An ice removal and inspection robot for high altitude

Abstract

The present invention relates to the field of inspection robots, and particularly to an ice removal inspection robot for high altitudes, which includes a driving mechanism, two linkage mechanisms, and three ice removal mechanisms. The three ice removal mechanisms are respectively movably installed on three cables. By setting the linkage mechanisms, the three ice removal mechanisms can be evenly installed on the cables, preventing the cables from rotating. Moreover, the linkage mechanisms replace the balance control mechanisms, reducing the manufacturing cost. Additionally, one ice removal mechanism can drive the other two ice removal mechanisms to move, enabling the three ice removal mechanisms to move together, reducing the control cost of the equipment and facilitating management. By setting a one-way transmission mechanism, it can drive a crushing mechanism to move while the displacer is moving, so that when the displacer speeds up, the crushing mechanism also speeds up, avoiding the need for the displacer to drive two one-way transmission mechanisms to move and reducing the power consumption required.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and particularly to an ice removal inspection robot for high altitude. Background Art

[0002] In winter, many ice cones often form on cables. Sometimes, due to the long-term shaking of the cables, these ice cones may fall to the ground. When pedestrians pass by, it may pose a life threat to them. To avoid such danger, workers usually need to regularly clean the ice cones on the cables. Or, fences are set up on the ground to prevent pedestrians from approaching. However, these two methods often consume a lot of time of workers and the effect is not good, and there is still a risk that pedestrians may be stabbed by ice cones. In the prior art, there are also ice removal inspection robots, but traditional robots can usually only de-ice one cable at a time. Moreover, such robots often move unstably during movement due to the shaking of the cables. And because they need to walk on a single cable, many balance control mechanisms are often added to prevent the robot from automatically rotating on the cable, which increases the manufacturing cost. In addition, traditional ice removal robots break the ice cones at high altitude, but in this way, the broken ice cones will still fall to the ground and injure pedestrians. Summary of the Invention

[0003] The purpose of the present invention is to provide an ice removal inspection robot for high altitude.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] Provided is a high-altitude deicing inspection robot, including a driving mechanism, two linkage mechanisms, and three deicing mechanisms. The three deicing mechanisms are respectively movably installed on three cables. The driving mechanism is fixedly installed on one deicing mechanism and is used to drive one deicing mechanism to move. Both ends of each linkage mechanism are respectively slidably connected to two driving mechanisms and are used to prevent the driving mechanism from rotating along the cable. Each deicing mechanism includes a displacer, two one-way transmission mechanisms, a crushing mechanism, and a collection box. The displacer is clamped on the cable and is used to drive the device to move along the cable. The driving mechanism is fixedly installed on the top of the displacer and is used to drive the displacer to move. Two collection boxes are respectively fixedly installed on both sides of the displacer and are used to store ice cones. The two one-way transmission mechanisms are respectively located on both sides of the displacer. When the displacer moves forward, it drives the one-way transmission mechanism on the right side to move. When the displacer moves backward, it drives the one-way transmission mechanism on the left side to move. And the two one-way transmission mechanisms are respectively fixedly installed on the two collection boxes and are used to drive the crushing mechanism to move. The two crushing mechanisms are respectively fixedly installed in the two collection boxes and are used to crush the ice cones that fall on the collection boxes. Y-shaped avoidance notches through which the ice cones pass are respectively opened on the outer sides of the two collection boxes. A pushing ice plate is arranged on the top of each collection box and is used to push the ice cones so that the ice cones fall into the collection box. A heater is arranged at the bottom of each collection box and is used to heat the bottom of the collection box. A solar power source is arranged on the side of each collection box and is used to absorb and store solar energy. A strip-shaped liquid outlet hole is arranged at the bottom of the collection box.

[0006] Further, a knocking ice mechanism is arranged on the outer side of the top end of each collection box and is used to knock down the ice cones that enter above the collection box. The knocking ice mechanism is in transmission connection with the crushing mechanism through a transmission mechanism, and the transmission mechanism is fixedly installed on the collection box.

[0007] Further, the displacer includes an installation frame, two driving wheels, anti-slip rubber sleeves, a first rotating shaft, and four extension pipes. The two driving wheels are clamped on the upper and lower sides of the cable. The two anti-slip rubber sleeves are respectively fixedly installed on the two driving wheels. The two driving wheels are respectively fixedly installed on the two first rotating shafts. The two first rotating shafts are both rotationally connected to the installation frame. Every two extension pipes are respectively fixedly installed at both ends of a first rotating shaft, and the extension pipes are slidably connected to the linkage mechanism and are in transmission connection with the one-way transmission mechanism.

[0008] Further, the driving mechanism includes a reduction motor, a first driving gear, and two first driven gears. The reduction motor is fixedly installed on the top of the installation frame. The first driving gear is fixedly installed on the output end of the reduction motor. The two first driven gears are respectively fixedly installed on the two first rotating shafts. The two first driven gears are meshed with each other, and the first driving gear is meshed with one of the first driven gears.

