A high-voltage wire deicing robot and its use method

Abstract

The invention discloses a high-voltage line deicing robot, comprising a moving mechanism, wherein the moving mechanism comprises two supporting blocks, two concave plates are arranged above the supporting blocks, limiting wheels are arranged on the sides of the two concave plates close to each other, a first rotating shaft is arranged on one side of the supporting block, a driving mechanism is arranged between the two supporting blocks, the driving mechanism comprises a first transmission shaft, a driving shaft and a second transmission shaft, a clamping mechanism is arranged above the driving mechanism, the clamping mechanism comprises two buckles, threaded rods are arranged on the sides of the two buckles away from each other, a deicing mechanism is arranged on one side of one supporting block, the deicing mechanism comprises a second rotating shaft, three rotating arms are distributed in an annular manner on the outer ring of the second rotating shaft, a rubber strip is connected to the other end of the rotating arm, the moving mechanism is used to enable the entire device to move, the two buckles are used to move toward each other to fix the entire device on the cable, the second rotating shaft is used to rotate to drive the rotating arm and the rubber strip to rotate, and ice on the cable is knocked and removed.

Description

Technical Field

[0001] The invention belongs to the technical field of high-voltage wire deicing, and in particular relates to a high-voltage wire deicing robot and a use method thereof. Background Art

[0002] The most important task of the power system is to provide high-quality and high-reliability electricity. Power transmission must rely on high-voltage transmission lines, and its safe and stable operation directly affects the reliability of the power system. Therefore, high-voltage transmission lines can be said to be the lifeline of modern society.

[0003] In winter, there will be widespread rain, snow and freezing weather in northern my country, and the temperature in some areas will even reach dozens of degrees below zero. Especially after the freezing rain, the continued cold weather will cause the power lines to be covered with ice and snow. When the surface of the transmission lines is severely covered with ice for a long time, it will cause the transmission towers to tilt or collapse. The traffic congestion and communication interruption caused by these problems have brought great losses to my country's national economy.

[0004] When the existing high-voltage line deicing robot performs deicing operations on the cable, it is not fixed thereon. During the deicing process, the deicing robot may slip, causing the deicing robot to slide off the cable during deicing, resulting in losses. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a high-voltage wire deicing robot and a method for using the same. To solve the above technical problem, the basic concept of the technical solution adopted by the present invention is:

[0006] A high-voltage line deicing robot, comprising a moving mechanism, the moving mechanism comprising two support blocks, two concave plates symmetrically distributed up and down are installed above the support blocks, and the concave plate located below is fixedly installed on the top of the support block, a rotating rod is rotatably arranged on the side walls of the two concave plates close to each other through bearings, a limiting wheel is installed on the rotating rod, two first bearing seats distributed up and down are installed on one side of the support block, and a first rotating shaft is rotatably arranged on the two first bearing seats through bearings; a driving mechanism is installed between the two support blocks, the driving mechanism comprises a bottom plate, two support columns and two first support plates are installed on the top of the bottom plate, and the two support columns and the two first support plates are T-shaped, and first transmission shafts, driving shafts and second transmission shafts distributed up and down are rotatably arranged on the two first support plates through bearings, and third transmission shafts are rotatably arranged on the two support columns through bearings, a supporting plate is installed on the top of the two support columns, two second electric cylinders are installed on the top of the supporting plate, and the telescopic ends of the two second electric cylinders are connected to the top plate; a clamping machine is installed on the top of the two first support plates The clamping mechanism comprises two fixed plates distributed up and down, three rotating columns distributed in a straight line are rotatably arranged on the two fixed plates through bearings, a pillar is installed at the center of the top of the fixed plate located at the top, and the first fixed block is installed on the two symmetrically distributed sides of the pillar, two second support plates are installed on the top of the pillar, and the first hinge seat is installed on the top of the two second support plates, the first hinge seat is hingedly connected to the two second hinge seats, and the other end of the second hinge seat is installed with a buckle, and the two buckles are provided with a moving block on the side away from each other, a threaded rod is threaded at the center of the moving block, and a second fixed block is rotatably arranged at the lower end of the threaded rod, and a limiting cylinder and a limiting column are installed below the threaded rod; a deicing mechanism is installed on the side of one support block away from the other support block, and the deicing mechanism comprises a cylinder, two fixed disks are installed inside the cylinder, and second rotating shafts are rotatably arranged on the two fixed disks through bearings, and two fixing rings are installed at the second rotating shaft away from the fixed disk, and three rotating arms are distributed in an annular manner on the outer ring of the fixing ring, and a rubber strip is connected to the other end of the rotating arm.

[0007] The transmission gear of the present invention is a gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a first gear and a second gear selected from the group consisting of a

[0008] Preferably, a moving cylinder is slidably provided on the outer ring of the driving shaft, and two second limit grooves are provided on the inner ring of the moving cylinder. Two second limit blocks are installed on the outer ring of the driving shaft, and the two second limit blocks can slide in the two second limit grooves respectively. A first motor is installed on one of the first support plates, and the output end of the first motor is fixedly connected to one end of the driving shaft. A first electric cylinder is installed on the other first support plate, and a connecting seat is installed on the telescopic end of the first electric cylinder, and the moving cylinder is rotatably set on the connecting seat.

