De-icing robot

Abstract

The present invention relates to a de-icing robot, which comprises a robot body, a power-taking device, a de-icing mechanism and an ice-breaking mechanism. The robot body includes a front spine and a rear spine. The ice-breaking mechanism is installed on the front spine to form a front foot. The de-icing mechanism is installed at the connection of the front spine and the rear spine to form a middle foot. The power-taking device is installed on the rear spine to form a rear foot. The de-icing robot of the present invention has good effects of climbing and crossing obstacles on a transmission line and is convenient to operate. The ice-breaking mechanism and the de-icing mechanism cooperate with each other to achieve good de-icing effects. The ice-breaking mechanism, the de-icing mechanism and the power-taking device can not only realize corresponding functions, but also serve as the front foot, the middle foot and the rear foot, respectively, with a simple structure.

Description

Technical Field

[0001] The present invention relates to the technical field of deicing robots, and particularly to a deicing robot. Background Art

[0002] A transmission line includes a tower, an insulator string, and a transmission wire. Two adjacent towers form two suspension points for the transmission wire. One end of the insulator string is connected to the suspension point of the transmission wire, and the other end is connected to the transmission wire, thus suspending the transmission wire on the tower. If the insulator string is a strain insulator string, it is also necessary to connect the transmission wires at both ends of the tower through a connecting wire. To avoid damage to the transmission wire caused by galloping, the transmission wire between two adjacent suspension points is in a catenary arc shape, and anti-vibration weights are also installed near the suspension points of the transmission wire. When the deicing robot works, it generally needs to travel along the transmission wire. Therefore, the obstacle-crossing operation at the suspension points of the transmission wire and the anti-vibration weights affects the convenience of using the deicing robot. Summary of the Invention

[0003] The purpose of the present invention is to provide a deicing robot to facilitate the obstacle-crossing operation on the transmission line and reduce the installation difficulty.

[0004] The technical solution of the present invention is as follows:

[0005] A deicing robot includes a robot body, a power-taking device, a deicing mechanism, and an ice-breaking mechanism. The robot body includes a front-section spine and a rear-section spine. The ice-breaking mechanism is installed on the front-section spine to form a front foot. The deicing mechanism is installed at the connection between the front-section spine and the rear-section spine to form a middle foot. The power-taking device is installed on the rear-section spine to form a rear foot.

[0006] Preferably, the power-taking device includes a left arm and a right arm. A first wire group is provided on the left arm, and a second wire group is provided on the right arm. When the left arm and the right arm are folded together, a wire perforation for connecting with the transmission wire with a clearance is formed, and the first wire group and the second wire group are connected to form a spiral wire.

[0007] Preferably, the ice-breaking mechanism includes a front-foot guide rail, a left clamping arm, a right clamping arm, a front-foot rotating seat, a front-foot double-headed screw, and a front-foot forward and reverse motor. The front-foot double-headed screw is rotationally connected to the front-foot rotating seat around the Y-axis. The positive-thread of the front-foot double-headed screw is in a threaded connection with the left clamping arm, and the reverse-thread of the front-foot double-headed screw is in a threaded connection with the right clamping arm. The left clamping arm and the right clamping arm are respectively in a sliding connection with the front-foot guide rail in the Y-axis direction. The front-foot forward and reverse motor is used to drive the front-foot double-headed screw to rotate relative to the front-foot rotating seat.

[0008] Further preferably, a first concave arc blade is provided on the left clamp arm, and a second concave arc blade is provided on the right clamp arm. The first concave arc blade is perpendicular to the second concave arc blade, and the angle between the first concave arc blade and the Y-axis is 30° to 60°.

[0009] Preferably, the de-icing mechanism includes a middle foot guide rail, a left wheel seat, a right wheel seat, a middle foot rotating seat, a middle foot double-headed bolt, a middle foot forward and reverse motor, and a traveling motor. The middle foot double-headed stud is rotatably connected to the middle foot rotating seat around the Y-axis. The positive rotation thread of the middle foot double-headed stud is threadedly connected to the left wheel seat, and the reverse rotation thread of the middle foot double-headed stud is threadedly connected to the right wheel seat. The left wheel seat and the right wheel seat are respectively slidably connected to the middle foot guide rail in the Y-axis direction. The middle foot forward and reverse motor is used to drive the middle foot double-headed stud to rotate relative to the middle foot rotating seat. A left traveling wheel that rotates around the Z-axis is installed on the left wheel seat, and a right traveling wheel that rotates around the Z-axis is installed on the right wheel seat. The traveling motor is used to drive the left traveling wheel or the right traveling wheel to rotate.