[0009] Furthermore, each linkage mechanism includes four insertion posts and two extension posts. Every two insertion posts are respectively and fixedly installed at both ends of the extension posts. The insertion posts are inserted into the extension tubes. The extension tubes are provided with clamping strips, and the insertion posts are provided with clamping grooves that cooperate with the clamping strips.

[0010] Furthermore, each one-way transmission mechanism includes a rotating tube, a rotating plate, a transmission assembly, a first rotating seat, a limiting baffle, a transmission plate, a torsion spring, a strip-shaped abutting plate, and a rotating column. The rotating plate is fixedly installed on the collection box. The rotating tube is rotatably connected to the rotating plate. The rotating tube is sleeved on the outer edge of the extension tube. The first rotating seat is fixedly installed on the inner edge of the rotating tube. The rotating column is rotatably installed on the first rotating seat. The transmission plate is fixedly installed on the rotating column. The limiting baffle is fixedly installed on the first rotating seat. One side of the limiting baffle abuts against the transmission plate. The torsion spring is sleeved on the rotating column. One end of the torsion spring is fixedly connected to the first rotating seat, and the other end is fixedly connected to the rotating column. The strip-shaped abutting plate is fixedly installed on the extension tube. The transmission assembly is fixedly installed on the collection box. One end of the transmission assembly is in transmission connection with the rotating tube, and the other end of the transmission assembly is in transmission connection with the crushing mechanism.

[0011] Furthermore, the transmission assembly includes a first belt pulley, a second belt pulley, a second rotating seat, a transmission gear, and a support tube. The support tube is fixedly installed on the collection box. The second rotating seat is fixedly installed on the support tube. The second belt pulley and the transmission gear are both fixedly installed on the second rotating seat. The transmission gear meshes with the crushing mechanism. The first belt pulley is fixedly installed on the rotating tube. The first belt pulley and the second belt pulley are connected by a belt.

[0012] Furthermore, the crushing mechanism includes two crushing rollers and a second driven gear. The two crushing rollers are rotatably installed on the collection box. The two second driven gears are respectively fixedly installed on the two crushing rollers. The two second driven gears mesh with each other. The transmission gear meshes with one of the second driven gears.

[0013] Furthermore, each ice knocking mechanism includes a guiding plate, a second rotating shaft, a shaft seat, a sliding plate, an extension plate, an abutting plate, a tension spring, a knocking plate, and a tension spring mounting post. The shaft seat is fixedly installed on the collection box. The second rotating shaft is rotatably connected to the shaft seat. The sliding plate is fixedly installed on the top of the second rotating shaft. The extension plate is slidably connected to the sliding plate. A slider is provided at the bottom of the extension plate. The sliding plate is provided with a sliding groove for the slider to slide. A limiting plate is provided at the bottom of the slider. The tension spring mounting post is provided at the bottom of the limiting plate. One end of the tension spring is fixedly connected to the tension spring mounting post, and the other end of the tension spring is sleeved on the second rotating shaft. The knocking plate is fixedly installed on the side of the extension plate. The abutting plate is fixedly installed on the top of the extension plate. The guiding plate is located above the extension plate. The outer edge of the abutting plate fits with the guiding plate. The guiding plate is fixedly installed on the rotating plate through a connecting frame. The second rotating shaft is in transmission connection with the crushing mechanism through a transmission mechanism.

[0014] Further, the transmission mechanism includes a first bevel gear, a second bevel gear, a third swivel base, a third pulley, a fourth pulley, and a third rotating shaft. The third swivel base is fixedly installed on the collection box through a support pipe. The third rotating shaft is rotatably connected to the third swivel base. The second bevel gear and the third pulley are respectively fixedly installed at both ends of the third rotating shaft. The first bevel gear is fixedly installed on the second rotating shaft. The first bevel gear meshes with the second bevel gear. The fourth pulley is fixedly installed on the crushing mechanism. The fourth pulley and the third pulley are connected by belt drive.

[0015] Advantages of the present invention:

[0016] 1. For the high-altitude de-icing inspection robot, by setting the linkage mechanism, the three de-icing mechanisms can be evenly installed on the cable, preventing the cable from rotating. Moreover, the linkage mechanism replaces the balance control mechanism, reducing the manufacturing cost. Additionally, one de-icing mechanism can drive the other two de-icing mechanisms to move together, reducing the control cost of the equipment and facilitating management.

[0017] 2. By setting the one-way transmission mechanism, two effects are achieved. Firstly, it can drive the crushing mechanism to move while the displacer is moving, so that when the displacer speeds up, the crushing mechanism also speeds up, preventing the crushing mechanism from being unable to crush due to the too-fast falling speed of the ice cone. Secondly, when the displacer rotates forward and backward, the one-way transmission mechanisms at different positions move, enabling the crushing mechanisms in the corresponding directions to move, avoiding the need for the displacer to drive two one-way transmission mechanisms during movement and reducing the power consumption.

