CN106505468A - Processing method for foreign body on the line of fall apparatus for work and wire of double-end pulley - Google Patents
Processing method for foreign body on the line of fall apparatus for work and wire of double-end pulley Download PDFInfo
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- CN106505468A CN106505468A CN201611123437.XA CN201611123437A CN106505468A CN 106505468 A CN106505468 A CN 106505468A CN 201611123437 A CN201611123437 A CN 201611123437A CN 106505468 A CN106505468 A CN 106505468A
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- double
- gripper jaw
- end pulley
- foreign body
- unmanned plane
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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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Abstract
The invention provides on a kind of line of fall apparatus for work and wire for double-end pulley foreign body processing method, the grabber that described device is included unmanned plane and is connected with unmanned plane；Grabber includes two clamping devices of steering wheel and both sides that are relative and being symmetricly set on steering wheel, the start and stop of unmanned function control flaps machine；Each clamping device includes the cradle head and gripper jaw that least one set connects from top to bottom respectively, one end of cradle head rotationally can be connected with steering wheel, the other end of cradle head rotationally can be connected with one end of gripper jaw, and the other end of gripper jaw extends towards the centrage of steering wheel；Each cradle head rotates servo driving, drives the other end of each gripper jaw gradually inwardly to tighten up, penetrates and link up with and hook double-end pulley；Each cradle head rotates backward servo driving, drives the other end of each gripper jaw to expand outwardly and separate with hook.The double-end pulley of the present invention can easily reach optional position, improve the efficiency for removing foreign body, it is to avoid artificial climbing tower.
Description
Technical field
The present invention relates to the technical field of high-tension line operation, more particularly to a kind of line of fall operation dress for double-end pulley
Put, and method foreign body on wire processed using the device.
Background technology
With the fast development of national economy, electric load demand constantly increases, the length of high-tension overhead line and close
Degree is consequently increased, and the therefore foreign body winding on overhead transmission line also occurs again and again, and the foreign body wound on overhead transmission line mainly has
Kite, balloon, plastic bag etc., have when serious plastic crop greenhouse nylon film rolled by wind after, float and hang over power transmission line
Lu Shang.
Hung foreign body on wire or ground wire, can reduce wire over the ground, the safe distance of wire and ground wire and biphase
Between phase spacing, shorted to earth or phase fault can be caused at any time, line tripping or permanent fault is caused, in dense fog or
Person mao mao's rainy day is especially common.From the foregoing, it will be observed that the foreign body on overhead transmission line can threaten the security reliability that circuit runs,
Foreign body is removed in time, to preventing power grid accident to be of great practical significance.
In order to ensure transmission line safety stable operation, power supply reliability and reduce the unplanned frequency of power cut of equipment, remove
Being generally during foreign body under electriferous state is carried out, i.e., the method with electrical clean-up foreign body.Powered dismounting matter method is at present：With ground wire
For passage, foreign body removal tool is delivered at the foreign body on wire or ground wire with double-end pulley, then moved horizontally along line direction
Foreign body is removed by foreign body removal tool.
The work efficiency of the powered foreign body dismounting method of tradition is relatively low, through analysis, affects the main cause following points of efficiency,
First, in the method, foreign body removal tool is placed into double-end pulley on single ground wire by artificial climbing tower first, can only be from ground
The initiating terminal of line starts to run to foreign body position, when double-end pulley walking is mobile, it is impossible to the quick foreign body solved on split conductor.
Second, the operation difficulty of the method is big, time-consuming for artificial climbing tower, efficiency is low.Finally, hand in operation field across complicated situation
Under, move horizontally removing foreign body particularly difficult.
Content of the invention
The optional position of circuit cannot be easily reached for solving double-end pulley, and the efficiency for removing foreign body on circuit is low, tired
Difficult big technical problem, the present invention propose a kind of line of fall apparatus for work for double-end pulley, and foreign body on a kind of wire
Processing method, reliably captures double-end pulley by unmanned plane, and the double-end pulley line of fall is positioned over close on wire or ground wire
The optional position of foreign body, improves the efficiency for removing foreign body, it is to avoid artificial climbing tower.
