技术领域technical field
本发明属于无人机技术局域，具体涉及一种高压输电线路巡视机。The invention belongs to the field of unmanned aerial vehicle technology, and in particular relates to a high-voltage transmission line inspection machine.
背景技术Background technique
随着无人机技术的飞速发展，无人机应用在越来越多的领域，尤其在高压输电线路上，人工巡视存在着很大的风险，并且有一些特殊地形人工甚至无法进行观察巡视，需要依靠无人机，但是，由于高压输电线路上导线、杆塔繁多，因此造成飞行间隙小，导致太大的无人机无法进行巡视，而过小的无人机又限制了无人机的用途，并且制作过程要求精细复杂。With the rapid development of UAV technology, UAVs are used in more and more fields, especially on high-voltage transmission lines. Manual inspections are very risky, and there are some special terrains where manual inspections cannot even be performed. Need to rely on drones, however, due to the large number of wires and towers on the high-voltage transmission line, the flight gap is small, which makes it impossible for drones to patrol, and too small drones limit the use of drones , and the production process requires precision and complexity.
发明内容Contents of the invention
为了解决上述技术问题，本发明提供一种高压输电线路巡视机，能够在飞行过程中根据周围环境改变自身大小，灵敏性高，适合在高压输电线路上巡视飞行。In order to solve the above technical problems, the present invention provides a high-voltage transmission line inspection machine, which can change its size according to the surrounding environment during flight, has high sensitivity, and is suitable for patrolling and flying on high-voltage transmission lines.
本发明是这样实现的，一种高压输电线路巡视机，包括机身，机身两侧为旋翼结构，旋翼结构包括T形旋翼杆和螺旋桨，旋翼杆的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨。The present invention is achieved in this way, a high-voltage transmission line inspection machine, including a fuselage, the two sides of the fuselage are rotor structures, the rotor structure includes a T-shaped rotor rod and a propeller, and the three branches of the rotor rod are all retractable structures, and One branch is connected to the fuselage, and the other two branches are connected to the propellers respectively.
进一步地，所述旋翼杆的三个分支均为多节可伸缩液压杆，三个分支的连接处设置三通，三通内设微型液压泵，微型液压泵与三个多节可伸缩液压杆连接，在所述机身上设控制器，控制器与微型液压泵连接，控制启动或关闭液压泵。Further, the three branches of the rotor rod are all multi-section telescopic hydraulic rods, and the connection of the three branches is provided with a three-way, and a micro-hydraulic pump is arranged inside the three-way, and the micro-hydraulic pump is connected with the three multi-section telescopic hydraulic rods. connection, a controller is provided on the fuselage, and the controller is connected with the micro hydraulic pump to control the startup or shutdown of the hydraulic pump.
进一步地，所述旋翼杆的分支与所述机身为可转动地连接，具体连接结构为：旋翼杆的分支末端通过机身上开设的通孔穿入到机身内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。Further, the branch of the rotor rod is rotatably connected to the fuselage, and the specific connection structure is: the end of the branch of the rotor rod penetrates into the fuselage through the through hole opened on the fuselage, and the end of the branch is integrated The cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller.
进一步地，所述转动组件包括可转动地连接的液压杆、联动杆、微型液压泵和控制器，液压杆固定在无人机机身内部，联动杆另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆的方形空槽中，液压杆连接微型液压泵，微型液压泵连接控制器。Further, the rotating assembly includes a rotatably connected hydraulic rod, a linkage rod, a micro-hydraulic pump and a controller, the hydraulic rod is fixed inside the fuselage of the drone, and the other end of the linkage rod is provided with a square hole slot, and the rotor rod The cube connecting end at the end of the branch is fixed in the square hollow groove of the linkage rod, the hydraulic rod is connected to the micro hydraulic pump, and the micro hydraulic pump is connected to the controller.
进一步地，所述机身内部伸出固定支杆，所述液压杆的一端固定在固定支杆上。Further, a fixed strut protrudes from the inside of the fuselage, and one end of the hydraulic rod is fixed on the fixed strut.