[0018] 3. By combining the ice-knocking mechanism and the transmission mechanism, three effects are achieved. Firstly, a connection is established between the speed of the displacer and the ice-knocking mechanism, so that when the displacer accelerates, the ice-knocking mechanism can also knock according to the preset movement trajectory per unit distance of the journey, knocking all the ice cones, reducing the contact between the ice cones and the ice-pushing plate, and preventing the impact on the movement of the displacer. Secondly, the fallen ice cones will fall into the collection box, preventing the ice cones from directly falling to the ground and injuring pedestrians.

[0019] 4. The ice cones are processed and melted by the crushing mechanism and the heater, turning them into ice water and flowing out, thus completely preventing injury to pedestrians. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram when the present invention is installed;

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the present invention;

[0022] Figure 3 It is a partial three-dimensional structural schematic of the present invention Figure 1 ;

[0023] Figure 4 Schematic diagram of the local three-dimensional structure of the present invention Figure 2 ;

[0024] Figure 5 Schematic three-dimensional structure diagram of the driving mechanism and the displacer;

[0025] Figure 6 Schematic diagram of the local three-dimensional structure of the driving mechanism and the displacer;

[0026] Figure 7 Schematic three-dimensional structure diagram of the linkage mechanism;

[0027] Figure 8 Schematic three-dimensional structure diagram of the one-way transmission mechanism;

[0028] Figure 9 Schematic diagram of the local three-dimensional structure of the one-way transmission mechanism;

[0029] Figure 10 Schematic three-dimensional structure diagram of the crushing mechanism;

[0030] Figure 11 Schematic three-dimensional structure diagram of the ice-knocking mechanism;

[0031] Figure 12 Exploded schematic three-dimensional structure diagram of the ice-knocking mechanism;

[0032] Figure 13 Schematic three-dimensional structure diagram of the transmission mechanism;

[0033] In the figure: 1. Driving mechanism; 1a. Reduction motor; 1b. First driving gear; 1c. First driven gear; 2. Linkage mechanism; 2a. Insertion post; 2b. Extension post; 2c. Clamping strip; 2d. Card slot; 3. One-way transmission mechanism; 3a. Rotating tube; 3b. Rotating plate; 3c. Transmission component; 3c1. First pulley; 3c2. Second pulley; 3c3. Second rotating base; 3c4. Transmission gear; 3c5. Support tube; 3d. First rotating base; 3e. Limit baffle; 3f. Transmission plate; 3h. Torsion spring; 3i. Strip-shaped abutting plate; 3j. Rotating column; 4. Crushing mechanism; 4a. Crushing roller; 4b. Second driven gear; 5. Displacer; 5a. Installation frame; 5b. Driving wheel; 5c. Anti-slip rubber sleeve; 5d. Extension tube; 5e. First rotating shaft; 6. Ice knocking mechanism; 6a. Guide plate; 6b. Second rotating shaft; 6c. Shaft seat; 6d. Slide plate; 6e. Extension plate; 6f. Abutting plate; 6h. Tension spring; 6i. Knocking plate; 6k. Tension spring installation post; 7. Transmission mechanism; 7a. First bevel gear; 7b. Second bevel gear; 7c. Third rotating base; 7d. Third pulley; 7e. Fourth pulley; 7f. Third rotating shaft; 10. Collection box; 10a. Y-shaped avoidance notch; 10b. Ice pushing plate; 11. Heater; 12. Solar power supply; 13. Cable. Detailed implementation manners

[0034] The technical solution of the present invention will be further described below in conjunction with the drawings and through specific implementation manners.

[0035] Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation of this patent; in order to better illustrate the embodiments of the present invention, some components in the drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual product.

[0036] The present invention provides a technical solution: as Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, it includes a driving mechanism 1, two linkage mechanisms 2 and three de-icing mechanisms. The three de-icing mechanisms are respectively movably installed on three cables 13. The driving mechanism 1 is fixedly installed on one de-icing mechanism for driving one de-icing mechanism to move;

[0037] It should be noted here that the driving mechanism 1 can be installed on the middle de-icing mechanism or on the edge de-icing mechanism. Of course, there can be two or more de-icing mechanisms without affecting the operation of the equipment. If there is only one de-icing mechanism, it will cause the de-icing mechanism to rotate on the cable 13, thereby affecting the operation of the equipment. Both ends of each linkage mechanism 2 are slidably connected to two driving mechanisms 1 to prevent the driving mechanism 1 from rotating along the cable.

[0038] In the present invention, each de-icing mechanism includes a displacer 5, two one-way transmission mechanisms 3, a crushing mechanism 4, and a collection box 10. The displacer 5 is clamped on the cable 13 and is used to drive the device to move along the cable 13. The driving mechanism 1 is fixedly installed on the top of the displacer 5 and is used to drive the displacer 5 to move.

[0039] Two collection boxes 10 are respectively fixedly installed on both sides of the displacer 5 and are used to store ice cones.