The present invention proposes a kind of line of fall apparatus for work for double-end pulley, and the line of fall operation for double-end pulley is filled
Put the grabber being connected including unmanned plane and with the unmanned plane；
The grabber includes that steering wheel and two clamping devices, two clamping devices are oppositely arranged and are symmetrically distributed in
The both sides of the steering wheel, the unmanned plane are electrically connected with the steering wheel and can control the start and stop of the steering wheel；
Each clamping device includes the cradle head and gripper jaw that least one set is sequentially connected from top to bottom respectively, described
Cradle head and the gripper jaw are vertically arranged；One end of the cradle head rotationally can be connected with the steering wheel, institute
State the other end of cradle head to be rotationally connected with one end of the gripper jaw, the other end of the gripper jaw is towards the steering wheel
Centrage extend；
The steering wheel is started by the unmanned plane, each cradle head rotates for the servo driving, and drives respectively
The other end of each gripper jaw is gradually inwardly tightened up, and the other end of each gripper jaw penetrates the hook of double-end pulley, until
The double-end pulley can be hooked；Rotated backward by each cradle head of the servo driving, and drive each folder respectively
The other end for holding pawl is gradually expanded outwardly, until separating with the hook.
Further, each clamping device also includes the gangbar of an at least horizontally set, the two of the gangbar
End can rotationally be connected to the middle part of the relative gripper jaw in each clamping device respectively.
Further, one end of each cradle head can be turned with the steering wheel respectively by horizontally disposed first rotating shaft
Connect dynamicly, the other end of each cradle head by horizontally disposed second rotating shaft respectively with the corresponding gripper jaw
One end rotationally can connect.
Further, row's anti-slop serrations are vertically set on the medial surface of the bottom of each gripper jaw.
Further, the unmanned plane includes that main frame nacelle, the steering wheel are connected on the bottom surface of the main frame nacelle.
Further, the line of fall apparatus for work for double-end pulley also includes photographic head, and the photographic head is arranged
On the bottom surface of the main frame nacelle, and towards the grabber.
Further, the other end of each gripper jaw is in aduncate hook-shaped.
The present invention also proposes a kind of processing method of foreign body on wire, is filled using the above-mentioned line of fall operation for double-end pulley
Put, on the wire, the processing method of foreign body comprises the steps：
Step S10, starts steering wheel by operating unmanned plane, and each cradle head rotates for the servo driving, and drives respectively
The other end of each gripper jaw is gradually inwardly tightened up, and the other end of each gripper jaw penetrates the hook of double-end pulley, the double end
Coaster is hooked on the gripper jaw；Piece insulating cord of winding on the lower sheave of the double-end pulley, UAV flight's grabber,
The double-end pulley and the insulating cord synchronously take off, the position that the unmanned plane is located near foreign body on wire or ground wire；
Step S20, the unmanned plane continue flight, until the double-end pulley is near ground wire, operates the unmanned plane, make
The top sheave of the double-end pulley is hooked on the ground wire；Each cradle head rotates backward for the servo driving, and point
The other end of each gripper jaw is not driven gradually to expand outwardly, each gripper jaw is separated with the hook, completes the line of fall；
Step S30, pulls foreign body cleanout tool to be gradually increasing by the insulating cord, until the foreign body cleanout tool is leaned on
Near and remove the foreign body.
Further, also include step S15 between step S10 and step S20, the unmanned plane hovering,
The relative position that the ground wire and the double-end pulley are observed by the photographic head being arranged on the unmanned plane.
Further, also include step S40 after step S30, grabber described in the UAV flight, described
Double-end pulley, the insulating cord and the foreign body cleanout tool synchronously return to ground.
The present invention is compared to the beneficial effect of prior art：Line of fall operation for double-end pulley proposed by the present invention
Device, double-end pulley can easily be carried to the optional position up to circuit by unmanned plane.Avoid in traditional work, double end
The problem that coaster can only be walked from the initiating terminal of circuit, and can be conveniently used on split conductor, it is also possible in operation
Hand in scene and use in the case of complexity.
Grabber can effectively and reliably capture double-end pulley by cradle head and gripper jaw.In addition, arranging linkage
Bar, it is ensured that two gripper jaw energy synchronous axial systems of its two ends connection, improves clamping device accuracy of action, it is ensured that have
Effect crawl.
