Surface cleaning and maintaining robot for power grid line

Abstract

The invention discloses a surface cleaning and maintaining robot for a power grid line, and relates to the technical field of power grid line maintaining.A beating assembly is arranged on the surface cleaning and maintaining robot for the power grid line to achieve beating cleaning, and conveying and placement of the robot are completed with the help of an unmanned aerial vehicle; two wheel body bearing rods with adjustable angles on the robot are used for bearing the clamping shifting wheels to clamp the robot on the cable, so that stable placement of the robot is completed; the surface cleaning and maintaining robot for the power grid line has the technical effects of being high in applicability, convenient to use, low in danger, capable of completing placement with the help of the unmanned aerial vehicle, small in advancing resistance, high in cruising ability, stable in cleaning and driving process and high in cleaning efficiency.

Description

Technical Field

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

[0002] Every winter, especially in freezing rain weather, when water droplets condense into ice on towers or wires where the temperature is below freezing, the ice will firmly adhere to them. As time goes by, the attached ice surface will gradually expand, causing the ice to become thicker and thicker. If it is not cleaned in time, the ice layer will become thicker and thicker, causing the resistance between the power grid lines and the wind to increase, causing the power grid lines to swing more left and right, and in severe cases, it will crush the cable towers on which the power grid lines are erected. In addition, the increase in the line swing amplitude may also cause phase flashover, insulator ice flash, etc., which will have a serious impact on the safe operation of the power grid.

[0003] In the case of icing on power grid lines, two methods are generally used in the prior art to deal with it; one is to manually hang it on the power grid line, knocking it while generally moving along the power grid line; the other is to clean it with a robot such as the power grid line surface cleaning robot disclosed in the Chinese invention patent with patent number CN118163126B; the manual cleaning method is highly dangerous and labor-intensive; the automatic cleaning method of the robot generally has the problems of poor applicability (can only be applied to a small range of types of cables), poor endurance, high resistance and high energy consumption during movement, and before use, it is necessary to manually climb up to place the robot on the cable, and it is necessary to pre-clean a section of the cable before placement for the robot to place. The whole process is labor-intensive, dangerous and difficult to place.

[0004] Therefore, there is a need for a surface cleaning and maintenance robot for power grid lines that has strong applicability, is easy to use, has low risk, can be placed with the help of a drone, has low travel resistance, has strong endurance, has a stable driving process and high cleaning efficiency. Summary of the invention

[0005] The embodiment of the present application solves the technical problems in the prior art that cable cleaning robots have poor applicability, are cumbersome to use, have high labor intensity during use, are highly dangerous, have high travel resistance, have poor endurance, have poor stability during driving, and have low cleaning efficiency by providing a surface cleaning and maintenance robot for power grid lines; and achieves the technical effect that the surface cleaning and maintenance robot for power grid lines has strong applicability, is easy to use, has low danger, can be placed with the aid of drones, has low travel resistance, has high endurance, has stable cleaning and driving processes, and has high cleaning efficiency.

[0006] The embodiment of the present application provides a surface cleaning and maintenance robot for power grid lines, comprising a basic bearing block, a wheel bearing rod, four clamping shift wheels longitudinally arranged and rotatably connected to the four ends of the wheel bearing rod, a shift drive assembly of an electric telescopic rod structure and hinged at both ends to two wheel bearing rods, a top wheel assembly, a battery pack, a battery pack bracket, and a striking assembly for cleaning cables by striking; The basic bearing block is a columnar block arranged longitudinally, with a positioning slot on the side wall and a top assembly plate on the top for connecting and fixing with the drone; The wheel bearing rod is a hard straight rod arranged transversely; the middle parts of the two wheel bearing rods are hinged together to form an X shape; the two wheel bearing rods pass through the positioning slot and one of the wheel bearing rods is rotatably connected to the basic bearing block; The top wheel assembly is positioned at the bottom of the basic bearing block, and is a combination of a horizontally placed wheel body and a frame supporting these wheel bodies, and is placed on top of the cable during cleaning; The battery pack is in the shape of a rectangular block and is fixed directly below the basic bearing block through a battery pack bracket fixed to one side of the basic bearing block. The length direction is the same as the travel direction of the robot, and the top surface is more than 15 cm away from the wheel body bearing rod.

