Power grid line surface cleaning robot

Abstract

The invention belongs to the technical field of power grid line maintenance, and particularly relates to a power grid line surface cleaning robot which comprises a case, a roller assembly and a layered ice breaking assembly, a power source is arranged in the case, the roller assembly and the layered ice breaking assembly are arranged on the upper portion of the exterior of the case, and the layered ice breaking assembly comprises a plurality of ice breaking parts which are fan-shaped. The axis is parallel to the axis of the power grid line; the plurality of ice cracking parts are arranged at intervals in a surrounding manner along the axial direction of the power grid line, and the spacing distance between the ice cracking parts and the power grid line is gradually shortened from front to back. According to the robot, by means of the layered ice cracking assembly and the deicing assembly, ice layers of a power grid line can be removed layer by layer; synchronous movement of the layered ice cracking assembly and the deicing assembly is achieved through the synchronous contraction device, namely, the layered ice cracking assembly and the deicing assembly synchronously move outwards or inwards in the radial direction of the power grid line so as to adapt to different power grid line diameters.

Description

Technical Field

[0001] The invention relates to the technical field of power grid line maintenance, and in particular to a power grid line surface cleaning robot. Background Art

[0002] Due to the diverse geological conditions in my country, the power grid lines in the country are severely damaged by ice. Every winter or early spring, the dry and cold air from the northwest of my country and the warm and humid air currents from the southeast coast will meet in the northeast, central and southwestern parts of my country, forming an "ice belt" from the Yunnan-Guizhou Plateau in the south to Jilin in the north. Ice will increase the weight of conductors, poles and towers, and power grid line hardware. When the ice reaches a certain level, accidents such as conductor breakage, pole tower collapse, and hardware damage will occur. The iced conductors are prone to dancing under the action of wind, which can easily cause phase-to-phase short circuits. The surface insulation performance of the insulators after ice is reduced, and insulator flashover is prone to occur, which in turn causes line tripping. The above series of accidents caused by ice seriously endanger the safe and stable operation of my country's power system.

[0003] Chinese invention patent specification CN 118163126A discloses a surface cleaning robot for power grid lines, including a frame unit, a power supply assembly is arranged at the lower side of the frame unit; a driving assembly is arranged between the upper side of the power supply assembly and the frame unit; a knocking assembly is installed on one side of the driving assembly; a vibration assembly is arranged on the other side of the driving assembly; first, the robot moves along the power grid line through the driving assembly, and then during the movement, the knocking assembly knocks the ice layer, and the knocked part waits for the extrusion of the driving assembly, and then the vibration cleaning of the vibration assembly is carried out, that is, the three components are coordinated to remove ice, and the purpose of multiple deicing treatments at the same position on the power grid line is achieved, and the ice layer on the surface of the power grid line is completely removed. When the surface cleaning robot for power grid lines performs ice removal operations on the power grid lines, the three components are mainly superimposed to remove ice, and each component performs a separate operation on the ice covering the power grid line, and effective linkage operations cannot be performed. For example, when the ice layer is thin, one component can complete the de-icing task, and the other two components are not needed for de-icing; when the ice layer is thick and very solid, each component de-icing alone may not cause the ice layer to fall off, and thus fail to achieve the expected effect. Not only that, when each component is de-icing alone, a single component requires a huge de-icing force to achieve the de-icing effect, and this force can easily damage the power grid line. Moreover, the power grid line is encased in the casing of the surface cleaning robot, which cannot adapt to changes in the diameter of the power grid line. Summary of the invention

[0004] In view of the above-mentioned defects, the present invention aims to provide a power grid line surface cleaning robot, including a stratified ice-cracking component and an ice-removing component, which can realize layer-by-layer removal of ice layers on the power grid line and prevent damage to the power grid line; including a synchronous contraction device, which realizes the synchronous movement of the stratified ice-cracking component and the ice-removing component, that is, synchronously moving outward or inward along the radial direction of the power grid line to adapt to different power grid line diameters.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a power grid line surface cleaning robot, including a chassis, a roller assembly, a power supply is arranged inside the chassis, a roller assembly is arranged on the upper part of the outside of the chassis, and also includes a layered ice cracking assembly, which is installed on the chassis; the layered ice cracking assembly includes a plurality of ice cracking components, the ice cracking components are fan-shaped, and the axis is parallel to the axis of the power grid line; the plurality of ice cracking components are arranged in a circle at intervals along the axial direction of the power grid line, and the spacing distance from the power grid line is gradually shortened from front to back.