[0040] The two one-way transmission mechanisms 3 are respectively located on both sides of the displacer 5. When the displacer 5 moves forward, it drives the one-way transmission mechanism 3 on the right side to move. When the displacer 5 moves backward, it drives the one-way transmission mechanism 3 on the left side to move. And the two one-way transmission mechanisms 3 are respectively fixedly installed on the two collection boxes 10 and are used to drive the crushing mechanism 4 to move. In this way, the robot can perform de-icing both when moving forward and backward, avoiding the need for the robot to reset after removing the ice cones, thereby saving electricity.

[0041] The two crushing mechanisms 4 are respectively fixedly installed in the two collection boxes 10 and are used to crush the ice cones that fall on the collection boxes 10. Y-shaped avoidance notches 10a through which the ice cones pass are provided on the outer sides of the two collection boxes 10.

[0042] A pushing ice plate 10b is provided on the top of each collection box 10 and is used to push the ice cones so that the ice cones fall into the collection box 10.

[0043] A heater 11 is provided at the bottom of each collection box 10 and is used to heat the bottom of the collection box 10 so that the crushed ice cubes are melted.

[0044] A solar power source 12 is provided on the side of each collection box 10 and is used to absorb solar energy for storage. When the stored energy reaches the set value, the device drives the displacer 5 to work and drives the heater 11 to heat.

[0045] A strip-shaped liquid outlet hole is provided at the bottom of the collection box 10.

[0046] In the present invention, the driving mechanism 1 includes a reduction motor 1a, a first driving gear 1b, and two first driven gears 1c, as Figure 5As shown, the reduction motor 1a is fixedly installed on the top of the mounting frame 5a, the first driving gear 1b is fixedly installed on the output end of the reduction motor 1a, two first driven gears 1c are respectively fixedly installed on two first rotating shafts 5e, the two first driven gears 1c mesh with each other, and the first driving gear 1b meshes with one of the first driven gears 1c. Controlling the reduction motor 1a to work through the controller will cause the reduction motor 1a to drive the first driving gear 1b to rotate. The first driving gear 1b will drive the two first driven gears 1c to rotate, causing the two first driven gears 1c to drive the two first rotating shafts 5e to rotate respectively.

[0047] In the present invention, the displacer 5 includes a mounting frame 5a, two driving wheels 5b, anti-slip rubber sleeves 5c, first rotating shafts 5e and four extension tubes 5d. In order to enable the device to move on the cable 13, as Figure 6 shown, the two driving wheels 5b are clamped on the upper and lower sides of the cable 13, two anti-slip rubber sleeves 5c are respectively fixedly installed on the two driving wheels 5b, the two driving wheels 5b are respectively fixedly installed on the two first rotating shafts 5e, the two first rotating shafts 5e are both rotatably connected to the mounting frame 5a, and every two extension tubes 5d are respectively fixedly installed at both ends of a first rotating shaft 5e, and the extension tube 5d is slidably connected to the linkage mechanism 2 and is in transmission connection with the one-way transmission mechanism 3. When the driving mechanism 1 works, the driving mechanism 1 will drive the two first rotating shafts 5e to rotate, causing the first rotating shafts 5e to drive the two driving wheels 5b to rotate, making the two driving wheels 5b drive the anti-slip rubber sleeves 5c to move along the cable 13. When the extension tube 5d moves, the extension tube 5d will drive the linkage mechanism 2 to move, and the extension tube 5d will simultaneously drive the one-way transmission mechanism 3 to move.

[0048] In the present invention, each linkage mechanism 2 includes four insertion posts 2a and two extension posts 2b. In order to enable one de-icing mechanism to drive another de-icing mechanism to move when it moves, as Figure 7 shown, every two insertion posts 2a are respectively fixedly installed at both ends of the extension post 2b, the insertion posts 2a are inserted into the extension tube 5d, a clamping strip 2c is arranged on the extension tube 5d, and a clamping groove 2d cooperating with the clamping strip 2c is opened on the insertion post 2a. When the extension tube 5d rotates, it will cause the extension tube 5d to drive the clamping strip 2c to rotate, making the clamping strip 2c drive the insertion post 2a to rotate, and enabling the insertion post 2a to drive another insertion post 2a to rotate through the extension post 2b.

