CN113859543B - Unmanned aerial vehicle external suspension device and use method - Google Patents
Unmanned aerial vehicle external suspension device and use method Download PDFInfo
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- CN113859543B CN113859543B CN202111161162.XA CN202111161162A CN113859543B CN 113859543 B CN113859543 B CN 113859543B CN 202111161162 A CN202111161162 A CN 202111161162A CN 113859543 B CN113859543 B CN 113859543B
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- 239000000725 suspension Substances 0.000 title claims abstract description 118
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims description 31
- 238000011084 recovery Methods 0.000 claims description 6
- 125000003003 spiro group Chemical group 0.000 claims 2
- 238000012423 maintenance Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Aviation & Aerospace Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention relates to an unmanned aerial vehicle external suspension device and a use method thereof, wherein the device comprises a suspension device connected with an unmanned aerial vehicle and a force bearing device arranged at the bottom of the suspension device and used for carrying tools and/or materials; a driving device used for being connected with the bearing device is arranged in the suspension device; the driving device pushes or withdraws the screw connection of the rotary screw rod and the magnet connecting sleeve to realize the lifting or returning of the suspension device and the bearing device which are connected with each other by the unmanned aerial vehicle, and the fixed-point automatic throwing and withdrawing of tools and materials at the operation position are completed; the device has the advantages of simple structure, strong reliability, low cost, safety and reliability.
Description
Technical Field
The invention relates to an unmanned aerial vehicle external suspension device and a use method thereof, and belongs to the technical field of equipment overhaul in the power industry.
Background
At present, the maintenance work of ultra-high voltage lines is largely carried out, the maintenance staff need to carry transfer ropes for climbing towers and wiring, then transfer tools and materials through the transfer ropes at the defect eliminating operation points, and heavy transfer ropes need to be carried in the process that the maintenance staff climbs over tens of meters and hundreds of meters, so that the labor intensity of the maintenance staff is high, and the risk of high-altitude falling of the maintenance staff is increased; when overhauling operations are carried out on some mountain areas and water areas, the operation steps and difficulties are increased when the conditions of ground transmission tools and materials are not provided due to the limitation of terrains;
the existing simple carrying devices of some unmanned aerial vehicles can only realize the throwing function of articles, can not realize the article withdrawing function or can recover the thrown articles only by auxiliary hooking of personnel, and can not fundamentally solve the problems;
based on the above, there is a need for an external suspension device for an unmanned aerial vehicle, which mainly realizes the functions of suspending tools and materials of the unmanned aerial vehicle from flying to the working positions (towers and wires) of ultra-high and ultra-high voltage transmission lines and realizing fixed-point automatic throwing and withdrawing.
Disclosure of Invention
The invention aims to solve the technical problem of providing an unmanned aerial vehicle external suspension device which realizes fixed-point automatic throwing and withdrawing, is convenient to use and has reliable performance and a use method.
The invention adopts the following technical scheme:
the invention relates to an unmanned aerial vehicle external suspension device, which comprises a suspension device connected with an unmanned aerial vehicle and a bearing device arranged at the bottom of the suspension device and used for carrying tools and/or materials; and a driving device used for being connected with the bearing device is arranged in the suspension device.
The invention relates to an outer suspension device of an unmanned aerial vehicle, which comprises an inverted U-shaped supporting frame, an electromagnet fixedly arranged at the bottom of the U-shaped supporting frame and a hanging ring fixedly arranged at the top of the U-shaped supporting frame and connected with the unmanned aerial vehicle, wherein a cross connecting plate is fixedly arranged on the inner wall of the electromagnet, a threaded hole is formed in the middle of the cross connecting plate, and a rotary screw is connected in the threaded hole in a threaded manner; a power supply connected with the electromagnet is arranged on the inner side of a frame of the U-shaped supporting frame, and a control switch is arranged on the power supply; the driving device is fixedly arranged on the inner side of the other frame of the U-shaped supporting frame and drives the rotary screw rod to rotate; the bearing device is connected with the electromagnet and the rotary screw.
The invention relates to an unmanned aerial vehicle external suspension device, which comprises a fixed block fixedly arranged on the inner side of a frame on the other side of a U-shaped supporting frame, a first driving motor vertically and fixedly arranged on the side part of the fixed block, and a transmission gear horizontally arranged at the bottom of a transmission shaft of the first driving motor; the transmission gear is meshed with the rotary screw, and the first driving motor drives the transmission gear to correspondingly rotate forward and backward to enable the rotary screw to push in and the bearing device to be in threaded connection or reversely withdraw from the bearing device.
