阅读说明：本技术 一种用于输电线路即时智能勘灾的无人机停机平台 (Unmanned aerial vehicle shutdown platform for instant intelligent disaster investigation of power transmission line ) 是由 崔志美 黄志都 唐捷 张玉波 邬蓉蓉 冯玉斌 张炜 李珊 欧阳健娜 饶夏锦 焦健 于 2021-07-28 设计创作，主要内容包括：本申请公开了一种用于输电线路即时智能勘灾的无人机停机平台,涉及无人机应用及电力检测技术领域,包括停机台,停机台的外周铰接有L形的翻转盖板,能够将停机台和无人机保护起来。停机台包括停机平板,停机平板上的对角线上贯通开设有四个滑槽,四个滑槽内分别可滑动穿设有张紧销。停机平板的下面可滑动设置有四根齿条,齿条的一端与张紧销的一端连接。四根张紧销上套设同一根松紧带。停机平板的下面固定设置有电机支架,电机支架的底部固定设置有电机,电机的输出转轴穿设于电机支架并与齿轮连接,齿轮分别与四根齿条相互啮合。本申请结构简单,操作方便,容易实现,大大节省了装置的结构和成本。(The application discloses unmanned aerial vehicle that is used for real-time intelligent investigation of transmission line stops platform relates to unmanned aerial vehicle and uses and electric power detection technical field, including stopping the board, the periphery that stops the board articulates there is the upset apron of L shape, can get up stopping board and unmanned aerial vehicle protection. The shutdown platform comprises a shutdown flat plate, four sliding grooves are formed in the diagonal line of the shutdown flat plate in a through mode, and tensioning pins are arranged in the four sliding grooves in a penetrating mode in a sliding mode. Four racks are slidably arranged below the shutdown flat plate, and one end of each rack is connected with one end of the tensioning pin. The same elastic band is sleeved on the four tensioning pins. A motor support is fixedly arranged below the stopping flat plate, a motor is fixedly arranged at the bottom of the motor support, an output rotating shaft of the motor penetrates through the motor support and is connected with a gear, and the gear is meshed with the four racks respectively. The device is simple in structure, convenient to operate and easy to realize, and greatly saves the structure and cost of the device.)

1. An unmanned aerial vehicle parking platform (1) for real-time intelligent disaster investigation of a power transmission line is characterized by comprising a parking platform, wherein the periphery of the parking platform is hinged with a turnover cover plate (11);

the bottom of the stopping machine table is fixedly provided with a supporting leg (12);

the shutdown platform comprises a shutdown flat plate (10), and the shutdown flat plate (10) is made into a square structure by adopting a waterproof plate;

four sliding grooves (100) are formed in the stopping flat plate (10) in a penetrating mode, and the four sliding grooves (100) are distributed radially to four corners along the center of the stopping flat plate (10);

tensioning pins (101) are respectively arranged in the four sliding grooves (100) in a penetrating way in a sliding way;

four racks (102) are slidably arranged below the shutdown flat plate (10), and one end of each rack (102) is connected with one end of each tensioning pin (101);

the four racks (102) are parallel to and correspond to the four sliding chutes (100) respectively;

the same elastic band (107) is sleeved on the four tensioning pins (101);

a motor support (105) is fixedly arranged below the shutdown flat plate (10), a motor (106) is fixedly arranged at the bottom of the motor support (105), and an output rotating shaft of the motor (106) penetrates through the motor support (105) and is connected with the gear (104);

the gear (104) is meshed with the four racks (102) respectively;

the four racks (102) are not on the same plane, and are mutually separated by 90 degrees;

the gear (104) is located in the center of the shutdown plate (10).

2. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the cross section of the turnover cover plate (11) is of an L-shaped structure, and the turnover cover plate (11) is provided with four blocks which are respectively positioned on four edges of the shutdown flat plate (10);

the bottom of the turnover cover plate (11) is fixedly connected with the shutdown flat plate (10) through a hinge;

still be provided with the upset power device between shut down flat board (10) and upset apron (11), upset power device can upwards promote upset realization with upset apron (11) along the hinge.

3. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 2, characterized in that:

the overturning power device comprises an electric telescopic rod, one end of the electric telescopic rod is connected with the shutdown flat plate (10), the other end of the electric telescopic rod is hinged with the overturning cover plate (11), and the overturning operation of the overturning cover plate (11) can be realized through the extension or retraction of the electric telescopic rod.

4. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the length of the sliding chute (100) is more than half of the length of the shutdown flat plate (10).

5. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the motor (106) is a direct current brushless speed reduction motor with a speed reduction gear box.

6. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the tensioning pin (101) is of a cylindrical structure, a first convex ring is arranged in the middle of the tensioning pin (101), and the diameter of the first convex ring is larger than the groove width of the sliding groove (100); the top of the tensioning pin (101) is provided with a second convex ring which is used for preventing the elastic band (107) from being pulled out.

7. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the landing gear of the unmanned aerial vehicle (2) is made of a circular ring structure with a circular cross section;

the width of elastic (107) is greater than the diameter of unmanned aerial vehicle (2)'s undercarriage.

8. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the elastic band (107) is made of flat elastic TPU material.

9. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the shutdown flat plate (10) and the turnover cover plate (11) are both made of engineering plastics.

10. The unmanned aerial vehicle parking platform (1) for immediate intelligent disaster recovery of electric transmission lines according to claim 1, characterized in that:

the rack (102) is of an L-shaped structure, and the end part of the rack is fixedly connected with the tensioning pin (101).

Technical Field

The application relates to the technical field of unmanned aerial vehicle application and electric power detection, in particular to an unmanned aerial vehicle shutdown platform for instant intelligent disaster exploration of power transmission lines.

Background

With the continuous improvement of comprehensive national strength and the vigorous development of economy and technology in China, the demand of China for conventional energy (such as electric energy) is still vigorous. However, according to the current electric energy supply and demand form of China, cities and areas with large electricity demand are not suitable for building power plants nearby, so that each power plant for generating electric energy needs to transmit electric energy to different cities and areas through transformer substations and power transmission lines at different levels, and the long-distance electric energy transmission brings hidden troubles to accidents. And because the environment of the transmission line is a field open place, the transmission line is easily affected by various factors to be damaged by strand breakage, abrasion, corrosion and the like, and if the transmission line cannot be repaired in time, once an accident occurs, great economic loss can be caused. Therefore, in order to ensure normal power transmission and power supply, regular inspection of the power transmission line is required.

Be applied to transmission line's the patrolling and examining with unmanned aerial vehicle in, not only can improve and patrol and examine efficiency, practice thrift the cost, also can use manpower sparingly moreover, improve the reliability of patrolling and examining. Although at present, unmanned aerial vehicles are used for power transmission line inspection in the power industry, the unmanned aerial vehicles cannot get rid of personnel operation, particularly, automation of the processes of carrying, flying and landing recovery of the unmanned aerial vehicles cannot be realized, and the improvement of inspection efficiency is limited to a great extent. Therefore, how to realize the automation and the intellectualization of the process of flying and recovering the landing of the unmanned aerial vehicle, and providing position space and fixed protection for the carrying of the unmanned aerial vehicle is the first problem to be solved. The invention discloses an unmanned aerial vehicle automatic retraction device for high-voltage transmission line inspection, which aims at the problems and comprises a turnover plate type closed box body capable of being automatically opened and closed, a central parking apron capable of being automatically lifted, a bidirectional push rod type clamping and fixing mechanism and a ground control system, wherein the bidirectional push rod type clamping and fixing mechanism is arranged on the central parking apron and the turnover plate type closed box body. The unmanned aerial vehicle can land on a landing platform consisting of a liftable parking apron and a flap type bin gate more accurately by adopting a GPS and visual complementary positioning method and providing a double-pattern rapid identification and positioning algorithm. Although this public technique can realize that unmanned aerial vehicle receive and releases, the structure is more complicated, and the movable part is many, breaks down easily and with high costs, when unmanned aerial vehicle can't accurately descend, often can't accurately remove unmanned aerial vehicle to the central point that descends the platform put and the influence turns over the board action.

Disclosure of Invention

In order to solve the above problems, the present application is implemented by the following technical solutions:

an unmanned aerial vehicle parking platform for instant intelligent disaster investigation of a power transmission line comprises a parking platform, wherein a turnover cover plate is hinged to the periphery of the parking platform;

the bottom of the stopping table is fixedly provided with a supporting leg; the supporting legs are used for supporting the stopping table and fixedly connecting the whole device with the tower of the power transmission line. The connection mode can adopt welding or fixing by using bolts. In this embodiment, the whole platform is fixed at the bottom center position of the tower and fixed by bolts and anchor ears. The equipment of being convenient for like this, unmanned aerial vehicle's taking off and land of also being convenient for moreover.