[0006] Furthermore, a toothed structure is provided on the inner arc surface of the ice-cracking component. The power grid line cleaning robot also includes an ice-removing component, which is located behind the layered ice-cracking component along the axis of the power grid line. The ice-removing surface of the ice-removing component is arranged at a non-vertical angle to the axis of the power grid line and is close to the power grid line.

[0007] Furthermore, the ice-cracking component also includes an ice-cracking blade, which is a triangular prism, one side of the triangular prism is fixedly connected to the front surface of the toothed structure, and the other two side surfaces of the triangular prism are inner arc surfaces.

[0008] Furthermore, the stratified ice-cracking assembly also includes multiple support plates, all of which are evenly distributed along the circumference of the line, and all of the ice-cracking components are installed on each support plate; the outer layer of the stratified ice-cracking assembly is provided with a synchronous contraction device, which is installed on the chassis. The synchronous contraction device is in sliding contact with each support plate, and the synchronous contraction device can control each support plate to move synchronously outward or inward along the radial direction of the power grid line.

[0009] Furthermore, the synchronous contraction device includes a fixed ring body, a movable ring body, and a plurality of telescopic parts; the fixed ring body is installed on the chassis, and the movable ring body and the fixed ring body are coaxially rotatably connected; a plurality of telescopic parts are evenly arranged on the inner side of the fixed ring body along the circumference of the line, and their number is consistent with the number of support plates; the telescopic parts include an inflection point, a reset spring, and a traction rope; the inflection point is arranged on the fixed ring body; the reset spring is arranged between the fixed ring body and the support plate; one end of the traction rope is connected to the support plate, and the other end bypasses the inflection point and is connected to the movable ring body.

[0010] Furthermore, both the fixed ring body and the movable ring body are provided with notches, and the movable ring body rotates around the fixed ring body, driving the traction rope to move around the inflection point, and all support plates move outward along the radial direction of the power grid line under the pull of the traction rope, and when the maximum outward movement stroke is reached, the spacing distance between all ice-cracking components in the circumferential direction of the power grid line is greater than the diameter of the power grid line, and the overlapping part of the notches of the fixed ring body and the movable ring body is greater than the diameter of the power grid line.

[0011] Furthermore, the de-icing assembly also includes a de-icing component, which is fan-shaped and has an axis parallel to the axis of the power grid line; a plurality of de-icing components are arranged in an axial direction of the power grid line at intervals, and their number is consistent with the number of support plates, and all de-icing components are respectively installed on each support plate; the front surfaces of all de-icing components are provided with a de-icing surface; when the support plate moves outward in the radial direction of the power grid line to a maximum stroke, the spacing distance of all de-icing components in the circumferential direction of the power grid line is greater than the diameter of the power grid line.

[0012] Furthermore, the roller assembly includes a moving roller, an auxiliary roller, a support column, and a rotating connection component; the support column is installed above the chassis, and the moving roller is installed on the support column. One end of the rotating connection component is rotatably connected to the support column, and the other end is rotatably connected to the auxiliary roller; the moving roller is located above the power grid line, and the auxiliary roller is located below the power grid line; as the rotating connection component rotates around the support column toward the power grid line, the auxiliary roller gradually approaches the power grid line and finally directly contacts the lower surface of the power grid line.

[0013] Compared with the prior art, the present invention has at least the following beneficial effects:

[0014] 1. The power grid line cleaning robot arranges multiple ice-cracking components of the layered ice-cracking assembly in an interval and surrounding manner along the axial direction of the power grid line, and gradually shortens the interval distance with the power grid line from front to back, so as to process the ice layer in sequence from different angles. The front ice-cracking components will reduce the ice-clearing resistance of the circumferentially adjacent ice-cracking components; the depth of the ice layer processed by each ice-cracking component increases successively, so as to complete the ice-clearing operation layer by layer, reducing the workload of a single ice-removing component when performing the ice-removing operation, and can complete the ice-clearing operation at one time when facing a thicker ice layer; at the same time, by removing the ice layer of the power grid line layer by layer, the ice-clearing force exerted by a single ice-removing component on the ice layer of the power grid line can be effectively reduced, avoiding the damage to the power grid line caused by a large ice-clearing force.