The processing method of foreign body on wire proposed by the present invention, reliably captures double-end pulley by unmanned plane, and will be double
The head coaster line of fall is positioned on wire or ground wire the optional position near foreign body, improves the efficiency for removing foreign body, it is to avoid people
Work climbing tower, saves the time, improves efficiency, it is ensured that the livewire work of safety.Hand in operation field across complicated situation
Under, double-end pulley only needs to move horizontally less distance, you can removes foreign body, reduces task difficulty.
Description of the drawings
Fig. 1 is the schematic perspective view of the line of fall apparatus for work for double-end pulley of the present invention；
Fig. 2 is the schematic front view of the line of fall apparatus for work for double-end pulley of the present invention；
Fig. 3 is the schematic top plan view of the line of fall apparatus for work for double-end pulley of the present invention；
Fig. 4 is the schematic front view of the grabber of the line of fall apparatus for work for double-end pulley of the present invention；
Fig. 5 is schematic front view of the processing method of foreign body on the wire of the present invention after the double-end pulley line of fall；
Fig. 6 is the schematic front view of the unmanned plane near foreign body on wire of the processing method of foreign body on the wire of the present invention；
Fig. 7 is the schematic top plan view of the unmanned plane near foreign body on wire of the processing method of foreign body on the wire of the present invention.
Reference：
100- is used for the line of fall apparatus for work of double-end pulley；
10- unmanned planes；12- main frame nacelles；
20- grabbers；22- steering wheels；
24- clamping devices；242- cradle heads；244- gripper jaws；
245- anti-slop serrations；246- gangbar；
26- first rotating shafts；The second rotating shafts of 28-；
30- photographic head；
200- double-end pulleys；210- is linked up with；220- top sheaves；230- lower sheaves；
300- insulating cords；
1- ground wires；2- wires；3- foreign bodies.
Specific embodiment
Below in conjunction with accompanying drawing, above-mentioned technical characteristic of the invention and advantage are clearly and completely described, it is clear that institute
The embodiment of description section Example only of the invention, rather than whole embodiments.
Refer to shown in Fig. 1 to Fig. 3, the present invention proposes a kind of line of fall apparatus for work 100 for double-end pulley, for double
The line of fall apparatus for work 100 of head coaster includes that unmanned plane 10 and grabber 20, grabber 20 are connected with unmanned plane 10.Refer to figure
Shown in 4, grabber 20 includes that steering wheel 22 and two clamping devices 24, two clamping devices 24 are oppositely arranged, and two clamping machines
Structure 24 is symmetrically distributed in the both sides of steering wheel 22, and unmanned plane 10 is electrically connected with steering wheel 22 and can control the start and stop of steering wheel 22.Steering wheel 22
Driving force is provided for grabber 20, it is ensured which has enough grasp forces.
Each clamping device 24 includes the cradle head 242 and gripper jaw 244 that least one set is sequentially connected from top to bottom respectively,
Cradle head 242 and gripper jaw 244 are vertically arranged.One end of cradle head 242 rotationally can be connected with steering wheel 22, rotate
The other end in joint 242 rotationally can be connected with one end of gripper jaw 244, the center of the other end of gripper jaw 244 towards steering wheel 22
Line extends.As shown in figure 4, the other end (i.e. the lower end of gripper jaw 244) of gripper jaw 244 is gradually drawn in inwardly.
Steering wheel 22 is started by unmanned plane 10, steering wheel 22 drives each cradle head 242 to rotate, and each cradle head 242 is distinguished
The other end of each gripper jaw 244 is driven gradually inwardly to tighten up, incorporated by reference to shown in Fig. 2 and Fig. 5, the other end of each gripper jaw 244 is worn
Enter the hook 210 of double-end pulley 200, until double-end pulley 200 can be hooked.Drive each cradle head 242 reverse by steering wheel 22
Rotate, each cradle head 242 drives the other end of each gripper jaw 244 gradually to expand outwardly respectively, until separating with hook 210.
The line of fall apparatus for work 100 for double-end pulley of the present invention, double-end pulley 200 can pass through 10 convenience of unmanned plane
Be carried to up to circuit optional position.Avoid in traditional work, double-end pulley 200 can only be walked from the initiating terminal of circuit
Problem, and can be conveniently used on split conductor, it is also possible to hand in operation field and use in the case of complexity.Grab
Take device 20 and double-end pulley 200 can effectively and reliably be captured by cradle head 242 and gripper jaw 244.
