An aircraft-mounted, asymmetric cable-breaking de-icing robot and method

Abstract

The application discloses an asymmetric folding and breaking deicing robot for aircraft-mounted cables and a deicing method, which comprises a rack, two ends of the rack are respectively provided with deicing wheel assemblies, an incoming line channel is arranged in the rack and is open to both ends and the lower part of the rack, two deicing wheel assemblies are respectively arranged at the two end openings of the incoming line channel, a lifting assembly is arranged between the two deicing wheel assemblies in the incoming line channel, and a reversible walking wheel assembly is drivingly connected to the lifting assembly; a hook part is arranged at the top of the rack; the reversible walking wheel assembly is used to vertically hang the cable up and down, the cable is extruded and bent under the action of the walking wheel assembly and the two deicing wheel assemblies, the accumulated ice wrapped around the periphery of the cable is broken, then the deicing wheel assembly is used to continuously fold and break and extrude the ice on the surface of the cable to be worked in the process, so that the accumulated ice on the surface of the cable to be worked is completely removed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power safety equipment, in particular to an asymmetric folding and breaking de-icing robot for aircraft-mounted cables and a de-icing method. BACKGROUND

[0002] Power transmission lines that are outdoors in cold environments are often covered with a large amount of ice and snow, and the large area of ice and snow can increase the load of the cable and easily cause irreversible damage to the cable. Existing de-icing robots usually use a winch to go up and down the line to hang on, such as a high-voltage overhead line de-icing robot (patent number CN202410158335.X), which uses a winch mechanism to realize the up-and-down hanging action of the robot on the cable. However, this method is not only complicated to operate, but also prone to slipping when the winch mechanism hangs on the iced cable.

[0003] Therefore, the prior art still needs to be improved and enhanced. SUMMARY

[0004] In view of the shortcomings of the prior art described above, the purpose of the present application is to provide an asymmetric folding and breaking de-icing robot for aircraft-mounted cables, which uses a vertical up-and-down hanging method to reduce the difficulty of hanging the robot, and can effectively remove large areas of accumulated ice and residual ice slag on the cable.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0006] An asymmetric folding and breaking de-icing robot for aircraft-mounted cables, comprising a rack, the two ends of the rack are respectively provided with de-icing wheel assemblies, an incoming line channel is provided in the rack, which is open to both ends and below, two de-icing wheel assemblies are respectively located at the two end openings of the incoming line channel, a lifting assembly is provided between the two de-icing wheel assemblies in the incoming line channel, and a reversible walking wheel assembly is drivingly connected to the lifting assembly; a hook portion is provided on the top of the rack.

[0007] In the asymmetric folding and breaking de-icing robot for aircraft-mounted cables, a plurality of incoming line guide assemblies are provided on both sides of the bottom opening of the incoming line channel.

[0008] In the aircraft-mounted cable asymmetric folding and breaking de-icing robot, the wire inlet guide assembly comprises a mounting bracket and a guide rod, the guide rod is connected with the rack through the mounting bracket, one side of the mounting bracket is provided with a rotating shaft hole and a locking pin hole from top to bottom, the top of the guide rod is rotationally connected with the rotating shaft hole, the guide rod and the locking pin hole are connected through a pull ring index pin, and a limiting wall is arranged on one side of the top of the guide rod.

[0009] In the aircraft-mounted cable asymmetric folding and breaking de-icing robot, the de-icing wheel assembly comprises an upper wire walking wheel and a walking driving part, the upper wire walking wheel is arranged at the top of the wire inlet channel, the walking driving part is arranged on the outside of the rack, the walking driving part is drivingly connected with the upper wire walking wheel, and an ice breaking blade is arranged on the outside of the upper wire walking wheel on the rack.

[0010] In the aircraft-mounted cable asymmetric folding and breaking de-icing robot, the two sides of the upper wire walking wheel are respectively provided with ice cutting saw blades, and the diameters of the ice cutting saw blades are greater than the diameter of the wheel surface of the upper wire walking wheel.

[0011] In the aircraft-mounted cable asymmetric folding and breaking de-icing robot, the lifting assembly comprises a lifting frame arranged on one side of the rack, a lead screw assembly is arranged in the lifting frame, a lifting motor drivingly connected with the lead screw assembly is arranged at the top of the lifting frame, and a sliding block assembly is drivingly connected on the lead screw assembly; the walking wheel assembly comprises a rotating seat, a wire walking part is arranged on the rotating seat, and the top of the rotating seat is drivingly connected with the sliding block assembly through a swing arm part; the swing arm part is used for driving the rotating seat to make a turnover action.