The shutdown platform comprises a shutdown flat plate, and the shutdown flat plate is made into a square structure by adopting a waterproof plate; the waterproof plate is made into a shutdown flat plate, so that the deformation caused by wind blowing and sunshine can be prevented, and the service life of the waterproof plate is influenced.

Four sliding grooves are penetratingly formed in the shutdown flat plate, and the four sliding grooves are radially distributed to four corners along the center of the shutdown flat plate;

tensioning pins are respectively arranged in the four sliding grooves in a penetrating way in a sliding way;

four racks are slidably arranged below the shutdown flat plate, and one end of each rack is connected with one end of the tensioning pin;

the four racks are parallel to and correspond to the four sliding chutes respectively;

the same elastic band is sleeved on the four tensioning pins;

a motor bracket is fixedly arranged below the shutdown flat plate, a motor is fixedly arranged at the bottom of the motor bracket, and an output rotating shaft of the motor penetrates through the motor bracket and is connected with the gear;

the gear is meshed with the four racks respectively;

the four racks are not on the same plane, and the four racks are mutually spaced by 90 degrees;

the gear is located in the center of the shutdown plate. Before unmanned aerial vehicle descended, four upset apron were opened and are exposed and stop the board, under the effect of motor, gear, four racks outwards removed extreme position, and the tensioning round pin on the rack also is located extreme position, and the pulling elastic cord removes all around simultaneously, and the inside space of whole elastic cord reaches maximum condition. Unmanned aerial vehicle descends to shutting down on the flat board, and be located the elasticity in-band, control motor clockwise rotation after that, the motor drives gear clockwise rotation, the gear drive with four rack inside movements on the coplanar rather than the meshing, the rack is under the combined action of motor and elastic cord, to the central removal of shutting down the flat board, because the elastic cord is wider, just can drive unmanned aerial vehicle's undercarriage to the central removal of shutting down the flat board, finally reach the purpose of aiming at the center. The structure is very simple, the operation is convenient, the realization is easy, and the structure and the cost of the device are greatly saved.

Preferably, the cross section of the turnover cover plate is of an L-shaped structure, and the turnover cover plate is provided with four turnover cover plates which are respectively positioned on four edges of the shutdown flat plate; the overturning cover plate can completely wrap the unmanned aerial vehicle to cover after being upwards rotated and closed. Just so can prevent that unmanned aerial vehicle from being exposed to the sun and drenching with rain, improve unmanned aerial vehicle's life.

The bottom of the turnover cover plate is fixedly connected with the shutdown flat plate through a hinge;

still be provided with the upset power device between shut down flat board and the upset apron, upset power device can upwards promote the realization upset with the upset apron along the hinge.

Preferably, upset power device includes electric telescopic handle, electric telescopic handle's one end and shutting down dull and stereotyped being connected, the other end is articulated with the upset apron, can realize the upset operation of upset apron through electric telescopic handle's the stretching out or withdrawal. The electric telescopic rod is a common mature device, is simple to control, low in cost and reliable in work, and is very suitable for being used in the occasions.

Preferably, the length of the chute is greater than half the length of the shutdown plate. Only the spout is long enough, just can provide unmanned aerial vehicle's centering space more effectively.

Preferably, the motor is a dc brushless speed reduction motor having a speed reduction gear box. The direct-current brushless speed reducing motor is large in torque, long in service life and easy to control.

Preferably, the tensioning pin is of a cylindrical structure, a first convex ring is arranged in the middle of the tensioning pin, and the diameter of the first convex ring is larger than the groove width of the sliding groove; the top of tensioning pin is equipped with the second bulge loop, and this second bulge loop is used for preventing that the elastic cord from deviating from. The arrangement of the tensioning pin in a cylindrical configuration facilitates a reduction of friction forces, but is also easy to guide.

Preferably, the landing gear of the unmanned aerial vehicle is made of a circular ring structure with a circular cross section;

the width of elastic cord is greater than the diameter of unmanned aerial vehicle's undercarriage. Such structure is convenient for unmanned aerial vehicle and is shutting down dull and stereotyped upper surface slip, and the elastic cord of also being convenient for reliably contacts with unmanned aerial vehicle's undercarriage.

