CN103368103B - For hanging flight instruments and the method for sag rope to transmission line - Google Patents

Abstract

The invention provides a flying device and method for hanging a vertical rope to a power transmission line. The flying device includes: an unmanned aerial vehicle; a suspension device; a communication device; a control terminal equipped with a display for displaying images; and a camera device. The method for hanging the sag rope to the power transmission line based on the flying device includes: before the flying device takes off, the sagging rope is mounted on the flying device; image, and add a mark at the center of the image and display the image; detect the position of the mark, and when the mark position moves from one side of the wire of the power line to the other, the flying device releases the sag rope to hang to the power line Sagging rope. The invention suspends the sag rope on the transmission line through the flying device, which not only can improve the work efficiency and the safety factor of operators, but also can hang the sag rope on the transmission line at any height.

Description

Flying device and method for hanging sag ropes to power transmission lines

technical field

The invention relates to the field of power transmission line maintenance, in particular to a flying device and method for hanging a vertical line to a power transmission line.

Background technique

In the process of inspection and maintenance of transmission lines, it is always necessary to directly contact the wires, such as live testing, live defect elimination and equipotential work, etc. At this time, it is necessary to use a sag rope to assist the work. The sag rope is a A very thin, long and light rope with a heavy hammer tied to one end of the rope and a thick rope tied to work at the other end. During maintenance, the operator throws the heavy hammer over the wires of the transmission line, and then pulls one end of the heavy hammer, thereby Pull the thick rope through the wire or pull the tools tied to the thick rope to the wire.

In the prior art, the method of hanging the arc sag rope is that the operator throws it directly by hand. Since the force and direction of the manual throwing only depends on the operator's hand feeling, it is difficult to control, and it is difficult to ensure the efficiency of the work and the personal safety of other operators. Safe, and in recent years, with the continuous increase of voltage level, and the continuous adoption of double-circuit high-voltage transmission lines on the same tower and special tower types, the height of the transmission line and the sag from the ground are getting higher and higher, relying on operators to use it directly The hand-throwing arc sag rope has low work efficiency and low safety factor.

Contents of the invention

In order to solve the problems of low work efficiency and low safety factor of throwing the sag rope directly by hand at present, the present invention provides a flying device and method for hanging the sag rope to the power transmission line.

In order to solve the above problems, the present invention provides a flying device for hanging arc sag ropes to power transmission lines on the one hand, which includes: an unmanned aerial vehicle; Hang the sag rope or loosen the sag rope to suspend the sag rope on the transmission line; the communication device is arranged on the unmanned aerial vehicle or the suspension device, and communicates with the suspension device to communicate with the suspension device. The suspension device outputs a control command; the control terminal communicates with the communication device and sends the control command to the communication device. After receiving the control command transmitted by the communication device, the suspension device sends the The sag rope is suspended on the power transmission line; and the camera device is installed on the unmanned aerial vehicle, and is used to capture images of the sag rope and the power transmission line in real time, and transmit the images to the camera The communication device is connected with the communication device, and the communication device transmits the image transmitted by the camera device to the control terminal for reference by ground operators; the control terminal is provided with a display for displaying the image.

In the above-mentioned flying device, preferably, the suspension device includes: a bracket, arranged and connected under the UAV; a hook mechanism, arranged on the bracket, for mounting or releasing the sag Rope; an electric drive mechanism, set on the bracket, and connected with the hook mechanism and the communication device, according to the control command from the communication device, drives the hook mechanism to mount or release the Sagging rope.

In the above-mentioned flying device, preferably: the electric drive mechanism includes a steering gear provided with an output shaft; the hook mechanism includes a swing arm, and a fixed end of the swing arm is sleeved on the output shaft.

In the above-mentioned flying device, preferably: the flying device further includes a limiting mechanism, and the limiting mechanism includes: a limiting block, a spring, a pulley and a traction member; A cavity is provided inside the swing arm between the free ends, and the side walls of the cavity include: an upper side wall, a lower side wall, a front side wall and a rear side wall; the upper side wall is provided with through holes and perforation, the perforation is located between the through hole and the fixed end, the through hole is used to accommodate the limit block; the lower end of the spring arranged in the cavity is fixed on the lower side wall, the upper end of the spring is connected to the bottom end of the limit block; the lower side wall is provided with a first groove and a second groove, and the first groove and the second groove pass through Long hole connection; the first groove is located below the middle space of the spring, and the second groove is located between the first groove and the fixed end; the pulley is arranged in the first groove In the groove; one end of the traction member is connected to the bottom end of the limit block, and the other end of the traction member passes through the middle space of the spring and bypasses the pulley, and then extends in the long hole to the second groove, then protrude to the outside of the swing arm through the through hole, and be fixed on the bracket; the limit block is driven out of the through hole by the traction piece and the spring outside or retracted into the through hole.