[0009] Preferably, the outer ring of the movable cylinder is equipped with a first gear and a second gear, the first transmission shaft is equipped with a third gear and a fourth bevel gear, the third gear can mesh with the second gear, the second transmission shaft is equipped with a fourth gear and a worm, and the fourth gear can mesh with the first gear.

[0010] Preferably, a worm gear is installed in the middle of the third transmission shaft, and the worm gear is meshed with the worm, fifth gears are installed at both ends of the third transmission shaft, and the two fifth gears are respectively meshed with the side gears on the two first rotating shafts, the bottom plate is fixedly installed between the two support blocks, and the top plate is fixedly connected to the two concave plates located above.

[0011] Preferably, the two fixed plates are fixedly installed between the two support blocks, a sixth gear is installed in the middle of the rotating column, and adjacent sixth gears are meshed with each other, a fifth bevel gear is installed at the bottom end of the rotating column located in the middle, and the fifth bevel gear is meshed with the fourth bevel gear.

[0012] Preferably, the movable block and the second fixed block are both installed with a fourth hinge seat on one side close to the buckle, the fourth hinge seat is hingedly connected to the third hinge seat, one side of the buckle is fixedly connected to the third hinge seat connected to the movable block, and one side of the first fixed block is fixedly connected to the third hinge seat connected to the second fixed block.

[0013] Preferably, the inner ring of the limit cylinder is equipped with a plurality of annularly distributed blocks, the outer ring of the limit column is provided with a plurality of annularly distributed grooves, and the plurality of blocks are slidably arranged in the corresponding grooves, and the bottom end of the limit cylinder and the top end of the limit column are both equipped with a fifth hinge seat, the fifth hinge seat is hingedly connected with an offset block, and the two sides of the offset block not in contact with the fifth hinge seat are hingedly connected with a sixth hinge seat, the sixth hinge seats connected to the top ends of the two limit columns are respectively fixedly connected to the bottom ends of the two threaded rods, and the sixth hinge seats connected to the bottom ends of the two limit cylinders are respectively fixedly connected to the top ends of the two rotating columns without the fifth bevel gear.

[0014] Preferably, the cylinder is fixedly mounted on the support block, a seventh gear is mounted on the second rotating shaft, the seventh gear is meshed with an eighth gear, a second motor is mounted inside the cylinder, and an output end of the second motor is fixedly connected to the center of the eighth gear, the rubber strip is hingedly connected to the rotating arm, and the rubber strip can contact the cable.

[0015] A method for using a high-voltage wire deicing robot comprises the following steps:

[0016] Step one, first use a crane to lift the present invention to the cable, then use the second electric cylinder to drive the two concave plates connected to the top plate to rise and fall, so that the limit wheels on the concave plates distributed up and down are clamped on the cables, and the first motor is used to drive the driving shaft to rotate, and the rotation of the driving shaft drives the moving cylinder thereon to rotate, and the first electric cylinder is used to control the movement of the connecting seat and the moving cylinder, and the second limit block of the outer ring of the driving shaft is slidably arranged in the second limit groove of the inner ring of the moving cylinder, so that the moving cylinder slides on the driving shaft, and the movement of the moving cylinder drives the first gear and the second gear to move, so that the third gear is meshed with the second gear or the fourth gear is meshed with the first gear. When the fourth gear is meshed with the first gear, the driving shaft can drive the second transmission shaft. The second transmission shaft rotates to drive the worm, the worm drives the worm wheel, the worm wheel drives the third transmission shaft, the third transmission shaft drives the fifth gear at both ends to rotate, the fifth gear drives the side gear to rotate, the side gear drives the first rotating shaft to rotate, the first rotating shaft drives the rotating cylinder and the second bevel gear thereon to rotate, the second bevel gear is meshed with the first bevel gear on the rotating rod below, and the third bevel gear is meshed with the first bevel gear on the rotating rod above, and the rotating cylinder and the second bevel gear on the two first rotating shafts are staggered, so that the rotation of the two first rotating shafts can drive the limiting wheel to rotate, so that the entire device can move;

[0017] The second step is to mesh the third gear with the second gear, so that the driving shaft can drive the first transmission shaft to rotate, the first transmission shaft rotates to drive the fourth bevel gear to rotate, the fourth bevel gear meshes with the fifth bevel gear, so that the rotating column at the center of the fifth bevel gear rotates, and the sixth gear on the adjacent rotating columns meshes with each other to make the remaining screw rotating columns rotate accordingly, and the rotation of the rotating column drives the limiting cylinder, the limiting column, the fifth hinge seat and the sixth hinge seat to rotate, so that the threaded rod rotates accordingly, and the fourth hinge seat is hingedly connected to the third hinge seat, so that when the threaded rod rotates to drive the moving block to move, the threaded rod, the moving block and the second fixed block are offset accordingly, and the second hinge seat and the first hinge seat connected with the buckle are hingedly connected, so that the displacement of the moving block drives the buckle connected to it to deviate, and the relative movement of the two buckles is used to fix the entire device on the cable;