进一步地，所述机身内部伸出固定支杆，所述液压杆的一端通过螺栓固定在固定支杆上。Further, a fixed strut protrudes from the inside of the fuselage, and one end of the hydraulic rod is fixed on the fixed strut by a bolt.
进一步地，所述液压杆带动所述联动杆转动的角度范围为上下30°之间。Further, the hydraulic rod drives the linkage rod to rotate within an angle range of 30° up and down.
进一步地，在一侧的所述旋翼杆上的两个螺旋桨的转动轨迹最近相距5cm，最远相距35cm。Further, the rotation tracks of the two propellers on the rotor bar on one side are 5 cm apart at the shortest and 35 cm apart at the farthest.
进一步地，所述旋翼杆与所述机身连接的分支的伸缩长度为0-70mm。Further, the telescoping length of the branch connecting the rotor rod to the fuselage is 0-70mm.
进一步地，所述螺旋桨的长度为14英寸，宽度为5.5英寸。Further, the propeller has a length of 14 inches and a width of 5.5 inches.
进一步地，所述旋翼杆的三个分支均为三节可伸缩液压杆。Further, the three branches of the rotor rod are all three-section telescopic hydraulic rods.
与现有技术相比，本发明的优点在于：Compared with the prior art, the present invention has the advantages of:
通过将无人机的旋翼杆设置为可伸缩，能够缩小无人机的整体体积，便于无人机在高压输电线路中穿梭巡视，降低人工巡视的危险。并且旋翼杆的角度可调节，能够在无人机向前飞行过程中调整机身和旋翼的角度，减小飞行阻力。By setting the UAV's rotor pole to be retractable, the overall volume of the UAV can be reduced, which is convenient for the UAV to shuttle and patrol in the high-voltage transmission line, and reduces the danger of manual inspection. And the angle of the rotor bar can be adjusted, which can adjust the angle of the fuselage and the rotor during the forward flight of the UAV, so as to reduce the flight resistance.
附图说明Description of drawings
图1为本发明整体结构示意图；Fig. 1 is a schematic diagram of the overall structure of the present invention;
图2为比呢发明转动组件结构示意图。Fig. 2 is a schematic diagram of the structure of the rotating assembly of the invention of Binai.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，下面结合实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用于解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
实施例1、Embodiment 1,
参考图1，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。With reference to Fig. 1, the present invention provides a kind of patrol machine of high-voltage transmission line, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three branches of rotor rod 2 are It has a retractable structure, and one branch is connected with the fuselage, and the other two branches are connected with propellers 2 respectively.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，减小了无人机的体积，即可在狭小空间进行飞行巡视。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor pole 2 are used to retract the rotor pole to reduce the volume of the drone. Fly inspection can be carried out in a narrow space.
实施例2、Embodiment 2,
参考图1，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。旋翼杆2的三个分支均为多节可伸缩液压杆，三个分支的连接处设置三通4，三通内设微型液压泵(由于位置关系未示出)，微型液压泵与三个多节可伸缩液压杆连接，在所述机身1上设控制器5，控制器5与微型液压泵连接，控制启动或关闭液压泵。With reference to Fig. 1, the present invention provides a kind of patrol machine of high-voltage transmission line, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three branches of rotor rod 2 are It has a retractable structure, and one branch is connected with the fuselage, and the other two branches are connected with propellers 2 respectively. The three branches of the rotor bar 2 are multi-section telescopic hydraulic rods, and the junction of the three branches is provided with a tee 4, and a micro-hydraulic pump (not shown due to positional relationship) is established in the tee, and the micro-hydraulic pump is connected with three more The joints are connected with a telescopic hydraulic rod, and a controller 5 is arranged on the fuselage 1, and the controller 5 is connected with a micro-hydraulic pump to control the start or stop of the hydraulic pump.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则控制器5控制启动微型液压泵，微型液压泵控制多节可伸缩液压杆收缩回来，减小了无人机的体积，即可在狭小空间进行飞行巡视。当飞行到正常领域时，控制器5控制启动液压泵，液压泵控制多节可伸缩液压杆伸长，使飞行器回到正常状态飞行。When the high-voltage transmission line inspection machine is flying on the high-voltage transmission line, if it needs to pass through a narrow space, the controller 5 controls to start the micro-hydraulic pump, and the micro-hydraulic pump controls the multi-section retractable hydraulic rod to shrink back, reducing the time-consuming The size of the man-machine can conduct flight inspections in a small space. When flying to the normal field, the controller 5 controls to start the hydraulic pump, and the hydraulic pump controls the extension of the multi-section telescopic hydraulic rod, so that the aircraft returns to the normal state to fly.