[0012] In the aircraft-mounted cable asymmetric folding and breaking de-icing robot, the sliding block assembly comprises a first lifting sliding block and a second lifting sliding block arranged on the lead screw assembly from bottom to top; the swing arm part comprises two rocker seats arranged on the top of the rotating seat on both sides, respectively, a swing arm rocker is hinged on the rocker seat, and the free ends of the two swing arm rockers are connected through a rotating shaft; the rotating shaft is rotationally connected with the second lifting sliding block, one side of the rocker seat is rotationally connected with the first lifting sliding block; the two sides of the lifting frame are respectively provided with trajectory guide plates, the trajectory guide plates are provided with wheel set trajectory guide grooves, and the hinged places of the swing arm rockers and the rocker seats are slidingly connected with the wheel set trajectory guide grooves through guide rods.

[0013] The asymmetric folding and breaking de-icing robot for aircraft-mounted cable, wherein the cable running part comprises a lower cable running wheel, the lower cable running wheel is connected with the rotating base through a driving wheel frame, a tension and pressure sensing unit is arranged between the driving wheel frame and the rotating base, and a motion sensing unit for detecting the rotating state of the lower cable running wheel is arranged on the driving wheel frame.

[0014] The asymmetric folding and breaking de-icing robot for aircraft-mounted cable, wherein an equal potential support is arranged on the top of the cable inlet channel, the equal potential support is slidably connected with the top of the rack, an electric control box is arranged on one side of the rack, a control unit, a power supply unit and a camera unit are arranged in the electric control box respectively, the power supply unit and the camera unit are electrically connected with the control unit respectively, and the shooting end of the camera unit faces the cable inlet channel; the equal potential support is used for realizing equal potential connection between the control unit, the power supply unit, the camera unit and the cable.

[0015] The application further provides a de-icing method for working control of the asymmetric folding and breaking de-icing robot for aircraft-mounted cable, which comprises the following steps: connecting the hook part with the aircraft in advance, and moving the cable de-icing robot to the cable to be worked by the aircraft; after the aircraft approaches the cable to be worked, the cable inlet channel is controlled to approach the cable to be worked from top to bottom until the de-icing wheel assembly is mounted above the cable to be worked; the overturning angle of the walking wheel assembly is adjusted by the lifting assembly until the walking wheel assembly is overturned below the cable to be worked; the walking wheel assembly is driven by the lifting assembly to press against the cable to be worked until the cable to be worked is bent between the walking wheel assembly and the two de-icing wheel assemblies, so that the accumulated ice on the periphery of the cable to be worked is broken by extrusion; the two de-icing wheel assemblies are driven by the two driving assemblies respectively to make the cable de-icing robot move along the length direction of the cable to be worked.

[0016] Beneficial effects:

[0017] The application provides an asymmetric folding and breaking deicing robot for aircraft-mounted cables, which is characterized in that the cable deicing robot can be vertically hung with the cable by means of the reversible walking wheel assembly; when the cable to be worked on is vertically entered into the cable inlet channel and the hanging task of the deicing wheel assembly is completed, the lower part of the cable inlet channel is closed through the reversing action of the walking wheel assembly, and then the lifting assembly drives the walking wheel assembly to press against the bottom of the cable to be worked on, so that the cable to be worked on is bent upwards and deformed by extrusion under the action of the walking wheel assembly and the two deicing wheel assemblies, so as to break the ice layer wrapped around the cable to be worked on and remove the ice on the cable, thereby achieving the deicing effect; then the deicing wheel assembly continuously breaks and extrudes the ice on the surface of the cable to be worked on during the walking process, and the two sides of the deicing wheel assembly are used to cut the ice on the cable to be worked on, so that the ice on the cable to be worked on is completely removed, thereby effectively removing the large-area ice and residual ice on the cable to be worked on, improving the ice removal rate and slowing down the repeated icing of the cable. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The application provides an overall structural schematic diagram of the asymmetric folding and breaking deicing robot for aircraft-mounted cables.