The invention relates to an unmanned aerial vehicle external suspension device, which comprises a cover body fixedly arranged on an electromagnet, a second driving motor obliquely and fixedly arranged in the cover body, a driving bevel gear fixedly arranged on a transmission shaft of the second driving motor, a bearing with an outer ring fixedly arranged at the bottom of a beam of an inverted U-shaped supporting frame, a fixed sleeve fixedly arranged on an inner ring of the bearing and a driven bevel gear fixedly arranged at the bottom of the fixed sleeve, wherein the driving bevel gear is meshed with the driven bevel gear; the upper gap of the rotary screw is arranged in the fixed sleeve, the second driving motor drives the driving bevel gear and the driven bevel gear which are meshed with each other to rotate positively and negatively, so that the rotary screw is pushed to be in threaded connection with the bearing device or reversely exits from the bearing device, and the fixed sleeve and the driven bevel gear synchronously rotate.
The invention relates to an outer suspension device of an unmanned aerial vehicle, which comprises a circular base, a fixed ring fixedly arranged on the top surface of the circular base, a limiting guide sleeve fixedly arranged on the edge of the top surface of the fixed ring and a bearing lifting hook fixedly arranged at the bottom of the circular base, wherein the inner diameter of the limiting guide sleeve is larger than the outer diameter of an electromagnet; the middle part of the fixed ring is fixedly provided with a magnetic magnet connecting sleeve, the inner wall of the magnet connecting sleeve is provided with an internal thread matched with the rotary screw rod, when the electromagnet of the bearing device is arranged on the top surface of the fixed ring, the electrified electromagnet is attracted with the magnet connecting sleeve, the rotary screw rod is coaxial with the magnet connecting sleeve, the first driving motor positively rotates to drive the transmission gear to enable the rotary screw rod to downwards push and be in threaded connection with the magnet connecting sleeve, or the second driving motor positively rotates to enable the driving bevel gear and the driven bevel gear to rotate to drive the rotary screw rod to downwards push and be in threaded connection with the magnet connecting sleeve.
According to the outer suspension device of the unmanned aerial vehicle, the connecting plates are correspondingly arranged on the inner wall of the fixed ring, and the magnet connecting sleeve is arranged between the two connecting plates.
According to the outer suspension device of the unmanned aerial vehicle, the limiting guide sleeve is in a frustum shape, the inner diameter of the upper opening is larger than that of the bottom opening, and the inner diameter of the bottom opening is slightly larger than the outer diameter of the electromagnet.
The unmanned aerial vehicle external suspension device provided by the invention has the following models that: JGB37-520 miniature speed-reducing forward and backward brush speed-regulating DC motor 12V, which is provided with a ground remote controller.
The application method of the external suspension device of the unmanned aerial vehicle comprises the following steps:
after the unmanned aerial vehicle is connected with a hanging ring of a hanging device, aligning the hanging device with a bearing device, enabling an electromagnet to pass through a limiting guide sleeve, enabling the bottom surface of the electromagnet to be aligned with and contacted with the top surface of a fixed ring, starting a first driving motor, and enabling a rotary screw rod to move downwards through a transmission gear to be in threaded connection with a magnet connecting sleeve; then hooking the tool and the material on the bearing lifting hook;
step two, starting the unmanned aerial vehicle, carrying the outer suspension device, the tool and the material to fly to a pole tower and a wire operation position, fixing the tool and the material on the pole tower and the wire, starting a first driving motor to reversely drive a transmission gear to exit the connection of a rotary screw and a magnet connecting sleeve through a ground control device, and then carrying the connected suspension device by the unmanned aerial vehicle to return to the ground to finish fixed-point automatic throwing of the tool and the material at the operation position;
when tools and materials are required to be withdrawn from high altitude after the operation is completed, firstly hooking the tools and the materials at the high altitude on a bearing lifting hook at the bottom of a bearing device, and after the unmanned aerial vehicle is connected with a lifting ring of a suspension device, starting a control switch of an electromagnet power supply to enable the electromagnet to be electrified to generate magnetic attraction, starting the unmanned aerial vehicle, and carrying the suspension device to fly to the vicinity of the operation position;
step four: the ground control finely adjusts the position of the unmanned aerial vehicle, so that the suspension device is generally aligned with the bearing device, then the unmanned aerial vehicle is slowly lowered to a height, the suspension device is lowered to the top surface of the fixed ring along the limiting guide sleeve by means of the magnetic attraction of the electromagnet and the magnet connecting sleeve, the suspension device is tightly contacted with the bearing device, the first driving motor is started, and the first driving motor enables the rotary screw to move downwards through the transmission gear to be in threaded connection with the magnet connecting sleeve; the unmanned aerial vehicle takes off, and the bearing device connected with the suspension device carries high-altitude tools and materials to return to the ground, so that the fixed-point automatic recovery of the tools and the materials is completed.