[0049] In the present invention, each one-way transmission mechanism 3 includes a rotating tube 3a, a rotating plate 3b, a transmission assembly 3c, a first rotating seat 3d, a limiting baffle 3e, a transmission plate 3f, a torsion spring 3h, a strip-shaped abutting plate 3i and a rotating column 3j. In order to enable the extension tube 5d to drive the rotating tube 3a to rotate during forward rotation and prevent it from driving the rotating tube 3a to rotate during reverse rotation, as Figure 8 and Figure 9 shown, the rotating plate 3b is fixedly installed on the collection box 10, the rotating tube 3a is rotatably connected to the rotating plate 3b, the rotating tube 3a is sleeved on the outer edge of the extension tube 5d, the first rotating seat 3d is fixedly installed on the inner edge of the rotating tube 3a, the rotating column 3j is rotatably installed on the first rotating seat 3d, the transmission plate 3f is fixedly installed on the rotating column 3j, the limiting baffle 3e is fixedly installed on the first rotating seat 3d, one side of the limiting baffle 3e abuts against the transmission plate 3f, the torsion spring 3h is sleeved on the rotating column 3j, one end of the torsion spring 3h is fixedly connected to the first rotating seat 3d, and the other end is fixedly connected to the rotating column 3j. The strip-shaped abutting plate 3i is fixedly installed on the extension tube 5d. When the extension tube 5d rotates, the extension tube 5d will drive the strip-shaped abutting plate 3i to rotate, so that the strip-shaped abutting plate 3i pushes the transmission plate 3f to move. Due to the blocking of the limiting baffle 3e, the movement of the transmission plate 3f will drive the first rotating seat 3d to move, so that the first rotating seat 3d drives the rotating tube 3a to rotate on the rotating plate 3b. When the extension tube 5d rotates in the reverse direction, the extension tube 5d drives the strip-shaped abutting plate 3i to abut against the other side of the transmission plate 3f. Since the transmission plate 3f will not contact the limiting baffle 3e when rotating, the transmission plate 3f rotates on the rotating column 3j and will not drive the first rotating seat 3d to move. The transmission assembly 3c is fixedly installed on the collection box 10, one end of the transmission assembly 3c is in transmission connection with the rotating tube 3a, and the other end of the transmission assembly 3c is in transmission connection with the crushing mechanism 4. When the rotating tube 3a moves, the rotating tube 3a will drive the transmission assembly 3c to move, so that the transmission assembly 3c drives the crushing mechanism 4 to move. In this way, when the robot moves forward, the front crushing mechanism 4 moves. When the robot moves backward, the rear crushing mechanism 4 is driven to move. Thus, the robot does not need to be reset. Moreover, with this driving method, only one crushing mechanism 4 works each time, reducing energy consumption and enabling the robot to work more times.

[0050] In the present invention, the transmission assembly 3c includes a first pulley 3c1, a second pulley 3c2, a second rotating seat 3c3, a transmission gear 3c4 and a support tube 3c5. In order to enable the rotating tube 3a to drive the crushing mechanism 4 to work simultaneously when rotating, as Figure 8As shown, the support tube 3c5 is fixedly mounted on the collection box 10, the second rotating seat 3c3 is fixedly mounted on the support tube 3c5, the second pulley 3c2 and the transmission gear 3c4 are both fixedly mounted on the second rotating seat 3c3, the transmission gear 3c4 is meshed with the crushing mechanism 4, the first pulley 3c1 is fixedly mounted on the rotating tube 3a, and the first pulley 3c1 and the second pulley 3c2 are connected by a belt. When the rotating tube 3a rotates, the rotating tube 3a will drive the first pulley 3c1 to rotate, so that the first pulley 3c1 drives the second pulley 3c2 to rotate through the belt, and the second pulley 3c2 will drive the transmission gear 3c4 to move through the rotating shaft on the second rotating seat 3c3, so that the transmission gear 3c4 drives the crushing mechanism 4 to move.

[0051] In the present invention, the crushing mechanism 4 includes two crushing rollers 4a and a second driven gear 4b, in order to crush the ice cone, such as Figure 10 As shown, two crushing rollers 4a are rotatably mounted on the collection box 10, two second driven gears 4b are fixedly mounted on the two crushing rollers 4a, the two second driven gears 4b are meshed with each other, and the transmission gear 3c4 is meshed with one second driven gear 4b. The transmission gear 3c4 rotates, and the transmission gear 3c4 drives one second driven gear 4b to rotate, so that the second driven gear 4b drives another second driven gear 4b to rotate, and the two second driven gears 4b drive the other two crushing rollers 4a to rotate, so that the two crushing rollers 4a crush the ice cones that fall into the collection box 10.

[0052] In one embodiment of the present invention, Figure 4 As shown, in order to reduce the contact between the ice pusher 10b and the ice cone and avoid affecting the running speed of the displacer 5, an ice knocking mechanism 6 is provided on the outer side of the top of each collection box 10, which is used to knock down the ice cone that enters the air above the collection box 10. The ice knocking mechanism 6 is connected to the crushing mechanism 4 through a transmission mechanism 7, and the transmission mechanism 7 is fixedly installed on the collection box 10. When the displacer 5 moves, the ice knocking mechanism 6 will also hit the ice cone. Through the transmission mechanism 7, the speeds of the two are connected to each other, so as to avoid the displacer 5 running faster while the ice knocking mechanism 6 still maintains the initial speed, so that the ice knocking mechanism 6 misses hitting the ice cone.