[0015] 2. The power grid line cleaning robot uses the de-icing component to apply a driving force to the working area where the ice-cracking component has completed ice clearing, causing stress concentration at the scratches and cracks in the ice layer, making it easier for the ice layer to break and fall off from the scratches, avoiding the need for a large de-icing force when a single de-icing component removes a complete ice layer; by setting the de-icing surface of the de-icing component at a non-vertical angle along the axis of the power grid line, the driving force applied by the de-icing component is changed into an inclined driving force along the axial direction of the power grid line, making it easier for the ice layer to undergo circumferential translation, thereby making it easier to detach from the power grid line, thereby achieving a good de-icing effect.

[0016] 3. The power grid line cleaning robot utilizes a synchronous contraction device to control each support plate to move synchronously outward or inward along the radial direction of the power grid line, thereby driving each ice-cracking component and each de-icing component on each support plate to move synchronously outward or inward along the radial direction of the power grid line, thereby achieving adaptive adjustment of the layered ice-cracking components and the de-icing components to power grid lines of different diameters.

[0017] 4. The grid line cleaning robot has notches in the fixed ring body and the movable ring body of the synchronous contraction device. When the support plates move synchronously outward along the radial direction of the grid line to the maximum stroke, the circumferential spacing distance between the ice-cracking components and the de-icing components along the grid line is larger than the diameter of the grid line, and the overlapping part of the notches of the fixed ring body and the movable ring body is larger than the diameter of the grid line, so that the layered ice-cracking components and the de-icing components can be installed on the grid line, or removed from the grid line, thereby facilitating the installation and disassembly of the de-icing device.

[0018] 5. The power grid line cleaning robot controls the degree of clamping of the moving roller and the auxiliary roller on the power grid line through rotating parts, and cooperates with the anti-skid plate set on the rolling surfaces of the two to ensure that the roller assembly faces the surface ice layer of the power grid line, which can achieve smooth movement of the robot, thereby ensuring that the stratified ice cracking assembly and the de-icing assembly can perform ice clearing operations normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a three-dimensional structural diagram of the power grid line cleaning robot of the present invention;

[0020] Figure 2 This is a front view of the power grid line cleaning robot of the present invention;

[0021] Figure 3 It is a left side view of the power grid line cleaning robot of the present invention;

[0022] Figure 4 A rear view of the power grid line cleaning robot of the present invention;

[0023] Figure 5 It is a structural diagram of the layered ice-cracking assembly and the synchronous contraction device;

[0024] Figure 6 This is a right side view of the power grid line cleaning robot of the present invention without the roller assembly and the movable ring body.

[0025] Figure 1-6 Middle: 100-chassis, 110-power supply, 200-roller assembly, 210-moving roller, 220-auxiliary roller, 230-support column, 240-rotating connection component, 250-scraper component, 260-anti-skid plate, 300-layered ice cracking assembly, 310-ice cracking component, 311-tooth structure, 312-ice cracking blade, 320-support plate, 321-slideway hole, 400-deicing assembly, 4 10-deicing surface, 420-deicing component, 500-synchronous contraction device, 510-fixed ring body, 511-circular arc slide, 520-movable ring body, 521-toggle block, 522-gear teeth, 530-telescopic component, 531-inflection point, 532-reset spring, 533-traction rope, 540-slide rod, 541-linear slide, 550-limiting component, 560-motor, 561-spur gear. DETAILED DESCRIPTION

[0026] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In the description of this embodiment, it should also be noted that, unless otherwise clearly specified and limited, the terms “set”, “connected” and “connected” should be understood in a broad sense.

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0029] refer to Figures 1 to 6 The present embodiment discloses a power grid line surface cleaning robot, including a chassis 100 and a roller assembly 200. A power supply 110 is arranged inside the chassis 100, and a roller assembly 200 is arranged on the upper part of the outside of the chassis 100. The chassis 100 also includes a stratified ice cracking assembly 300, which is installed on the chassis 100; the stratified ice cracking assembly 300 includes a plurality of ice cracking components 310, and the ice cracking components 310 are fan-shaped, and the axis is parallel to the axis of the power grid line; the plurality of ice cracking components 310 are arranged in a circle at intervals along the axial direction of the power grid line, and the interval distance with the power grid line is gradually shortened from front to back.

[0030] Furthermore, there is no gap between the ice-cracking components 310 along the circumferential direction of the power grid line.