[0018] Step three, use the second motor to drive the eighth gear to rotate, the rotation of the eighth gear drives the seventh gear to rotate, the rotation of the seventh gear drives the second rotating shaft to rotate, the rotation of the second rotating shaft drives the two fixed rings to rotate, the rotating arm connected to the outer ring of the fixed ring rotates accordingly, the rotation of the rotating arm drives the rubber strip to which it is hinged to rotate, and the ice on the cable is knocked off.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention utilizes a second electric cylinder to drive the two concave plates connected to the top plate to rise and fall, so that the limiting wheels on the concave plates distributed up and down are clamped on the cables, and the driving shaft is used to drive the third transmission shaft to rotate, the rotation of the third transmission shaft drives the two first rotating shafts to rotate, and the rotation of the first rotating shaft drives the limiting wheels to rotate, so that the entire device can move.

[0021] 2. The present invention utilizes a driving shaft to drive the first transmission shaft to rotate, and the rotation of the first transmission shaft drives the three rotating columns to rotate, and the rotation of the rotating column drives the limit cylinder, the limit column, the fifth hinge seat and the sixth hinge seat to rotate, so that the threaded rod rotates accordingly, and the fourth hinge seat is hingedly connected with the third hinge seat so that when the threaded rod rotates, the moving block moves, and the threaded rod, the moving block and the second fixed block are offset accordingly, and the second hinge seat and the first hinge seat connected with the buckle are hingedly connected, so that the displacement of the moving block drives the displacement of the buckle connected to it, and the relative movement of the two buckles is used to fix the entire device on the cable.

[0022] 3. The present invention utilizes the second rotating shaft to rotate and drive the two fixed rings to rotate, and the rotating arm connected to the outer ring of the fixed ring rotates accordingly. The rotation of the rotating arm drives the rubber strip hingedly connected thereto to rotate, thereby knocking and removing ice on the cable.

[0023] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In the attached picture:

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention;

[0027] Figure 3 It is a schematic diagram of the structure of the mobile mechanism of the present invention;

[0028] Figure 4 It is a schematic diagram of the cross-sectional structure of the driving mechanism of the present invention;

[0029] Figure 5 It is a schematic diagram of the cross-sectional structure of the clamping mechanism of the present invention;

[0030] Figure 6 It is a schematic diagram of the structure of the deicing mechanism of the present invention;

[0031] Figure 7 for Figure 2 A schematic diagram of the enlarged structure of the area at center A;

[0032] Figure 8 for Figure 2 A schematic diagram of the enlarged structure of the area at B in the middle;

[0033] Fig. 9 for Figure 2 A schematic diagram of the enlarged structure of the area at C in the middle;

[0034] Fig.10 for Figure 4 Schematic diagram of the enlarged structure of the area D in the middle

[0035] Fig.11 for Figure 5 Schematic diagram of the enlarged structure of the area at E in the middle.