[0010] Preferably, the robot body includes a reset tendon, a pulling tendon, a pulling tendon retracting and releasing mechanism, and a plurality of spinal vertebrae. The spinal vertebrae include a pelvic bone. A joint ball is provided on one side of the pelvic bone, and a joint groove is provided on the other side of the pelvic bone. A central hole passing through the joint ball and the joint groove is provided in the center of the pelvic bone. 2n (n≥3) side holes are arranged in a circular array on the pelvic bone with the central hole as the center. The reset tendon and the pulling tendon are arranged at intervals in the 2n side holes. The pulling tendon retracting and releasing mechanism is used to retract and release the pulling tendon. When the pulling tendon is tightened, the robot body bends towards the side where the tightened pulling tendon is located. When the pulling tendon is released, the robot body returns to the straight state.

[0011] Preferably, it further includes a front eye camera installed at the end of the front section of the spine.

[0012] The beneficial effects of the present invention are:

[0013] 1. The de-icing robot of the present invention includes a front foot, a middle foot, and a rear foot. In this way, the middle foot and the rear foot can enable the robot to hang on the transmission line. By adjusting the front section of the spine, the front foot can be made to climb on the connecting line, achieving obstacle crossing at the suspension point of the transmission line by the front foot. Then, while keeping the front foot and the rear foot hanging on the transmission line, the middle foot is disengaged from the transmission line, achieving obstacle crossing at the suspension point of the transmission line by the middle foot. Finally, while keeping the front foot and the middle foot hanging on the transmission line, the rear foot is disengaged from the transmission line, achieving obstacle crossing at the suspension point of the transmission line by the rear foot. To achieve the aforementioned actions, the robot body must be divided into a front section of the spine and a rear section of the spine. In this way, compared with the entire spine, different arc controls of the front section of the spine and the rear section of the spine can be achieved. The ice-breaking mechanism forms the front foot. Considering that when the ice coating is thick, the ice shell can be clamped and fractured by the ice-breaking mechanism, facilitating the more effective removal of the ice coating on the transmission line by the ice-removing mechanism of the middle foot. The power-taking device forms the rear foot. Considering that the wire diameter of the transmission line is relatively consistent after the de-icing operation, the inner diameter of the power-taking device does not need to be adaptively adjusted according to the ice coating thickness. In summary, the de-icing robot of the present invention has good effects in climbing on the transmission line and crossing obstacles, and is convenient to operate. The ice-breaking mechanism and the ice-removing mechanism cooperate with each other, and the de-icing effect is good. The ice-breaking mechanism, the ice-removing mechanism, and the power-taking device can not only achieve their respective functions, but also act as the front foot, the middle foot, and the rear foot, and the structure is simple.

[0014] 2. The de-icing robot of the present invention, the power-taking device includes a left arm and a right arm. A first wire group is provided on the left arm, and a second wire group is provided on the right arm. When the left arm and the right arm are closed in a hugging manner, a transmission line perforation for gap connection with the transmission line is formed by surrounding. And the first wire group and the second wire group are connected to form a spiral wire. In this way, power-taking operation can be achieved, and the transmission line can be hugged, forming the rear foot, with a simple structure and a reasonable position setting.

[0015] 3. The de-icing robot of the present invention, the ice-breaking mechanism includes a front foot guide rail, a left clamping arm, a right clamping arm, a front foot rotating seat, a front foot double-headed stud, and a front foot forward and reverse motor. By driving the front foot double-headed stud by the front foot forward and reverse motor, the relative positions of the left arm and the right arm are adjusted. When the gap between the left arm and the right arm can pass through the transmission line, the front foot can cross the obstacle on the transmission line. When the gap between the left arm and the right arm is equal to the outer diameter of the transmission line, the ice coating on the transmission line can be clamped and broken, facilitating the ice-removing operation of the ice-removing mechanism.