[0019] Figure 2 The application provides an internal structural schematic diagram of the asymmetric folding and breaking deicing robot for aircraft-mounted cables. Figure 1 ;

[0020] Figure 3 The application provides an internal structural schematic diagram of the asymmetric folding and breaking deicing robot for aircraft-mounted cables. Figure 2 ;

[0021] Figure 4 The application provides an assembly structure schematic diagram of the lifting assembly and the walking wheel assembly in the asymmetric folding and breaking deicing robot for aircraft-mounted cables. Figure 1 ;

[0022] Figure 2 The application provides an assembly structure schematic diagram of the lifting assembly and the walking wheel assembly in the asymmetric folding and breaking deicing robot for aircraft-mounted cables. Figure 6 ;

[0023] Figure 3 The application provides an assembly structure schematic diagram of the lifting assembly and the walking wheel assembly in the asymmetric folding and breaking deicing robot for aircraft-mounted cables. Figure 7 ;

[0024] Figure 1 The application provides an assembly structure schematic diagram of the lifting assembly and the walking wheel assembly in the asymmetric folding and breaking deicing robot for aircraft-mounted cables.Figure 8 ;

[0025] Figure 2 Asymmetrical folding ice breaking robot for aircraft-mounted cable Figure 9 ;

[0026] Figure 1 Asymmetrical folding ice breaking robot for aircraft-mounted cable Figure 10 ;

[0027] Figure 2 Asymmetrical folding ice breaking robot for aircraft-mounted cable Figure 11 ;

[0028] Figure 12 Asymmetrical folding ice breaking robot for aircraft-mounted cable

[0029] Figures 1 to 11 Asymmetrical folding ice breaking robot for aircraft-mounted cable

[0030] Main element symbol explanation: 1-frame, 11-lead-in channel, 12-isopotential support, 13-electric control box, 14-control unit, 15-power supply unit, 16-camera unit, 17-ice breaking guide, 2-ice breaking wheel assembly, 21-upper wire walking wheel, 22-wire walking driving part, 23-ice breaking blade, 24-ice cutting saw blade, 3-lifting assembly, 31-lifting frame, 32-screw rod assembly, 33-lifting motor, 34-sliding block assembly, 341-first lifting sliding block, 342-second lifting sliding block, 35-track guide plate, 36-wheel group track guide groove, 4-wire walking wheel assembly, 41-rotating seat, 42-wire walking part, 421-lower wire walking wheel, 422-driving wheel frame, 423-tension and pressure sensing unit, 424-action sensing unit, 43-swinging arm part, 431-oscillating lever seat, 432-swinging arm oscillating lever, 433-rotating shaft, 434-guide rod, 5-hook part, 6-lead-in guide assembly, 61-mounting support, 62-guide rod, 63-pull ring indexing pin, 64-limiting wall, 7-cable to be operated, 8-icing layer, 9-aircraft, 10-suspension lifting ring assembly. DETAILED DESCRIPTION

[0031] The present application provides an asymmetrical folding ice breaking robot for aircraft-mounted cable and an ice breaking method. To make the purpose, technical solutions and effects of the present application clearer and more explicit, the present application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0032] In the description of the present application, it should be understood that the terms "middle", "inner side", "outer side" and the like indicate the orientation or positional relationship of the present application based on the drawings, and are only for the convenience of describing the present application and simplifying the description. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0033] Please refer to Figure 10 , the present application provides a kind of aircraft hanging cable asymmetric ice breaking robot, including rack 1, the both ends of the rack 1 are provided with deicing wheel assembly 2 respectively, the rack 1 is provided with the line access 11 to its two ends and below opening, two the deicing wheel assembly 2 is located at the two end openings of the line access 11 respectively, the line access 11 is located between two the deicing wheel assembly 2 and is provided with lifting assembly 3, the lifting assembly 3 is drivenly connected with reversible walking wheel assembly 4;The top of the rack 1 is provided with hook part 5.