The application method of the external suspension device of the unmanned aerial vehicle comprises the following steps:
after the unmanned aerial vehicle is connected with the hanging ring of the hanging device, the hanging device is aligned with the bearing device, the electromagnet penetrates through the frustum-shaped limiting guide sleeve, the bottom surface of the electromagnet is aligned with and contacted with the top surface of the fixed ring, the second driving motor is started, and the second driving motor enables the rotary screw rod to move downwards through the driving bevel gear and the driven bevel gear to be in threaded connection with the magnet connecting sleeve; then hooking the tool and the material on the bearing lifting hook;
step two, starting the unmanned aerial vehicle, carrying the outer suspension device, the tool and the material to fly to the operation positions of the towers and the wires, fixing the tool and the material on the towers and the wires, starting a second driving motor to reversely drive a driving bevel gear and a driven bevel gear to exit the connection of the rotating screw and the magnet connecting sleeve through a ground control device, and then carrying the connected suspension device by the unmanned aerial vehicle to return to the ground to finish fixed-point automatic throwing of the tool and the material at the operation positions;
when tools and materials are required to be withdrawn from high altitude after the operation is completed, firstly hooking the tools and the materials at the high altitude on a bearing lifting hook at the bottom of a bearing device, and after the unmanned aerial vehicle is connected with a lifting ring of a suspension device, firstly starting a power control switch of an electromagnet to enable the electromagnet to be electrified to generate magnetic attraction, starting the unmanned aerial vehicle, and carrying the suspension device to fly to the vicinity of the operation position;
step four: the ground control finely adjusts the position of the unmanned aerial vehicle, so that the suspension device is generally aligned with the bearing device, then the unmanned aerial vehicle is slowly lowered to a height, the suspension device is lowered to the top surface of the fixed ring along the frustum-shaped limiting guide sleeve by means of the magnetic attraction of the electromagnet and the magnet connecting sleeve, the suspension device is closely contacted with the bearing device, a second driving motor is started, and the second driving motor enables the rotary screw to move downwards through the driving bevel gear and the driven bevel gear to be in threaded connection with the magnet connecting sleeve; the unmanned aerial vehicle takes off, and the bearing device connected with the suspension device carries high-altitude tools and materials to return to the ground, so that the fixed-point automatic recovery of the tools and the materials is completed.
The invention has the following positive effects:
when tools and materials are withdrawn from high altitude after the operation is finished, the power supply of the electromagnet is controlled by the switch, the power switch of the electromagnet is turned on the ground to enable the electromagnet to have magnetic attraction, the unmanned aerial vehicle carries the suspension device to fly above the force bearing device to be aligned with the force bearing device in vivo, the height of the unmanned aerial vehicle is slowly lowered, and the suspension device is lowered to the top surface of the fixed ring along the frustum-shaped limiting guide sleeve by virtue of the magnetic attraction of the electromagnet and the magnet connecting sleeve, so that the suspension device is in close contact with the force bearing device.
The first driving motor drives the transmission gear to push or withdraw from the screw connection of the rotary screw rod and the magnet connecting sleeve in forward and reverse directions, or the second driving motor drives the rotary screw rod to push or withdraw from the screw connection of the magnet connecting sleeve in forward and reverse directions through the driving bevel gear and the driven bevel gear, so that the unmanned aerial vehicle carries the connected suspension device and the bearing device to lift or return, and the fixed-point automatic throwing and withdrawing of tools and materials at the working position are completed.
By arranging the first driving motor or the second driving motor with remote control function and capable of operating positively and negatively, the operation of the first driving motor or the second driving motor can be controlled on the ground, and the forward rotation and the reverse rotation are realized, so that the rotary screw rod is pushed and withdrawn reversely to be in threaded connection with the magnet connecting sleeve, and the effective control is realized.
The device and the method of the invention realize the functions of suspending tools, flying materials to the towers and wires at the operation positions of ultra-high and ultra-high voltage transmission lines and realizing fixed-point automatic throwing and withdrawing, reduce the labor intensity of maintenance operators, improve the safety coefficient of the operators, improve the operation efficiency and overcome the influence of adverse conditions such as mountain areas, water areas and the like on the operation.
The device has the advantages of simple structure, strong reliability, low cost, safety and reliability.
Drawings
FIG. 1 is a schematic diagram of the structure of the device of the present invention;
FIG. 2 is a schematic view of a suspension device of the apparatus according to the present invention;
FIG. 3 is a schematic view of a limiting guide sleeve structure of the device;
FIG. 4 is a schematic diagram of the front view of the force bearing device of the present invention;
FIG. 5 is a schematic view of a second embodiment of a suspension device of the apparatus of the present invention;
FIG. 6 is a schematic diagram of the meshing structure of the driving bevel gear and the driven bevel gear of the device of the invention;
FIG. 7 is a schematic view of the structure of the fixing sleeve of the device of the present invention;
FIG. 8 is a schematic diagram of the connection cross-section structure of the driven bevel gear and the fixed sleeve of the device.
In the drawings:
a 1-U-shaped supporting frame,
2-electromagnet,
3-hanging ring,
4-cross connecting plate,
5-threaded hole,
6-rotating screw rod,
7-fixing block,
8-a first driving motor,
9-transmission gear,
10-cover body,
11-a second driving motor,
12-driving bevel gear,
13-fixing sleeve,
14-driven bevel gear,
15-round base,
16-fixing ring,
17-limit guide sleeve,
18-bearing lifting hook,
19-magnet connecting sleeve,
20 connecting plates;
a 21 power supply;
22 bearings.