[0016] 4. The de-icing robot of the present invention, a first concave arc-shaped blade is provided on the left clamping arm, and a second concave arc-shaped blade is provided on the right clamping arm. The first concave arc-shaped blade is perpendicular to the second concave arc-shaped blade, and the included angle between the first concave arc-shaped blade and the Y-axis is 30° - 60°. In this way, the friction force is greater when clamping the ice coating, and it is not easy to slide.

[0017] 5. The de-icing robot of the present invention, the de-icing mechanism includes a middle foot guide rail, a left wheel seat, a right wheel seat, a middle foot rotating seat, a middle foot double-headed bolt, a middle foot forward and reverse motor, and a traveling motor. By driving the middle foot double-headed stud with the middle foot forward and reverse motor, the relative positions of the left wheel seat and the right wheel seat are adjusted. When the gap between the left wheel seat and the right wheel seat can pass through the transmission line, the front foot can cross the obstacles on the transmission line. When the gap between the left wheel seat and the right wheel seat is equal to the outer diameter of the transmission line, the ice on the transmission line can be clamped. When the traveling motor drives the left traveling wheel or the right traveling wheel to rotate, the middle foot can move relative to the transmission line, realizing the forward movement of the de-icing robot.

[0018] 6. The de-icing robot of the present invention, the robot body includes a reset tendon, a pulling tendon, a pulling tendon retracting and releasing mechanism, and a plurality of spinal vertebrae. The spinal vertebrae include a pelvic bone. On one side of the pelvic bone, there is a joint ball. On the other side of the pelvic bone, there is a joint groove. In the center of the sliding disk, there is a central hole passing through the joint ball and the joint groove. On the pelvic bone, 2n (n≥3) side holes are arranged in a circular array centered on the central hole. The reset tendon and the pulling tendon are arranged at intervals in the 2n side holes. The pulling tendon retracting and releasing mechanism is used to retract and release the pulling tendon. When the pulling tendon is tightened, the robot body bends towards the side where the tightened pulling tendon is located. When the pulling tendon is released, the robot body returns to the straight state. In this way, the curvature of the front spine or the rear spine can be adjusted, and the climbing and crossing of two transmission lines with different curvatures can be realized.

[0019] 7. The de-icing robot of the present invention further includes a front camera installed at the end of the front spine. In this way, it can not only find the direction of the transmission line but also perform line inspection operations on the transmission line during the de-icing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a reference diagram of the use state of a de-icing robot of the present invention.

[0021] Figure 2 It is a left view of the spinal vertebra of a de-icing robot of the present invention.

[0022] Figure 3 It is a cross-sectional view of the spinal vertebra of a de-icing robot of the present invention.

[0023] Figure 4 It is a schematic structural diagram of the robot body of a de-icing robot of the present invention.

[0024] Figure 5 It is a schematic structural diagram of the ice-breaking mechanism of a de-icing robot of the present invention.

[0025] Description of reference numerals: 1 - power transmission line, 2 - robot body, 20 - spine, 201 - pelvis, 202 - joint groove, 203 - joint ball, 204 - central hole, 205 - side hole, 21 - central rib, 221 - reset rib A, 222 - reset rib B, 231 - tension rib A, 232 - tension rib B, 241 - tension rib retracting and releasing mechanism A, 242 - tension rib retracting and releasing mechanism B, 251 - front foot mounting part, 252 - middle foot mounting part, 253 - rear foot mounting part, 3 - ice-breaking mechanism, 31 - left clamp arm, 311 - first concave arc blade, 312 - anti-drop engaging hook, 32 - right clamp arm, 33 - front foot rotating seat, 34 - front foot double-headed bolt, 4 - de-icing mechanism, 5 - power taking device, 6 - front camera. Specific implementation mode

[0026] The following will, in the form of embodiments, with reference to the accompanying drawings, illustrate the present invention to assist those skilled in the art in understanding and implementing the present invention. Unless otherwise specified, the following embodiments and the technical terms therein should not be understood without the technical knowledge background of the present technical field.

