The invention relates to a six-rotor wing unmanned aerial vehicle system for taking and placing a Beidou navigation monitor on a high-voltage line, and belongs to the technical field of aerial robots.The system comprises a six-rotor wing unmanned aerial vehicle, an airborne control system and a monitor hanging mechanism; a grabbing mechanical arm mechanism and a binocular camera are fixedly arranged at the bottom of the six-rotor wing unmanned aerial vehicle body through a mounting plate; the grabbing mechanical arm mechanism is a two-axis mechanical arm; and the weight of a target object grabbed by the grabbing mechanical arm mechanism is smaller than 4 kg; the monitor hanging mechanism comprises a mounting barrel, a pair of hanging arms and a cross rod. The Beidou monitor is placed in the mounting barrel; and the six-rotor wing unmanned aerial vehicle hangs the Beidou navigation monitor on the high-voltage line through the monitor hanging mechanism; and the self-locking of the Beidou navigation monitor hung on the high-voltage line is realized through a self-locking mechanism. When the system is used for cutting entanglements on the high-voltage line, the grabbing mechanical armmechanism clamps the cutter handle of a cutting tool, and the cutting tool is a star-shaped cutter; and the position of entanglements on the high-voltage line is determined through the airborne control system, and cutting is conducted.

    本发明涉及一种高压线上取放北斗导航监测器的六旋翼无人机系统,属于空中机器人技术领域。包括六旋翼无人机、机载控制系统和监测器挂装机构,六旋翼无人机本体的底部通过安装板固定设有抓取机械臂机构和双目相机;抓取机械臂机构为两轴机械臂,抓取目标物体的重量小于4kg;监测器挂装机构包括安装桶、一对挂臂和横杆。将北斗监测器放入安装桶,六旋翼无人机通过监测器挂装机构将北斗导航监测器挂装到高压线上;且通过自锁机构实现了在高压线上挂装北斗导航监测器的自锁。用于切割高压线上的缠绕物时,抓取机械臂机构夹住切割刀具的刀柄,切割刀具为星型切割器;通过机载控制系统确定高压线上缠绕物的位置,实施切割。


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    Titel :

    Six-rotor wing unmanned aerial vehicle system for taking and placing Beidou navigation monitor on high-voltage line


    Weitere Titelangaben:

    一种高压线上取放北斗导航监测器的六旋翼无人机系统


    Beteiligte:
    LIU XIAOLI (Autor:in) / CUI WANGXU (Autor:in) / ZHEN SHENGCHAO (Autor:in) / CHEN FENG (Autor:in)

    Erscheinungsdatum :

    2020-08-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64C AEROPLANES , Flugzeuge / B25J Manipulatoren , MANIPULATORS / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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