[0007] Furthermore, the battery pack bracket includes a base plate and a plate connector; the base plate is a horizontally arranged hard plate body fixed on the top of the battery pack; the plate connector is L-shaped or I-shaped, with the top fixed on the side wall of the basic supporting block and the bottom fixed on the top surface of the base plate.

[0008] Furthermore, the top wheel assembly includes a wheel-carrying frame and a transverse wheel; the wheel-carrying frame is a rectangular frame structure, horizontally arranged, fixed to the bottom of the basic bearing block, and the length direction is the same as the travel direction of the entire robot; the transverse wheel is a waist drum-shaped or funnel-shaped horizontally arranged cylindrical wheel body, which rotates around its own axis and is connected to the wheel-carrying frame, and the number is more than two.

[0009] Furthermore, the striking assembly includes a driving motor and a rotating striking plate positioned on the output shaft of the driving motor; the driving motor is fixed at the end of the battery pack, and its axial direction is the same as the length direction of the battery pack; the rotating striking plate is a long strip of metal, plastic and / or rubber material, and is fixed on the side wall of the output shaft of the driving motor; when the output shaft of the driving motor rotates, the rotating striking plate whips the cable to remove ice from the cable.

[0010] Furthermore, the rotating striking plate is formed by splicing and assembling two long strip-shaped plates, including a base plate and an expansion plate; The base plate is a soft metal plate fixed on the side wall of the output shaft; The expansion plate is made of rubber material, and its end is detachably fixed to the end of the base plate away from the output shaft.

[0011] Preferably, a plurality of rotating striking plates are positioned on the driving motor, and the expansion plates of different rotating striking plates have different shapes, including whip-shaped, long strip-shaped and brush-shaped. The expansion plates of different shapes successively impact the ice-carrying cables to achieve the effects of whipping, breaking up the ice and sweeping away the ice.

[0012] Preferably, the striking assembly also includes a plate length adjustment assembly; the plate length adjustment assembly includes a pulling rope body and a pulling rope; the pulling rope body is fixed on the output shaft of the driving motor, with its axial direction perpendicular to the axial direction of the driving motor, and is arranged close to the rotating striking plate, and is extended and retracted under the control of the control unit; the pulling rope is a steel wire rope, one end of which is fixed to the end of the rotating striking plate away from the output shaft, and the other end is fixed to the end of the pulling rope body away from the output shaft of the driving motor, and is always in a straight state; when the pulling rope body is extended and retracted, it drives the rotating striking plate to bend and thus adjusts its length.

[0013] Preferably, the number of the striking components is two, which are respectively positioned at two ends of the battery pack; When the two striking assemblies are in operation, the output shafts of the driving motors on the two striking assemblies rotate in opposite directions.

[0014] Preferably, it further comprises an effect detection assembly, which is positioned on the top of the bottom plate and comprises a rotating plate and a plate pulling assembly; The rotating plate is an inclined long strip hard plate, one end of which is rotatably connected to the top of the bottom plate, the width and the axial direction of the rotating axis are the same as the width direction of the battery pack, and the other end is normally against the bottom of the cable; An angle sensor and a torsion spring are positioned at the connection position between the rotating plate and the base plate. The existence of the torsion spring makes the angle between the rotating plate and the base plate tend to increase under the action of elastic force; the angle sensor is used to detect the angle between the rotating plate and the base plate in real time, and is connected to the control unit signal; the plate pulling assembly is used to control the angle between the rotating plate and the base plate by pulling, and is a combination of a reel and a rope. When it is necessary to place a robot on the cable, the rotating plate is pulled to rotate so that the cable can be inserted into the gap between the base plate and the wheel body bearing rod.