[0053] In the present invention, each ice knocking mechanism 6 includes a guide plate 6a, a second rotating shaft 6b, an axle seat 6c, a slide plate 6d, an extension plate 6e, a stop plate 6f, a tension spring 6h, a knocking plate 6i and a tension spring mounting column 6k, so that the robot can knock down the ice cone when moving, reducing the resistance that the ice pushing plate 10b needs to be subjected to, such as Figure 11 and Figure 12As shown, the shaft seat 6c is fixedly installed on the collection box 10. The second rotating shaft 6b is rotatably connected to the shaft seat 6c. The sliding plate 6d is fixedly installed on the top of the second rotating shaft 6b. The extension plate 6e is slidably connected to the sliding plate 6d. A slider is provided at the bottom of the extension plate 6e. A chute for the slider to slide is formed on the sliding plate 6d. A limiting plate is provided at the bottom of the slider. A spring mounting post 6k is provided at the bottom of the limiting plate. One end of the tension spring 6h is fixedly connected to the spring mounting post 6k. The other end of the tension spring 6h is sleeved on the second rotating shaft 6b. The knocking plate 6i is fixedly installed on the side of the extension plate 6e. The abutting plate 6f is fixedly installed on the top of the extension plate 6e. The guiding plate 6a is located above the extension plate 6e. The outer edge of the abutting plate 6f is in contact with the guiding plate 6a. The guiding plate 6a is fixedly installed on the rotating plate 3b through a connecting frame. The second rotating shaft 6b is drivingly connected to the crushing mechanism 4 through a transmission mechanism 7. When the crushing mechanism 4 works, the crushing mechanism 4 will drive the transmission mechanism 7 to move, so that the transmission mechanism 7 drives the second rotating shaft 6b to move. The second rotating shaft 6b will drive the sliding plate 6d to rotate. When the sliding plate 6d rotates, the sliding plate 6d will drive the extension plate 6e to rotate, so that the extension plate 6e drives the abutting plate 6f to move along the guiding plate 6a, and further makes the extension plate 6e move forward, so that the knocking plate 6i hits the ice cone, and then the ice cone falls into the collection box 10.

[0054] In the present invention, the transmission mechanism 7 includes a first bevel gear 7a, a second bevel gear 7b, a third rotating seat 7c, a third belt pulley 7d, a fourth belt pulley 7e and a third rotating shaft 7f. In order to enable the crushing roller 4a to drive the second rotating shaft 6b to move when the crushing roller 4a rotates, as Figure 13 shown, the third rotating seat 7c is fixedly installed on the collection box 10 through a support pipe. The third rotating shaft 7f is rotatably connected to the third rotating seat 7c. The second bevel gear 7b and the third belt pulley 7d are respectively fixedly installed at both ends of the third rotating shaft 7f. The first bevel gear 7a is fixedly installed on the second rotating shaft 6b. The first bevel gear 7a meshes with the second bevel gear 7b. The fourth belt pulley 7e is fixedly installed on the crushing mechanism 4. The fourth belt pulley 7e is drivingly connected to the third belt pulley 7d through a belt. When the crushing roller 4a rotates, the crushing roller 4a will drive the fourth belt pulley 7e to rotate, so that the fourth belt pulley 7e drives the third belt pulley 7d to rotate through the belt, so that the third belt pulley 7d drives the second bevel gear 7b to rotate through the third rotating shaft 7f, so that the second bevel gear 7b drives the second rotating shaft 6b to rotate through the first bevel gear 7a.

[0055] Working principle: First, workers install three de-icing mechanisms and two linkage mechanisms 2 on three cables. Through the controller on the de-icing mechanism, when a certain amount of electricity is stored in the solar power source 12, the control will control the reduction motor 1a to work, so that the reduction motor 1a drives the first driving gear 1b to rotate. The first driving gear 1b will drive the two first driven gears 1c to rotate, so that the two first driven gears 1c respectively drive the two first rotating shafts 5e to rotate, and the first rotating shaft 5e will drive the two driving wheels 5b to rotate, so that the two driving wheels 5b drive the anti-slip rubber sleeve 5c to move along the cable 13. When the extension tube 5d moves, the extension tube 5d will drive the linkage mechanism 2 to move, and the extension tube 5d will simultaneously drive the one-way transmission mechanism 3 to move;

[0056] When the extension tube 5d rotates, the extension tube 5d will drive the strip abutment plate 3i to rotate, so that the strip abutment plate 3i pushes the transmission plate 3f to move. Due to the obstruction of the limit baffle 3e, the movement of the transmission plate 3f will drive the first rotating seat 3d to move, so that the first rotating seat 3d drives the rotating tube 3a to rotate on the rotating plate 3b. When the rotating tube 3a moves, the rotating tube 3a will drive the first pulley 3c1 to rotate, so that the first pulley 3c1 drives the second pulley 3c2 to rotate through the belt, and the second pulley 3c2 will rotate through the second rotating seat The rotating shaft on 3c3 drives the transmission gear 3c4 to move, and the transmission gear 3c4 rotates, and the transmission gear 3c4 will drive a second driven gear 4b to rotate, so that the second driven gear 4b drives another second driven gear 4b to rotate, and the two second driven gears 4b will drive the other two crushing rollers 4a to rotate, so that the two crushing rollers 4a crush the ice cones that fall into the collection box 10, and then the crushed ice is heated by the heater 11, and the melted ice water will be discharged along the strip-shaped liquid outlet provided at the bottom of the collection box 10;

