An ultra, extra-high voltage ground wire deicing robot and its on-off line method

Abstract

This invention discloses a de-icing robot for ultra-high voltage and extra-high voltage grounding wires and its loading and unloading method. It includes a de-icing machine and a drone, as well as a docking device and a telescopic rope clamp mounted on the frame of the de-icing machine, and a connecting mechanism mounted on the drone. The connecting mechanism includes a suspension rope and a guide cylinder. When the de-icing machine is loaded onto the grounding wire, it connects to the drone's telescopic rope clamp via the suspension rope. When the de-icing machine is unloaded, it connects to the drone's guide cylinder via the docking device. This invention utilizes a drone equipped with a connecting mechanism, enabling the robot to load and unload from the grounding wire, avoiding the instability and potential damage caused by errors in manual operation. Loading is achieved via the suspension rope, ensuring the robot's vertical position is maintained regardless of the drone's flight stability, resulting in higher loading efficiency.

Description

Technical Field

[0001] This invention belongs to the field of ultra-high voltage and extra-high voltage ground wire de-icing technology, specifically an ultra-high voltage and extra-high voltage ground wire de-icing robot and its loading and unloading method. Background Technology

[0002] In cold, snowy weather, the surface of ultra-high voltage (UHV) and extra-high voltage (EHV) grounding wires is often covered with ice, which can even cause the grounding wires to break under pressure, leading to dangerous accidents. There are various methods for de-icing transmission lines, such as DC de-icing and manual tapping, each with its own advantages and disadvantages. However, UHV and EHV grounding wires are not energized and do not generate heat like energized conductors. Therefore, DC de-icing is not suitable for de-icing grounding wires. Manual tapping is also highly dangerous, prone to falls and electric shocks, requires significant labor intensity, is time-consuming and labor-intensive, and has relatively low efficiency. Furthermore, existing de-icing robots only use ice blades to de-ice the lines, making their methods and efficiency too limited to handle complex de-icing situations.

[0003] When the robot is being moved up or down the line, it is usually done manually with a traction rope to raise or lower it above or below the ultra-high voltage power line. However, manual operation is unstable, wastes time and manpower, and errors can damage the robot, affecting its lifespan. Summary of the Invention

[0004] The main objective of this invention is to provide an ultra-high voltage and extra-high voltage ground wire de-icing robot that requires no manual operation and its loading and unloading method.

[0005] The ultra-high voltage and extra-high voltage ground wire de-icing robot provided by this invention includes a de-icing machine and a drone. It also includes a docking device and a telescopic rope clamp installed on the frame of the de-icing machine, and a connection mechanism installed on the drone. The connection mechanism includes a suspension rope and a guide cylinder. When the de-icing machine is put on the line, it is connected to the telescopic rope clamp of the drone through the suspension rope to complete the online process. When the de-icing machine is taken off the line, it is connected to the guide cylinder of the drone through the docking device to complete the offline process.

[0006] In one embodiment of the robot described above, the frame is U-shaped, with folded edges on both sides to enhance structural strength.

[0007] In one embodiment of the robot described above, the docking device includes a tapered docking component that is smaller at the top and larger at the bottom, and a connecting rod that fixes the docking component to the center position of the top of the frame; a telescopic rope clip is provided on each side of the docking device.

[0008] In one embodiment of the robot described above, the telescopic rope clamp includes a lock, a lock cylinder, a motor, a swing arm, and a hinge rod; the lock is U-shaped, with a lock cylinder that can move laterally inserted between the two arms at its upper end, and the lock cylinder is a long rod; the output end of the motor is fixedly connected to a swing arm shaped like the motor, and the end of the swing arm is hinged to a hinge rod, the other end of which is hinged to the lock cylinder; the lock and the motor are fixed on the same base plate and are fixedly connected to the frame through the base plate.

[0009] In one embodiment of the robot described above, the connecting mechanism includes a base frame, rope reels, connecting rods, springs, guide cylinders, and suspension ropes; the base frame is fixed to the legs of the drone, and rope reels are respectively provided on both sides of the base frame, with the ropes of the two rope reels extending downwards and respectively hinged to the top two sides of the connecting rod; a spring is provided at the center of the bottom end of the connecting rod, and the end of the spring is connected to the guide cylinder; a suspension rope is respectively hinged to the bottom two sides of the connecting rod.

[0010] In one embodiment of the robot described above, the guide cylinder is a conical hollow cylinder, corresponding to the shape of the docking device; multiple L-shaped buckles are evenly arranged along the circumference at the bottom end of the guide cylinder.