[0031] When this embodiment is in use, the roller assembly 200 is in direct contact with the power grid line, the power supply 110 inside the chassis 100 provides driving force for the roller assembly 200, and the rotation of the roller assembly 200 drives the chassis 100 to move forward along the axial direction of the power grid line, and the layered ice-cracking assembly 300 on the chassis 100 also moves accordingly, thereby realizing the overall movement of the power grid line cleaning robot. At this time, the multiple ice-cracking components 310 of the layered ice-cracking assembly 300 surround the power grid line at the center position, and the ice-cracking components 310 are fan-shaped, and the axis is parallel to the axis of the power grid line; each ice-cracking component 310 is evenly arranged along the circumference of the power grid line, and each ice-cracking component 310 has a fixed spacing distance along the axial direction of the power grid line, so that the ice layer is processed in sequence from different angles; each ice-cracking component 310 gradually shortens the spacing distance from the power grid line from front to back along the axial direction of the power grid line, and the depth of the processed ice layer increases successively; along the axial direction of the power grid line, each ice-cracking component 310 is named the first ice-cracking component 310, the second ice-cracking component 310, etc. When the layered ice cracking assembly 300 is used for ice clearing, the first ice cracking component 310 performs ice clearing from its starting position. Since the second ice cracking component 310 is spaced a fixed distance from the first ice cracking component 310 along the axial direction of the power grid line, the starting position of the second ice cracking component 310 is also spaced a fixed distance from the starting position of the first ice cracking component 310. As a result, when the second ice cracking component 310 reaches the starting position of the first ice cracking component 310 from its starting position, the first ice cracking component 310 has completed an ice clearing operation area along the axial direction of the power grid line. Since there is no gap between the first ice-cracking component 310 and the second ice-cracking component 310 along the circumferential direction of the power grid line, the operating area of ​​the first ice-cracking component 310 that has completed ice clearing is closely connected with the operating area of ​​the second ice-cracking component 310 that is ready to clear ice, that is, the ice layer on one side of the operating area of ​​the second ice-cracking component 310 that is ready to clear ice has been removed to a certain depth, which leads to a reduction in the resistance of the second ice-cracking component 310 to clear ice. Therefore, the ice clearing depth of the second ice-cracking component 310 can be appropriately increased, and the subsequent ice-cracking components 310 can increase the ice clearing depth in turn, thereby completing the ice clearing operation layer by layer.

[0032] As a further solution of this embodiment: the inner arc surface of the ice-cracking component 310 is provided with a toothed structure 311, and the power grid line cleaning robot also includes a de-icing component 400, which is located behind the layered ice-cracking component 300 along the axial direction of the power grid line. The de-icing surface 410 of the de-icing component 400 is arranged at a non-vertical angle to the axis of the power grid line and is close to the power grid line.

[0033] Under certain environmental conditions, the ice layer close to the power grid line is extremely hard, and it is difficult to scrape it directly, and it may even cause serious damage to the power grid line. The present technical solution makes improvements based on the above-mentioned problems. When using the layered ice cracking assembly 300 for ice clearing, the front ice cracking component 310 processes the ice layer through its main structure and tooth structure 311. Part of the ice layer falls directly after breaking, and part of the ice layer produces cracks and scratches of the tooth structure 311. These scratches and cracks help reduce the ice clearing resistance of the subsequent ice cracking component 310. When reaching the innermost ice layer, since the innermost ice layer is often extremely hard and solid, the subsequent ice cracking component 310 can only leave a series of straight scratches on the innermost ice layer when passing through. Afterwards, the deicing assembly 400 is used to de-ice the operating area where the layered ice cracking assembly 300 has completed ice clearing. If the deicing assembly 400 is used to directly de-ice the complete ice layer, it is necessary to overcome the binding force of the entire ice layer, and the de-icing force required by the de-icing assembly 400 is relatively large. If de-icing assembly 400 is used to de-ice an ice layer with scratches, the external force applied by de-icing assembly 400 will cause stress concentration at the scratches and cracks, making it easier for the ice layer to break and fall off from the scratches.

[0034] At the same time, when deicing is performed using deicing assembly 400, deicing surface 410 of deicing assembly 400 is set at a non-perpendicular angle to the grid line axis and is close to the surface of the grid line, while deicing surface 410 is not perpendicular to the grid line axis. At this time, deicing surface 410 is to remove ice on the surface of the grid line including multiple scratches and ice protrusions between the scratches. If deicing surface 410 is set perpendicular to the grid line axis, the thrust applied by deicing surface 410 to the ice protrusions is parallel to the grid line axis, and the thrust is mainly concentrated in the same direction of multiple ice protrusions, so that the ice protrusions produce greater compressive stress, thereby increasing the deicing force required by deicing assembly 400. If the de-icing surface 410 is inclined with respect to the axis of the power grid line, the de-icing surface 410 applies an inclined thrust to the ice layer protrusion, and the thrust can be decomposed into a thrust parallel to the axis of the power grid line and a thrust perpendicular to the axis of the power grid line. The thrust perpendicular to the axis of the power grid line needs to overcome the small compressive stress of the ice layer protrusion, which facilitates the shedding of the ice layer protrusion, thereby accelerating the removal of the entire ice layer by the de-icing surface 410. This technical solution can not only effectively improve the removal effect of the inner ice layer of this embodiment, but also reduce the probability of damage to the power grid line.