实施例3、Embodiment 3,
参考图1，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。With reference to Fig. 1, the present invention provides a kind of patrol machine of high-voltage transmission line, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three branches of rotor rod 2 are It has a retractable structure, and one branch is connected with the fuselage, and the other two branches are connected with propellers 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1, and the specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integrated cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，减小了无人机的体积，即可在狭小空间进行飞行巡视；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制转动组件带动旋翼杆的分支转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor pole 2 are used to retract the rotor pole to reduce the volume of the drone. You can conduct flight inspections in a small space; when the UAV is flying forward, the fuselage 1 and the rotor structure are in a state of slanting downward, which will increase the flight resistance of the UAV. Therefore, in this case, Control the rotating component to drive the branch of the rotor rod to rotate to realize the relative angle rotation between the whole fuselage and the rotor structure, so that the fuselage is still in a horizontal state when flying forward, while the rotor is at an oblique downward angle.
实施例4、Embodiment 4,
参考图1和图2，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。所述转动组件包括可转动地连接的液压杆6、联动杆7、微型液压泵8和控制器5，液压杆6固定在无人机机身1内部，联动杆7另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆7的方形空槽中，液压杆6连接微型液压泵8，微型液压泵8连接控制器5。With reference to Fig. 1 and Fig. 2, the present invention provides a kind of high-voltage transmission line inspection machine, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and the three parts of rotor rod 2 The branches are all retractable structures, and one branch is connected to the fuselage, and the other two branches are connected to the propeller 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1. The specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integral cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate through the rotating assembly, thereby realizing the rotation of the entire rotor rod and propeller. The rotating assembly includes a rotatably connected hydraulic rod 6, a linkage rod 7, a micro-hydraulic pump 8 and a controller 5, the hydraulic rod 6 is fixed inside the drone body 1, and the other end of the linkage rod 7 is provided with a square hole. The cuboid connecting end of the branch end of the rotor rod is fixed in the square cavity of the linkage rod 7 , the hydraulic rod 6 is connected to the micro-hydraulic pump 8 , and the micro-hydraulic pump 8 is connected to the controller 5 .
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，减小了无人机的体积，即可在狭小空间进行飞行巡视；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制器5控制启动微型液压泵8，微型液压泵8控制液压杆6伸长，从而联动杆7带动旋翼杆2的分支转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor pole 2 are used to retract the rotor pole to reduce the volume of the drone. You can conduct flight inspections in a small space; when the UAV is flying forward, the fuselage 1 and the rotor structure are in a state of slanting downward, which will increase the flight resistance of the UAV. Therefore, in this case, The controller 5 controls to start the micro-hydraulic pump 8, and the micro-hydraulic pump 8 controls the extension of the hydraulic rod 6, so that the linkage rod 7 drives the branch of the rotor rod 2 to rotate, so as to realize the relative angle rotation of the entire fuselage and the rotor structure, so that the fuselage is in the direction When flying forward, it is still in a horizontal state, and the rotor is angled obliquely downward.