[0034] In actual use, aircraft 9 is connected with hook part 5 in advance, then cable deicing robot is moved to the cable 7 to be operated, the lower opening of line access 11 is aligned with the cable 7 to be operated, and the line access 11 is hung on the cable 7 to be operated from top to bottom by controlling aircraft 9, until two deicing wheel assemblies 2 are hung on the cable 7 to be operated, when the deicing wheel assembly 2 is hung on the cable 7 to be operated, the walking wheel assembly 4 is driven to reverse in the direction of line access 11, until the wheel surface of walking wheel assembly 4 is aligned below the cable 7 to be operated, the lower part of line access 11 is closed by using walking wheel assembly 4, then the walking wheel assembly 4 is driven to the bottom of the cable 7 to be operated by lifting assembly 3, so that the cable 7 to be operated is bent upward, the cable 7 to be operated is extruded and deformed under the action of walking wheel assembly 4 and two deicing wheel assemblies 2, so that the ice layer 8 wrapped around the cable 7 to be operated is bent and broken, so that the ice on the hanging point of the cable is removed, and the deicing effect is achieved, then the ice on the surface of the cable 7 to be operated is continuously broken and extruded by deicing wheel assembly 2 during walking, and the ice on the surface of the cable 7 to be operated is removed completely by cutting the ice on the two sides of deicing wheel assembly 2, so that the large area ice and residual ice slag on the cable 7 to be operated can be effectively removed, the ice removal rate is improved, and the repeated ice accumulation of the cable is slowed down.

[0035] As Figures 1 to 11 shown, in an embodiment, the bottom of aircraft 9 is provided with suspension lifting ring assembly 10 connected with hook part 5.

[0036] In another embodiment, the hook part 5 can be an unhooking disc assembly, and the bottom of the aircraft 9 can be provided with an up-and-down hanging device connected with the unhooking disc assembly.

[0037] As shown in Figures 1 to 11 Further, the rack 1 is provided with a plurality of incoming line guiding assemblies 6 on both sides of the bottom opening of the incoming line channel 11, which can guide the cable to be operated 7 so that the cable to be operated 7 will not interfere with the rack 1 when entering the incoming line channel 11, improving the smoothness of the rack 1 when hanging, and reducing the difficulty of hanging the rack 1.

[0038] In one embodiment, the rack 1 is provided with ice-breaking guide frames 17 on both sides of the incoming line channel 11, and an ice-breaking guide groove in the shape of an inverted V is formed between the two ice-breaking guide frames 17. The accumulated ice is extruded and guided by the two ice-breaking guide frames 17, so that the broken ice can be guided to the ground, and the breaking effect of the accumulated ice is effectively improved.

[0039] As shown in Figures 1 to 11 Further, the incoming line guiding assembly 6 includes a mounting bracket 61 and a guide rod 62, the guide rod 62 is connected with the rack 1 through the mounting bracket 61, one side of the mounting bracket 61 is provided with a pivot hole and a locking pin hole from top to bottom, the top of the guide rod 62 is pivotally connected with the pivot hole, and the guide rod and the locking pin hole are connected through a pull ring indexing pin 63, and the mounting bracket 61 is provided with a limiting wall 64 on one side of the top of the guide rod 62; the rod body of the guide rod 62 is curved towards the outside of the incoming line channel 11; in work, the opening between the two guide rods 62 can be adjusted according to the overall diameter of the cable to be operated 7 and the ice layer 8, and the swing angle of the guide rod 62 can be adjusted through the pull ring indexing pin 63 cooperating with the pivot hole, so as to adjust the opening between the two guide rods 62, so as to meet the suspension requirements of the cable to be operated 7, the stepless swing angle adjustment of the guide rod 62 is realized by the pull ring indexing pin 63, the flexibility of the guide rod 62 during adjustment is improved, and the guide rod 62 is limited by the limiting wall 64 to limit the maximum opening angle of the guide rod 62; in addition, the end of the guide rod 62 is curved, which can increase the entering opening angle of the guide rod 62, so that the opening between the two guide rods 62 is in the shape of an expanding mouth, so that the cable to be operated 7 can smoothly enter the incoming line channel 11.

[0040] As shown in Figures 1 to 11As shown, further, the deicing wheel assembly 2 comprises upper traveling wheels 21 arranged at the top of the cable entry channel 11 and a traveling driving part 22 arranged outside the rack 1 and in transmission connection with the upper traveling wheels 21, and the rack 1 is provided with an ice breaking blade 23 outside the upper traveling wheels 21; when the upper traveling wheels 21 climb on the cable to be worked 7, the two upper traveling wheels 21 cooperate with the traveling wheel assembly to form a bend on the cable to be worked 7, so as to bend and break the ice layer 8 wrapped around the cable to be worked 7, and continuously break and extrude the ice on the surface of the cable to be worked 7 during the travel, so as to make the ice on the surface of the cable to be worked 7 separate, and use the ice breaking blade 23 arranged outside the upper traveling wheels 21 to break the ice on the cable, so that the ice can quickly separate from the cable, and the double ice breaking structure formed by the ice breaking blade 23 and the traveling wheel assembly effectively improves the ice removal effect.