In the flying device as described above, preferably: the flying device further includes a limit mechanism, and the limit mechanism includes: a limit block, a spring, a pulley, a traction piece and a bushing; The inside of the swing arm between the free ends of the swing arm is provided with a cavity, and the side walls of the cavity include: an upper side wall, a lower side wall, a front side wall and a rear side wall; the fixed end is provided with an opening, The opening communicates with the cavity; the sleeve is located in the opening and sleeved on the output shaft; the upper side wall is provided with a through hole; the spring disposed in the cavity The lower end is fixed to the lower side wall, and the upper end of the spring is connected to the bottom end of the limit block; the lower side wall is provided with a first groove and a second groove, and the first groove and the second groove are arranged on the lower side wall. The second groove is connected by a long hole; the first groove is located below the middle space of the spring, and the second groove is located between the first groove and the fixed end; the pulley It is arranged in the first groove; one end of the traction member is connected to the bottom end of the limit block, and the other end of the traction member passes through the middle space of the spring and bypasses the pulley, Extend in the long hole, protrude from the second groove, and be fixed on the bushing; the limiting block protrudes out of the through hole driven by the traction member and the spring outside or retracted into the through hole.

In the above-mentioned flying device, preferably: the traction member is a thin rope.

In the above-mentioned flying device, preferably: the long hole is a long groove provided on the side surface of the cavity of the lower side wall, connecting the first groove and the second groove.

In the above-mentioned flying device, it is preferable to further include: a ground control device for controlling the flight trajectory of the unmanned aerial vehicle, the ground control device and the control terminal are integrally structured.

In the above-mentioned flying device, preferably: the unmanned aerial vehicle is a four-axis unmanned aerial vehicle.

The present invention also provides a method for hanging a sag rope to a power transmission line, the method comprising: before the flight device takes off, hanging the sag rope on the flight device; after the flight device takes off, Make the flying device take the image of the sag rope and the power transmission line in real time, add a mark at the center position of the image and display the image; detect the position of the mark, when the position of the mark is from the power transmission line When one side of the conductor is moved to the other side, the flying device is released from the sag rope to hang the sag rope to the power transmission line; wherein the flying device is the above-mentioned flying device.

The invention hangs the sag rope on the transmission line through the flying device, so that when the sag rope is hung on the transmission line, not only can the work efficiency be improved, but also the safety factor of the operators can be improved, and it can also be hung on the transmission line at any height Sagging rope.

Description of drawings

Fig. 1 is a kind of structural schematic diagram of the flight device that is used for hanging vertical rope to transmission line provided by the present invention;

Fig. 2 is the enlarged schematic diagram of part A in Fig. 1;

Fig. 3 is a schematic structural view of another flying device for hanging a vertical rope to a power transmission line provided by the present invention;

Fig. 4 is the enlarged schematic diagram of part A in Fig. 3;

Fig. 5 is a structural schematic diagram of the limit mechanism, the swing arm and the output shaft in Fig. 3;

Fig. 6 is a structural schematic diagram of the limit mechanism, the swing arm and the output shaft of another flying device for hanging the vertical rope to the power transmission line provided by the present invention;

Fig. 7 is a schematic flow chart of a method for hanging a vertical rope to a power transmission line provided by the present invention;

The reference signs have the following meanings:

1 four-axis unmanned aerial vehicle; 2 communication device; 3 camera device;

4 arc sag rope; 41 heavy hammer; 42 hanging ring; 43 thin rope;

6 suspension devices;

61 bracket; 621 steering gear; 622 output shaft; 631 hook;

632 swing arm; 6320 fixed end; 6321 free end; 633 bushing;

6322 cavity; 6323 upper side wall; 6324 through hole; 6325 perforation;

6327 lower side wall;

7 control terminals; 71 monitors;

8 limit mechanism; 81 limit block; 82 spring; 83 traction piece

84 pulleys.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.