[0035] As a further solution of this embodiment: the ice-breaking component 310 also includes an ice-breaking blade 312, which is a triangular prism, one side of which is fixedly connected to the front surface of the toothed structure 311, and the other two side surfaces of the triangular prism are inner arc surfaces.

[0036] When the layered ice-cracking assembly 300 is used for ice clearing operations, the ice-cracking blade 312 arranged on the front surface of the toothed structure 311 can exert a sufficiently large pressure on the surface ice layer of the power grid line per unit area, forming a concentrated cutting force in the ice layer. This cutting force can cause the ice layer to break rapidly locally, thereby accelerating the formation of scratches.

[0037] As a further solution of the present embodiment: the stratified ice-cracking assembly 300 also includes a plurality of support plates 320, all of the support plates 320 are evenly distributed along the circumference of the line, and all of the ice-cracking components 310 are installed on each of the support plates 320; the outer layer of the stratified ice-cracking assembly 300 is provided with a synchronous contraction device 500, and the synchronous contraction device 500 is installed on the chassis 100, and the synchronous contraction device 500 is in sliding contact with each of the support plates 320, and the synchronous contraction device 500 can control each of the support plates 320 to move synchronously outward or inward along the radial direction of the power grid line.

[0038] Furthermore, a single synchronous contraction device 500 is respectively provided at the front and rear ends of the support plate 320 along the axial direction of the power grid line.

[0039] When using the layered ice-cracking assembly 300 to clear ice from the power grid line, it is necessary to adapt to power grid lines of different diameters and ensure that the ice-clearing effect is significant. At this time, it is necessary to control each support plate 320 to move synchronously outward or inward along the radial direction of the power grid line through the synchronous contraction device 500, thereby driving each ice-cracking component 310 on each support plate 320 to move synchronously outward or inward along the radial direction of the power grid line, so as to achieve the adaptability adjustment of the layered ice-cracking assembly 300 to power grid lines of different diameters. It is worth noting that as the diameter of the power grid line increases, the synchronous contraction device 500 controls each support plate 320 to move synchronously outward along the radial direction of the power grid line, and each ice-cracking component 310 on all support plates 320 also moves accordingly, and the overlapping part of each ice-cracking component 310 along the circumferential direction of the power grid line gradually decreases until the overlapping part is zero. At this time, there is no gap between each ice-cracking component 310 along the circumferential direction of the power grid line. This is the maximum diameter of the power grid line that the layered ice-cracking assembly 300 can adapt to while ensuring the best ice-clearing effect.

[0040] As a further solution of this embodiment: the synchronous contraction device 500 includes a fixed ring body 510, a movable ring body 520, and a plurality of telescopic components 530; the fixed ring body 510 is installed on the chassis 100, and the movable ring body 520 and the fixed ring body 510 are coaxially rotatably connected; a plurality of telescopic components 530 are evenly arranged on the inner side of the fixed ring body 510 along the circumference of the line, and their number is consistent with the number of support plates 320; the telescopic component 530 includes an inflection point 531, a reset spring 532, and a traction rope 533; the inflection point 531 is arranged on the fixed ring body 510; the reset spring 532 is arranged between the fixed ring body 510 and the support plate 320; one end of the traction rope 533 is connected to the support plate 320, and the other end bypasses the inflection point 531 and is connected to the movable ring body 520.