[0027] Embodiment 1: An ice-removing robot, see Figures 1-5 , including a robot body 2, a power taking device 5, a de-icing mechanism 4 and an ice-breaking mechanism 3. The robot body 2 includes a front spine and a rear spine. The ice-breaking mechanism 3 is installed on the front spine to form the front foot. The de-icing mechanism 4 is installed at the connection of the front spine and the rear spine to form the middle foot. The power taking device 5 is installed on the rear spine to form the rear foot.

[0028] In this embodiment, the power taking device 5 includes a left arm and a right arm. A first wire group is provided on the left arm, and a second wire group is provided on the right arm. When the left arm and the right arm are folded together, a power transmission line perforation for clearance connection with the power transmission line 1 is formed by surrounding. And the first wire group and the second wire group are connected to form a spiral wire. Generally, at both ends of the first wire in the first wire group on the left arm, power connection contacts A are formed. At both ends of the second wire in the second wire group on the right arm, power connection contacts B are formed. When the left arm and the right arm are folded together, the power connection contact A is electrically connected to the power connection contact B, and the first wire and the second wire cooperate to form a spiral wire. In this way, an induced current can be generated in the spiral wire by means of the electromagnetic induction principle. In other embodiments, the power connection contacts A and B can be configured in the form of plugs and sockets.

[0029] See Figure 5In this embodiment, the icebreaking mechanism 3 includes a forefoot guide rail, a left clamp arm 31, a right clamp arm 32, a forefoot rotating seat 33, a forefoot stud 34, and a forefoot forward and reverse motor. The forefoot stud 34 is rotationally coupled to the forefoot rotating seat 33 about the Y-axis. The forward-threaded portion of the forefoot stud 34 is threadedly coupled to the left clamp arm 31, while the reverse-threaded portion of the forefoot stud 34 is threadedly coupled to the right clamp arm 32. The left and right clamp arms 31 and 32 are each slidingly coupled to the forefoot guide rail in the Y-axis direction. The forefoot forward and reverse motor is used to drive the forefoot stud 34 to rotate relative to the forefoot rotating seat 33. The forefoot rotating seat 33, the forefoot guide rail, and the spinal cone 20 having the forefoot mounting portion 251 are fixedly coupled. When the robot body 2 is in the straightened state, assuming that the robot body 2 extends in the X-axis direction, the X-axis is perpendicular to the Y-axis. The housing of the forefoot forward and reverse motor is fixedly connected to the spinal cone 20 formed with the forefoot mounting portion 251. The output shaft of the forefoot forward and reverse motor is connected to the forefoot stud 34 through a coupling. Generally, assuming that the power line is a straight line, the robot body 2 can be placed parallel to the power line.

[0030] See also Figure 5 A first inward-concave arc blade 311 is provided on the left tongs arm 31, and a second inward-concave arc blade is provided on the right tongs arm 32. The first inward-concave arc blade is perpendicular to the second inward-concave arc blade, and the angle between the first inward-concave arc blade and the Y axis is 30° to 60°. In this embodiment, the angle between the first inward-concave arc blade and the Y axis is 45°. Assuming that the outer diameter of the transmission line 1 is D, the first inward-concave arc blade 311 can be an ellipse, with the minor axis of the ellipse slightly larger than D and the major axis slightly larger than Slightly larger than D or slightly larger than The purpose is to prevent the first concave arc blade 311 from damaging the transmission line when the first concave arc blade 311 bites the transmission line. Similarly, the second concave arc blade can be an ellipse, with the short axis of the ellipse slightly larger than D and the long axis of the ellipse slightly larger than That's it.