Detailed Description
Embodiment one:
as shown in fig. 1-4, the unmanned aerial vehicle external suspension device comprises a suspension device connected with the unmanned aerial vehicle and a bearing device arranged at the bottom of the suspension device and used for carrying tools and/or materials; and a driving device used for being connected with the bearing device is arranged in the suspension device.
The suspension device of the outer suspension device of the unmanned aerial vehicle comprises an inverted U-shaped supporting frame 1, an electromagnet 2 fixedly arranged at the bottom of the U-shaped supporting frame 1 and a hanging ring 3 fixedly arranged at the top of the U-shaped supporting frame 1 and connected with the unmanned aerial vehicle, wherein a cross connecting plate 4 is fixedly arranged on the inner wall of the electromagnet 2, a threaded hole 5 is arranged in the middle of the cross connecting plate 4, and a rotary screw rod 6 is in threaded connection with the threaded hole 5; a power supply 21 connected with the electromagnet 2 is arranged on the inner side of one side frame of the U-shaped supporting frame 1, and a control switch is arranged on the power supply 21; the driving device is fixedly arranged on the inner side of the other frame of the U-shaped supporting frame 1 and drives the rotary screw rod 6 to rotate; the force bearing device is connected with the electromagnet 2 and the rotary screw 6.
The driving device of the external suspension device of the unmanned aerial vehicle comprises a fixed block 7 fixedly arranged on the inner wall of a side frame of one side of a U-shaped supporting frame 1, a first driving motor 8 vertically and fixedly arranged on the side part of the fixed block 7, and a transfer gear 9 horizontally arranged at the bottom of a transmission shaft of the first driving motor 8; the transmission gear 9 is meshed with the rotary screw rod 6, and the first driving motor 8 drives the transmission gear 9 to correspondingly rotate forward and backward to enable the rotary screw rod 6 to push in threaded connection with the bearing device or withdraw from the bearing device reversely.
The bearing device of the unmanned aerial vehicle outer suspension device comprises a circular base 15, a fixed ring 16 fixedly arranged on the top surface of the circular base 15, a limiting guide sleeve 17 fixedly arranged on the edge of the top surface of the fixed ring 16 and a bearing lifting hook 18 fixedly arranged at the bottom of the circular base 15, wherein the limiting guide sleeve 17 is made of a non-magnetic material, and the inner diameter of the limiting guide sleeve 17 is larger than the outer diameter of an electromagnet 2; the middle part of the fixed ring 16 is fixedly provided with a magnetic magnet connecting sleeve 19, the inner wall of the magnet connecting sleeve 19 is provided with an internal thread matched with the rotary screw rod 6, when the electromagnet 2 of the suspension device is arranged on the top surface of the fixed ring 16, the electrified electromagnet 2 is attracted with the magnet connecting sleeve 19, the rotary screw rod 6 is coaxial with the magnet connecting sleeve 19, and the first driving motor 8 rotates positively to drive the transmission gear 9 so that the rotary screw rod 6 is pushed downwards to be in threaded connection with the magnet connecting sleeve 19.
According to the unmanned aerial vehicle outer suspension device, the connecting plates 20 are correspondingly arranged on the inner wall of the fixed ring 16, and the magnet connecting sleeve 19 is arranged between the two connecting plates 20.
The invention relates to an outer suspension device of an unmanned aerial vehicle; the first drive motor 8 and the second drive motor 11 are of the type: JGB37-520 miniature speed-reducing forward and backward brush speed-regulating DC motor 12V, which is provided with a ground remote controller.
The invention relates to a using method of an external suspension device of an unmanned aerial vehicle, which is characterized by comprising the following steps:
after the unmanned aerial vehicle is connected with the hanging ring 3 of the hanging device, the hanging device is aligned with the bearing device, the electromagnet 2 penetrates through the limiting guide sleeve 17, the bottom surface of the electromagnet 2 is aligned with and contacted with the top surface of the fixed ring 16, the first driving motor 8 is started, and the first driving motor 8 enables the rotary screw 6 to move downwards through the transmission gear 9 to be in threaded connection with the magnet connecting sleeve 19; hooking the tool and the material on the bearing hook 18;
step two, starting the unmanned aerial vehicle, carrying an external suspension device, a tool and a material to fly to a pole tower and a wire operation position, fixing the tool and the material on the pole tower and the wire, starting a first driving motor 8 to reversely drive a transmission gear 9 to exit the connection of a rotary screw 6 and a magnet connecting sleeve 19 through a ground control device, and then carrying the connected suspension device by the unmanned aerial vehicle to return to the ground to finish fixed-point automatic throwing of the tool and the material at the operation position;
when tools and materials are required to be withdrawn from high altitude after the operation is completed, firstly hooking the tools and the materials at the high altitude on a bearing lifting hook 18 at the bottom of a bearing device, and after the unmanned aerial vehicle is connected with a lifting ring 3 of a suspension device, firstly starting a power supply 21 control switch of an electromagnet 2 to enable the electromagnet 2 to be electrified to generate magnetic attraction, and starting the unmanned aerial vehicle to carry the suspension device to fly to the vicinity of the operation position;
step four: the ground control finely adjusts the position of the unmanned aerial vehicle, so that the suspension device is generally aligned with the bearing device, then the unmanned aerial vehicle slowly descends to the height, the suspension device descends to the top surface of the fixed ring 16 along the limiting guide sleeve 17 by means of the magnetic attraction of the electromagnet 2 and the magnet connecting sleeve 19, the suspension device is tightly contacted with the bearing device, the first driving motor 8 is started, and the first driving motor 8 enables the rotary screw 6 to move downwards through the transmission gear 9 to be in threaded connection with the magnet connecting sleeve 19; the unmanned aerial vehicle takes off, and the bearing device connected with the suspension device carries high-altitude tools and materials to return to the ground, so that the fixed-point automatic recovery of the tools and the materials is completed.