In order to solve the problem that the sag rope 4 existing in the prior art is difficult to accurately manually throw over the power transmission line, the present invention provides a flying device for hanging the sag rope 4 to the power transmission line. Take the manned aircraft as an example for illustration.

Referring to FIGS. 1-6 , the flying device includes a four-axis unmanned aerial vehicle 1 , a suspension device 6 , a communication device 2 , a control terminal 7 and a camera device 3 . Wherein, the suspension device 6 is arranged under the four-axis unmanned aerial vehicle 1, and is used for mounting the sag rope 4 and suspending the sag rope 4 on the power transmission line. The communication device 2 is arranged on the four-axis unmanned aerial vehicle 1, and communicates with the suspension device 6, receives the control command issued by the ground operator through the operation control terminal 7, and outputs the control command to the suspension device 6 to control the suspension device 6, the communication device can also be located on the suspension device 6. The control terminal 7 is communicatively connected with the communication device 2, and is used to send control instructions to the communication device 2 to control the action of the suspension device 6, to suspend the sag rope 4 on the transmission line or to hang the sag rope 4. The camera device 3 is arranged on the four-axis unmanned aerial vehicle 1, and is used for taking real-time images of the sag rope and the power transmission line, and transmitting the images to the communication device 2 communicated with it. The communication device 2 transmits the image transmitted by the camera device 3 to the control terminal 7, and the control terminal 7 is provided with a display 71 for displaying the image. The ground operator understands the mutual positional relationship between the sag rope and the power transmission line by observing the display 71, and The action of the suspension device 6 is controlled by issuing control instructions to the operation of the control terminal. The connection mode between the communication device 2 and the control terminal 7 is preferably a wireless connection, so that the quadcopter unmanned aerial vehicle 1 will not be disturbed by the image transmission line when the sag rope 4 is mounted.

The suspension device 6 includes a bracket 61 , a hook mechanism 63 and an electric drive mechanism provided with an output shaft 622 . The bracket 61 is fixedly connected to the central position of the lower part of the four-axis unmanned aerial vehicle 1. The hook mechanism 63 and the electric drive mechanism are both arranged on the bracket 61. The hook mechanism 63 is connected with the output shaft 622 of the electric drive mechanism for mounting the arc sag rope. 4 or the sag rope 4 is released from the hook mechanism and the sag rope 4 is suspended on the power transmission line. More specifically, the hook mechanism 63 is movably arranged on the bracket 61 , and the output shaft 622 of the electric drive mechanism is connected to the hook mechanism 63 . The electric driving mechanism is preferably a steering gear 621 .

As shown in Figures 1 and 2, the sag rope 4 includes a weight 41, a hanging ring 42 and a string 43, the string 43 is connected to the hanging ring 42 on the upper surface of the weight 41, and the hook mechanism has a hook 631, and the hook 631 One end of the hook 631 is sheathed on the output shaft 622 and can rotate under the driving of the electric drive mechanism. The other end of the hook 631 passes through the hanging ring 42 so that the sag rope 4 is hung on the hook 631 . When the four-axis unmanned aerial vehicle 1 rises to the designated position, the ground operator rotates the output shaft 620 of the electric drive mechanism through the control terminal, thereby driving the hook 631 to rotate, thereby causing the hanging ring 42 to be extracted from the hook 631. Under the action of gravity, the weight 41 will fall rapidly, and then the string 43 will be hung on the transmission line, so that the sag rope 4 is suspended on the transmission line.

In another embodiment, as shown in FIGS. 3-5 , the hook mechanism includes a swing arm 632 , the fixed end 6320 of the swing arm 632 is sleeved on the output shaft 622 , and the fixed end 6320 and the free end 6321 of the swing arm 632 The weight of the sag rope is mounted between them. In application, the swing arm 632 rotates under the drive of the steering gear 621 and the output shaft 622, and the rotation angle can be from 0 degrees (parallel to the ground) to 90 degrees (perpendicular to the ground, rotating counterclockwise to the lower right corner in the figure). When the swing arm 632 rotates to a position parallel to the ground under the driving of the steering gear 621, the hanging ring 42 of the sag rope 4 is sleeved on the swing arm 632 to hang the weight 41. Since the weight 41 is tied with a string 43. The swing arm 621 is indirectly mounted with the string 43. When the swing arm 632 rotates to be perpendicular to the ground under the driving of the steering gear 621, the weight 41 of the sag rope 4 will break away from the swing arm 632 under the action of gravity and fall downwards, and the string 43 on the weight 41 will fall downwards. Extend, thereby suspending the sag rope on the transmission line.