As depicted in figs. 1 and 2, in the present embodiment, each clamping device 24 is respectively provided with four groups of cradle heads 242 and gripper jaw
244, the clamping device 24 on the clamping device 24 in left side and right side forms a mechanical hand respectively, two clamping devices 24 (two
Mechanical hand) hook 210 for closing 200 the top of double-end pulley is inwardly grabbed, so as to hook double-end pulley 200.As shown in figure 4, each
One group of cradle head 242 and gripper jaw 244 in clamping device 24, forms the finger of a mechanical hand respectively.
More preferably, each clamping device 24 includes at least two groups cradle heads 242 being sequentially connected from top to bottom and folder respectively
Pawl 244 is held, each clamping device 24 forms the clamping device 24 on the finger of at least two mechanical hands, left side and right side at least respectively
Four fingers, it is ensured that reliably, effectively grab conjunction.
Further, as shown in figure 4, each clamping device 24 also includes the gangbar 246 of an at least horizontally set, linkage
The two ends of bar 246 can rotationally be connected to the middle part of relative gripper jaw 244 in each clamping device 24 respectively.That is, connection
One end of lever 246 can rotationally be connected to the middle part of the gripper jaw 244 of one of clamping device 24, and its other end can be rotated
Be connected to the middle part of relative with the gripper jaw 244 gripper jaw 244 in another clamping device 24.Gangbar 246 ensure that
Two gripper jaws, the 244 energy synchronous axial system of its two ends connection, improves 24 accuracy of action of clamping device, it is ensured that effectively grab
Take.
Further, as shown in figure 4, one end of each cradle head 242 by horizontally disposed first rotating shaft 26 respectively with
Steering wheel 22 rotationally can connect, the other end of each cradle head 242 by horizontally disposed second rotating shaft 28 respectively with corresponding
One end of gripper jaw 244 rotationally can connect, and each cradle head 242 and each gripper jaw 244 is rotated in perpendicular.
Further, as shown in figure 4, vertically arranging row's anti-slop serrations on the medial surface of the bottom of each gripper jaw 244
245.Anti-slop serrations 245 improve the frictional resistance between hook 210 and each gripper jaw 244, make each gripper jaw for penetrating hook 210
244 will not skid, it is ensured that effectively clamp.
Further, unmanned plane 10 includes that main frame nacelle 12, steering wheel 22 are connected on the bottom surface of main frame nacelle 12.More excellent
Ground, grabber 20 vertically downward, ensure after 10 gear up of unmanned plane that double-end pulley 20 is located at nothing installed in unmanned plane 10
Man-machine 10 extreme lower position.In the present embodiment, unmanned plane 10 adopts many rotor flight devices, many rotor flight devices mainly to include
Power platform, flight controller, communication apparatus, head and image collecting device and earth station's video-frequency monitor.Power platform master
To include main frame nacelle 12, rotor horn, electric cabin, outer protect-ing frame structure and fast-assembling detaching structure.Unmanned plane 10 belongs to existing skill
Art, in this not go into detail.
Grabber 20, can be connected by head link plate with certain independence installed in the bottom of unmanned plane 10, nobody
Machine 10 provides the special purpose interface of a PWM (pulse width modulation), for controlling grabber 20.Grabber 20 executes mechanical hand behaviour
Make to be related to whole device can effective control, smoothly and the crawl task of double-end pulley 200 can be efficiently completed, because
This, the design of grabber 20 (i.e. mechanical hand) seems particularly significant for whole mechanism.
Gripper jaw 244 is functionally similar to staff, is all the crawl for completing target object by contacting with each other.But gripper jaw
244 function and effect do not reach staff that precise requirements, its basic structure be generally dependent on the characteristic of effective object and
Job requirements.The version for treating the double-end pulley 200 of crawl is analyzed with Grasp Modes, before use requirement is met
Put, as far as possible material-saving, mitigate the weight of gripper jaw 244.
When being designed to grabber 20, the finger quantity of grabber 20 (i.e. mechanical hand), joint number is considered as
Amount and Grasp Modes etc..Grabber 20 is directly contacted with the hook 210 of double-end pulley 200, so sliding in crawl double end
When car 200, the size of the chucking power of grabber to be considered 20, it is to avoid because chucking power not enough takes off double-end pulley 200
Fall, cause damage or accident.