实施例5、Embodiment 5,
参考图1和图2，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。所述转动组件包括可转动地连接的液压杆6、联动杆7、微型液压泵8和控制器5，液压杆6固定在无人机机身1内部，联动杆7另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆7的方形空槽中，液压杆6连接微型液压泵8，微型液压泵8连接控制器5。所述机身1内部伸出固定支杆9，所述液压杆6的一端固定在固定支杆9上。With reference to Fig. 1 and Fig. 2, the present invention provides a kind of high-voltage transmission line inspection machine, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three parts of rotor rod 2 The branches are all retractable structures, and one branch is connected to the fuselage, and the other two branches are connected to the propeller 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1, and the specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integrated cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller. The rotating assembly includes a rotatably connected hydraulic rod 6, a linkage rod 7, a miniature hydraulic pump 8 and a controller 5. The hydraulic rod 6 is fixed inside the drone body 1, and the other end of the linkage rod 7 is provided with a square hole. The cuboid connecting end of the branch end of the rotor rod is fixed in the square cavity of the linkage rod 7 , the hydraulic rod 6 is connected to the micro hydraulic pump 8 , and the micro hydraulic pump 8 is connected to the controller 5 . A fixed strut 9 protrudes from the inside of the fuselage 1 , and one end of the hydraulic rod 6 is fixed on the fixed strut 9 .
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，减小了无人机的体积，即可在狭小空间进行飞行巡视；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制器5控制启动微型液压泵8，微型液压泵8控制液压杆6伸长，从而联动杆7带动旋翼杆2的分支转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor pole 2 are used to retract the rotor pole to reduce the volume of the drone. You can conduct flight inspections in a small space; when the UAV is flying forward, the fuselage 1 and the rotor structure are in a state of slanting downward, which will increase the flight resistance of the UAV. Therefore, in this case, The controller 5 controls to start the micro-hydraulic pump 8, and the micro-hydraulic pump 8 controls the extension of the hydraulic rod 6, so that the linkage rod 7 drives the branch of the rotor rod 2 to rotate, so as to realize the relative angle rotation of the entire fuselage and the rotor structure, so that the fuselage is in the direction When flying forward, it is still in a horizontal state, and the rotor is angled obliquely downward.
实施例6、Embodiment 6,
参考图1和图2，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。所述转动组件包括可转动地连接的液压杆6、联动杆7、微型液压泵8和控制器5，液压杆6固定在无人机机身1内部，联动杆7另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆7的方形空槽中，液压杆6连接微型液压泵8，微型液压泵8连接控制器5。所述液压杆6带动所述联动杆7转动的角度范围为上下30°之间。With reference to Fig. 1 and Fig. 2, the present invention provides a kind of high-voltage transmission line inspection machine, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three parts of rotor rod 2 The branches are all retractable structures, and one branch is connected to the fuselage, and the other two branches are connected to the propeller 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1, and the specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integrated cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller. The rotating assembly includes a rotatably connected hydraulic rod 6, a linkage rod 7, a miniature hydraulic pump 8 and a controller 5. The hydraulic rod 6 is fixed inside the drone body 1, and the other end of the linkage rod 7 is provided with a square hole. The cuboid connecting end of the branch end of the rotor rod is fixed in the square cavity of the linkage rod 7 , the hydraulic rod 6 is connected to the micro-hydraulic pump 8 , and the micro-hydraulic pump 8 is connected to the controller 5 . The hydraulic rod 6 drives the linkage rod 7 to rotate within an angle range of 30° up and down.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，减小了无人机的体积，即可在狭小空间进行飞行巡视；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制器5控制启动微型液压泵8，微型液压泵8控制液压杆6伸长，从而联动杆7带动旋翼杆2的分支在0-30°之间转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。当无人机向后飞行时，则控制液压杆6朝反方向缩回，联动杆7带动旋翼杆2的分支往相反方向转动。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor pole 2 are used to retract the rotor pole to reduce the volume of the drone. You can conduct flight inspections in a small space; when the UAV is flying forward, the fuselage 1 and the rotor structure are in a state of slanting downward, which will increase the flight resistance of the UAV. Therefore, in this case, The controller 5 controls to start the micro-hydraulic pump 8, and the micro-hydraulic pump 8 controls the extension of the hydraulic rod 6, so that the linkage rod 7 drives the branch of the rotor rod 2 to rotate between 0-30°, realizing the adjustment of the relative angle between the entire fuselage and the rotor structure. Turn so that the fuselage is still level in forward flight and the rotor is angled diagonally downward. When the unmanned aerial vehicle flies backward, then control the hydraulic rod 6 to retract in the opposite direction, and the linkage rod 7 drives the branch of the rotor rod 2 to rotate in the opposite direction.