Preferably, the elastic band is made of a flat elastic TPU material.

Preferably, the shutdown flat plate and the turnover cover plate are both made of engineering plastics.

Preferably, the rack is in an L-shaped structure, and the end of the rack is fixedly connected with the tensioning pin.

The utility model provides an unmanned aerial vehicle that is used for real-time intelligent investigation of transmission line platform that stops, including stopping the board, the periphery that stops the board articulates there is the upset apron of L shape, can get up stopping board and unmanned aerial vehicle protection. The shutdown platform comprises a shutdown flat plate, four sliding grooves are formed in the diagonal line of the shutdown flat plate in a through mode, and tensioning pins are arranged in the four sliding grooves in a penetrating mode in a sliding mode. Four racks are slidably arranged below the shutdown flat plate, and one end of each rack is connected with one end of the tensioning pin. The same elastic band is sleeved on the four tensioning pins. A motor support is fixedly arranged below the stopping flat plate, a motor is fixedly arranged at the bottom of the motor support, an output rotating shaft of the motor penetrates through the motor support and is connected with a gear, and the gear is meshed with the four racks respectively. The device is simple in structure, convenient to operate and easy to realize, and greatly saves the structure and cost of the device.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the embodiment provided in the present application;

FIG. 2 is a front view of an embodiment provided herein;

FIG. 3 is a top view of an embodiment provided herein;

FIG. 4 is a bottom view of an embodiment provided herein;

FIG. 5 is a perspective view of another perspective of an embodiment provided herein;

FIG. 6 is an exploded view of a shutdown station in an embodiment of the present disclosure;

FIG. 7 is a schematic view of the spatial distribution of the rack and pinion in the embodiment provided in the present application;

fig. 8 is a schematic view of an embodiment of the present application in landing a drone on a platform;

fig. 9 is a schematic view of the flip cover plate flipping the closed loop according to the embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described clearly and completely with reference to fig. 1 to 9 of the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in figures 1-7, an unmanned aerial vehicle parking platform 1 for power transmission line instant intelligent disaster investigation comprises a parking platform, wherein a turnover cover plate 11 is hinged to the periphery of the parking platform.

The shutdown platform comprises a shutdown flat plate 10, the shutdown flat plate 10 is of a square structure made of waterproof plates, and the shutdown flat plate 10 made of the waterproof plates can prevent wind from blowing and solarizing to cause deformation and influence the service life of the shutdown flat plate.

Four sliding grooves 100 are formed in the stopping flat plate 10 in a penetrating manner, and the sliding grooves 100 are long groove structures. The four sliding grooves 100 are radially distributed to four corners along the center of the shutdown flat plate 10 (the sliding grooves are arranged on diagonal lines). Tension pins 101 are slidably inserted into the four slide grooves 100, respectively. The tensioning pin 101 is of a cylindrical structure, a first convex ring is arranged in the middle of the tensioning pin 101, and the diameter of the first convex ring is larger than the groove width of the sliding groove 100; the top of the tensioning pin 101 is provided with a second protruding ring for preventing the elastic band 107 from coming off. The arrangement of the tensioning pin 101 in a cylindrical configuration facilitates a reduction of friction and is also easy to guide.

Four racks 102 are slidably arranged below the shutdown flat plate 10, the racks 102 are in an L-shaped structure, and the L-shaped end parts without teeth are fixedly connected with the tensioning pins 101. The four racks 102 are parallel to and correspond to the four chutes 100, the same elastic band 107 is sleeved on the four tensioning pins 101, and the elastic band 107 is made of flat elastic TPU materials.

A motor support 105 is fixedly arranged below the shutdown flat plate 10, a motor 106 is fixedly arranged at the bottom of the motor support 105, an output rotating shaft of the motor 106 penetrates through the motor support 105 and is connected with a gear 104, the gear 104 is meshed with four racks 102 respectively, the four racks 102 are not on the same plane, the four racks are spaced by 90 degrees, and the gear 104 is positioned at the center of the shutdown flat plate 10. The bottom of stopping the board is fixed and is provided with supporting leg 12, and supporting leg 12 is used for supporting and stops the board and with whole device and the shaft tower fixed connection of power transmission line. The connection mode can adopt welding or fixing by using bolts. In this embodiment, the whole platform is fixed at the bottom center position of the tower and fixed by bolts and anchor ears. The equipment of being convenient for like this, unmanned aerial vehicle's taking off and land of also being convenient for moreover.

