one end, spring 601c, male seat 601b one end are equipped in cavity
There is raised platform, be connected with spring 601c.In 6 jet moment of removing portion, by the spring 601c in connector, to jet moment
Rigid shock keeps unmanned plane balance into row buffering.
Bar 602 is removed to be rod-shaped, it is hollow.Bar 602 is removed to manufacture for insulating materials.The connection of seat 603 struggle against with removing 602 end of bar
End.Two outlet buckets 604 are connected by hose with the gas flow transducer and solenoid valve of rotary head 404.Bar 602 is removed including a variety of
Type is replaced according to the position of Bird's Nest, pylon type, surrounding line environment.
Balance portion 5 includes balancing pole 501, clump weight, micro- magnet valve 503 and balance bucket 504.Balancing pole 501 and rotary head 404
One end is fixed, and 501 one end of balancing pole is equipped with counterweight base 502, and clump weight is fixed in counterweight base 502.Micro- magnet valve 503 is with putting down
Weighing apparatus bar 501 is fixed, and balance bucket 504 is connected with micro- magnet valve 503.Micro- magnet valve 503 is connected with the pneumatic group 406 of rotary head 404.Micro- magnetic
Valve 503 is connected with control unit.Clump weight includes different specifications, and 602 selected model of bar is removed according to removing portion 6, and then
Clump weight is adjusted.
Micro- magnet valve 503 is automatically controlled magnet valve, and the switch degree of micro- magnet valve 503 can control, and control unit can be controlled by micro- magnet valve 503
The circulation caliber size of gas processed.
The data that control unit is read by gas flow transducer, and then the gas communication port footpath of micro- magnet valve 503 is controlled,
And then by balancing the outwards exhaust of bucket 504, and then realize 1 skyborne balance of unmanned plane body.
Control unit is connected with stepper motor, solenoid valve, gas flow transducer, micro- magnet valve 503, camera 4041.Control unit with
1 power sharing power supply of unmanned plane body.
Control unit includes figure transmission module, and the image of camera 4041 is back to ground on-vehicle device in real time.In control unit
Communication module is put, is communicated with ground on-vehicle device.
Control unit includes calibration knob.Calibration knob is located on control unit, presses calibration knob, and stepper motor at the uniform velocity turns
It is dynamic, until the pointer 404b of rotary head 404 aligns with the zero graduation line 402a of reduction gear box 402.It completes to rotating
First 404 calibration.It is found through overtesting, the rotation section 4 of the present apparatus is after a large amount of rotations reset for a long time, it may appear that rotary head
404 pointer 404b and 402 zero graduation line 402a misalignment phenomenons of reduction gear box.Usage time is longer, the pointer of rotary head 404
The angle of 404b and the zero graduation line 402a of reduction gear box 402 are bigger, are unfavorable for the control accuracy of ground on-vehicle device, influence
It uses.The phenomenon is caused by stepping motor structure feature and 402 rotation error of reduction gear box, therefore, is set on control unit
Calibration knob carries out periodic calibration.Before being calibrated, 404 both ends part of rotary head is removed, presses calibration knob, stepper motor
Uniform rotation until the pointer 404b of rotary head 404 aligns with the zero graduation line 402a of reduction gear box 402, completes calibration.
Ground on-vehicle device includes air pump, hand-line reel and remote control box.Ground on-vehicle device is positioned over car, makees convenient for field
Industry.Air pump is diesel oil, gasoline air pump, output high-pressure gas.Hose in the hand-line reel is flexible insulated hose, avoids misoperation
Cause the loss of unexpected hanging wire situation.
Remote control box includes display screen, communication module, control handle and removes button.Display screen is to the camera on unmanned plane
4041 shooting pictures are shown, knob information is transmitted to control unit by control handle, control unit by stepper motor into
Row respective angles rotate and reverse, and then realize removing portion 6 being directed at Bird's Nest, implement operation.It removes button to press, control unit
By communication module receive information, control unit control solenoid valve is opened, and gases at high pressure are sprayed by removing portion 6.Meanwhile it controls
Airstream data detects by gas flow transducer in portion, and micro- magnet valve 503 is controlled to open go-no-go, and gas from reversed is excluded, is realized
The skyborne balance of unmanned plane.