[0011] In one embodiment of the robot described above, the end of the suspension rope has a connecting ring for connecting with the telescopic rope clamp.

[0012] In one embodiment of the robot described above, a flashlight strip is installed on the outer contour of the frame.

[0013] A method for deploying the aforementioned robot, comprising the following specific steps:

[0014] 1. Secure the telescopic rope to the hoisting rope of the connecting mechanism, and smoothly suspend the robot in its initial state below the drone;

[0015] 2. The drone takes off and moves the robot to the predetermined de-icing position on the ground wire, and places the robot vertically across the ground wire;

[0016] 3. The locking cylinder of the telescopic rope clamp moves backward, unlocking the rope and allowing the drone and robot to separate.

[0017] 4. The robot enters working mode, walks on the ground wire and begins the ground wire de-icing work, completing the robot's online operation.

[0018] A method for offline processing using the aforementioned robot includes the following steps:

[0019] 1. The drone flies directly above the robot, at which point the guide tube of the connecting mechanism is positioned above the robot's docking device;

[0020] 2. The drone descends slowly, and the guide tube of the connecting mechanism aligns with the docking device of the robot, securing the two together with a snap-fit ​​mechanism.

[0021] 3. The robot adjusts from the working state to the initial state, becoming a state where it can be detached from the ground wire;

[0022] 4. The drone takes off and completes the robot's unloading process.

[0023] The beneficial effects of this invention are as follows:

[0024] 1. A drone equipped with a connection mechanism was set up, which enabled the robot to operate on the ground line, avoiding the problems of poor stability and robot damage caused by errors in manual operation;

[0025] 2. The robot is launched via a sling, which does not affect its vertical position regardless of whether the drone is flying stably, resulting in higher launch efficiency;

[0026] 3. A guide tube and a docking device are set up for docking between the drone and the robot during the unloading process, which improves the docking efficiency and reduces the possibility of docking failure.

[0027] 4. Flashlight strips are installed on the outer contour of the frame to facilitate operators' observation of the work position during de-icing operations in foggy weather. Attached Figure Description

[0028] Figure 1 This is a front axonometric view of an embodiment of the present invention.

[0029] Figure 2 for Figure 1 A canometric view of the frontal view of the robot.

[0030] Figure 3 for Figure 2 A canometric view of the rear side. (The docking device is not shown.)

[0031] Figure 4 for Figure 2 Axonometric schematic diagram of the traveling mechanism.

[0032] Figure 5 for Figure 3 Axonometric schematic diagram of the medium-pressure line mechanism.

[0033] Figure 6 for Figure 2 Axonometric schematic diagram of the icebreaker blade, de-icing hammer, and ice-melting coil.

[0034] Figure 7 for Figure 2 Axonometric view of the telescopic rope clamp.

[0035] Figure 8 for Figure 1 Axonometric schematic diagram of the mid-to-high-end unmanned aerial vehicle (UAV).

[0036] Figure 9 for Figure 8 Axonometric view of the guide tube. Detailed Implementation

[0037] The relevant technical solutions will now be clearly and completely described with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0038] Combination Figure 1 , Figure 2 and Figure 3 As can be seen, the ultra-high voltage ground wire de-icing robot disclosed in this embodiment includes a frame 1, a walking mechanism 2, a wire pressing mechanism 3, an ice-breaking blade 4, an ice-removing hammer 5, an ice-melting coil 6, a docking device 7, a telescopic rope clamp 8, a connecting mechanism 9, and a drone 10.

[0039] The frame 1 is shaped like a "Z" and has folded edges on both sides to strengthen the structure.

[0040] like Figure 4 As shown, the walking mechanism 2 includes a walking wheel 21, a timing belt 22, and a drive wheel 23.

[0041] The traveling wheel 21 includes a drive shaft and pulleys fixed to the drive shaft. Four traveling wheels are arranged in a straight line at the top inner side of the frame 1. The rotating shafts of the traveling wheels are rotatably connected to the frame via shock-absorbing bearings. A pressure sensor is installed at the connection between the rotating shaft and the frame to detect the force balance of the traveling wheels.

[0042] The two outermost wheels are connected to their adjacent wheels via synchronous belts 22. The drive shafts of the two middle wheels extend from the front of the frame, and drive wheels are fixedly mounted at the bottom center of the front of the frame. These drive wheels and the drive shafts of the two middle wheels are connected by synchronous belts to transfer power. Having four wheels increases the contact area between the de-icing robot and the ground wire, improving its climbing ability. Small motors are used for the drive wheels; their location at the bottom center of the frame lowers the robot's center of gravity.