实施例7、Embodiment 7,
参考图1和图2，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。所述转动组件包括可转动地连接的液压杆6、联动杆7、微型液压泵8和控制器5，液压杆6固定在无人机机身1内部，联动杆7另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆7的方形空槽中，液压杆6连接微型液压泵8，微型液压泵8连接控制器5。所述液压杆6带动所述联动杆7转动的角度范围为上下30°之间。With reference to Fig. 1 and Fig. 2, the present invention provides a kind of high-voltage transmission line inspection machine, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three parts of rotor rod 2 The branches are all retractable structures, and one branch is connected to the fuselage, and the other two branches are connected to the propeller 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1, and the specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integrated cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller. The rotating assembly includes a rotatably connected hydraulic rod 6, a linkage rod 7, a miniature hydraulic pump 8 and a controller 5. The hydraulic rod 6 is fixed inside the drone body 1, and the other end of the linkage rod 7 is provided with a square hole. The cuboid connecting end of the branch end of the rotor rod is fixed in the square cavity of the linkage rod 7 , the hydraulic rod 6 is connected to the micro hydraulic pump 8 , and the micro hydraulic pump 8 is connected to the controller 5 . The hydraulic rod 6 drives the linkage rod 7 to rotate within an angle range of 30° up and down.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，在一侧的所述旋翼杆2上的两个螺旋桨3的转动轨迹最近相距5mm，减小了无人机的体积，即可在狭小空间进行飞行巡视(旋翼杆2伸长时一侧的所述旋翼杆2上的两个螺旋桨3的转动轨迹最远相距35cm)；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制器5控制启动微型液压泵8，微型液压泵8控制液压杆6伸长，从而联动杆7带动旋翼杆2的分支在0-30°之间转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。当无人机向后飞行时，则控制液压杆6朝反方向缩回，联动杆7带动旋翼杆2的分支往相反方向转动。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor rod 2 are used to retract the rotor rod, and the rotor rod 2 on one side The rotation tracks of the two propellers 3 on the top are 5mm apart at the nearest distance, which reduces the volume of the drone, and can carry out flight inspections in a small space (the two propellers on the said rotor bar 2 on one side when the rotor bar 2 is extended 3's rotation trajectory is 35cm apart); when the UAV is flying forward, the fuselage 1 and the rotor structure are obliquely downward, which will increase the flight resistance of the UAV, so when this situation , the controller 5 controls to start the micro-hydraulic pump 8, and the micro-hydraulic pump 8 controls the extension of the hydraulic rod 6, so that the linkage rod 7 drives the branch of the rotor rod 2 to rotate between 0-30°, realizing the relative angle between the entire fuselage and the rotor structure Rotation, so that the fuselage is still in a horizontal state when flying forward, and the rotor is at an oblique downward angle. When the unmanned aerial vehicle flies backward, then control the hydraulic rod 6 to retract in the opposite direction, and the linkage rod 7 drives the branch of the rotor rod 2 to rotate in the opposite direction.