[0015] Preferably, the rotating plate is formed by splicing and combining a basic rotating plate and an extended plate body; the end of the extended plate body away from the basic rotating plate abuts against the bottom of the cable; The basic rotating plate comprises a first plate body, a connecting telescopic rod and a second plate body; the first plate body and the second plate body are combined together by connecting the telescopic rod; The connecting telescopic rod is a telescopic rod with a built-in compression spring; the first plate body is positioned on the bottom plate, and the second plate body is positioned on the expansion plate body; A distance sensor for measuring the length of the connecting telescopic rod in real time is positioned on the connecting telescopic rod, and the distance sensor is connected to the control unit signal.

[0016] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: A surface cleaning and maintenance robot for power grid lines is provided, a striking component is set to achieve whipping cleaning, and the robot is transported and placed with the help of a drone; two wheel bearing rods on the robot with adjustable angles to each other are used to carry the clamping shift wheels to clamp the robot on the cable to achieve stable placement of the robot; the technical problems in the prior art that the cable cleaning robots have poor applicability, cumbersome use, high labor intensity during use, high risk, large travel resistance, poor endurance, poor stability during driving, and low cleaning efficiency are effectively solved; and the technical effects that the surface cleaning and maintenance robot for power grid lines has strong applicability, convenient use, low risk, can be placed with the help of a drone, has low travel resistance, strong endurance, stable cleaning and driving processes, and high cleaning efficiency are achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a surface cleaning and maintenance robot for power grid lines; Figure 2 A schematic diagram of the positional relationship between the basic bearing block and the wheel bearing rod; Figure 3 It is a schematic diagram of the positional relationship between the wheel frame and the transverse wheel; Figure 4 It is a schematic diagram of the structure of the battery pack bracket; Figure 5 It is a structural schematic diagram of the wheel body bearing rod; Figure 6 A schematic diagram of the structure of a rotating striking plate; Figure 7 It is a simplified structural diagram of a whip-shaped expansion board; Figure 8 A simplified structural diagram of a brush-shaped expansion board; Fig. 9 It is a structural schematic diagram of the board length adjustment component; Fig.10 This is a schematic diagram of the layout relationship of the effect detection component; Fig.11 This is a schematic diagram of the structure of the effect detection component.

[0018] In the figure: Basic bearing block 100, positioning groove 110, top combination plate 120, expansion rod body 130, first rod body 210, second rod body 220, clamping shift wheel 300, shift drive assembly 400, wheel frame 510, transverse wheel 520, battery pack 600, bottom plate 710, plate connector 720, drive motor 810, rotating striking plate 820, base plate 821, expansion plate 822, pulling rope body 831, pulling rope 832, rotating plate 910, first plate body 911, connecting telescopic rod 912, second plate body 913, expansion plate body 914, V-shaped groove 915, pulling reel 921, pulling rope 922. DETAILED DESCRIPTION

[0019] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0020] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items.

[0022] See also Figure 1 , which is a schematic diagram of the overall structure of a surface cleaning and maintenance robot for power grid lines; the application provides a surface cleaning and maintenance robot for power grid lines, sets a striking component to achieve whipping cleaning, and uses a drone to complete the transportation and placement of the robot; two wheel body bearing rods with adjustable angles on the robot are used to carry the clamping shift wheels to clamp the robot on the cable to complete the stable placement of the robot; the technical effects of the surface cleaning and maintenance robot for power grid lines being strong in applicability, easy to use, low in danger, able to be placed with the help of a drone, having low travel resistance, strong endurance, stable cleaning and driving processes, and high cleaning efficiency are achieved. Example

[0023] like Figures 1 to 5As shown, the surface cleaning and maintenance robot for power grid lines of the present application includes a basic bearing block 100, two wheel bearing rods, four clamping and shifting wheels 300, a shifting drive assembly 400, a top wheel assembly, a battery pack 600, a battery pack bracket, a striking assembly, a power assembly and a control unit.