[0036] In the figure: 1. moving mechanism; 101. support block; 102. concave plate; 103. rotating rod; 104. limiting wheel; 105. cable; 106. first bevel gear; 107. first bearing seat; 108. first rotating shaft; 109. side gear; 110. second bevel gear; 111. rotating cylinder; 112. second bearing seat; 113. third bevel gear; 2. driving mechanism; 201. bottom plate; 202. first Support plate; 203, drive shaft; 204, moving cylinder; 205, first gear; 206, second gear; 207, connecting seat; 208, first electric cylinder; 209, first motor; 210, first transmission shaft; 211, third gear; 212, fourth bevel gear; 213, second transmission shaft; 214, fourth gear; 215, worm; 216, support column; 217, third transmission shaft; 218, fifth gear; 21 9, worm gear; 220, support plate; 221, second electric cylinder; 222, top plate; 3, clamping mechanism; 301, fixed plate; 302, rotating column; 303, sixth gear; 304, fifth bevel gear; 305, pillar; 306, first fixed block; 307, second support plate; 308, first articulated seat; 309, second articulated seat; 310, buckle; 311, third articulated seat; 312, fourth articulated seat; 313 , moving block; 314, threaded rod; 315, second fixed block; 316, limiting cylinder; 317, limiting column; 318, fifth hinge seat; 319, offset block; 320, sixth hinge seat; 4, deicing mechanism; 401, cylinder; 402, fixed plate; 403, second rotating shaft; 404, seventh gear; 405, eighth gear; 406, second motor; 407, fixing ring; 408, rotating arm; 409, rubber strip. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0038] Figures 1 to 4As shown, a high-voltage line deicing robot and a method for using the same, in this scheme, a high-voltage line deicing robot and a method for using the same, comprises a moving mechanism 1, the moving mechanism 1 comprises two support blocks 101, two concave plates 102 symmetrically distributed up and down are installed above the support block 101, and the concave plate 102 located below is fixedly installed on the top of the support block 101, a rotating rod 103 is rotatably arranged on the side walls of the two concave plates 102 close to each other through bearings, a limiting wheel 104 is installed on the rotating rod 103, two first bearing seats 107 distributed up and down are installed on one side of the support block 101, and the two first bearing seats 107 are rotatably arranged with first The rotating shaft 108 uses the moving mechanism 1 to enable the entire device to move; a driving mechanism 2 is installed between the two support blocks 101, and the driving mechanism 2 includes a bottom plate 201, and two support columns 216 and two first support plates 202 are installed on the top of the bottom plate 201, and the two support columns 216 and the two first support plates 202 are distributed in a T shape, and the two first support plates 202 are rotatably provided with a first transmission shaft 210, a driving shaft 203 and a second transmission shaft 213 distributed up and down through bearings, and the two support columns 216 are rotatably provided with a third transmission shaft 217 through bearings, and the tops of the two support columns 216 are provided with a support plate 220, and the support plate Two second electric cylinders 221 are installed on the top of 220, and the telescopic ends of the two second electric cylinders 221 are connected to the top plate 222. The driving mechanism 2 is used to make the limiting wheel 104 closely contact with the cable 105, and the third transmission shaft 217 and the first transmission shaft 210 can rotate; the top of the two first support plates 202 is installed with a clamping mechanism 3, and the clamping mechanism 3 includes two fixed plates 301 distributed up and down, and three rotating columns 302 distributed in a straight line are rotatably arranged on the two fixed plates 301 through bearings, and a pillar 305 is installed at the top center of the fixed plate 301 located above, and the two symmetrically distributed sides of the pillar 305 are installed with first fixed blocks 306. Two second support plates 307 are installed at the top of the pillar 305, and a first hinge seat 308 is installed at the top of the two second support plates 307. The first hinge seat 308 is hingedly connected to two second hinge seats 309, and a buckle 310 is installed at the other end of the second hinge seat 309. A moving block 313 is provided on the side away from each other of the two buckles 310. A threaded rod 314 is threaded at the center of the moving block 313, and a second fixed block 315 is rotatably provided at the lower end of the threaded rod 314. A limiting cylinder 316 and a limiting column 317 are installed below the threaded rod 314. The clamping mechanism 3 is used to fix this device so that it can stably fit with the cable 105 during deicing.A deicing mechanism 4 is installed on one side of the support block 101 away from the other support block 101. The deicing mechanism 4 includes a cylinder 401. Two fixed disks 402 are installed inside the cylinder 401. Second rotating shafts 403 are rotatably arranged on the two fixed disks 402 through bearings. Two fixed rings 407 are installed on the second rotating shafts 403 away from the fixed disks 402. Three rotating arms 408 are distributed in an annular manner on the outer ring of the fixed ring 407. The other end of the rotating arm 408 is connected to a rubber strip 409. The deicing mechanism 4 is used to de-ice the cable 105. ;

[0039] A cable 105 is provided between the upper and lower limit wheels 104, a first bevel gear 106 is installed at one end of the rotating rod 103 close to the first rotating shaft 108, a side gear 109 is installed at the lower end of the first rotating shaft 108, a second bevel gear 110 is installed in the middle of the first rotating shaft 108, and the second bevel gears 110 on the two first rotating shafts 108 are staggered, the second bevel gear 110 is meshed with the first bevel gear 106 on the rotating rod 103 located below, a rotating cylinder 111 is slidably provided at the upper end of the first rotating shaft 108, and the two rotating cylinders 111 are staggered, two first limit blocks are installed on the inner ring of the rotating cylinder 111, and a Two second limit grooves, and the two first limit blocks can slide inside the two second limit grooves respectively, so that the rotating cylinder 111 can still rotate under the drive of the first rotating shaft 108 after moving on the first rotating shaft 108. The outer ring of the rotating cylinder 111 is installed with a third bevel gear 113, and the third bevel gear 113 is meshed with the first bevel gear 106 on the rotating rod 103 located above. The second bearing seat 112 is installed on the concave plate 102 located above, and the second bearing seats 112 on the two concave plates 102 located above are staggered. The rotating cylinder 111 is rotatably arranged on the second bearing seat 112 through the bearing, so that the rotation of the first rotating shaft 108 can drive the limiting wheel 104 to rotate.