Embodiment two:
as shown in fig. 4-8, the outer suspension device of the unmanned aerial vehicle comprises a suspension device connected with the unmanned aerial vehicle and a bearing device arranged at the bottom of the suspension device and used for carrying tools and/or materials; and a driving device used for being connected with the bearing device is arranged in the suspension device.
The suspension device of the outer suspension device of the unmanned aerial vehicle comprises an inverted U-shaped supporting frame 1, an electromagnet 2 fixedly arranged at the bottom of the U-shaped supporting frame 1 and a hanging ring 3 fixedly arranged at the top of the U-shaped supporting frame 1 and connected with the unmanned aerial vehicle, wherein a cross connecting plate 4 is fixedly arranged on the inner wall of the electromagnet 2, a threaded hole 5 is arranged in the middle of the cross connecting plate 4, and a rotary screw rod 6 is in threaded connection with the threaded hole 5; a power supply 21 connected with the electromagnet 2 is arranged on the inner side of one side frame of the U-shaped supporting frame 1, and a control switch is arranged on the power supply 21; the driving device is fixedly arranged on the inner side of the other frame of the U-shaped supporting frame 1 and drives the rotary screw rod 6 to rotate; the force bearing device is connected with the electromagnet 2 and the rotary screw 6.
The driving device of the unmanned aerial vehicle external suspension device comprises a cover body 10 fixedly arranged on an electromagnet 2, a second driving motor 11 obliquely and fixedly arranged in the cover body 10, a driving bevel gear 12 fixedly arranged on a transmission shaft of the second driving motor 11, a bearing 22 fixedly arranged at the bottom of a beam of an inverted U-shaped supporting frame 1 on the outer ring, a fixed sleeve 13 fixedly arranged on the inner ring of the bearing 22 and a driven bevel gear 14 fixedly arranged at the bottom of the fixed sleeve 13, wherein the driving bevel gear 12 is meshed with the driven bevel gear 14, threads are arranged on the inner ring of the driven bevel gear 14, and the rotating screw 6 is in threaded connection with the inner ring threads of the driven bevel gear 14; the upper gap of the rotary screw 6 is arranged in the fixed sleeve 13, the second driving motor 11 drives the driving bevel gear 12 and the driven bevel gear 14 which are meshed with each other in forward and reverse directions, the rotary screw 6 is driven to be in screw connection with the bearing device or to be out of the bearing device in reverse directions, and the fixed sleeve 13 and the driven bevel gear 14 synchronously rotate.
The bearing device of the unmanned aerial vehicle outer suspension device comprises a circular base 15, a fixed ring 16 fixedly arranged on the top surface of the circular base 15, a limiting guide sleeve 17 fixedly arranged on the edge of the top surface of the fixed ring 16 and a bearing lifting hook 18 fixedly arranged at the bottom of the circular base 15, wherein the limiting guide sleeve 17 is made of a non-magnetic material, and the inner diameter of the limiting guide sleeve 17 is larger than the outer diameter of an electromagnet 2; the middle part of the fixed ring 16 is fixedly provided with a magnetic magnet connecting sleeve 19, the inner wall of the magnet connecting sleeve 19 is provided with an internal thread matched with the rotary screw rod 6, when the electromagnet 2 of the suspension device is arranged on the top surface of the fixed ring 16, the electrified electromagnet 2 is attracted with the magnet connecting sleeve 19, the rotary screw rod 6 is coaxial with the magnet connecting sleeve 19, and the second driving motor 11 rotates positively to drive the driving bevel gear 12 and the driven bevel gear 14 to rotate so as to drive the rotary screw rod 6 to push downwards and be in threaded connection with the magnet connecting sleeve 19.
According to the unmanned aerial vehicle outer suspension device, the connecting plates 20 are correspondingly arranged on the inner wall of the fixed ring 16, and the magnet connecting sleeve 19 is arranged between the two connecting plates 20.
According to the unmanned aerial vehicle outer suspension device, the limiting guide sleeve 17 is in a frustum shape, the inner diameter of the upper opening is larger than that of the bottom opening, and the inner diameter of the bottom opening is slightly larger than the outer diameter of the electromagnet 2.