During the flight of the four-axis unmanned aerial vehicle, in order to avoid the phenomenon that the hanging ring 42 of the sag rope moves left and right to cause the heavy hammer to fall off the swing arm 621 in advance, the flying device also includes a limit mechanism for limiting the position of the hanging ring 42 8 (as shown in FIGS. 3-5 ), which includes a limit block 81 , a spring 82 , a pulley 84 and a traction member 83 .

In order to set the limit mechanism 8, between the fixed end 6320 and the free end 6321 of the swing arm 632, a cavity 6322 is provided inside the swing arm, and the cavity 6322 consists of the fixed end 6320, the free end 6321 and the upper side. The wall 6323, the lower side wall 6327, and the front and rear side walls (not shown), wherein the upper side wall 6323 and the lower side wall 6327 face each other up and down across the cavity 6322, and the front and rear side walls not shown in the figure are separated by the cavity 6322. relatively.

The upper side wall 6323 is provided with a through hole 6324 for accommodating the limit block 81, and the upper side wall 6323 is also provided with a perforation 6325, so that the string of the traction member 83 passes through it and is fixed on the bracket 61. The through hole 6324 and There is a certain distance between the through holes 6325, and the through holes 6325 are closer to the fixed end of the swing arm, and both the through holes 6324 and the through holes 6325 communicate with the cavity 6322, that is, the cavity 6322 communicates with the outside of the swing arm.

A spring 82 is arranged in the cavity, the lower end of the spring 82 is fixed on the inner surface of the lower side wall 6327 (side surface of the cavity), and the upper end of the spring 82 is in contact with the bottom end of the limiting block 81 . In order to prevent the limiting block 81 from falling out of the through hole 6324 , preferably, the upper end of the spring 82 is fixedly connected with the bottom of the limiting block 81 . Before the unmanned aerial vehicle flies to the prescribed position, when the sag rope 4 is mounted on the swing arm, the upper end of the limit block 81 stretches out of the through hole 6324, preventing the hanging ring 42 of the sag rope 4 from sliding off the swing arm. After the unmanned aerial vehicle flies to the specified position, under the drive of the electric drive mechanism, the free end of the swing arm 621 rotates downwards, and simultaneously the limit block 81 returns in the through hole 6324 under the drive of the spring 82 and the string. With the help of gravity, the hanging ring 42 slides off the swing arm 621 and hangs on the power transmission line.

Under the control of the electric drive mechanism, in order to make the spring 82 act accordingly, the following structure is also arranged in the cavity: one end of the string as the traction member 83 is fixed to the bottom end of the stop block 81 or the upper end of the spring 82 , the other end of the string extends in the middle space of the spring 82, and goes around the pulley 84 that is arranged in the middle space and fixed on the cavity side surface of the lower side wall 6327, and then extends in the cavity 6322 until Pass through the hole 6325, and fix the other end on the bracket 61.

In order to prevent the string from interfering with the bottom of the spring 82 during the process of extending the string around the pulley 84 and changing its direction in the cavity, it is preferable to form two grooves on the side of the cavity of the lower side wall 6327---the first The groove and the second groove are communicated between the first groove and the second groove through a linear elongated hole located in the lower side wall, wherein the first groove is located below the central space of the spring 82 (first The opening area of the groove is smaller than the central space cross-sectional area of the spring 82), the pulley 84 is fixed in the first groove, the second groove is closer to the fixed end side of the swing arm than the first groove, and the string passes through After changing direction, the first groove extends to the second groove in the long hole, passes through the second groove and extends to the through hole 6325 to fix the other end on the bracket 61 . Thus, it is avoided that the thin rope bypassing the pulley is in contact with the spring during operation, which affects the traction effect.