[0041] It should be noted that the traveling driving part 22 can be a conventional motor structure, which drives the upper traveling wheels 21 to roll to realize the climbing action of the upper traveling wheels 21 on the cable.

[0042] As shown in Figures 1 to 11 As shown, further, the two sides of the upper traveling wheels 21 are respectively provided with ice cutting saw blades 24, and the diameter of the ice cutting saw blades is greater than the diameter of the wheel surface of the upper traveling wheels 21; the ice cutting saw blades 24 of the two sides of the upper traveling wheels 21 cut the large area of ice adhered to the cable during the climbing process, further improving the deicing effect of the cable, and the two upper traveling wheels 21 are used to deice the cable twice, effectively improving the ice breaking efficiency.

[0043] As shown in Figures 1 to 11Further, the lifting assembly 3 comprises a lifting frame 31 arranged on one side of the rack 1, a lead screw assembly 32 is arranged in the lifting frame 31, a lifting motor 33 is arranged on the top of the lifting frame 31 and is in transmission connection with the lead screw assembly 32, and a sliding block assembly 34 is in transmission connection with the lead screw assembly 32; the walking wheel assembly 4 comprises a rotating seat 41, a wire arranging part 42 is arranged on the rotating seat 41, and the top of the rotating seat 41 is in transmission connection with the sliding block assembly 34 through a swing arm part 43; the swing arm part 43 is used to drive the rotating seat 41 to make a turnover action; in working, the wire arranging part 42 is divided into a vertical state and a horizontal state; when the cable deicing robot performs the upper hanging task, the wire arranging part 42 needs to be adjusted to the vertical state to release the lower opening of the wire inlet channel 11; when the upper wire arranging wheel 21 is hung on the cable to be worked 7, the wire arranging part 42 needs to be adjusted to the horizontal state to close the lower opening of the wire inlet channel 11 and start to perform the deicing task; the sliding block assembly 34 is driven to slide by the lifting motor 33 and the lead screw assembly 32, when the sliding block assembly 34 slides upward, the swing arm part 43 will pull the rotating seat 41 to make a fixed shaft turnover action, that is, to turn over to the opening direction of the wire inlet channel 11, until the rotating seat 41 turns over to the dead angle, the rotating seat 41 will not turn over any more, then the rotating seat 41 follows the sliding block assembly 34 to perform the lifting action, so as to adjust the distance between the wire arranging part 42 and the cable to be worked 7, so as to realize the wire pressing action of the wire arranging part 42; the lead screw assembly 32, the sliding block assembly 34 and the swing arm part 43 are used to realize the linkage action, so that the rotating seat 41 can realize the linkage of the turnover action and the lifting action, effectively reduces the operation difficulty of the cable deicing robot in the upper hanging, and the operation personnel does not need to send control signals many times to step by step control the action of the wire arranging part 42.

[0044] As Figures 1 to 11Further, the slider assembly 34 includes a first lifting slider 341 and a second lifting slider 342 arranged on the lead screw assembly 32 in sequence from bottom to top. The swing arm part 43 includes two rocker seats 431 arranged on the top of the rotating seat 41 on both sides respectively, and the swing arm rocker 432 is hinged on the rocker seat 431, and the free ends of the two swing arm rockers 432 are connected through the rotating shaft 433. The rotating shaft 433 is rotationally connected with the second lifting slider 342, and one side of the rocker seat 431 is rotationally connected with the first lifting slider 341. The lifting frame 31 is provided with the track guide plate 35 on both sides respectively, and the track guide plate 35 is provided with the wheel set track guide groove 36. The hinged part of the swing arm rocker 432 and the rocker seat 431 is slidingly connected with the wheel set track guide groove 36 through the guide rod 434. When the lead screw assembly 32 drives the first lifting slider 341 and the second lifting slider 342 to slide upward, the second lifting slider 342 pulls one end of the swing arm rocker 432 through the rotating shaft 433, so that the other end of the swing arm rocker 432 can pull the rocker seat 431. The rocker seat 431 drives the rotating seat 41 to do a flip action with the first lifting slider 341 as the rotating shaft 433 point under the pulling action of the swing arm rocker 432, so that the rotating seat 41 flips towards the opening direction of the wire inlet channel 11 until the rotating seat 41 flips to the horizontal state, that is, the swing arm rocker 432 reaches the dead zone swing angle, and the swing arm rocker 432, the first lifting slider 341 and the second lifting slider 342 keep a relatively stable state. At this time, if the lead screw assembly 32 keeps driving the first lifting slider 341 and the second lifting slider 342 to rise, the first lifting slider 341 and the second lifting slider 342 synchronously drive the rotating seat 41 to approach the bottom of the cable to be operated 7, so as to realize the pressing action of the wire drawing part 42. In addition, the rotating seat 41 uses the track guide plates 35 on both sides to guide the path when flipping and lifting, and realizes the path guidance of the rotating seat 41 through the guide rod 434 cooperating with the wheel set track guide groove 36, so that the working action of the rotating seat 41 is more stable.