实施例8、Embodiment 8,
参考图1和图2，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。所述转动组件包括可转动地连接的液压杆6、联动杆7、微型液压泵8和控制器5，液压杆6固定在无人机机身1内部，联动杆7另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆7的方形空槽中，液压杆6连接微型液压泵8，微型液压泵8连接控制器5。所述液压杆6带动所述联动杆7转动的角度范围为上下30°之间。With reference to Fig. 1 and Fig. 2, the present invention provides a kind of high-voltage transmission line inspection machine, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three parts of rotor rod 2 The branches are all retractable structures, and one branch is connected to the fuselage, and the other two branches are connected to the propeller 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1, and the specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integrated cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller. The rotating assembly includes a rotatably connected hydraulic rod 6, a linkage rod 7, a miniature hydraulic pump 8 and a controller 5. The hydraulic rod 6 is fixed inside the drone body 1, and the other end of the linkage rod 7 is provided with a square hole. The cuboid connecting end of the branch end of the rotor rod is fixed in the square cavity of the linkage rod 7 , the hydraulic rod 6 is connected to the micro hydraulic pump 8 , and the micro hydraulic pump 8 is connected to the controller 5 . The hydraulic rod 6 drives the linkage rod 7 to rotate within an angle range of 30° up and down.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，在一侧的所述旋翼杆2上的两个螺旋桨3的转动轨迹最近相距5mm，旋翼杆与所述机身连接的分支的伸缩长度为0-70mm，减小了无人机的体积，即可在狭小空间进行飞行巡视(旋翼杆2伸长时一侧的所述旋翼杆2上的两个螺旋桨3的转动轨迹最远相距35cm)；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制器5控制启动微型液压泵8，微型液压泵8控制液压杆6伸长，从而联动杆7带动旋翼杆2的分支在0-30°之间转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。当无人机向后飞行时，则控制液压杆6朝反方向缩回，联动杆7带动旋翼杆2的分支往相反方向转动。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor rod 2 are used to retract the rotor rod, and the rotor rod 2 on one side The rotation tracks of the two propellers 3 on the top are 5mm apart at the nearest distance, and the telescopic length of the branch that the rotor rod is connected with the fuselage is 0-70mm, which reduces the volume of the drone, and can perform flight inspections in a small space (rotor When the rod 2 is extended, the rotation tracks of the two propellers 3 on the rotor rod 2 on one side are farthest apart by 35cm); when the UAV is flying forward, the fuselage 1 and the rotor structure are all obliquely downward , this will increase the flight resistance of the UAV, so when this happens, the controller 5 controls the start of the micro-hydraulic pump 8, and the micro-hydraulic pump 8 controls the extension of the hydraulic rod 6, so that the linkage rod 7 drives the branch of the rotor rod 2 Rotate between 0-30° to realize the rotation of the relative angle between the entire fuselage and the rotor structure, so that the fuselage is still in a horizontal state when flying forward, while the rotor is at an angle of obliquely downward. When the unmanned aerial vehicle flies backward, then control the hydraulic rod 6 to retract in the opposite direction, and the linkage rod 7 drives the branch of the rotor rod 2 to rotate in the opposite direction.
实施例9、Embodiment 9,
参考图1和图2，本发明提供一种高压输电线路巡视机，包括机身1，机身1两侧为旋翼结构，旋翼结构包括T形旋翼杆2和螺旋桨3，旋翼杆2的三个分支均为可伸缩结构，且一个分支与机身连接，另外两个分支上分别连接螺旋桨2。所述旋翼杆2的分支与所述机身1为可转动地连接，具体连接结构为：旋翼杆2的分支末端通过机身1上开设的通孔穿入到机身1内，分支末端为一体的立方体连接端，立方体连接端与设在机身内的转动组件连接，通过转动组件带动旋翼杆的分支转动，从而实现整个旋翼杆和螺旋桨的转动。所述转动组件包括可转动地连接的液压杆6、联动杆7、微型液压泵8和控制器5，液压杆6固定在无人机机身1内部，联动杆7另一端设方形孔槽，所述旋翼杆分支末端的立方体连接端固定在联动杆7的方形空槽中，液压杆6连接微型液压泵8，微型液压泵8连接控制器5。所述液压杆6带动所述联动杆7转动的角度范围为上下30°之间。螺旋桨3的长度为14英寸，宽度为5.5英寸。旋翼杆2的三个分支均为三节可伸缩液压杆。With reference to Fig. 1 and Fig. 2, the present invention provides a kind of high-voltage transmission line inspection machine, comprises fuselage 1, and the two sides of fuselage 1 are rotor structure, and rotor structure comprises T-shaped rotor rod 2 and propeller 3, and three parts of rotor rod 2 The branches are all retractable structures, and one branch is connected to the fuselage, and the other two branches are connected to the propeller 2 respectively. The branch of the rotor rod 2 is rotatably connected with the fuselage 1, and the specific connection structure is: the branch end of the rotor rod 2 penetrates into the fuselage 1 through the through hole provided on the fuselage 1, and the branch end is An integrated cube connection end, the cube connection end is connected with the rotating assembly arranged in the fuselage, and the branch of the rotor rod is driven to rotate by the rotating assembly, thereby realizing the rotation of the entire rotor rod and the propeller. The rotating assembly includes a rotatably connected hydraulic rod 6, a linkage rod 7, a miniature hydraulic pump 8 and a controller 5. The hydraulic rod 6 is fixed inside the drone body 1, and the other end of the linkage rod 7 is provided with a square hole. The cuboid connecting end of the branch end of the rotor rod is fixed in the square cavity of the linkage rod 7 , the hydraulic rod 6 is connected to the micro hydraulic pump 8 , and the micro hydraulic pump 8 is connected to the controller 5 . The hydraulic rod 6 drives the linkage rod 7 to rotate within an angle range of 30° up and down. Propeller 3 has a length of 14 inches and a width of 5.5 inches. The three branches of the rotor rod 2 are three-section telescopic hydraulic rods.