The invention relates to an outer suspension device of an unmanned aerial vehicle; the first drive motor 8 and the second drive motor 11 are of the type: JGB37-520 miniature speed-reducing forward and backward brush speed-regulating DC motor 12V, which is provided with a ground remote controller.
The invention relates to a using method of an external suspension device of an unmanned aerial vehicle, which is characterized by comprising the following steps:
after the unmanned aerial vehicle is connected with the hanging ring 3 of the hanging device, the hanging device is aligned with the bearing device, the electromagnet 2 passes through the frustum-shaped limiting guide sleeve 17, the bottom surface of the electromagnet 2 is aligned with and contacted with the top surface of the fixed ring 16, the second driving motor 11 is started, and the second driving motor 11 enables the rotary screw 6 to move downwards through the driving bevel gear 12 and the driven bevel gear 14 to be in threaded connection with the magnet connecting sleeve 19; then hooking the tools and materials on the bearing hooks 18;
step two, starting the unmanned aerial vehicle, carrying an external suspension device, tools and materials to fly to a pole tower and a wire operation position, fixing the tools and the materials on the pole tower and the wire, starting a second driving motor 11 to reversely drive a driving bevel gear 12 and a driven bevel gear 14 to exit the connection of a rotary screw 6 and a magnet connecting sleeve 19 through a ground control device, and then carrying the connected suspension device by the unmanned aerial vehicle to return to the ground to finish fixed-point automatic throwing of the tools and the materials at the operation position;
when tools and materials are required to be withdrawn from high altitude after the operation is completed, firstly hooking the tools and the materials at the high altitude on a bearing lifting hook 18 at the bottom of a bearing device, and after the unmanned aerial vehicle is connected with a lifting ring 3 of a suspension device, firstly starting a control switch of a power supply 21 of an electromagnet 2 to enable the electromagnet 2 to be electrified to generate magnetic attraction, starting the unmanned aerial vehicle, and carrying the suspension device to fly to the vicinity of the operation position;
step four: the ground control finely adjusts the position of the unmanned aerial vehicle, so that the suspension device is generally aligned with the bearing device, then the unmanned aerial vehicle slowly descends to the height, the suspension device descends to the top surface of the fixed ring 16 along the frustum-shaped limiting guide sleeve 17 by means of the magnetic attraction of the electromagnet 2 and the magnet connecting sleeve 19, the suspension device is tightly contacted with the bearing device, the second driving motor 11 is started, and the second driving motor 11 enables the rotary screw 6 to move downwards through the driving bevel gear 12 and the driven bevel gear 14 to be in threaded connection with the magnet connecting sleeve 19; the unmanned aerial vehicle takes off, and the bearing device connected with the suspension device carries high-altitude tools and materials to return to the ground, so that the fixed-point automatic recovery of the tools and the materials is completed.
When tools and materials are retracted from the high altitude after the operation is completed by using the device, as the power supply 21 of the electromagnet 2 has switch control, the power switch of the electromagnet 2 is turned on the ground to enable the electromagnet to have magnetic attraction, the unmanned aerial vehicle carries the suspension device to fly above the bearing device to be aligned with the bearing device in vivo, the height of the unmanned aerial vehicle is slowly lowered, and the suspension device is lowered to the top surface of the fixed ring 16 along the frustum-shaped limit guide sleeve 17 by virtue of the magnetic attraction of the electromagnet 2 and the magnet connecting sleeve 19, so that the suspension device is in close contact with the bearing device
The first driving motor 8 drives the transmission gear 9 to push or withdraw from the screw connection of the rotary screw 6 and the magnet connecting sleeve 19 in forward and reverse directions, or the second driving motor 11 pushes or withdraws from the screw connection of the rotary screw 6 and the magnet connecting sleeve 19 in forward and reverse directions through the driving bevel gear 12 and the driven bevel gear 14, so that the unmanned aerial vehicle carries a connected suspension device and a force bearing device to lift or return, and the fixed-point automatic throwing and withdrawing of tools and materials at the operation position are completed;
by arranging the first driving motor 8 or the second driving motor 11 which has a remote control function and can run forward and backward, the running of the first driving motor 8 or the second driving motor can be controlled on the ground, forward rotation and backward rotation are realized, and the rotating screw rod 6 is pushed forward and backward to be withdrawn and is in threaded connection with the magnet connecting sleeve 19, so that effective control is realized.
The device and the method of the invention realize the functions of suspending tools, flying materials to the towers and wires at the operation positions of ultra-high and ultra-high voltage transmission lines and realizing fixed-point automatic throwing and withdrawing, reduce the labor intensity of maintenance operators, improve the safety coefficient of the operators, improve the operation efficiency and overcome the influence of adverse conditions such as mountain areas, water areas and the like on the operation.
The device has the advantages of simple structure, strong reliability, low cost, safety and reliability.
Finally, it should be understood that the foregoing description is merely illustrative of the preferred embodiments of the present invention, and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents or improvements may be made within the spirit and principles of the invention.