[0031] In this embodiment, the de-icing mechanism includes a middle foot guide rail, a left wheel seat, a right wheel seat, a middle foot rotating seat, a middle foot double-headed bolt, a middle foot forward and reverse motor, and a traveling motor. The middle foot double-headed stud is rotationally connected to the middle foot rotating seat around the Y-axis by a rotational pair. The right-hand thread of the middle foot double-headed bolt is in a threaded pair connection with the left wheel seat, and the left-hand thread of the middle foot double-headed bolt is in a threaded pair connection with the right wheel seat. The left wheel seat and the right wheel seat are respectively in a sliding pair connection with the middle foot guide rail in the Y-axis direction. The middle foot forward and reverse motor is used to drive the middle foot double-headed bolt to rotate relative to the middle foot rotating seat. A left traveling wheel that rotates around the Z-axis is installed on the left wheel seat, and a right traveling wheel that rotates around the Z-axis is installed on the right wheel seat. The traveling motor is used to drive the left traveling wheel or the right traveling wheel to rotate. The X-axis, Y-axis, and Z-axis are perpendicular to each other. Annular half-grooves are provided on the wheel surfaces of the left traveling wheel and the right traveling wheel, and the inner diameter of the annular half-groove is slightly larger than the outer diameter of the transmission line 1. During use, the middle foot rotating seat, the middle foot guide rail, and the spinal vertebra 20 formed with the middle foot mounting portion 252 are fixedly connected. The housing of the middle foot forward and reverse motor is fixedly connected to the spinal vertebra 20 formed with the middle foot mounting portion 252, and the output shaft of the middle foot forward and reverse motor is in transmission connection with the middle foot double-headed bolt through a coupling. The housing of the traveling motor is installed on the left wheel seat, and the output shaft of the traveling motor is in transmission connection with the axle of the left traveling wheel through a coupling.

[0032] See Figures 1-4 , in this embodiment, the robot body 2 includes a reset tendon, a pulling tendon, a pulling tendon retracting and releasing mechanism, and a plurality of spinal vertebrae. The spinal vertebra 20 includes a pelvic bone 201. An articular ball 203 is provided on one side of the pelvic bone 201, an articular groove 202 is provided on the other side of the pelvic bone 201, and a central hole 204 passing through the articular ball 203 and the articular groove 202 is provided at the center of the pelvic bone 201. 2n (n≥3) side holes 205 are arranged in a circular array on the pelvic bone 201 with the central hole 204 as the center. The reset tendon and the pulling tendon are arranged at intervals in the 2n side holes. The pulling tendon retracting and releasing mechanism is used to retract and release the pulling tendon. When the pulling tendon is tightened, the robot body bends towards the side where the tightened pulling tendon is located. When the pulling tendon is released, the reset tendon enables the robot body to return to a straight state. See Figure 4, among two adjacent vertebrae 20, the joint ball 203 of the vertebra 20 on the left side is arranged in the joint groove 202 of the vertebra 20 on the right side, and the joint ball 203 of the vertebra 20 on the left side can rotate in the joint groove 202 of the vertebra 20 on the right side. The vertebrae 20 in the left half of the robot body 2 are strung into the front-section spine through the reset tendon A221 and the pulling tendon A231, and the vertebrae 20 in the right half of the robot body 2 are strung into the rear-section spine through the reset tendon B222 and the pulling tendon B232. In this embodiment, the pulling tendon retracting and releasing mechanism A selects a motor. The housing of the motor is fixedly connected to the vertebra 20 formed with the middle foot mounting portion 252. The output shaft of the motor is connected to one end of the pulling tendon A231. When the output shaft of the motor rotates, the pulling tendon A231 is wound to tighten the pulling tendon A231. After the output shaft of the motor rotates in the reverse direction to make the pulling tendon A231 restore its initial length, the reset tendon A221 on the opposite side pulls the front-section spine to restore the straight state. The pulling tendon retracting and releasing mechanism B selects a motor. The housing of the motor is fixedly connected to the vertebra 20 formed with the middle foot mounting portion 252. The output shaft of the motor is connected to one end of the pulling tendon B232. When the output shaft of the motor rotates, the pulling tendon B232 is wound to tighten the pulling tendon B232. After the output shaft of the motor rotates in the reverse direction to make the pulling tendon B232 restore its initial length, the reset tendon B222 on the opposite side pulls the rear-section spine to restore the straight state.

[0033] The reset tendon can select an elastic rope. The pulling tendon can select a flexible rope. A central tendon can be arranged in the central hole 204, or wires can be arranged.

[0034] See Figure 1 , in this embodiment, the de-icing robot further includes a front camera 6 installed at the end of the front-section spine.