[0057] When the crushing roller 4a rotates, the crushing roller 4a will drive the fourth pulley 7e to rotate, so that the fourth pulley 7e drives the third pulley 7d to rotate through the belt, so that the third pulley 7d drives the second bevel gear 7b to rotate through the third rotating shaft 7f, so that the second bevel gear 7b drives the second rotating shaft 6b to rotate through the first bevel gear 7a, and the second rotating shaft 6b will drive the slide plate 6d to rotate, and when the slide plate 6d rotates, the slide plate 6d will drive the extension plate 6e to rotate, so that the extension plate 6e drives the abutment plate 6f to move along the guide plate 6a, and then the extension plate 6e moves forward, so that the knocking plate 6i hits the ice cone, and the ice cone falls into the collection box 10.

Claims

1. An ice removal and inspection robot for high altitude, characterized in that, The invention comprises a driving mechanism (1), two linkage mechanisms (2) and three deicing mechanisms, wherein the three deicing mechanisms are respectively movably mounted on three cables (13); the driving mechanism (1) is fixedly mounted on one deicing mechanism and is used to drive one deicing mechanism to move; the two ends of each linkage mechanism (2) are respectively slidably connected to the two driving mechanisms (1) and are used to prevent the driving mechanism (1) from rotating along the cables; each deicing mechanism comprises a displacer (5), two one-way transmission mechanisms (3), a crushing mechanism (4) and a collection box (10); the displacer (5) is clamped on the cable (13) and is used to move on the cable (13) along with the driving device; the driving mechanism (1) is fixedly mounted on the top of the displacer (5) and is used to drive the displacer (5) to move; two collection boxes (10) are respectively fixedly mounted on both sides of the displacement device (5) and are used to store ice cones; two one-way transmission mechanisms (3) are respectively located on both sides of the displacement device (5); when the displacement device (5) moves in the forward direction, the one-way transmission mechanism (3) on the right side is driven to move; when the displacement device (5) moves in the reverse direction, the one-way transmission mechanism (3) on the left side is driven to move; and the two one-way transmission mechanisms (3) are respectively fixedly mounted on the two collection boxes (10) and are used to drive the crushing mechanism (4) to move; the two crushing mechanisms (4) are respectively fixedly mounted in the two collection boxes (10) and are used to crush the ice cones that fall on the collection boxes (10); and the outer sides of the two collection boxes (10) are provided with Y-shaped holes for the ice cones to pass through. The collecting box (10) is provided with an ice-pushing plate (10b) on the top of each collecting box (10) for pushing down the ice cones so that the ice cones fall into the collecting box (10); the bottom of each collecting box (10) is provided with a heater (11) for heating the bottom of the collecting box (10); the side of each collecting box (10) is provided with a solar power source (12) for absorbing solar energy for storage; the bottom of the collecting box (10) is provided with a strip-shaped liquid outlet; the top outer side of each collecting box (10) is provided with an ice-knocking mechanism (6) for knocking down the ice cones that enter the air above the collecting box (10); the ice-knocking mechanism (6) is connected to the crushing mechanism (4) through a transmission mechanism (7); the transmission mechanism (7) is fixedly mounted The displacer (5) is mounted on a collection box (10); the displacer (5) comprises a mounting frame (5a), two driving wheels (5b), a non-slip rubber sleeve (5c), a first rotating shaft (5e) and four extension tubes (5d); the two driving wheels (5b) are clamped on the upper and lower sides of the cable (13); the two non-slip rubber sleeves (5c) are respectively fixedly mounted on the two driving wheels (5b); the two driving wheels (5b) are respectively fixedly mounted on the two first rotating shafts (5e); the two first rotating shafts (5e) are both rotatably connected to the mounting frame (5a); each of the two extension tubes (5d) are respectively fixedly mounted on the two ends of a first rotating shaft (5e); the extension tubes (5d) are slidably connected to the linkage mechanism (2); and the extension tubes (5d) are transmission-connected to the one-way transmission mechanism (3).

2. The ice removal and inspection robot for high altitude according to claim 1, characterized in that, The driving mechanism (1) includes a reduction motor (1a), a first driving gear (1b), and two first driven gears (1c). The reduction motor (1a) is fixedly installed on the top of the installation frame (5a). The first driving gear (1b) is fixedly installed on the output end of the reduction motor (1a). The two first driven gears (1c) are respectively fixedly installed on two first rotating shafts (5e). The two first driven gears (1c) mesh with each other, and the first driving gear (1b) meshes with one of the first driven gears (1c).

3. The ice removal and inspection robot for high altitude according to claim 2, characterized in that, Each linkage mechanism (2) includes four insertion posts (2a) and two extension posts (2b). Every two insertion posts (2a) are respectively fixedly installed at both ends of the extension post (2b). The insertion posts (2a) are inserted into the extension tube (5d). A clamping strip (2c) is arranged on the extension tube (5d), and a clamping groove (2d) cooperating with the clamping strip (2c) is formed on the insertion post (2a).