It unclamps and removes button, control unit control control solenoid valve is closed, and stops jet.
A kind of electrical power distribution electric network Bird's Nest sweep-out method：
1st, control unit calibration knob is pressed, removing portion 6 and rotary head 404 are calibrated；
2nd, the removing bar 602 of appropriate size is selected, and corresponding clump weight is installed；
3rd, unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, and by the remote control box of ground on-vehicle device, removing portion 6 is directed at bird
Nest；
4th, removing button is pressed, control unit is outside from gas cylinder portion 3 from removing portion 6 by solenoid valve control gases at high pressure
It sprays, removes Bird's Nest；
5th, control unit is detected by gas flow transducer sprays airstream data, and control unit controls micro- magnet valve 503 to open certain mouth
Gas from reversed is excluded, realizes the skyborne balance of unmanned plane by footpath；
6th, the Bird's Nest removed for hardly possible, gas cylinder portion 3 is removed, and 4 lower end of rotation section is pneumatically organized 406 and vehicle-mounted air pump
It is connected by hand-line reel, skips to above-mentioned 3rd step, complete to remove.
In actual use, the system is operated by two operating personnels.The first operation manipulation unmanned plane, and by nothing
Man-machine holding in place, avoids unmanned plane from touching cable and power equipment, keeps unmanned plane during flying in stable condition.The
One people is responsible for the operation of ground on-vehicle device, and precisely one or many remove of alignment Bird's Nest progress is moved by remote control box remote control
Make.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (4)
1. a kind of power circuit Bird's Nest sweep-out method, it is characterised in that：Power circuit Bird's Nest removing is carried out using unmanned plane, it is described
Unmanned plane body (1) include stent (2), gas cylinder portion (3), rotation section (4), balance portion (5), removing portion (6), control unit
With ground on-vehicle device, it is characterised in that：The stent (2) is connected with unmanned plane body (1), the gas cylinder portion (3) with
Stent (2) connects, and the rotation section (4) is fixed with unmanned plane body (1) bottom, and the balance portion (5) connects with rotation section (4)
It connects, the removing portion (6) is connected with rotation section (4), and the control unit is fixed with rotation section (4), and the rotation section (4) includes stretching
Contracting bar (401), stepper motor, reduction gear box (402), support frame (403), rotary head (404), universal ball bearing (405) and
Pneumatic group (406), telescopic rod (401) upper end and the lower part of unmanned plane body (1) are fixed, lower end and reduction gear box
(402) fixed, the stepper motor and the upper end of reduction gear box (402) are fixed, reduction gear box (402) lower end and branch
Support frame (403) upper end is fixed, and the rotary head (404) and the output axis connection of reduction gear box (402) are fixed, the rotary head
(404) lower surface is connected with universal ball bearing (405), and support frame (403) is fixed in universal ball bearing (405) lower end
Interior, pneumatic group (406) are fixed on the lower surface of support frame (403), and the telescopic rod (401) is multi-stage expansion structure, institute
It states reduction gear box (402) and is equipped with zero graduation line (402a) close to the one side in balance portion (5) center, the support frame (403) is
Frame-shaped construction, the support frame (403) are divided into upper half frame (4031) and lower half frame (4032), the upper half of the support frame (403)
There is a through hole in frame (4031) upper surface, and the output shaft of reduction gear box (402) is through fixed with rotary head (404) after the through hole；
And Bird's Nest is purged in accordance with the following steps, step is as follows：
(1), control unit calibration knob is pressed, removing portion 6 and rotary head 404 are calibrated；
(2), the removing bar 602 of appropriate size is selected, and corresponding clump weight is installed；
(3), unmanned plane goes up to the air to an iron rake with three to six teeth Bird's Nest position, and by the remote control box of ground on-vehicle device, removing portion 6 is directed at Bird's Nest；
(4), removing button is pressed, control unit is outwards sprayed by solenoid valve control gases at high pressure from gas cylinder portion 3 from removing portion 6
Go out, remove Bird's Nest；
(5), control unit is detected by gas flow transducer sprays airstream data, and control unit controls micro- magnet valve 503 to open go-no-go,
Gas from reversed is excluded, realizes the skyborne balance of unmanned plane；
(6), the Bird's Nest removed for hardly possible, gas cylinder portion 3 is removed, and by 4 lower end of rotation section, pneumatically group 406 is led to vehicle-mounted air pump
Hand-line reel connection is crossed, skips to above-mentioned (3) step, completes to remove.