[0041] Furthermore, a plurality of slide bars 540 are evenly arranged on the inner ring of the fixed ring body 510, one end of the slide bar 540 is fixedly connected to the fixed ring body 510, and the other end extends inwardly along the radial direction of the fixed ring body 510, and a limiting component 550 is arranged; each support plate 320 is provided with a slide hole 321, and the outer surface of each slide bar 540 is in sliding contact with the inner surface of each slide hole 321, and each slide bar 540 is located inside each reset spring 532; each support plate 320 is located between each limiting component 550 and the fixed ring body 510; the fixed ring body 510 is provided with an arc slide groove 511, and each slide bar 5 40 are provided with straight slide grooves 541, and each straight slide groove 541 is connected to the circular arc slide groove 511; a plurality of toggle blocks 521 are provided on the movable ring body 520, and each toggle block 521 is in sliding contact with the circular arc slide groove 511 and connected with the traction rope 533; the inflection point 531 is arranged in the circular arc slide groove 511 of the fixed ring body 510, and the traction rope 533 is located in the straight slide groove 541; the outer ring of the movable ring body 520 is provided with gear teeth 522, and the chassis 100 is also provided with a motor 560, and the output end of the motor 560 is detachably connected with a spur gear 561, and the spur gear 561 is meshed with the gear teeth 522.

[0042] According to the different diameters of the power grid line, the position of each ice-cracking component 310 along the radial direction of the power grid line can be adjusted by the synchronous contraction device 500. The motor 560 drives the movable ring body 520 meshing with its spur gear 561 to rotate by forward rotation, and each toggle block 521 on the movable ring body 520 slides in the circular arc groove 511 of the fixed ring body 510, and each traction rope 533 connected to each toggle block 521 moves around each inflection point 531 in the circular arc groove 511, and each traction rope 533 on the other side of the inflection point 531 moves in each linear groove 541, thereby driving each support plate 320 connected to the other end of each traction rope 533 to slide outward along each slide rod 540, and each reset spring 532 is compressed by each support plate 320, and each ice-cracking component 310 completes synchronous outward movement along the radial direction of the power grid line. The motor 560 is reversed to drive the movable ring body 520 to reverse, and the traction rope 533 that is pulled and tightened gradually relaxes as the movable ring body 520 rotates, and each support plate 320 loses the compression force on each reset spring 532. Each compressed reset spring 532 begins to rebound and pushes each support plate 320 to slide inward along each slide bar 540, and each ice cracking component 310 completes the synchronous inward movement along the radial direction of the power grid line. When the traction rope 533 breaks due to an accident, the support plate 320 loses the tension and slides inward along the slide bar 540 under the push of the reset spring 532. The limiting component 550 can prevent the support plate 320 and the reset spring 532 from falling off from the slide bar 540. When it is necessary to inspect the support plate 320, the ice cracking component 310, the reset spring 532 and other components, the limiting component 550 can be removed from the slide bar 540, and the components to be inspected can be removed from the slide bar 540.

[0043] As a further solution of this embodiment: both the fixed ring body 510 and the movable ring body 520 are provided with notches, the movable ring body 520 rotates around the fixed ring body 510, driving the traction rope 533 to move around the inflection point 531, and all the support plates 320 are pulled outward along the radial direction of the power grid line by the traction rope 533, and when the maximum outward movement stroke is reached, the spacing distance of all the ice-cracking components 310 in the circumferential direction of the power grid line is greater than the diameter of the power grid line, and the overlapping part of the notches of the fixed ring body 510 and the movable ring body 520 is greater than the diameter of the power grid line.

[0044] When the stratified ice-cracking assembly 300 needs to be installed on the power grid line for ice-clearing operation, or the stratified ice-cracking assembly 300 has completed the ice-clearing operation and needs to be removed from the power grid line, it is necessary to adjust each ice-cracking component 310 to move outward along the radial direction of the power grid line through the synchronous contraction device 500 and reach the maximum compression state of the reset spring 532. The specific operation can be described as follows: the movable ring body 520 engaged with its spur gear 561 is driven to rotate by the forward rotation of the motor 560, and each toggle block 521 on the movable ring body 520 slides in the circular arc groove 511 of the fixed ring body 510, and each traction rope 533 connected to each toggle block 521 moves around each inflection point 531 in the circular arc groove 511. The traction ropes 533 on the other side of point 531 move in the linear slide grooves 541, thereby driving the support plates 320 connected to the other ends of the traction ropes 533 to slide outward along the slide bars 540, and the reset springs 532 are compressed by the support plates 320. The ice-cracking components 310 complete the synchronous outward movement along the radial direction of the power grid line. When the reset springs 532 are pushed to the maximum compression state by the support plates 320, the spacing distance between the ice-cracking components 310 along the radial direction of the power grid line is greater than the diameter of the power grid line. At this time, the overlapping part of the notch of the fixed ring body 510 and the movable ring body 520 is also greater than the diameter of the power grid line, so that the power grid line can pass through the synchronous contraction device 500 and be placed in the middle of the layered ice-cracking assembly 300.