Grabber 20 executes 244 securing pothook 210 of gripper jaw of grasping movement by end, and is carried by unmanned plane 10 double
Head coaster 200 flies, and executes follow-up line of fall operation.Due to double-end pulley 200 weight and gripper jaw 244 clamping process
The vibration force of middle generation and inertia force, the gripper jaw 244 of mechanical hand must have certain chucking power, to prevent double-end pulley
200 drop during crawl.The steering wheel 22 of grabber 20 also provides enough driving forces, generally, mechanical hand
The clamping force of 244 grabbing workpiece of gripper jaw is 2～3 times of the driving force that steering wheel 22 is provided.
Each gripper jaw 244 (i.e. the finger of mechanical hand) crawl double-end pulley 200 during, the opening and closing of finger
Distance will be suitable for, so as to double-end pulley is captured smoothly, while the center of double-end pulley 200 is not during crawl
Too big skew can be produced.For making gripper jaw 244 keep relatively accurate position when double-end pulley 200 is captured, according to double end
Shape design suitable paw (gripper jaw 244) shape of coaster 200.
Further, refer to shown in Fig. 6, the line of fall apparatus for work 100 for double-end pulley also includes photographic head 30,
Photographic head 30 is arranged on the bottom surface of main frame nacelle 12, and towards grabber 20.In Fig. 6, A represents the visual angle of photographic head 30, so as to
The operator of unmanned plane 10 can be observed flight line of fall position from earth station's video-frequency monitor.More preferably, photographic head 30
For miniature camera or photographing unit.
Further, as shown in figure 4, the other end of each gripper jaw 244 is in aduncate hook-shaped.
As shown in figure 5, double-end pulley 200 includes hook 210, top sheave 220 and the lower sheave for setting gradually from top to bottom
230, top sheave 220 and 230 interval setting of lower sheave, both axis are mutually perpendicular to, top sheave 220 and lower sheave 230 it
Between connecting bracket is set, the side of connecting bracket arranges the passage penetrated for circuit.Double-end pulley 200 belongs to prior art,
This is no longer described in detail.
The present invention also proposes a kind of processing method of foreign body on wire, is filled using the above-mentioned line of fall operation for double-end pulley
100 are put, the processing method of foreign body comprises the steps on wire：
Step S10, starts steering wheel 22 by operating unmanned plane 10, and steering wheel 22 drives each cradle head 242 to rotate, and respectively
The other end of each gripper jaw 244 is driven gradually inwardly to tighten up, the other end of each gripper jaw 244 penetrates the hook of double-end pulley 200
210, double-end pulley 200 is hooked on gripper jaw 244；Refer to shown in Fig. 6 and Fig. 7, on the lower sheave 230 of double-end pulley 200
Piece insulating cord 300 of winding, unmanned plane 10 carry grabber 20, double-end pulley 200 and insulating cord 300 and synchronously take off, unmanned plane
10 positions being located near foreign body 3 on wire 2 or ground wire 1；In the present embodiment, foreign body 3 is located on wire 2；
Step S20, unmanned plane 10 continue flight, until double-end pulley 200 is near ground wire 1, operates unmanned plane 10, make double end
The top sheave 220 of coaster 200 is hooked on ground wire 1, as shown in Figure 5；Steering wheel 22 drives each cradle head 242 to rotate backward, and
The other end of each gripper jaw 244 is driven gradually to expand outwardly respectively, each gripper jaw 244 is separated with hook 210, completes the line of fall；
Step S30, pulls foreign body cleanout tool to be gradually increasing by insulating cord 300, until foreign body cleanout tool is near simultaneously
Remove foreign body 3.
The processing method of foreign body on the wire of the present invention, reliably captures double-end pulley 200 by unmanned plane 10, and will be double
Head 200 line of fall of coaster is positioned on wire 2 or ground wire 1 optional position near foreign body 3, improves the efficiency for removing foreign body 3, keeps away
Artificial climbing tower is exempted from, has saved the time, improve efficiency, it is ensured that the livewire work of safety.Hand over across complexity in operation field
In the case of, double-end pulley 200 only needs to move horizontally less distance, you can removes foreign body, reduces task difficulty.