As another preference, a pulley may also be arranged in the second groove for direction change adjustment of the string. Moreover, instead of the above-mentioned long holes, long grooves can be set on the cavity side surface of the lower side wall, the first groove and the second groove are communicated by the long grooves, and the string extends from the first groove to the second groove along the long grooves. second groove.

The pulley is preferably a fixed pulley. In application, when the swing arm 632 is in a position parallel to the ground, the hanging ring 42 is sleeved between the fixed end 6320 and the through hole 6324, since the upper end of the limit block 81 protrudes out of the through hole 6324, it will block the hanging ring 42 slides down from the swing arm 632; when the swing arm 632 turns from a position parallel to the ground to a position perpendicular to the ground, the string of the traction member 83 will be stretched to pull the stop block 81 to compress the spring 82 and move toward Movement in the through hole 6324, when the upper end of the limit block 81 sinks into the through hole, the hanging ring 42 slides down from the swing wall 632 under the gravity of the weight 41, and the thin rope of the sag rope is hung on the power transmission line superior. The shape of the upper end of the limiting block 81 is preferably arc-shaped, and the angle (chamfer) between the hole wall and the hole bottom of the through hole 6324 or the through hole 6325 is preferably rounded.

In yet another embodiment, as shown in FIG. 6 , it is a front sectional view of the swing arm and the output shaft, wherein the first groove, the second groove and the long hole communicating with the first and second grooves are connected with the The above-mentioned embodiments are exactly the same, the difference is that no perforation is provided on the upper side wall in this embodiment, but the cavity in the swing arm forms an opening at the fixed end, and the output shaft passes through the front side wall of the swing arm, The opening, the rear side wall and the swing arm are fixedly connected together, that is, the cavity 6322 communicates with the opening and is connected as a whole. The output shaft at the opening is sleeved with a shaft sleeve 633, and the shaft sleeve 633 is placed on the output shaft. During the rotation, the string is wound around it to pull the spring.

The other end of the string passes through the middle space of the spring and is redirected by the pulley located in the first groove, then passes through the long hole and the second groove in turn (if there is a pulley in the second groove, it will pass through the pulley) and then fixed On the shaft sleeve 633, as the output shaft rotates, the shaft sleeve 633 also rotates, and tightens the string so that the string pulls the spring to compress or relax the spring.

For example, when the output shaft rotates counterclockwise, it drives the swing arm to rotate counterclockwise. Since the length of the string is fixed, and the other end of the string is fixed on the bushing, as the swing arm and the bushing rotate, the string will move toward the shaft. Putting on the winding will drive the other end of the string to pull the spring downward, so that the spring is compressed, so that the limit block supported by the spring sinks into the through hole, and no longer prevents the hanging ring from falling off the swing arm. In this way, The sag rope will break away from the swing arm and hang on the transmission line.

It should be noted that during the mating process of the limit block 81 and the through hole 6324, there will be a gap. In order to avoid the gap being too large and causing the hanging ring 42 to be drawn into the gap, the diameter of the hanging ring 42 is preferably larger than the diameter of the gap.

In practice, the traction member 83 may be a string, or a thin metal wire, preferably a string.

In order to accurately hang the sag rope to the power transmission line, the camera device 3 is preferably arranged next to the suspension device 6 , in other words, it is located below the quadcopter UAV and connected to the suspension device 6 . In practice, in order to identify the position of the hanging arc slump rope, a mark is added to the center of the image captured by the camera device 3 in real time, and a mark can also be added to the center of the display screen showing the image, and the ground operator observes through the display 71 This mark, when the position of the mark moves from one side of the power transmission line conductor to the other side opposite to the one side, indicates that the weight 41 has been positioned on the other side of the power transmission line conductor, and the ground operator sends out control through the control terminal 7 Command to drive the suspension device 6 to loosen the weight 41 to mount the sag rope 4 on the power transmission line.

In order to simplify the structure, the ground control device and the control terminal 7 of the four-axis unmanned aerial vehicle 1 for controlling the flight path of the unmanned aerial vehicle are in one structure, and the ground control device is used to issue flight control commands, which are used to indicate the flight status , forming a flight path. The control terminal 7 is provided with buttons or joysticks for controlling the flight path of the four-axis unmanned aerial vehicle 1 .