[0024] The basic bearing block 100 is a columnar block arranged longitudinally, which plays a role of bearing and positioning; The basic bearing block 100 is provided with a positioning slot 110; the positioning slot 110 is a horizontal slot, which is arranged on the side wall of the basic bearing block 100, penetrates the basic bearing block 100, and is used for the wheel body bearing rod to pass through; A horizontally arranged top combination plate 120 is fixed to the top of the basic bearing block 100; the top combination plate 120 is disc-shaped, horizontally arranged, and its bottom is fixed to the top of the basic bearing block 100, and an electromagnet and / or a buckle for combining with the bottom of the drone is provided on the top; an iron sheet, an electromagnet and / or an (electric) buckle matching the top combination plate 120 is fixed to the bottom of the drone carrying the surface cleaning and maintenance robot for the power grid line of the present application.

[0025] The wheel bearing rods are two rigid straight rods arranged transversely. For the convenience of description, the two wheel bearing rods are defined as a first rod 210 and a second rod 220 respectively. The middle parts of the first rod 210 and the second rod 220 are hinged together to form an X shape. The two wheel bearing rods pass through the positioning slot 110 and one of the wheel bearing rods is rotatably connected to the basic bearing block 100. The rotation axis of the wheel bearing rod rotatably connected to the basic bearing block 100 is perpendicular to the horizontal ground, and the rotation axis is coaxial with the hinge axis between the two wheel bearing rods. The clamping and shifting wheel 300 is a cylindrical wheel body, which is arranged longitudinally; in order to clamp the cable more stably, the side wall of the clamping and shifting wheel 300 close to the cable is concave; the four clamping and shifting wheels 300 are respectively rotatably connected to the positions close to the ends of the two wheel body bearing rods (the four clamping and shifting wheels 300 are respectively arranged close to the four ends of the two wheel body bearing rods), and rotate around their own axes; when the angle between the wheel body bearing rods changes, the spacing between the clamping and shifting wheels 300 changes accordingly, thereby realizing the clamping and loosening of the cables; the clamping and shifting wheels 300 are all rotated under the coordinated control of the power component and the control unit.

[0026] Furthermore, the side wall of the clamping and shifting wheel 300 is densely covered with protrusions and / or grooves, which play a role in increasing friction.

[0027] Preferably, the clamping and shifting wheels 300 are each equipped with a built-in micro motor.

[0028] Preferably, the power assembly includes a motor, which transmits power through a belt drive or a chain drive to drive the clamping and shifting wheel 300 to rotate.

[0029] Preferably, in order to avoid slipping, the transmission belt used for the belt drive has teeth.

[0030] The shift drive assembly 400 is a transversely arranged electric telescopic rod structure, with both ends hinged on the two wheel body bearing rods, forming a triangle with the two wheel body bearing rods; when the shift drive assembly 400 is extended or retracted, the angle between the wheel body bearing rods changes accordingly.

[0031] The top wheel assembly is positioned at the bottom of the basic supporting block 100, and includes a wheel frame 510 and a transverse wheel 520; the wheel frame 510 is a rectangular frame structure, horizontally arranged, fixed at the bottom of the basic supporting block 100, and its length direction is the same as the travel direction of the entire robot; the transverse wheel 520 is a waist drum-shaped or funnel-shaped horizontally arranged cylindrical wheel body, which rotates around its own axis and is connected to the wheel frame 510. There are more than two of them, and they are placed on top of the cable when in use.

[0032] The battery pack 600 is a combination of multiple batteries in the shape of a rectangular block. It is fixed directly below the basic supporting block 100 through a battery pack bracket. The length direction is the same as the moving direction of the entire robot. The top is more than 15 cm away from the bottom of the clamping shift wheel 300. It is used to supply energy to the entire robot and also acts as a counterweight (making the movement of the surface cleaning and maintenance robot for power grid lines more stable).