[0045] As a further solution of this embodiment: the de-icing assembly 400 also includes a de-icing component 420, which is fan-shaped and has an axis parallel to the axis of the power grid line; multiple de-icing components 420 are arranged in a circle at intervals along the axial direction of the power grid line, and their number is consistent with the number of support plates 320, and all de-icing components 420 are respectively installed on each support plate 320; the front surfaces of all de-icing components 420 are provided with de-icing surfaces 410; when the support plate 320 moves outward in the radial direction of the power grid line to the maximum stroke, the spacing distance of all de-icing components 400 along the circumferential direction of the power grid line is greater than the diameter of the power grid line.

[0046] In view of the close cooperation between the stratified ice-breaking assembly 300 and the de-icing assembly 400, the two should be synchronized to ensure that they can adapt to the different diameters of the power grid line at the same time; and the two can be installed on the power grid line at the same time, or removed from the power grid line at the same time. The core of realizing the synchronous movement of the two is: the de-icing components 420 of the de-icing assembly 400 are arranged in a circle along the axial direction of the power grid line, and are installed on the support plates 320 in sequence, and the number of support plates 320 is consistent with the number of de-icing components 420. The synchronous contraction device 500 is used to realize the synchronous outward or synchronous inward movement of each support plate 320 along the radial direction of the power grid line, thereby driving each ice-breaking component 310 and each de-icing component 420 to move accordingly. When the spacing distance of each ice-breaking component 310 of the stratified ice-breaking assembly 300 along the circumferential direction of the power grid line is greater than the diameter of the power grid line, the spacing distance of each de-icing component 420 along the circumferential direction of the power grid line is also greater than the diameter of the power grid line.

[0047] As a further solution of this embodiment: the roller assembly 200 includes a moving roller 210, an auxiliary roller 220, a support column 230, and a rotating connection component 240; the support column 230 is installed above the chassis 100, and the moving roller 210 is installed on the support column 230, and one end of the rotating connection component 240 is rotatably connected to the support column 230, and the other end is rotatably connected to the auxiliary roller 220; the moving roller 210 is located above the power grid line, and the auxiliary roller 220 is located below the power grid line; as the rotating connection component 240 rotates around the support column 230 toward the power grid line, the auxiliary roller 220 gradually approaches the power grid line and finally directly contacts the lower surface of the power grid line.

[0048] Furthermore, a scraper component 250 is also installed on the support column 230. Along the axial direction of the power grid line, the scraper component 250 is located in front of the roller assembly 200 and below the power grid line; the rolling surface of the roller assembly 200 is provided with an anti-skid plate 260, and the anti-skid plate 260 is evenly distributed along the rotation center of the roller assembly 200.

[0049] The power grid cleaning robot controls the degree of clamping of the moving roller 210 and the auxiliary roller 220 on the power grid by the rotating component. When the power grid cleaning robot needs to be installed on the power grid or removed from the power grid, the auxiliary roller 220 is not close to the power grid. When the robot is required to perform deicing operations, the moving roller 210 is located above the power grid and is in direct contact with the upper surface of the power grid. The rotating connecting component 240 rotates toward the power grid, and the auxiliary roller 220 gradually approaches the power grid and finally directly contacts the lower surface of the power grid. The moving roller 210 and the auxiliary roller 220 complete the clamping of the power grid, and cooperate with the anti-slip plate 260 set on the rolling surface of the two to ensure that the roller assembly 200 faces the surface ice layer of the power grid, so as to achieve smooth movement of the robot. At the same time, the scraper component 250 set on the support column 230 can pre-process the ice cones formed at the bottom of the power grid to prevent large ice cones from affecting the deicing operation of the robot. The anti-skid plate 260 can also assist the grid line robot in performing ice clearing operations, but this design belongs to the prior art and will not be discussed in detail here. Similarly, how to place the grid line robot on the grid line, or remove it from the grid line and place it on the ground are all prior art and will not be explained in detail here.

Claims

1. A power grid line surface cleaning robot, comprising a chassis (100) and a roller assembly (200), wherein a power supply (110) is disposed inside the chassis (100), and the roller assembly (200) is disposed above the outside of the chassis (100), characterized in that: It also includes a stratified ice cracking assembly (300), which is installed on the chassis (100); the stratified ice cracking assembly (300) includes a plurality of ice cracking components (310), and the ice cracking components (310) are fan-shaped, with axes parallel to the axes of the power grid lines; the plurality of ice cracking components (310) are arranged in a spaced-apart manner along the axial direction of the power grid line, and the spacing distance from the power grid line is gradually shortened from front to back.