The application process of this preferred embodiment is roughly as follows:

When the ground operator (operator) finds a location that needs maintenance during the inspection of the transmission line, the driving mechanism 62 drives the hook mechanism 63 to open through the control terminal 7, and hangs the hanging ring 42 of the sag rope 4. Then the hook mechanism 63 is closed, and the control terminal 7 is operated to make the four-axis unmanned aerial vehicle 1 fly above the power transmission line. The camera 3 takes pictures of the power transmission line, the sag rope 4, etc., and the display 71 displays the image. According to the displayed image, the power worker judges whether the four-axis unmanned aerial vehicle 1 has reached the position of the power transmission line that needs maintenance. Line position, then the hook mechanism 63 is opened to throw away the weight 41, so that the sag rope 4 is hung on the power transmission line position that needs maintenance.

In order to solve the above-mentioned problems, the present invention also provides a method for hanging a vertical rope to the power transmission line for the flying device, see Figure 7, the method includes:

S10, before the flight device takes off, mount the sag rope on the flight device;

For the method of mounting the sag rope, please refer to the related description of the suspension device mounting the sag rope, and details will not be repeated here.

S20. After the flying device takes off, make the flying device take images of the sag rope and the power transmission line in real time, add a mark at the center of the image and display the image;

For related descriptions of step S20, refer to the related descriptions of the above-mentioned camera device and control terminal, which will not be repeated here.

S30. Detect the position of the mark. When the position of the mark moves from one side of the wire of the power transmission line to the other side, the flying device is released from the sag rope to hang the sag rope to the power transmission line.

The ground operator (operator) detects the position of the mark, and when it is detected in the displayed image that the position of the mark moves from one side of the conductor of the transmission line to the other, releases the sag rope to hang the sag line to the transmission line.

It should be noted that the flying devices described in steps S10, S20 and S30 are the aforementioned flying devices. Of course, the unmanned aerial vehicle in the flying device may be a four-axis unmanned aerial vehicle, which will not be repeated here.

In summary, the present invention sets the suspension device on the flying device, and makes the suspension device hang the sag rope or throw away the sag rope. Thereby, when hanging the sag rope, the work efficiency and the safety factor of the operators can be improved, and the sag rope can also be hung on the transmission line of any height.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (11)