[0040] The outer ring of the driving shaft 203 is slidably provided with a moving cylinder 204, and the inner ring of the moving cylinder 204 is provided with two second limiting grooves, and the outer ring of the driving shaft 203 is equipped with two second limiting blocks, and the two second limiting blocks can slide in the two second limiting grooves respectively, so that the moving cylinder 204 can still rotate under the rotation of the driving shaft 203 after moving on the driving shaft 203. A first motor 209 is installed on one of the first supporting plates 202, and the output end of the first motor 209 is fixedly connected to one end of the driving shaft 203, and the first motor 209 is used to drive the driving shaft 203 to rotate. A first electric cylinder 208 is installed on the other first supporting plate 202, and a connecting seat 207 is installed on the telescopic end of the first electric cylinder 208. The moving cylinder 204 is rotatably set on the connecting seat 207, and the movement of the moving cylinder 204 is controlled by the first electric cylinder 208. The outer ring of the moving cylinder 204 is equipped with a first gear 205 and a second gear 206, a third gear 211 and a fourth bevel gear 212 are installed on the first transmission shaft 210, and the third gear 211 can mesh with the second gear 206, and a fourth gear 214 and a worm 215 are installed on the second transmission shaft 213, and the fourth gear 214 can mesh with the first gear 205, so that the moving cylinder 204 can drive the first transmission shaft 210 or the second transmission shaft 213 to rotate after moving, a worm wheel 219 is installed in the middle of the third transmission shaft 217, and the worm wheel 219 meshes with the worm 215, and fifth gears 218 are installed at both ends of the third transmission shaft 217, and the two fifth gears 218 are respectively meshed with the side gears 109 on the two first rotating shafts 108, and the bottom plate 201 is fixedly installed between the two support blocks 101, and the top plate 222 is fixedly connected to the two concave plates 102 located above, so that the third transmission shaft 217 can drive the two first rotating shafts 108 to rotate.

[0041] The two fixing plates 301 are fixedly installed between the two supporting blocks 101, a sixth gear 303 is installed in the middle of the rotating column 302, and adjacent sixth gears 303 are meshed with each other, a fifth bevel gear 304 is installed at the bottom end of the rotating column 302 located in the middle, and the fifth bevel gear 304 is meshed with the fourth bevel gear 212, and the sixth gears 303 on the adjacent rotating columns 302 are meshed with each other, so that the fourth bevel gear 212 can drive the three rotating columns 302 to rotate at the same time, and the moving block 313 and the second fixed block 315 are both installed with a fourth hinge seat 312 on one side close to the buckle 310, and the fourth hinge seat 312 is hingedly connected to the third hinge seat 311, and the buckle 31 The third hinge seat 311 connected to the moving block 313 on one side of 0 is fixedly connected, so that the buckle 310 can be deflected. The third hinge seat 311 connected to the second fixing block 315 on one side of the first fixing block 306 is fixedly connected, so that the moving block 313 and the second fixing block 315 can be deflected. The inner ring of the limiting cylinder 316 is equipped with a plurality of blocks distributed in an annular manner. The outer ring of the limiting column 317 is provided with a plurality of grooves distributed in an annular manner, and the plurality of blocks are slidably arranged in the corresponding grooves, so that the limiting cylinder 316 can drive the limiting column 317 to rotate when rotating, and the limiting column 317 and the limiting cylinder 316 can slide with each other. The bottom end of the limiting cylinder 316 and the top end of the limiting column 317 are both equipped with a fifth The fifth articulated seat 318 is articulated with an offset block 319, and the two sides of the offset block 319 that are not in contact with the fifth articulated seat 318 are articulated with a sixth articulated seat 320, so that the fifth articulated seat 318 and the sixth articulated seat 320 can deflect around the offset block 319, and the sixth articulated seat 320 connected to the top of the two limiting columns 317 is respectively fixedly connected to the bottom ends of the two threaded rods 314, and the sixth articulated seats 320 connected to the bottom ends of the two limiting cylinders 316 are respectively fixedly connected to the top ends of the two rotating columns 302 that are not provided with the fifth bevel gear 304, so that the threaded rod 314 can still rotate under the rotation of the rotating column 302 when deflecting, and the cylinder 401 It is fixedly installed on the support block 101, and a seventh gear 404 is installed on the second rotating shaft 403, and the seventh gear 404 is meshed with an eighth gear 405. A second motor 406 is installed inside the cylinder 401, and the output end of the second motor 406 is fixedly connected to the center of the eighth gear 405. The second motor 406 is used to drive the second rotating shaft 403 to rotate, and the rubber strip 409 is hingedly connected to the rotating arm 408, and the rubber strip 409 can contact with the cable 105. The second rotating shaft 403 is rotated to drive the rubber strip 409 to rotate, and the rubber strip 409 can knock on the ice covered on the cable 105 during the rotation process, thereby achieving the effect of removing the ice covered on the cable 105.