[0043] like Figure 5 As shown, the wire pressing mechanism 3 includes a drive assembly 31, a transmission rod 32, a power transmission arm 33, and a wire pressing wheel 34.

[0044] The drive assembly 31 is mounted and fixed at the top center of the back of the frame 1. The rotating rod 32 is inserted into the drive assembly and connected to the motor output end of the drive assembly via a synchronous belt. The two ends of the rotating rod are rotatably connected to the top two sides of the back of the frame via bearings and lugs, respectively.

[0045] Four hook-shaped transmission arms 33 are fixedly mounted on the rotating rod 32, and each transmission arm has a pressure wheel 34 mounted at its end via an ear seat. The transmission axis of the pressure wheel extends in the direction of the transmission arm and is connected to the transmission arm to enhance the structural strength of the transmission arm.

[0046] The back of frame 1 has four rectangular openings corresponding to the positions of the four power transmission arms and the pressing rollers, which facilitates the pressing action of the pressing mechanism.

[0047] A wire-pressing mechanism is incorporated to increase friction when the robot walks on the ground wire, thereby improving its stability. When the wire-pressing mechanism is used, the wire-pressing wheel moves upward in an arc around the rotating rod, thus pressing the ground wire firmly.

[0048] like Figure 6 As shown, icebreaker 4 is a U-shaped blade. Three icebreaker blades are evenly fixed to both sides and the center of the inner side of the frame. The icebreaker blades are used to remove ice from the ground line during the robot's movement along the line.

[0049] The de-icing hammer 5 includes a motor 51, a rotating component 52, and a pendulum 53.

[0050] The motor is located at the top front of the frame 1. The rotating component 52 is an H-shaped clamping seat, and the output end of the motor passes through and is fixedly connected to the center of the side of the rotating component 52. One end of the pendulum 53 is rectangular, and the other end is arc-shaped, with a counterweight sleeve fitted on its rectangular end. The two ends of the rotating component respectively clamp the arc-shaped ends of the two pendulums.

[0051] The de-icing hammer is used to strike the ground wire and remove ice during the on-line movement to achieve mechanical de-icing; the counterweight hammer sleeve is used to increase the hammering force of the de-icing hammer, and the hammering force can be changed by changing the counterweight hammer sleeve of different weights.

[0052] The de-icing coil 6 includes two sets of de-icing components, each including a half-coil 61 and a limiting seat 62 hinged to the half-coil.

[0053] Two limiting seats are fixed to the front and back of the frame respectively. The two half-coils are hinged to the two limiting seats through connecting lugs. The two half-coils can be combined to form a normal heating coil. The two limiting seats can apply short-circuit current to the two ends of the coil. The two half-coils are fixed by the limiting seats on both sides between the lowest end of the de-icing hammer 5 and the front end of the frame 1.

[0054] An ice-melting coil is installed to melt the ice on the ground wire during the process of moving the wire, especially when the ice on the ground wire is in the form of rime. Rime is hard and not easy to fall off. A short-circuit current is applied to both ends of the coil to melt the ice on the ground wire by using the heat effect.

[0055] The docking device 7 includes a tapered docking component that is smaller at the top and larger at the bottom, and a connecting rod that fixes the docking component to the center of the top of the frame 1. A telescopic rope clip 8 is provided on each side of the docking device.

[0056] like Figure 7 As shown, the telescopic rope catch 8 includes a lock 81, a lock cylinder 82, a motor 83, a swing arm 84, and a hinge rod 85. The lock is U-shaped, with a laterally movable lock cylinder 82 inserted between its two upper arms. The lock cylinder is a long rod. The output end of the motor 83 is fixedly connected to a swing arm 84 shaped like the motor. The end of the swing arm is hinged to a hinge rod 85, the other end of which is hinged to the lock cylinder. The lock and motor are fixed to the same base plate and are fixedly connected to the frame through the base plate.

[0057] The lower ends of both sides of the frame 1 are also equipped with necessary drive motors, control boxes, power supplies and other components to achieve the above functions while balancing the robot's center of gravity.

[0058] Since the robot often operates in dense fog, flashlight strips are installed on the outer contour of the frame 1 to allow operators to observe the work position.

[0059] The frame 1 has four rotatable cameras located at the bottom of both sides. A top-view camera is mounted on the top of the robot. A camera opposite the pressing wheel is fixed on the frame to monitor the clamping status of the walking wheel and the pressing wheel. A camera is installed at the front of the frame to observe the de-icing effect. The robot's movement, pressing, and de-icing are all monitored through these cameras.