[0045] As Figures 1 to 11As shown, further, the wire running part 42 comprises a lower wire running wheel 421 connected with the rotating seat 41 through a driving wheel frame 422, and a tension and pressure sensing unit 423 is arranged between the driving wheel frame 422 and the rotating seat 41, and the driving wheel frame 422 is provided with a motion sensing unit 424 for detecting the rotating state of the lower wire running wheel 421; in operation, the lower wire running wheel 421 is a driven wheel, and the tension and pressure sensing unit 423 is used to detect the pressure between the lower wire running wheel 421 and the cable, so that the operator can master the working state between the lower wire running wheel 421 and the cable, and facilitate the adjustment of the lifting height of the lower wire running wheel 421; in addition, the motion sensing unit 424 is used to detect the rotating state of the lower wire running wheel 421, since the lower wire running wheel 421 will rotate with the forward movement of the deicing wheel assembly 2, if the motion sensing unit 424 detects that the lower wire running wheel 421 slips, i.e. the lower wire running wheel 421 idles or stops, it may be that the ice accumulation is not completely removed, and there may still be ice accumulation on the cable, at this time, the motion sensing unit 424 will feedback a slip signal to the operator, so that the operator can quickly adjust the working condition of the cable deicing robot, for example, adjust the supporting pressure of the lower wire running wheel 421, adjust the crawling speed of the deicing wheel assembly 2, etc.

[0046] It should be noted that the tension and pressure sensing unit 423 can be a conventional tension and pressure sensor, and the motion sensing unit 424 can be a conventional slip sensor, infrared sensor, etc., and the specific structure and working principle are all prior art, which will not be described here.

[0047] As shown in Figure 12 Further, the top of the wire inlet channel 11 is provided with an equipotential support 12 which is in sliding connection with the top of the rack 1; one side of the rack 1 is provided with an electric control box 13, and the electric control box 13 is provided with a control unit 14, a power supply unit 15 and a camera unit 16 respectively, the power supply unit 15 and the camera unit 16 are in electrical connection with the control unit 14 respectively, and the shooting end of the camera unit 16 faces the wire inlet channel 11; the equipotential support 12 is used to complete the equipotential connection between the control unit 14, the power supply unit 15 and the camera unit 16 and the cable; in operation, the control unit 14 plays the role of central control, is used to receive control signals and control the action of the cable deicing robot, and uses the camera unit 16 to monitor the working condition in the wire inlet channel 11 in real time, so as to feedback real and intuitive working condition data to the operator in real time; in addition, when the working cable 7 enters the wire inlet channel 11 until it is supported to the equipotential support 12, the rack 1, the control unit 14, the power supply unit 15 and the camera unit 16 complete the equipotential connection with the cable instantaneously, so as to eliminate the signal interference of the cable to the control unit 14, the power supply unit 15 and the camera unit 16.

[0048] As​ As shown, the application also correspondingly provides a deicing method for working control of the asymmetric fold-breaking deicing robot for the aircraft-mounted cable, comprising:

[0049] 101, the hook part 5 is connected with the aircraft 9 in advance, and the cable deicing robot is moved to the cable 7 to be worked on by the aircraft 9;

[0050] 102, when the aircraft 9 approaches the cable 7 to be worked on, the inlet channel 11 is controlled to approach the cable 7 to be worked on from top to bottom until the deicing wheel assembly 2 is mounted above the cable 7 to be worked on;

[0051] In this embodiment, the aircraft 9 is connected with the hook part 5 by the hanger, and gradually approaches the cable 7 to be worked on according to the position of the cable to be worked on in a preset travel route; when the cable deicing robot reaches the predetermined position, the inlet channel 11 gradually approaches the top of the cable 7 to be worked on, and the inlet channel 11 approaches the cable 7 to be worked on from top to bottom until the deicing wheel assembly 2 is mounted above the cable 7 to be worked on, so as to complete the mounting task of the cable deicing robot. In this way, the difficulty of mounting the cable deicing robot can be reduced.