The structure and using method of foreign body cleanout tool belongs to prior art, and in this not go into detail.The present embodiment
The foreign body cleanout tool of middle employing is in strip, and its two ends has burr, foreign body cleanout tool is fixed on insulating cord 300.Draw
Dynamic insulating cord 300, makes insulating cord 300 slide on lower sheave 230, until foreign body cleanout tool is near foreign body 3；Then by anti-
The multiple mode for pulling insulating cord 300 up and down, makes burr multiple-contact and hooks foreign body 3, so that foreign body 3 is attached on burr.
Further, also include step S15 between step S10 and step S20, as shown in fig. 6, unmanned plane 10 hovers,
The relative position that ground wire 1 and double-end pulley 200 are observed by the photographic head 30 being arranged on unmanned plane 10.
Further, also include step S40 after step S30, unmanned plane 10 carry grabber 20, double-end pulley 200,
Insulating cord 300 and foreign body cleanout tool synchronously return to ground.
The line of fall apparatus for work 100 for double-end pulley of the present invention can be used for transmission line of electricity, particularly high voltage power transmission
The livewire work of circuit.
Using the line of fall apparatus for work 100 for double-end pulley of the present invention, the place of foreign body on the wire of the present invention is carried out
The idiographic flow of reason method is：The hook 210 that double-end pulley 200 is caught using the grabber 20 of 10 bottom of unmanned plane, by double end
Coaster 200 is vertically picked up.Unmanned plane 10 carries photographic head 30, and operator manipulates nothing by radio controlled flight controller
Man-machine 10 take off, and unmanned plane 10 flies to two meters or so of ground flight controller and packs up undercarriage, in the case where photographic head 30 is aided in, with
The speed of 6 metre per second (m/s)s is close to nearby about ten meters or so of foreign bodies on transmission lines 3, then slowly flies close-target (foreign body 3).
When the height of the ground wire 1 reached above target, as shown in Figure 6 and Figure 7, can be hovered using rotor wing unmanned aerial vehicle 10
Characteristic, steadily hovering are easy to earth station operator to observe the position of unmanned plane 10 and ground wire 1 by photographic head 30, in distance
The position that five meters of foreign body starts the line of fall operation for executing double-end pulley 200.By the visual angle A of photographic head 30 judge ground wire 1 with double
The relative position of head coaster 200, the operator on ground are operated.After completing the line of fall, by 10 remotely control of unmanned plane
The gripper jaw 244 of grabber 20 is decontroled, and unmanned plane 10 is separated with double-end pulley 200, and unmanned plane 10 flies away from ground wire 1.
The insulating cord 300 on lower sheave 230 and the foreign body cleanout tool for bundling thereon are pulled to using double-end pulley 200 different
Height that thing 3 is located, drags double-end pulley 200 by insulating cord 300 and starts to walk on ground wire 1, and close foreign body 3 simultaneously carries out foreign body
Operation is removed, after completing prune job, the manipulation crawl double-end pulley 200 of unmanned plane 10 returns to ground.
Particular embodiments described above, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, it will be appreciated that the foregoing is only the specific embodiment of the present invention, the protection being not intended to limit the present invention
Scope.Particularly point out, to those skilled in the art, all within the spirit and principles in the present invention, done any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of line of fall apparatus for work for double-end pulley, it is characterised in that the line of fall operation for double-end pulley is filled
Put the grabber being connected including unmanned plane and with the unmanned plane；
The grabber includes that steering wheel and two clamping devices, two clamping devices are oppositely arranged and are symmetrically distributed in described
The both sides of steering wheel, the unmanned plane are electrically connected with the steering wheel and can control the start and stop of the steering wheel；
Each clamping device includes the cradle head and gripper jaw that least one set is sequentially connected from top to bottom, the rotation respectively
Joint and the gripper jaw are vertically arranged；One end of the cradle head rotationally can be connected with the steering wheel, described turn
The diarthrodial other end rotationally can be connected with one end of the gripper jaw, and the other end of the gripper jaw is towards in the steering wheel
Heart line extends；
The steering wheel is started by the unmanned plane, each cradle head rotates for the servo driving, and drives each institute respectively
The other end for stating gripper jaw is gradually inwardly tightened up, and the other end of each gripper jaw penetrates the hook of double-end pulley, until can hook
Hang the double-end pulley；Rotated backward by each cradle head of the servo driving, and drive each gripper jaw respectively
The other end gradually expand outwardly, until with described hook separate.