[0060] like Figure 8 As shown, the connecting mechanism 9 includes a base frame 91, a rope reel 92, a connecting rod 93, a spring 94, a guide cylinder 95, and a lifting rope 96.

[0061] The base frame 91 is fixed on the support frame of the UAV 10. Rope reels 92 are provided on both sides of the base frame. The ropes of the two rope reels extend downward and are respectively hinged to the top two sides of the connecting rod 93.

[0062] A spring 94 is provided at the center of the bottom end of the connecting rod 93, and a guide cylinder 95 is connected to the end of the spring.

[0063] like Figure 9 As shown, the guide cylinder 95 is a conical hollow cylinder, corresponding to the conical shape of the docking device 7. Four L-shaped clips are evenly distributed around the bottom of the guide cylinder. When the docking device and the guide cylinder are docked, they can be locked and fixed in place by the clips.

[0064] The spring is designed to be both rigid and elastic. The elasticity ensures that the spring absorbs the impact force and cushions the impact when the docking device and the guide cylinder dock. The rigidity ensures that the guide cylinder will not drift when the two dock, allowing it to dock smoothly with the robot.

[0065] A suspending rope 96 is hinged to each side of the bottom end of the connecting rod 93, and the end of the suspending rope has a connecting ring for connecting to the lock core of the telescopic rope clip 8.

[0066] When using this de-icing robot for de-icing:

[0067] 1. Adjust the robot to its initial state. At this time, the pressing wheel of the pressing mechanism is below the drive component, the rotating part of the de-icing hammer is in a horizontal state, and the two halves of the ice melting coil are in a separated state.

[0068] 2. Place the robot vertically across the ground line, with all the wheels of the walking mechanism pressing on the ground line.

[0069] 3. The driving component of the pressing mechanism drives the pressing wheel to move upward in an arc trajectory with the rotating rod as the center until the ground wire is pressed. The traveling wheel and the pressing wheel press and clamp the ground wire accordingly.

[0070] 4. The robot enters working mode: the ice-breaking blade is suspended on the ground wire; the two halves of the ice-melting coil are connected and closed, and the two limit seats begin to apply short-circuit current to the two ends of the coil; the motor of the de-icing hammer begins to drive the rotating parts and pendulum to rotate.

[0071] 5. The drive wheels of the walking mechanism start, driving the robot to walk on the ground wire. One or more of the ice-breaking blades, ice-removing hammers, and ice-melting coils remove the ice covering the ground wire, completing the ground wire de-icing.

[0072] When using a drone to assist this robot in going online:

[0073] 1. Pass the locking core of the telescopic rope clamp through and lock the two suspension ropes of the connecting mechanism to smoothly suspend the robot in its initial state below the drone.

[0074] 2. The drone takes off and moves the robot to the predetermined de-icing position on the ground wire, and places the robot vertically across the ground wire.

[0075] 3. The motor of the telescopic rope clamp drives the lock cylinder to move backward, unlocking the rope and completing the separation of the drone and robot.

[0076] 4. The robot enters working mode, walks on the ground wire and begins the ground wire de-icing work, completing the robot's online operation.

[0077] When using a drone to assist this robot in offline operation:

[0078] 1. The drone flies directly above the robot, at which point the guide tube of the connecting mechanism is positioned above the robot's docking device.

[0079] 2. The drone descends slowly, and the guide tube of the connecting mechanism docks with the docking device of the robot. The two are then locked together by the buckles on the guide tube.

[0080] 3. The robot adjusts from the working state to the initial state, becoming a state that can be detached from the ground wire.

[0081] 4. The drone takes off and completes the robot's unloading process.

[0082] The advantages of using this robot are:

[0083] 1. The de-icing coil is designed for use on non-energized ground wires for de-icing; the de-icing hammer can automatically remove ice without human intervention, avoiding the risks of falls and electric shocks that are common during manual de-icing.

[0084] 2. A walking mechanism and a wire pressing mechanism are set up to increase the stability of the robot when walking on the ground line. At the same time, all components are balanced and set at the bottom of both sides of the frame to lower the center of gravity, which further enhances the stability of the robot.

[0085] The advantages of using this robot for online / offline processes are:

[0086] 1. A drone equipped with a connection mechanism was installed, which enabled the robot to operate on the ground line, avoiding the problems of poor stability and robot damage caused by errors in manual operation.

[0087] 2. The robot is launched via a sling, ensuring its vertical position is maintained regardless of whether the drone is flying stably, resulting in higher launch efficiency.