[0052] 103, the turning angle of the walking wheel assembly 4 is adjusted by the lifting assembly 3 until the walking wheel assembly 4 is turned to the lower side of the cable 7 to be worked on;

[0053] 104, the walking wheel assembly 4 is driven by the lifting assembly 3 to press against the lower side of the cable 7 to be worked on until the cable 7 to be worked on forms a certain bending degree between the walking wheel assembly 4 and the two deicing wheel assemblies 2, so as to extrude and break the ice on the periphery of the cable 7 to be worked on;

[0054] 105, the two deicing wheel assemblies are driven to rotate by the two driving assemblies respectively, so that the cable deicing robot travels along the length direction of the cable 7 to be worked on.

[0055] In the embodiment, when the deicing wheel assembly 2 is hung on the cable 7 to be operated, the lifting assembly 3 drives the walking wheel assembly 4 to turn in the direction of the entry channel 11 until the walking wheel assembly 4 is turned to the dead angle, so that the lower opening of the entry channel 11 is closed. Then, the lifting assembly 3 drives the walking wheel assembly 4 to press against the bottom of the cable 7 to be operated, so that the cable 7 to be operated is bent upward. The cable 7 to be operated is extruded and deformed under the action of the walking wheel assembly 4 and the two deicing wheel assemblies 2, so that the accumulated ice wrapped around the cable 7 to be operated is broken, and the accumulated ice is peeled off the cable 7 to be operated. In this way, the deicing effect is achieved. Then, the driving assembly drives the deicing wheel assembly 2 to move along the length direction of the cable 7 to be operated. The deicing wheel assembly 2 breaks the ice on the surface of the cable 7 to be operated during the movement, so that the accumulated ice on the surface of the cable 7 to be operated is completely removed. In this way, the accumulated ice and residual ice on the cable 7 to be operated can be effectively removed, the ice removal rate is improved, and the repeated ice accumulation on the cable is reduced.

[0056] In summary, the walking wheel assembly 4 can be turned to vertically hang the cable deicing robot on the cable. When the cable 7 to be operated vertically enters the entry channel 11 and the deicing wheel assembly 2 is hung, the lower opening of the entry channel 11 is closed by the turning action of the walking wheel assembly 4. Then, the lifting assembly 3 drives the walking wheel assembly 4 to press against the bottom of the cable 7 to be operated, so that the cable 7 to be operated is bent upward. The cable 7 to be operated is extruded and deformed under the action of the walking wheel assembly 4 and the two deicing wheel assemblies 2, so that the accumulated ice layer 8 wrapped around the cable 7 to be operated is broken, and the accumulated ice on the cable 7 to be operated is removed. In this way, the deicing effect is achieved. Then, the deicing wheel assembly 2 breaks and extrudes the ice on the surface of the cable 7 to be operated during the movement. For the ice with a larger volume, the ice on the surface of the cable 7 to be operated is cut by the two sides of the deicing wheel assembly 2, so that the accumulated ice on the surface of the cable 7 to be operated is completely removed. In this way, the accumulated ice and residual ice on the cable 7 to be operated can be effectively removed, the ice removal rate is improved, and the repeated ice accumulation on the cable is reduced.

[0057] It can be understood that those skilled in the art can make equivalent replacements or changes according to the technical solutions and the inventive concept of the present application, and all the changes or replacements shall belong to the protection scope of the claims of the present application.