[0035] The above has described the present invention in detail with reference to the drawings and embodiments. It should be understood that in practice, it is impossible to exhaustively describe all possible implementation manners. Here, the inventive concept of the present invention is elaborated as much as possible by way of examples. Without departing from the inventive concept of the present invention and without creative labor, those skilled in the art in this technical field make choices and combinations of the technical features in the above embodiments, make test changes to specific parameters, or make conventional substitutions of the disclosed technical means of the present invention with the existing technologies in this technical field to form specific embodiments, which should all belong to the content implicitly disclosed by the present invention.

Claims

1. An ice removal robot, characterized in that, It includes a robot body, a power-taking device, a de-icing mechanism and an ice-breaking mechanism. The robot body includes a front spinal column and a rear spinal column. The ice-breaking mechanism is installed on the front spinal column to form a front foot. The de-icing mechanism is installed at the connection of the front spinal column and the rear spinal column to form a middle foot. The power-taking device is installed on the rear spinal column to form a rear foot; The robot body includes a reset tendon, a pulling tendon, a pulling tendon retracting and releasing mechanism and a plurality of spinal bones. The spinal bone includes a pelvic bone. An articular ball is provided on one side of the pelvic bone, and an articular groove is provided on the other side of the pelvic bone. A central hole passing through the articular ball and the articular groove is provided at the center of the pelvic bone. 2n side holes are arranged in a circular array centered on the central hole on the pelvic bone, where n≥3. The reset tendon and the pulling tendon are arranged at intervals in the 2n side holes. The pulling tendon retracting and releasing mechanism is used to retract and release the pulling tendon. When the pulling tendon is tightened, the robot body bends towards the side where the tightened pulling tendon is located. When the pulling tendon is released, the robot body returns to the straight state.

2. The de-icing robot according to claim 1, characterized in that, The power-taking device includes a left arm and a right arm. A first wire group is provided on the left arm, and a second wire group is provided on the right arm. When the left arm and the right arm are clasped, a power transmission line perforation for gap connection with the power transmission line is formed by enclosure, and the first wire group and the second wire group are connected to form a spiral wire.

3. The ice removal robot according to claim 1, characterized in that, The ice-breaking mechanism includes a front foot guide rail, a left clamping arm, a right clamping arm, a front foot rotating seat, a front foot double-headed screw and a front foot forward and reverse motor. The front foot double-headed screw is rotationally pair-connected with the front foot rotating seat around the Y axis. The positive thread of the front foot double-headed screw is threadedly pair-connected with the left clamping arm, and the reverse thread of the front foot double-headed screw is threadedly pair-connected with the right clamping arm. The left clamping arm and the right clamping arm are respectively sliding pair-connected with the front foot guide rail in the Y-axis direction. The front foot forward and reverse motor is used to drive the front foot double-headed screw to rotate relative to the front foot rotating seat.

4. The ice removal robot according to claim 3, characterized in that, A first concave arc-shaped blade is provided on the left clamping arm, and a second concave arc-shaped blade is provided on the right clamping arm. The first concave arc-shaped blade is perpendicular to the second concave arc-shaped blade, and the angle between the first concave arc-shaped blade and the Y axis is 30°-60°.

5. The de-icing robot according to claim 1, characterized in that, The de-icing mechanism includes a middle foot guide rail, a left wheel seat, a right wheel seat, a middle foot rotating seat, a middle foot double-headed screw, a middle foot forward and reverse motor and a traveling motor. The middle foot double-headed screw is rotationally pair-connected with the middle foot rotating seat around the Y axis. The positive thread of the middle foot double-headed screw is threadedly pair-connected with the left wheel seat, and the reverse thread of the middle foot double-headed screw is threadedly pair-connected with the right wheel seat. The left wheel seat and the right wheel seat are respectively sliding pair-connected with the middle foot guide rail in the Y-axis direction. The middle foot forward and reverse motor is used to drive the middle foot double-headed screw to rotate relative to the middle foot rotating seat. A left traveling wheel rotating around the Z axis is installed on the left wheel seat, and a right traveling wheel rotating around the Z axis is installed on the right wheel seat. The traveling motor is used to drive the left traveling wheel or the right traveling wheel to rotate.

6. The de-icing robot according to claim 1, wherein It also includes a front vision camera installed at the end of the front spinal column.

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