4. The ice removal and inspection robot for high altitude according to claim 3, characterized in that, Each one-way transmission mechanism (3) includes a rotating tube (3a), a rotating plate (3b), a transmission component (3c), a first rotating base (3d), a limiting baffle (3e), a transmission plate (3f), a torsion spring (3h), a strip-shaped abutting plate (3i), and a rotating column (3j). The rotating plate (3b) is fixedly installed on the collection box (10). The rotating tube (3a) is rotatably connected to the rotating plate (3b). The rotating tube (3a) is sleeved on the outer edge of the extension tube (5d). The first rotating base (3d) is fixedly installed on the inner edge of the rotating tube (3a). The rotating column (3j) is rotatably installed on the first rotating base (3d). The transmission plate (3f) is fixedly installed on the rotating column (3j). The limiting baffle (3e) is fixedly installed on the first rotating base (3d). One side of the limiting baffle (3e) abuts against the transmission plate (3f). The torsion spring (3h) is sleeved on the rotating column (3j). One end of the torsion spring (3h) is fixedly connected to the first rotating base (3d), and the other end is fixedly connected to the rotating column (3j). The strip-shaped abutting plate (3i) is fixedly installed on the extension tube (5d). The transmission component (3c) is fixedly installed on the collection box (10). One end of the transmission component (3c) is in transmission connection with the rotating tube (3a), and the other end of the transmission component (3c) is in transmission connection with the crushing mechanism (4).

5. The ice removal and inspection robot for high altitude according to claim 4, characterized in that, The transmission component (3c) includes a first pulley (3c1), a second pulley (3c2), a second rotating base (3c3), a transmission gear (3c4), and a support tube (3c5). The support tube (3c5) is fixedly installed on the collection box (10). The second rotating base (3c3) is fixedly installed on the support tube (3c5). Both the second pulley (3c2) and the transmission gear (3c4) are fixedly installed on the second rotating base (3c3). The transmission gear (3c4) meshes with the crushing mechanism (4). The first pulley (3c1) is fixedly installed on the rotating tube (3a). The first pulley (3c1) is connected to the second pulley (3c2) by a belt.

6. The ice removal and inspection robot for high altitude according to claim 5, characterized in that, The pulverizing mechanism (4) comprises two crushing rollers (4a) and a second driven gear (4b). The two crushing rollers (4a) are rotatably mounted on a collecting box (10). The two second driven gears (4b) are respectively fixedly mounted on the two crushing rollers (4a). The two second driven gears (4b) are meshed with each other, and the transmission gear (3c4) is meshed with a second driven gear (4b).

7. The ice removal and inspection robot for high altitude according to claim 6, characterized in that, Each ice knocking mechanism (6) comprises a guide plate (6a), a second rotating shaft (6b), an axle seat (6c), a slide plate (6d), an extension plate (6e), a stop plate (6f), a tension spring (6h), a knocking plate (6i) and a tension spring mounting column (6k); the axle seat (6c) is fixedly mounted on the collection box (10); the second rotating shaft (6b) is rotatably connected to the axle seat (6c); the slide plate (6d) is fixedly mounted on the top of the second rotating shaft (6b); the extension plate (6e) is slidably connected to the slide plate (6d); a slider is provided at the bottom of the extension plate (6e); a slide groove for the slider to slide is provided on the slide plate (6d); a limit stop is provided at the bottom of the slider The limit plate is provided with a tension spring mounting column (6k) at the bottom thereof, one end of the tension spring (6h) is fixedly connected to the tension spring mounting column (6k), the other end of the tension spring (6h) is sleeved on the second rotating shaft (6b), the knocking plate (6i) is fixedly installed on the side of the extension plate (6e), the abutment plate (6f) is fixedly installed on the top of the extension plate (6e), the guide plate (6a) is located above the extension plate (6e), the outer edge of the abutment plate (6f) is in contact with the guide plate (6a), the guide plate (6a) is fixedly installed on the rotating plate (3b) through a connecting frame, and the second rotating shaft (6b) is transmission-connected to the crushing mechanism (4) through a transmission mechanism (7).

8. The ice removal and inspection robot for high altitude according to claim 7, characterized in that, The transmission mechanism (7) comprises a first bevel gear (7a), a second bevel gear (7b), a third rotating seat (7c), a third pulley (7d), a fourth pulley (7e) and a third rotating shaft (7f); the third rotating seat (7c) is fixedly mounted on a collecting box (10) via a support tube; the third rotating shaft (7f) is rotatably connected to the third rotating seat (7c); the second bevel gear (7b) and the third pulley (7d) are respectively fixedly mounted on two ends of the third rotating shaft (7f); the first bevel gear (7a) is fixedly mounted on the second rotating shaft (6b); the first bevel gear (7a) is meshed with the second bevel gear (7b); the fourth pulley (7e) is fixedly mounted on the crushing mechanism (4); and the fourth pulley (7e) and the third pulley (7d) are connected via a belt transmission.

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