[0042] A method for using a high-voltage wire deicing robot comprises the following steps:

[0043] Step 1, first use a crane to lift the present invention to the cable 105, then use the second electric cylinder 221 to drive the two concave plates 102 connected to the top plate 222 to rise and fall, so that the limiting wheels 104 on the concave plates 102 distributed up and down are clamped on the cable 105, and the first motor 209 is used to drive the driving shaft 203 to rotate, and the driving shaft 203 rotates to drive the moving cylinder 204 thereon to rotate, and the first electric cylinder 208 is used to control the movement of the connecting seat 207 and the moving cylinder 204, and the second limiting block of the outer ring of the driving shaft 203 is slidably arranged in the second limiting groove of the inner ring of the moving cylinder 204, so that the moving cylinder 204 slides on the driving shaft 203, and the movement of the moving cylinder 204 drives the first gear 205 and the second gear 206 to move, so that the third gear 211 is meshed with the second gear 206 or the fourth gear 214 is meshed with the first gear 205. When the fourth gear 214 is meshed with the first gear 205, the driving shaft 203 can drive the second gear 205 and the second gear 206 to move. The driving shaft 213 rotates, the second transmission shaft 213 rotates to drive the worm 215 to rotate, the worm 215 rotates to drive the worm wheel 219 to rotate, the worm wheel 219 rotates to drive the third transmission shaft 217 to rotate, the third transmission shaft 217 rotates to drive the fifth gear 218 at both ends thereof to rotate, the fifth gear 218 rotates the side gear 109 to rotate, the side gear 109 rotates to drive the first rotating shaft 108 to rotate, the first rotating shaft 108 rotates to drive the rotating cylinder 111 and the second bevel gear 110 thereon to rotate, the second bevel gear 110 is engaged with the first bevel gear 106 on the rotating rod 103 located below, and the third bevel gear 113 is engaged with the first bevel gear 106 on the rotating rod 103 located above, and the rotating cylinder 111 and the second bevel gear 110 on the two first rotating shafts 108 are staggered, so that the rotation of the two first rotating shafts 108 can drive the limiting wheel 104 to rotate, so that the entire device can move;

[0044] Step 2: When the device moves to the position where deicing is required, the third gear 211 is meshed with the second gear 206, so that the driving shaft 203 can drive the first transmission shaft 210 to rotate, and the rotation of the first transmission shaft 210 drives the fourth bevel gear 212 to rotate, and the fourth bevel gear 212 is meshed with the fifth bevel gear 304, so that the rotating column 302 at the center of the fifth bevel gear 304 rotates, and the sixth gear 303 on the adjacent rotating columns 302 is meshed with each other, so that the remaining screw rotating columns 302 rotate accordingly, and the rotation of the rotating columns 302 drives the limiting cylinder 316 and the limiting column 316 to rotate. 17. The fifth hinge seat 318 and the sixth hinge seat 320 rotate, so that the threaded rod 314 rotates accordingly. The fourth hinge seat 312 is hingedly connected with the third hinge seat 311. When the threaded rod 314 rotates to drive the moving block 313 to move, the threaded rod 314, the moving block 313 and the second fixed block 315 are deflected accordingly. The second hinge seat 309 connected with the buckle 310 is hingedly connected with the first hinge seat 308, so that the moving block 313 deflects and drives the buckle 310 connected thereto deflect. The two buckles 310 move toward each other to fix the entire device on the cable 105.

[0045] Step three, use the second motor 406 to drive the eighth gear 405 to rotate, the rotation of the eighth gear 405 drives the seventh gear 404 to rotate, the rotation of the seventh gear 404 drives the second rotating shaft 403 to rotate, the rotation of the second rotating shaft 403 drives the two fixed rings 407 to rotate, the rotating arm 408 connected to the outer ring of the fixed ring 407 rotates accordingly, the rotation of the rotating arm 408 drives the rubber strip 409 hingedly connected to it to rotate, so as to knock and remove the ice on the cable 105.