Claims

1. An asymmetric de-icing robot for aircraft-mounted cables, comprising a frame, wherein de-icing wheel assemblies are respectively provided at both ends of the frame, characterized in that, The frame has a cable inlet channel opening at both ends and downwards. Two de-icing wheel assemblies are located at the two ends of the cable inlet channel. A lifting assembly is located between the two de-icing wheel assemblies within the cable inlet channel. A rotatable traveling wheel assembly is driven to the lifting assembly. A hook portion is provided on the top of the frame. The de-icing wheel assembly includes an upper cable guide wheel and a traveling drive unit. The upper cable guide wheel is located at the top of the cable inlet channel, and the traveling drive unit is located on the outside of the frame and is driven to the upper cable guide wheel. An ice-breaking blade is provided on the frame on the outside of the upper cable guide wheel. Ice-cutting saw blades are provided on both sides of the upper cable guide wheel, and the diameter of the ice-cutting saw blades is larger than the diameter of the upper cable guide wheel. The lifting assembly includes a lifting frame located on one side of the frame. A lead screw assembly is provided within the lifting frame, and a connection is provided on the top of the lifting frame to the lead screw assembly. The system includes a lifting motor with a drive connection, and a slider assembly with a drive connection to the lead screw assembly. The walking wheel assembly includes a rotating seat with a cable routing section. The top of the rotating seat is drive-connected to the slider assembly via a swing arm. The swing arm is used to drive the rotating seat to perform a flipping motion. The slider assembly includes a first lifting slider and a second lifting slider arranged sequentially from bottom to top on the lead screw assembly. The swing arm includes two rocker seats respectively arranged on both sides of the top of the rotating seat. A rocker arm rocker is hinged to the rocker seat, and the free ends of the two rocker arms rockers are connected by a rotating shaft. The rotating shaft is rotatably connected to the second lifting slider, and one side of the rocker seat is rotatably connected to the first lifting slider. Track guide plates are respectively provided on both sides of the lifting frame. The track guide plates are provided with wheel track guide grooves, and the hinge joint between the rocker arm rocker and the rocker seat is slidably connected to the wheel track guide grooves via a guide rod.

2. The asymmetric de-icing robot for breaking down and de-icing aircraft-mounted cables according to claim 1, characterized in that, The frame is provided with multiple cable guide components on both sides of the bottom opening of the cable inlet channel.

3. The asymmetric de-icing robot for breaking down and de-icing aircraft-mounted cables according to claim 2, characterized in that, The inlet guide assembly includes a mounting bracket and a guide rod. The guide rod is connected to the frame via the mounting bracket. One side of the mounting bracket has a rotating shaft hole and a locking pin hole from top to bottom. The top of the guide rod is rotatably connected to the rotating shaft hole, and the guide rod and the locking pin hole are connected by a pull ring indexing pin. The mounting bracket has a limit wall on the top side of the guide rod. The rod body of the guide rod is bent outwards from the inlet channel.

4. The asymmetric de-icing robot for breaking down and de-icing aircraft-mounted cables according to claim 1, characterized in that, The wiring section includes a lower wiring wheel, which is connected to the rotating base via a drive wheel frame. A tension / compression sensing unit is provided between the drive wheel frame and the rotating base, and an action sensing unit for detecting the rotation state of the lower wiring wheel is provided on the drive wheel frame.

5. The asymmetric de-icing robot for breaking down and de-icing aircraft-mounted cables according to claim 1, characterized in that, An equipotential bonding bracket is provided at the top of the incoming line channel, and the equipotential bonding bracket is slidably connected to the top of the rack. An electrical control box is provided on one side of the rack, and a control unit, a power supply unit, and a camera unit are respectively provided in the electrical control box. The power supply unit and the camera unit are electrically connected to the control unit, and the shooting end of the camera unit faces the incoming line channel. The equipotential bonding bracket is used to enable the control unit, the power supply unit, and the camera unit to achieve equipotential connection with the cable.

6. A de-icing method, characterized in that, The method for controlling the operation of an asymmetric de-icing robot for aircraft-mounted cables as described in any one of claims 1-5 includes: pre-connecting the hook to the aircraft and using the aircraft to move the cable de-icing robot onto the cable to be worked; when the aircraft approaches the cable to be worked, controlling the inlet channel to approach the cable from top to bottom until the de-icing wheel assembly is mounted above the cable to be worked; adjusting the rotation angle of the walking wheel assembly through the lifting assembly until the walking wheel assembly rotates to below the cable to be worked; using the lifting assembly to drive the walking wheel assembly to press against the cable to be worked until the cable to be worked forms a certain curvature between the walking wheel assembly and the two de-icing wheel assemblies, so as to squeeze and break the ice around the cable to be worked; and using two drive assemblies to drive the two de-icing wheel assemblies to rotate so that the cable de-icing robot travels along the length of the cable to be worked.

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