2. a kind of power circuit Bird's Nest sweep-out method according to claim 1, it is characterised in that：
The stent (2) totally two is symmetrically fixed on unmanned plane body (1) bottom, and the stent (2) is I-shaped, described
The lower part of stent (2) is fixed with gas cylinder portion (3) in the inner part, and the gas cylinder portion (3) includes two gas cylinders, described
The outlet nozzle of gas cylinder is connected by hose with pneumatic group (406) of rotation section (4), and then peaceful with removing portion (6) respectively
Weighing apparatus portion (5) connects；
There are hemisphere groove (404a), the rolling of hemisphere groove (404a) and universal ball bearing (405) in rotary head (404) lower surface
Dynamic ball connection, rotary head (404) both ends are connected respectively with cleaning section and balance portion (5), and the rotary head (404) is close to flat
One end upper face center in weighing apparatus portion (5) has pointer (404b), and the rotary head (404) is fixed with close to the one end in removing portion (6)
Camera (4041), the camera (4041) are connected with control unit, and described pneumatic group (406) include multiple-pass joint, solenoid valve
And gas flow transducer, the solenoid valve are connected with control unit, the multiple-pass joint totally two, one connects with gas cylinder portion (3)
Connect, and be connected with solenoid valve, is connected after another is connected with solenoid valve and with gas flow transducer, finally respectively with removing portion (6)
It is connected with balance portion (5), the gas flow transducer is connected with control unit.
3. a kind of power circuit Bird's Nest sweep-out method according to claim 2, it is characterised in that：Removing portion (6) bag
Include remove connector (601), remove bar (602), bucket seat (603), outlet bucket (604), it is described removing connector (601) one end with
Rotary head (404) is fixed, and the other end be connected with removing bar (602), and the removing bar (602) is fixed with the seat (603) that struggles against, it is described go out
Gas bucket (604) totally two is fixed on bucket seat (603), and the removing connector (601) includes female seat (601a), male seat
(601b) and spring (601c), the female seat (601a) is fixed with rotary head (404), and the work is fixed with removing bar (602),
There is cavity in described female seat (601a) one end, be equipped with spring (601c) in cavity, there is raised platform in described male seat (601b) one end simultaneously
It is connected with spring (601c)；
The removing bar (602) is rod-shaped, and hollow, removing bar (602) manufactures for insulating materials, and two outlet buckets (604) pass through
The solenoid valve of hose and adapter connects.