2. the line of fall apparatus for work for double-end pulley according to claim 1, it is characterised in that each clamping device
Also include that the gangbar of an at least horizontally set, the two ends of the gangbar rotationally can be connected in each clamping device respectively
The middle part of the relative gripper jaw.
3. the line of fall apparatus for work for double-end pulley according to claim 1, it is characterised in that each cradle head
One end rotationally can be connected with the steering wheel by horizontally disposed first rotating shaft respectively, the other end of each cradle head
Rotationally can be connected with one end of the corresponding gripper jaw by horizontally disposed second rotating shaft respectively.
4. the line of fall apparatus for work for double-end pulley according to claim 1, it is characterised in that each gripper jaw
One row's anti-slop serrations are vertically set on the medial surface of bottom.
5. the line of fall apparatus for work for double-end pulley according to claim 1, it is characterised in that the unmanned plane includes
Main frame nacelle, the steering wheel are connected on the bottom surface of the main frame nacelle.
6. the line of fall apparatus for work for double-end pulley according to claim 5, it is characterised in that described slide for double end
The line of fall apparatus for work of car also includes that photographic head, the photographic head are arranged on the bottom surface of the main frame nacelle, and towards described
Grabber.
7. the line of fall apparatus for work for double-end pulley according to any one of claim 1 to 6, it is characterised in that each institute
The other end of gripper jaw is stated in aduncate hook-shaped.
8. on a kind of wire foreign body processing method, it is characterised in that using described in any one of claim 1 to 7 be used for double end
The line of fall apparatus for work of coaster, on the wire, the processing method of foreign body comprises the steps：
Step S10, starts steering wheel by operating unmanned plane, and each cradle head rotates for the servo driving, and drives each folder respectively
The other end for holding pawl is gradually inwardly tightened up, and the other end of each gripper jaw penetrates the hook of double-end pulley, the double-end pulley
It is hooked on the gripper jaw；Piece insulating cord of winding on the lower sheave of the double-end pulley, UAV flight's grabber, described
Double-end pulley and the insulating cord synchronously take off, the position that the unmanned plane is located near foreign body on wire or ground wire；
Step S20, the unmanned plane continue flight, until the double-end pulley is near ground wire, operate the unmanned plane, make described
The top sheave of double-end pulley is hooked on the ground wire；Each cradle head rotates backward for the servo driving, and band respectively
The other end for moving each gripper jaw is gradually expanded outwardly, and each gripper jaw is separated with the hook, completes the line of fall；
Step S30, pulls foreign body cleanout tool to be gradually increasing by the insulating cord, until the foreign body cleanout tool is near simultaneously
Remove the foreign body.
9. on wire according to claim 8 foreign body processing method, it is characterised in that step S10 with described
Also include step S15 between step S20, the unmanned plane hovering observes institute by the photographic head being arranged on the unmanned plane
State the relative position of ground wire and the double-end pulley.
10. on wire according to claim 8 foreign body processing method, it is characterised in that after step S30 also
Including step S40, described in the UAV flight, grabber, the double-end pulley, the insulating cord and the foreign body remove work
Tool is synchronous to return to ground.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611123437.XA CN106505468B (en) | 2016-12-08 | 2016-12-08 | The processing method of foreign matter on the line of fall apparatus for work and conducting wire of double-end pulley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN108789416A (en) * | 2018-07-27 | 2018-11-13 | 中国科学院自动化研究所 | System and method for controlling double mechanical arms flexibility livewire work |
| CN109449821A (en) * | 2018-11-21 | 2019-03-08 | 国网福建省电力有限公司 | Insulated flexible ladder coaster installation method based on unmanned air vehicle technique |
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| CN112355848B (en) * | 2020-12-03 | 2024-08-23 | 国网河南省电力公司延津县供电公司 | High-voltage line hardware rust removing device based on unmanned aerial vehicle |
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| CN115912187A (en) * | 2023-01-06 | 2023-04-04 | 国网山东省电力公司鄄城县供电公司 | Line drop emergency repair equipment and emergency repair method |
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