Claims (7)
1. An unmanned aerial vehicle external suspension device is characterized by comprising a suspension device connected with the bottom of an unmanned aerial vehicle and a bearing device arranged at the bottom of the suspension device and used for carrying tools and/or materials;
a driving device used for being connected with the bearing device is arranged in the suspension device;
the suspension device comprises an inverted U-shaped supporting frame (1), an electromagnet (2) fixedly installed at the bottom of the U-shaped supporting frame (1) and a hanging ring (3) fixedly installed at the top of the U-shaped supporting frame (1) and connected with the unmanned aerial vehicle, wherein a cross connecting plate (4) is fixedly installed on the inner wall of the electromagnet (2), a threaded hole (5) is formed in the middle of the cross connecting plate (4), and a rotary screw (6) is connected with the threaded hole (5) in a threaded manner; a power supply (21) connected with the electromagnet (2) is arranged at the inner side of one side frame of the U-shaped supporting frame (1), and a control switch is arranged on the power supply (21);
the driving device is fixedly arranged on the inner side of the other frame of the U-shaped supporting frame (1) and drives the rotary screw (6) to rotate;
the bearing device is connected with the electromagnet (2) and the rotary screw (6);
the driving device comprises a fixed block (7) fixedly arranged on the inner side of the frame on the other side of the U-shaped supporting frame (1), a first driving motor (8) vertically and fixedly arranged on the side part of the fixed block (7), and a transmission gear (9) horizontally arranged at the bottom of the transmission shaft of the first driving motor (8); the transmission gear (9) is meshed with the rotary screw (6), and the first driving motor (8) drives the transmission gear (9) to correspondingly rotate forward and backward so that the rotary screw (6) is pushed to be in threaded connection with the bearing device or reversely withdraw from the bearing device;
or:
the driving device comprises a cover body (10) fixedly arranged on the electromagnet (2), a second driving motor (11) obliquely and fixedly arranged in the cover body (10), a driving bevel gear (12) fixedly arranged on a transmission shaft of the second driving motor (11), a bearing (22) fixedly arranged at the bottom of a cross beam of the inverted U-shaped supporting frame (1) on the outer ring, a fixed sleeve (13) fixedly arranged on the inner ring of the bearing (22) and a driven bevel gear (14) fixedly arranged at the bottom of the fixed sleeve (13), wherein the driving bevel gear (12) is meshed with the driven bevel gear (14), threads are arranged on the inner ring of the driven bevel gear (14), and the rotating screw (6) is in threaded connection with the inner ring of the driven bevel gear (14);
the upper gap of the rotary screw (6) is arranged in the fixed sleeve (13), the second driving motor (11) drives the driving bevel gear (12) and the driven bevel gear (14) which are meshed with each other in a forward and reverse rotation way, the rotary screw (6) is pushed to be in threaded connection with the bearing device or is reversely withdrawn from the bearing device, and the fixed sleeve (13) and the driven bevel gear (14) synchronously rotate.
2. The unmanned aerial vehicle external suspension device according to claim 1, wherein the force-bearing device comprises a circular base (15), a fixed ring (16) fixedly arranged on the top surface of the circular base (15), a limiting guide sleeve (17) fixedly arranged on the edge of the top surface of the fixed ring (16) and a force-bearing lifting hook (18) fixedly arranged at the bottom of the circular base (15), and the inner diameter of the limiting guide sleeve (17) is larger than the outer diameter of the electromagnet (2);
the middle part fixed mounting of retainer plate (16) has magnetic magnet adapter sleeve (19), magnet adapter sleeve (19) inner wall sets up the internal thread that matches with rotatory screw rod (6), when suspension device's electro-magnet (2) set up in retainer plate (16) top surface, circular telegram electro-magnet (2) and magnet adapter sleeve (19) actuation, and rotatory screw rod (6) are coaxial with magnet adapter sleeve (19), first driving motor (8) forward rotation drives transfer gear (9) and makes rotatory screw rod (6) advance with magnet adapter sleeve (19) spiro union, or second driving motor (11) forward rotation makes initiative helical gear (12) and driven helical gear (14) rotate and drives rotatory screw rod (6) advance with magnet adapter sleeve (19) spiro union.
3. An outer suspension device for an unmanned aerial vehicle according to claim 2, wherein the magnet connecting sleeves (19) are mounted between the two connecting plates (20) in the corresponding mounting connecting plates (20) on the inner wall of the fixing ring (16).
4. An outer suspension device of an unmanned aerial vehicle according to claim 3, wherein the limiting guide sleeve (17) is in a conical shape, the inner diameter of the upper opening of the limiting guide sleeve is larger than the inner diameter of the bottom opening, and the inner diameter of the bottom opening is slightly larger than the outer diameter of the electromagnet (2).
5. An unmanned aerial vehicle external suspension device according to claim 2, wherein the first drive motor (8) and the second drive motor (11) are of the type: JGB37-520 miniature speed-reducing forward and backward brush speed-regulating DC motor 12V, which is provided with a ground remote controller.