2. The power grid line cleaning robot according to claim 1, characterized in that: The inner arc surface of the ice-cracking component (310) is provided with a toothed structure (311), and the power grid line cleaning robot further comprises an ice-removing component (400), wherein the ice-removing component (400) is located behind the layered ice-cracking component (300) along the axial direction of the power grid line, and the ice-removing surface (410) of the ice-removing component (400) is arranged at a non-perpendicular angle to the axis of the power grid line and is in close contact with the power grid line.

3. The power grid line cleaning robot according to claim 2, characterized in that: The ice-breaking component (310) further comprises an ice-breaking blade (312), wherein the ice-breaking blade (312) is a triangular prism, one side surface of the triangular prism is fixedly connected to the front surface of the tooth-shaped structure (311), and the other two side surfaces of the triangular prism are inner arc surfaces.

4. The power grid line cleaning robot according to claim 2, characterized in that: The stratified ice-cracking assembly (300) further comprises a plurality of support plates (320), all of the support plates (320) being evenly distributed along the circumference of the line, and all of the ice-cracking components (310) being mounted on each of the support plates (320); the outer layer of the stratified ice-cracking assembly (300) is provided with a synchronous contraction device (500), the synchronous contraction device (500) being mounted on the chassis (100), the synchronous contraction device (500) being in sliding contact with each of the support plates (320), and the synchronous contraction device (500) being capable of controlling each of the support plates (320) to move synchronously outward or inward along the radial direction of the power grid line.

5. The power grid line cleaning robot according to claim 4, characterized in that: The synchronous contraction device (500) comprises a fixed ring body (510), a movable ring body (520), and a plurality of telescopic components (530); the fixed ring body (510) is installed on the chassis (100), and the movable ring body (520) and the fixed ring body (510) are coaxially rotatably connected; the plurality of telescopic components (530) are evenly arranged on the inner side of the fixed ring body (510) along the circumference of the line, and the number of the telescopic components (530) is consistent with the number of the support plates (320); The telescopic component (530) comprises an inflection point (531), a return spring (532), and a traction rope (533); the inflection point (531) is arranged on the fixed ring body (510); the return spring (532) is arranged between the fixed ring body (510) and the support plate (320); one end of the traction rope (533) is connected to the support plate (320), and the other end bypasses the inflection point (531) and is connected to the movable ring body (520).

6. The power grid line cleaning robot according to claim 5, characterized in that: The fixed ring body (510) and the movable ring body (520) are both provided with notches. The movable ring body (520) rotates around the fixed ring body (510), driving the traction rope (533) to move around the inflection point (531). All the support plates (320) move outward along the radial direction of the power grid line under the pull of the traction rope (533). When the maximum outward movement stroke is reached, the spacing distance of all the ice-cracking components (310) in the circumferential direction of the power grid line is greater than the diameter of the power grid line, and the overlapping part of the notches of the fixed ring body (510) and the movable ring body (520) is greater than the diameter of the power grid line.

7. The power grid line cleaning robot according to claim 6, characterized in that: The deicing assembly (400) further comprises a deicing component (420), wherein the deicing component (420) is fan-shaped, and the axis thereof is parallel to the axis of the power grid line; a plurality of the deicing components (420) are arranged in a spaced-apart manner along the axial direction of the power grid line, and the number of the deicing components (420) is the same as the number of the support plates (320), and all the deicing components (420) are respectively mounted on each of the support plates (320); the front surfaces of all the deicing components (420) are provided with the deicing surface (410); when the support plates (320) move outwardly in the radial direction of the power grid line to a maximum stroke, the spacing distance of all the deicing components (400) along the circumferential direction of the power grid line is greater than the diameter of the power grid line.

8. The power grid line cleaning robot according to claim 1, characterized in that: The roller assembly (200) comprises a moving roller (210), an auxiliary roller (220), a support column (230), and a rotating connection component (240); the support column (230) is installed above the chassis (100), the moving roller (210) is installed on the support column (230), one end of the rotating connection component (240) is rotationally connected to the support column (230), and the other end is rotationally connected to the auxiliary roller (220); the moving roller (210) is located above the power grid line, and the auxiliary roller (220) is located below the power grid line; as the rotating connection component (240) rotates around the support column (230) toward the power grid line, the auxiliary roller (220) gradually approaches the power grid line and finally directly contacts the lower surface of the power grid line.

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