当该高压输电线路巡视机在高压输电线路上飞行时，如若需要穿过狭小的空间，则通过旋翼杆2的三个可伸缩分支，将旋翼杆缩回来，在一侧的所述旋翼杆2上的两个螺旋桨3的转动轨迹最近相距5mm，旋翼杆与所述机身连接的分支的伸缩长度为0-70mm，减小了无人机的体积，即可在狭小空间进行飞行巡视(旋翼杆2伸长时一侧的所述旋翼杆2上的两个螺旋桨3的转动轨迹最远相距35cm)；当无人机向前飞行时，机身1与旋翼结构均为斜向下的状态，如此会增大无人机的飞行阻力，因此当这种情况时，控制器5控制启动微型液压泵8，微型液压泵8控制液压杆6伸长，从而联动杆7带动旋翼杆2的分支在0-30°之间转动，实现整个机身与旋翼结构相对角度的转动，使机身在向前飞行时仍然处于水平状态，而旋翼为斜向下的角度。当无人机向后飞行时，则控制液压杆6朝反方向缩回，联动杆7带动旋翼杆2的分支往相反方向转动。When the high-voltage transmission line patrol aircraft flies on the high-voltage transmission line, if it needs to pass through a narrow space, the three retractable branches of the rotor rod 2 are used to retract the rotor rod, and the rotor rod 2 on one side The rotation tracks of the two propellers 3 on the top are 5mm apart at the nearest distance, and the telescopic length of the branch that the rotor rod is connected with the fuselage is 0-70mm, which reduces the volume of the drone, and can perform flight inspections in a small space (rotor When the rod 2 is extended, the rotation tracks of the two propellers 3 on the rotor rod 2 on one side are farthest apart by 35cm); when the UAV is flying forward, the fuselage 1 and the rotor structure are all obliquely downward , this will increase the flight resistance of the UAV, so when this happens, the controller 5 controls the start of the micro-hydraulic pump 8, and the micro-hydraulic pump 8 controls the extension of the hydraulic rod 6, so that the linkage rod 7 drives the branch of the rotor rod 2 Rotate between 0-30° to realize the rotation of the relative angle between the entire fuselage and the rotor structure, so that the fuselage is still in a horizontal state when flying forward, while the rotor is at an angle of obliquely downward. When the unmanned aerial vehicle flies backward, then control the hydraulic rod 6 to retract in the opposite direction, and the linkage rod 7 drives the branch of the rotor rod 2 to rotate in the opposite direction.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810919080.9ACN109018325A (en) | 2018-08-14 | 2018-08-14 | A kind of ultra-high-tension power transmission line tour machine |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810919080.9ACN109018325A (en) | 2018-08-14 | 2018-08-14 | A kind of ultra-high-tension power transmission line tour machine |
| Publication Number | Publication Date |
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| CN109018325Atrue CN109018325A (en) | 2018-12-18 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810919080.9APendingCN109018325A (en) | 2018-08-14 | 2018-08-14 | A kind of ultra-high-tension power transmission line tour machine |
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| CN (1) | CN109018325A (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20181218 |