The cross section of the turnover cover plate 11 is of an L-shaped structure, and the turnover cover plate 11 is provided with four blocks which are respectively positioned on four edges of the shutdown flat plate 10; the overturning cover plate 11 can completely wrap the unmanned aerial vehicle after being upwards rotated and closed at the same time. Just so can prevent that unmanned aerial vehicle from being exposed to the sun and drenching with rain, improve unmanned aerial vehicle's life. The bottom of the turnover cover plate 11 is fixedly connected with the shutdown flat plate 10 through a hinge; still be provided with the upset power device between shut down flat board 10 and the upset apron 11, the upset power device can upwards promote the realization upset with upset apron 11 along the hinge. The power device comprises an electric telescopic rod, one end of the electric telescopic rod is connected with the shutdown flat plate 10, the other end of the electric telescopic rod is hinged with the turnover cover plate 11, and the turnover operation of the turnover cover plate 11 can be realized through the extension or retraction of the electric telescopic rod. The electric telescopic rod is a common mature device, is simple to control, low in cost and reliable in work, and is very suitable for being used in the occasions.

The working principle is as follows: before unmanned aerial vehicle 2 descends, four upset apron 11 are opened and are exposed and stop the board, under the effect of motor 106, gear 104, four racks 102 outwards move extreme position, and tensioning pin 101 on rack 102 also is located extreme position, and the pulling elastic cord 107 is to moving all around simultaneously, and the inside space of whole elastic cord 107 reaches maximum condition. Unmanned aerial vehicle 2 descends to shutting down on dull and stereotyped 10, and be located elastic cord 107, control motor 106 clockwise rotation afterwards, motor 106 drives gear 104 clockwise rotation, gear 104 drives four racks 102 on the coplanar rather than the meshing inwards remove, rack 102 moves to the center of shutting down dull and stereotyped 10 under the combined action of motor and elastic cord 107, because elastic cord 107 is wider, just can drive unmanned aerial vehicle 2's undercarriage to the central removal of shutting down dull and stereotyped 10, finally reach the purpose of aiming at the center. After the alignment center is finished, the overturning power device pushes the overturning cover plate 11 upwards along the hinge to realize overturning, and finally the closed loop form shown in fig. 8 is finished.

In one embodiment, the length of chute 100 is greater than half the length of shutdown plate 10. Only if the chute 100 is long enough can the centering space of the drone be provided more effectively. The motor 106 is a dc brushless gear motor with a reduction gearbox. The direct-current brushless speed reducing motor is large in torque, long in service life and easy to control. The undercarriage of the unmanned aerial vehicle 2 is made of a circular ring structure with a circular cross section; the width of elastic band 107 is greater than the diameter of the landing gear of drone 2. Such a structure is convenient for the unmanned aerial vehicle to slide at the upper surface of shutting down dull and stereotyped 10, also is convenient for elastic cord 107 and unmanned aerial vehicle 2's undercarriage reliable contact. The shutdown flat plate 10 and the turnover cover plate 11 are both made of engineering plastics.

A unmanned aerial vehicle platform that stops for the real-time intelligence of transmission line is surveyed the calamity including stopping the board, and the periphery that stops the board articulates there is the upset apron of L shape, can get up stopping board and unmanned aerial vehicle protection. The shutdown platform comprises a shutdown flat plate, four sliding grooves are formed in the diagonal line of the shutdown flat plate in a through mode, and tensioning pins are arranged in the four sliding grooves in a penetrating mode in a sliding mode. Four racks are slidably arranged below the shutdown flat plate, and one end of each rack is connected with one end of the tensioning pin. The same elastic band is sleeved on the four tensioning pins. A motor support is fixedly arranged below the stopping flat plate, a motor is fixedly arranged at the bottom of the motor support, an output rotating shaft of the motor penetrates through the motor support and is connected with a gear, and the gear is meshed with the four racks respectively. The device is simple in structure, convenient to operate and easy to realize, and greatly saves the structure and cost of the device.