1. A flight device for hanging an arcing sag rope to a transmission line, characterized in that it comprises: unmanned aerial vehicles; The suspension device is arranged under the unmanned aerial vehicle and is used to mount the sag rope or loosen the sag rope to suspend the sag rope on the power transmission line; The communication device is arranged on the UAV or the suspension device, and communicates with the suspension device, and outputs control instructions to the suspension device; The control terminal is communicatively connected with the communication device, and sends the control instruction to the communication device, and the suspension device hangs the sag rope on the transmission lines; and an imaging device, installed on the unmanned aerial vehicle, for capturing images of the sag rope and the power transmission line in real time, and transmitting the images to the communication device communicatively connected with the imaging device, The communication device transmits the image transmitted by the camera device to the control terminal for reference by ground operators; The control terminal is provided with a display for displaying the image; Also comprising: a ground control device for controlling the flight trajectory of the UAV; in, The suspension device includes: a bracket, arranged and connected under the unmanned aerial vehicle; a hook mechanism, arranged on the bracket, for mounting or releasing the sag rope; The electric driving mechanism is arranged on the bracket and is connected with the hook mechanism and the communication device, and drives the hook mechanism to mount or release the sag according to the control command from the communication device. rope; The electric drive mechanism includes a steering gear provided with an output shaft; The hook mechanism includes a swing arm, and the fixed end of the swing arm is sleeved on the output shaft; The flying device also includes a limit mechanism, and the limit mechanism includes: a limit block, a spring, a pulley and a traction member; A cavity is provided inside the swing arm between the fixed end and the free end of the swing arm, and the side walls of the cavity include: an upper side wall, a lower side wall, a front side wall and a rear side wall; The upper side wall is provided with a through hole and a through hole, the through hole is located between the through hole and the fixed end, and the through hole is used to accommodate the limit block; The lower end of the spring disposed in the cavity is fixed to the lower side wall, and the upper end of the spring is connected to the bottom end of the limiting block; The lower side wall is provided with a first groove and a second groove, and the first groove and the second groove are connected by a long hole; The first groove is located below the middle space of the spring, and the second groove is located between the first groove and the fixed end; The pulley is arranged in the first groove; One end of the traction member is connected to the bottom end of the limit block, and the other end of the traction member passes through the middle space of the spring and bypasses the pulley, and then extends to the The second groove protrudes to the outside of the swing arm through the through hole and is fixed on the bracket; Driven by the traction member and the spring, the limiting block protrudes out of the through hole or retreats into the through hole. 2. The flying device according to claim 1, characterized in that, The traction member is a thin rope. 3. The flying device according to claim 1, characterized in that, The long hole is a long groove provided on the side surface of the cavity of the lower side wall, connecting the first groove and the second groove. 4. The flying device according to claim 1, wherein the ground control device and the control terminal are integrated. 5. The flying device according to claim 1, wherein the unmanned aerial vehicle is a four-axis unmanned aerial vehicle. 6. A flying device for hanging a vertical rope to a transmission line, characterized in that it comprises: unmanned aerial vehicles; The suspension device is arranged under the unmanned aerial vehicle and is used to mount the sag rope or loosen the sag rope to suspend the sag rope on the power transmission line; The communication device is provided on the UAV or the suspension device, and communicates with the suspension device, and outputs control instructions to the suspension device; The control terminal is communicatively connected with the communication device, and sends the control instruction to the communication device, and the suspension device hangs the sag rope on the transmission lines; and an imaging device, installed on the unmanned aerial vehicle, for capturing images of the sag rope and the power transmission line in real time, and transmitting the images to the communication device communicatively connected with the imaging device, The communication device transmits the image transmitted by the camera device to the control terminal for reference by ground operators; The control terminal is provided with a display for displaying the image; Also comprising: a ground control device for controlling the flight trajectory of the UAV; in, The suspension device includes: a bracket, arranged and connected under the unmanned aerial vehicle; a hook mechanism, arranged on the bracket, for mounting or releasing the sag rope; The electric driving mechanism is arranged on the bracket and is connected with the hook mechanism and the communication device, and drives the hook mechanism to mount or release the sag according to the control command from the communication device. rope; The electric drive mechanism includes a steering gear provided with an output shaft; The hook mechanism includes a swing arm, and the fixed end of the swing arm is sleeved on the output shaft; The flying device also includes a limit mechanism, and the limit mechanism includes: a limit block, a spring, a pulley, a traction piece and a bushing; A cavity is provided inside the swing arm between the fixed end and the free end of the swing arm, and the side walls of the cavity include: an upper side wall, a lower side wall, a front side wall and a rear side wall; The fixed end is provided with an opening, and the opening communicates with the cavity; The shaft sleeve is located in the opening and sleeved on the output shaft; The upper side wall is provided with a through hole; The lower end of the spring disposed in the cavity is fixed to the lower side wall, and the upper end of the spring is connected to the bottom end of the limiting block; The lower side wall is provided with a first groove and a second groove, and the first groove and the second groove are connected by a long hole; The first groove is located below the middle space of the spring, and the second groove is located between the first groove and the fixed end; The pulley is arranged in the first groove; One end of the traction member is connected to the bottom end of the limit block, and the other end of the traction member passes through the middle space of the spring and bypasses the pulley, then extends in the long hole, and The second groove protrudes and is fixed on the shaft sleeve; Driven by the traction member and the spring, the limiting block protrudes out of the through hole or retreats into the through hole. 7. The flying device according to claim 6, characterized in that, The traction member is a thin rope. 8. The flying device according to claim 6, characterized in that, The long hole is a long groove provided on the side surface of the cavity of the lower side wall, connecting the first groove and the second groove. 9. The flying device according to claim 6, wherein the ground control device and the control terminal are integrated. 10. The flying device according to claim 6, wherein the unmanned aerial vehicle is a four-axis unmanned aerial vehicle. 11. A method for hanging a vertical rope to a transmission line, characterized in that the method comprises: Before the flight device takes off, the sag rope is mounted on the flight device; After the flying device takes off, make the flying device take images of the sag rope and the power transmission line in real time, add a mark at the center of the image and display the image; Detecting the position of the mark, when the position of the mark moves from one side of the conductor of the power transmission line to the other side, causing the flying device to release the sag rope to hang the sag rope to the power transmission line; Wherein the flying device is the flying device described in any one of claims 1-10.