Claims

1. A high-voltage line deicing robot, comprising a moving mechanism (1), characterized in that: The moving mechanism (1) comprises two support blocks (101), two concave plates (102) symmetrically distributed in the upper and lower parts are installed above the support blocks (101), and the concave plate (102) located at the lower part is fixedly installed on the top of the support block (101), a rotating rod (103) is rotatably arranged on the side walls of the two concave plates (102) close to each other through bearings, and a limiting wheel (104) is installed on the rotating rod (103), and two first bearing seats (107) distributed in the upper and lower parts are installed on one side of the support block (101), and first rotating shafts (108) are rotatably arranged on the two first bearing seats (107) through bearings; A driving mechanism (2) is installed between the two support blocks (101), the driving mechanism (2) comprising a bottom plate (201), two support columns (216) and two first support plates (202) being installed at the top of the bottom plate (201), and the two support columns (216) and the two first support plates (202) being arranged in a T-shape, a first transmission shaft (210), a driving shaft (203) and a second transmission shaft (213) being rotatably arranged on the two first support plates (202) via bearings, a third transmission shaft (217) being rotatably arranged on the two support columns (216) via bearings, a support plate (220) being installed at the top of the two support columns (216), two second electric cylinders (221) being installed at the top of the support plate (220), and a top plate (222) being connected to the telescopic ends of the two second electric cylinders (221); A clamping mechanism (3) is installed at the top of the two first support plates (202), and the clamping mechanism (3) includes two fixed plates (301) distributed up and down, and three rotating columns (302) distributed in a straight line are rotatably arranged on the two fixed plates (301) through bearings, and a support (305) is installed at the center of the top of the upper fixed plate (301), and first fixing blocks (306) are installed on two symmetrically distributed side surfaces of the support (305), and two second support plates (307) are installed at the top of the support (305), and the two second support plates A first hinge seat (308) is installed at the top end of (307), the first hinge seat (308) is hingedly connected to two second hinge seats (309), a buckle (310) is installed at the other end of the second hinge seat (309), a moving block (313) is provided on the side away from each other of the two buckles (310), a threaded rod (314) is threaded at the center of the moving block (313), a second fixed block (315) is rotatably provided at the lower end of the threaded rod (314), and a limiting cylinder (316) and a limiting column (317) are installed below the threaded rod (314); A deicing mechanism (4) is installed on a side of one of the support blocks (101) away from the other support block (101), the deicing mechanism (4) comprising a cylinder (401), two fixed disks (402) are installed inside the cylinder (401), second rotating shafts (403) are rotatably provided on the two fixed disks (402) via bearings, two fixed rings (407) are installed on the second rotating shaft (403) away from the fixed disks (402), three rotating arms (408) are distributed in an annular manner on the outer ring of the fixed ring (407), and the other end of the rotating arm (408) is connected to a rubber strip (409); A cable (105) is provided between the upper and lower limit wheels (104); a first bevel gear (106) is installed at one end of the rotating rod (103) close to the first rotating shaft (108); a side gear (109) is installed at the lower end of the first rotating shaft (108); a second bevel gear (110) is installed at the middle of the first rotating shaft (108); the second bevel gears (110) on the two first rotating shafts (108) are staggered; the second bevel gear (110) is meshed with the first bevel gear (106) on the rotating rod (103) located below; a rotating cylinder (111) is slidably provided at the upper end of the first rotating shaft (108); and the two rotating cylinders (111) are staggered. The inner ring of the rotating cylinder (111) is provided with two first limit blocks, the upper end of the first rotating shaft (108) is provided with two second limit grooves, and the two first limit blocks can slide in the two second limit grooves respectively, the outer ring of the rotating cylinder (111) is provided with a third bevel gear (113), and the third bevel gear (113) is meshed with the first bevel gear (106) on the rotating rod (103) located above, the concave plate (102) located above is provided with a second bearing seat (112), and the second bearing seats (112) on the two concave plates (102) located above are staggered, and the rotating cylinder (111) is rotatably arranged on the second bearing seat (112) through a bearing; The outer ring of the driving shaft (203) is slidably provided with a moving cylinder (204), the inner ring of the moving cylinder (204) is provided with two second limiting grooves, the outer ring of the driving shaft (203) is provided with two second limiting blocks, and the two second limiting blocks can slide in the two second limiting grooves respectively, a first motor (209) is installed on one of the first supporting plates (202), the output end of the first motor (209) is fixedly connected to one end of the driving shaft (203), a first electric cylinder (208) is installed on the other first supporting plate (202), a connecting seat (207) is installed on the telescopic end of the first electric cylinder (208), and the moving cylinder (204) is rotatably arranged on the connecting seat (207); The outer ring of the moving cylinder (204) is mounted with a first gear (205) and a second gear (206); the first transmission shaft (210) is mounted with a third gear (211) and a fourth bevel gear (212); the third gear (211) is capable of meshing with the second gear (206); the second transmission shaft (213) is mounted with a fourth gear (214) and a worm (215); and the fourth gear (214) is capable of meshing with the first gear (205); The two fixing plates (301) are fixedly mounted between the two supporting blocks (101); a sixth gear (303) is mounted in the middle of the rotating column (302), and adjacent sixth gears (303) are meshed with each other; a fifth bevel gear (304) is mounted at the bottom end of the rotating column (302) in the middle, and the fifth bevel gear (304) is meshed with the fourth bevel gear (212); The inner ring of the limiting cylinder (316) is provided with a plurality of blocks distributed in an annular manner, the outer ring of the limiting column (317) is provided with a plurality of slots distributed in an annular manner, and the plurality of blocks are slidably arranged in the corresponding slots, the bottom end of the limiting cylinder (316) and the top end of the limiting column (317) are both provided with a fifth hinge seat (318), the fifth hinge seat (318) is hingedly connected with an offset block (319), the two sides of the offset block (319) not in contact with the fifth hinge seat (318) are hingedly connected with a sixth hinge seat (320), the sixth hinge seats (320) connected to the top ends of the two limiting columns (317) are respectively fixedly connected to the bottom ends of the two threaded rods (314), and the sixth hinge seats (320) connected to the bottom ends of the two limiting cylinders (316) are respectively fixedly connected to the top ends of the two rotating columns (302) not provided with the fifth bevel gear (304); The cylinder (401) is fixedly mounted on the support block (101); a seventh gear (404) is mounted on the second rotating shaft (403); the seventh gear (404) is meshed with an eighth gear (405); a second motor (406) is mounted inside the cylinder (401); an output end of the second motor (406) is fixedly connected to the center of the eighth gear (405); the rubber strip (409) is hingedly connected to the rotating arm (408), and the rubber strip (409) is capable of contacting the cable (105).