4. a kind of power circuit Bird's Nest sweep-out method according to claim 1, it is characterised in that：Balance portion (5) bag
Include balancing pole (501), clump weight, micro- magnet valve (503) and balance bucket (504), the balancing pole (501) and rotary head (404) one
End is fixed, and described balancing pole (501) one end is equipped with counterweight base (502), and the clump weight is fixed in counterweight base (502),
Micro- magnet valve (503) is fixed with balancing pole (501), and the balance bucket (504) is connected with micro- magnet valve (503), micro- magnet valve
(503) it is connected with pneumatic group (406) of rotary head (404), micro- magnet valve (503) is connected with control unit, the clump weight bag
Include different specifications；
The control unit is connected with stepper motor, solenoid valve, gas flow transducer, micro- magnet valve (503), camera (4041), described
Control unit includes figure transmission module, and institute's control unit further includes calibration knob；
The ground on-vehicle device includes air pump, hand-line reel and remote control box, and the remote control box includes display screen, communication module, control
Knob processed and removing button, the ground on-vehicle device are positioned over car, and the air pump is diesel oil, gasoline air pump, the remote control
Case includes display screen, communication module, control handle and removes button.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017101624364 | 2017-03-18 | ||
| CN201710162436.4A CN106877238A (en) | 2017-03-18 | 2017-03-18 | A kind of power circuit Bird's Nest sweep-out method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108092179A true CN108092179A (en) | 2018-05-29 |
Family
ID=59172158
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710162436.4A Pending CN106877238A (en) | 2017-03-18 | 2017-03-18 | A kind of power circuit Bird's Nest sweep-out method |
| CN201711428107.6A Withdrawn CN108092179A (en) | 2017-03-18 | 2017-12-26 | A kind of power circuit Bird's Nest sweep-out method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710162436.4A Pending CN106877238A (en) | 2017-03-18 | 2017-03-18 | A kind of power circuit Bird's Nest sweep-out method |
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| Country | Link |
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| CN (2) | CN106877238A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654532A (en) * | 2019-10-03 | 2020-01-07 | 董杭民 | Parking frame for unmanned aerial vehicle based on atmospheric pressure is floated |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107947022A (en) * | 2017-12-27 | 2018-04-20 | 董骁健 | Electrical power distribution electric line Bird's Nest removes UAV system |
| CN108033002A (en) * | 2017-12-27 | 2018-05-15 | 董骁健 | Electrical power distribution electric network Bird's Nest removes unmanned plane |
| CN109546571A (en) * | 2018-11-27 | 2019-03-29 | 国家电网有限公司 | It is a kind of for removing the pneumatic device of high-voltage line sundries |
| CN109713607A (en) * | 2018-11-27 | 2019-05-03 | 国家电网有限公司 | One kind being used for electrical device for eliminating impurities |
| US11192648B1 (en) | 2021-08-27 | 2021-12-07 | King Abdulaziz University | Air blowing drone and dust cleaning device for solar panels |
| CN114825166B (en) * | 2022-04-20 | 2023-04-11 | 温州市龙湾永强供电公司 | Wireless communication type multifunctional large-scale power transmission line maintenance device |
| CN115173300B (en) * | 2022-06-14 | 2023-07-04 | 沈阳农业大学 | Unmanned aerial vehicle is clear away to transmission line bird's nest |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE0101292L (en) * | 2001-04-11 | 2002-10-08 | Lars Berglund | Method and apparatus for removing ice and snow from a power line |
| US8720863B2 (en) * | 2012-03-29 | 2014-05-13 | Vmr Aviation Ltd. | Apparatus for stringing a line underneath a cross member |
| CN203722130U (en) * | 2014-01-14 | 2014-07-16 | 国网山东齐河县供电公司 | High-voltage wire attachment removing device |
| CN204858409U (en) * | 2015-07-17 | 2015-12-09 | 云南电网有限责任公司电力科学研究院 | Bird's nest clearing device based on unmanned aerial vehicle |
| CN205159915U (en) * | 2015-11-30 | 2016-04-13 | 国网山西省电力公司临汾供电公司 | Transmission line unmanned aerial vehicle cleaning device |
| CN206225890U (en) * | 2016-12-02 | 2017-06-06 | 冯毅 | High-altitude power circuit knot screen |
-
2017
- 2017-03-18 CN CN201710162436.4A patent/CN106877238A/en active Pending
- 2017-12-26 CN CN201711428107.6A patent/CN108092179A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654532A (en) * | 2019-10-03 | 2020-01-07 | 董杭民 | Parking frame for unmanned aerial vehicle based on atmospheric pressure is floated |
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|---|---|
| CN106877238A (en) | 2017-06-20 |
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Application publication date: 20180529 |