[0088] 3. A guide tube and a docking device are set up for docking between the drone and the robot during the unloading process, which improves the docking efficiency and reduces the possibility of docking failure.

[0089] 4. Flashlight strips are installed on the outer contour of the frame to facilitate operators' observation of the work position during de-icing operations in foggy weather.

[0090] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although detailed descriptions have been provided with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A de-icing robot for ultra-high voltage and extra-high voltage grounding wires, comprising a de-icing machine and a drone, characterized in that: It also includes a docking device on the frame of the de-icing machine, a telescopic rope clamp, and a connection mechanism on the drone. The connection mechanism includes a sling and a guide tube. When the de-icing machine is put on the line, it is connected to the sling of the drone through the telescopic rope clamp to complete the online process. When the de-icing machine is taken off the line, it is connected to the guide tube of the drone through the docking device and locked by the L-shaped buckle to complete the offline process. The docking device includes a tapered docking component that is smaller at the top and larger at the bottom, and a connecting rod that fixes the docking component to the center of the top of the frame; a telescopic rope clip is provided on each side of the docking device. The telescopic rope clamp includes a lock, a lock cylinder, a motor, a swing arm, and a hinge rod; The lock is U-shaped, with a lock cylinder that can move laterally inserted between the two arms at the upper end. The lock cylinder is a long rod. The output end of the motor is fixedly connected to a swing arm shaped like the motor. The end of the swing arm is hinged to a hinge rod, and the other end of the hinge rod is hinged to the lock cylinder. The lock and the motor are fixed on the same base plate and are fixedly connected to the frame through the base plate. The connecting mechanism also includes a base frame, a rope reel, a connecting rod, and a spring; The base frame is fixed to the support frame of the UAV. Rope reels are provided on both sides of the base frame. The ropes of the two rope reels extend downward and are respectively hinged to the top two sides of the connecting rod. A spring is installed at the center of the bottom end of the connecting rod, and a guide cylinder is connected to the end of the spring; A suspension rope is hinged to each side of the bottom end of the connecting rod; multiple L-shaped buckles are evenly arranged around the bottom of the guide tube. The de-icing machine includes a frame, ice-breaking blades, de-icing hammers, and ice-melting coils; Ice-breaking blades are installed to remove ice from the ground wire as the de-icing machine travels along the line; An ice-removing hammer is installed to strike the ground wire and remove ice during the on-line movement process to achieve mechanical de-icing. De-icing coils are installed to melt ice buildup on the ground wire during the process of moving along the line. During operation, the de-icing machine travels along the ground wire, and the ice-breaking blade, de-icing hammer, and de-icing coil remove the ice covering the ground wire to complete the de-icing process.

2. The ultra-high voltage and extra-high voltage ground wire de-icing robot as described in claim 1, characterized in that: The frame is U-shaped, with folded edges on both sides to enhance structural strength.

3. The EHV / OHV ground wire de-icing robot of claim 1, wherein: The guide cylinder is a conical hollow cylinder, corresponding to the shape of the docking device.

4. The EHV / OHV ground wire de-icing robot of claim 1, wherein: The end of the suspension rope has a connecting loop for connecting with the telescopic rope clamp.

5. The EHV / OHV ground wire de-icing robot of claim 1, wherein: The outer contour of the frame is equipped with a flashing light strip.

6. A method for deploying a de-icing robot according to any one of claims 1-5, comprising the following steps: (1) Lock the telescopic rope to the hoisting rope of the connecting mechanism and hoist the de-icing machine in its initial state under the drone; (2) The drone takes off and moves the de-icing machine to the predetermined ground wire de-icing position, and places the de-icing machine vertically across the ground wire; (3) The locking core of the telescopic rope clamp moves backward to unlock the rope, and the drone and the de-icing machine are separated; (4) The de-icing machine is in working condition and moves on the ground wire to start the ground wire de-icing work, thus completing the online operation of the de-icing machine.

7. A method for removing the de-icing robot according to any one of claims 1-5 from the production line, comprising the following steps: (1) The drone flies directly above the de-icing machine, at which point the guide tube of the connecting mechanism is located above the docking device of the de-icing machine; (2) The drone descends slowly, and the guide tube of the connecting mechanism docks with the docking device of the de-icing machine, and the two are locked together by L-shaped buckles; (3) The de-icing machine is adjusted from the working state to the initial state, and becomes a state that can be disconnected from the ground wire; (4) The drone takes off and completes the de-icing machine's production line.

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