6. A method of using an external suspension device for a drone according to any one of claims 1 to 5, characterized by the following steps:
after the unmanned aerial vehicle is connected with the hanging ring (3) of the hanging device, the hanging device is aligned with the bearing device, the electromagnet (2) penetrates through the limiting guide sleeve (17) to enable the bottom surface of the electromagnet (2) to be aligned with and contact with the top surface of the fixed ring (16), the first driving motor (8) is started, and the first driving motor (8) enables the rotary screw (6) to move downwards through the transmission gear (9) to be in threaded connection with the magnet connecting sleeve (19);
then hooking the tools and materials on a bearing lifting hook (18);
step two, starting the unmanned aerial vehicle, carrying an external suspension device, tools and materials to fly to a pole tower and a wire operation position, fixing the tools and the materials on the pole tower and the wire, starting a first driving motor (8) to reversely drive a transmission gear (9) to exit the connection of a rotary screw (6) and a magnet connecting sleeve (19) through a ground control device, and then carrying the connected suspension device by the unmanned aerial vehicle to return to the ground to finish fixed-point automatic throwing of the tools and the materials at the operation position;
when tools and materials are required to be withdrawn from high altitude after the operation is completed, firstly hooking the tools and the materials at the high altitude on a bearing lifting hook (18) at the bottom of a bearing device, and after the unmanned aerial vehicle is connected with a lifting ring (3) of a suspension device, firstly starting a control switch of a power supply (21) of an electromagnet (2) to enable the electromagnet (2) to be electrified to generate magnetic attraction, and starting the unmanned aerial vehicle to carry the suspension device to fly to the vicinity of the operation position;
step four: the ground control finely adjusts the position of the unmanned aerial vehicle, so that the suspension device is generally aligned with the bearing device, then the unmanned aerial vehicle slowly descends to the height, the suspension device descends to the top surface of the fixed ring (16) along the limiting guide sleeve (17) by means of the magnetic attraction of the electromagnet (2) and the magnet connecting sleeve (19), the suspension device is tightly contacted with the bearing device, the first driving motor (8) is started, and the first driving motor (8) enables the rotary screw (6) to move downwards through the transmission gear (9) to be in threaded connection with the magnet connecting sleeve (19); the unmanned aerial vehicle takes off, and the bearing device connected with the suspension device carries high-altitude tools and materials to return to the ground, so that the fixed-point automatic recovery of the tools and the materials is completed.
7. A method of using an external suspension device for a drone according to any one of claims 1 to 5, characterized by the following steps:
after the unmanned aerial vehicle is connected with the hanging ring (3) of the hanging device, the hanging device is aligned with the bearing device, the electromagnet (2) penetrates through the frustum-shaped limiting guide sleeve (17) to enable the bottom surface of the electromagnet (2) to be aligned with and contact with the top surface of the fixed ring (16), the second driving motor (11) is started, and the second driving motor (11) enables the rotary screw (6) to move downwards through the driving bevel gear (12) and the driven bevel gear (14) to be in threaded connection with the magnet connecting sleeve (19); then hooking the tools and materials on a bearing lifting hook (18);
step two, starting the unmanned aerial vehicle, carrying an external suspension device, tools and materials to fly to a pole tower and a wire operation position, fixing the tools and the materials on the pole tower and the wire, starting a second driving motor (11) to reversely drive a driving bevel gear (12) and a driven bevel gear (14) to exit the connection of a rotating screw (6) and a magnet connecting sleeve (19) through a ground control device, and then carrying the connected suspension device by the unmanned aerial vehicle to return to the ground to finish fixed-point automatic throwing of the tools and the materials at the operation position;
when tools and materials are required to be withdrawn from high altitude after the operation is completed, firstly hooking the tools and the materials at the high altitude on a bearing lifting hook (18) at the bottom of a bearing device, and after the unmanned aerial vehicle is connected with a lifting ring (3) of a suspension device, firstly starting a power supply (21) of an electromagnet (2) to control a switch so that the electromagnet (2) is electrified to generate magnetic attraction, and starting the unmanned aerial vehicle to carry the suspension device to fly to the vicinity of the operation position;
step four: the ground control finely adjusts the position of the unmanned aerial vehicle, so that the suspension device is generally aligned with the bearing device, then the unmanned aerial vehicle is slowly lowered to a height, the suspension device is lowered to the top surface of the fixed ring (16) along the frustum-shaped limiting guide sleeve (17) by means of the magnetic attraction of the electromagnet (2) and the magnet connecting sleeve (19), the suspension device is tightly contacted with the bearing device, the second driving motor (11) is started, and the second driving motor (11) enables the rotary screw (6) to move downwards through the driving bevel gear (12) and the driven bevel gear (14) to be in threaded connection with the magnet connecting sleeve (19); the unmanned aerial vehicle takes off, and the bearing device connected with the suspension device carries high-altitude tools and materials to return to the ground, so that the fixed-point automatic recovery of the tools and the materials is completed.
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