2. A high-voltage wire deicing robot according to claim 1, characterized in that: A worm gear (219) is installed in the middle of the third transmission shaft (217), and the worm gear (219) is meshed with the worm (215). Fifth gears (218) are installed at both ends of the third transmission shaft (217), and the two fifth gears (218) are respectively meshed with side gears (109) on the two first rotating shafts (108). The bottom plate (201) is fixedly installed between the two support blocks (101), and the top plate (222) is fixedly connected to the two concave plates (102) located above.

3. A high-voltage wire deicing robot according to claim 2, characterized in that: A fourth hinge seat (312) is installed on one side of the movable block (313) and the second fixed block (315) close to the buckle (310); the fourth hinge seat (312) is hingedly connected to the third hinge seat (311); one side of the buckle (310) is fixedly connected to the third hinge seat (311) connected to the movable block (313); and one side of the first fixed block (306) is fixedly connected to the third hinge seat (311) connected to the second fixed block (315).

4. The method for using a high-voltage wire deicing robot according to claim 3, characterized in that: The following steps are involved: Step 1: first, use a crane to lift to the cable (105), then use a second electric cylinder (221) to drive the two concave plates (102) connected to the top plate (222) to rise and fall, so that the limit wheels (104) on the concave plates (102) distributed up and down are clamped on the cable (105), use a first motor (209) to drive the drive shaft (203) to rotate, and the rotation of the drive shaft (203) drives the moving cylinder (204) thereon to rotate, and use the first electric cylinder (208) to control the movement of the connecting seat (207) and the moving cylinder (204), and cooperate with the drive shaft (209) to drive the connecting seat (207) and the moving cylinder (204) to move. A second limit block on the outer ring of the moving shaft (203) is slidably disposed inside a second limit groove on the inner ring of the moving cylinder (204), so that the moving cylinder (204) slides on the driving shaft (203). The movement of the moving cylinder (204) drives the first gear (205) and the second gear (206) to move, so that the third gear (211) meshes with the second gear (206) or the fourth gear (214) meshes with the first gear (205). When the fourth gear (214) meshes with the first gear (205), the driving shaft (203) can drive the second transmission The shaft (213) rotates, the second transmission shaft (213) rotates to drive the worm (215) to rotate, the worm (215) rotates to drive the worm wheel (219) to rotate, the worm wheel (219) rotates to drive the third transmission shaft (217) to rotate, the third transmission shaft (217) rotates to drive the fifth gear (218) at both ends thereof to rotate, the fifth gear (218) rotates to drive the side gear (109), the side gear (109) rotates to drive the first rotation shaft (108) to rotate, the first rotation shaft (108) rotates to drive the rotating cylinder (111) and the first rotation shaft (108) thereon to rotate. The second bevel gear (110) rotates, the second bevel gear (110) is meshed with the first bevel gear (106) on the rotating rod (103) located below, and the third bevel gear (113) is meshed with the first bevel gear (106) on the rotating rod (103) located above, and the rotating cylinder (111) and the second bevel gear (110) on the two first rotating shafts (108) are staggered, so that the rotation of the two first rotating shafts (108) can drive the limiting wheel (104) to rotate, thereby enabling the entire device to move; Step 2: When the device moves to a position where deicing is required, the third gear (211) is meshed with the second gear (206), so that the drive shaft (203) can drive the first transmission shaft (210) to rotate, and the rotation of the first transmission shaft (210) drives the fourth bevel gear (212) to rotate, and the fourth bevel gear (212) is meshed with the fifth bevel gear (304), so that the rotating column (302) at the center of the fifth bevel gear (304) rotates, and the sixth gears (303) on the adjacent rotating columns (302) are meshed with each other, so that the remaining screw rotating columns (302) rotate accordingly, and the rotating columns (302) rotate to drive the limiting cylinder (316) and the limiting column (317). ), the fifth hinge seat (318) and the sixth hinge seat (320) are rotated, so that the threaded rod (314) rotates accordingly, and the fourth hinge seat (312) is hingedly connected with the third hinge seat (311), so that when the threaded rod (314) rotates to drive the moving block (313) to move, the threaded rod (314), the moving block (313) and the second fixed block (315) are deflected accordingly, and the second hinge seat (309) connected with the buckle (310) and the first hinge seat (308) are hingedly connected, so that the moving block (313) deflects and drives the buckle (310) connected thereto to deflect, and the whole device is fixed on the cable (105) by using the two buckles (310) to move toward each other; Step three, using the second motor (406) to drive the eighth gear (405) to rotate, the rotation of the eighth gear (405) drives the seventh gear (404) to rotate, the rotation of the seventh gear (404) drives the second rotating shaft (403) to rotate, the rotation of the second rotating shaft (403) drives the two fixed rings (407) to rotate, the rotating arm (408) connected to the outer ring of the fixed ring (407) rotates accordingly, the rotation of the rotating arm (408) drives the rubber strip (409) hingedly connected to it to rotate, and the ice on the cable (105) is knocked off.

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