[0033] The battery pack bracket is a combination of a rod body and a plate body, which is fixed on the side wall of the basic bearing block 100. The whole is L-shaped or U-shaped, and plays the role of bearing connection.

[0034] Furthermore, the battery pack bracket includes a base plate 710 and a plate connector 720; the base plate 710 is a horizontally arranged hard plate fixed on the top of the battery pack 600; the plate connector 720 is L-shaped or I-shaped, with the top fixed on the side wall of the basic supporting block 100 and the bottom fixed on the top surface of the base plate 710.

[0035] The striking assembly is used to clean ice on the cables by striking, and includes a driving motor 810 and a rotating striking plate 820 positioned on the output shaft of the driving motor 810; the driving motor 810 is fixed to the end of the battery pack 600, and its axial direction is the same as the length direction of the battery pack 600; the rotating striking plate 820 is a long strip of metal, plastic and / or rubber material, and is fixed on the side wall of the output shaft of the driving motor 810; when the output shaft of the driving motor 810 rotates, the rotating striking plate 820 whips the cables to remove ice on the cables; the rotating striking plate 820 is not located directly below the wheel body bearing rod and the clamping and shifting wheel 300, and when whipping, it will not whip other parts of the power grid line surface cleaning and maintenance robot.

[0036] The power assembly is used to provide power for the operation of various components of the surface cleaning and maintenance robot for power grid lines in this application; the control unit plays a role in controlling the coordinated operation of various components of the surface cleaning and maintenance robot for power grid lines. This is prior art and will not be described in detail here.

[0037] Preferably, the control unit is a combination of a programmable logic controller and a remote control device.

[0038] When the power grid line surface cleaning and maintenance robot of the embodiment of the present application is actually used: 1. First, the extension amount of the displacement drive assembly 400 after the power grid line surface cleaning maintenance robot is placed on the cable is preset according to the diameter of the cable to be cleaned; and then before placement, the extension amount of the displacement drive assembly 400 is appropriately increased (for example, by 1 to 3 cm) to ensure smooth placement of the robot; 2. Then, the basic bearing block 100 is detachably fixed to the bottom of the drone; the drone is used to carry the robot of the present application to the vicinity of the target cleaning cable; 3. Control the striking component to operate, tap the cable to remove a section of ice on it, and control the drone to move while continuing to operate the striking component to clear an area on the cable where the robot of this application can be placed; 4. Stop the striking assembly (it should be noted that the striking plate 820 needs to be rotated to an angle that does not prevent the cable from passing through the gap between the wheel bearing rod and the bottom plate 710); then use the movement of the drone to drive the robot of the present application to be placed on the cable; 5. After that, the elongation of the shift drive assembly 400 is controlled to change to a preset angle, and the assembly is clamped and fixed on the cable; the drone is controlled to separate from the robot of the present application; after that, the clamping shift wheel 300 is controlled to rotate to move the entire robot of the present application, and the striking assembly is continuously operated to clear ice; 6. After the cleaning is completed, the drone is combined with the robot in this application to complete the landing, relocation or transfer.

[0039] Furthermore, in order to facilitate the drone to fix the surface cleaning and maintenance robot for the power grid line of this application, an expansion rod body 130 is also fixed to the bottom of the drone; the expansion rod body 130 is a longitudinally arranged hard rod body, the top of which is fixed to the bottom of the drone, and the bottom is provided with an iron sheet, an electromagnet and / or a buckle that matches the top combination plate 120.

[0040] Preferably, the rotation of the clamping and shifting wheel 300 can be stopped when the striking assembly is running, so as to increase the clamping force on the cable and improve stability.

[0041] Preferably, during the ice clearing process, the ice debris adhering to the clamping shift wheel 300 can be shaken off and the remaining ice layer can be crushed (crushed) by controlling the extension and retraction of the shift drive assembly 400 (the remaining ice layer will fall off naturally when the cable vibrates after being crushed), so as to reduce the resistance of the robot and assist in ice clearing.

[0042] Preferably, Figure 6 As shown, the rotating striking plate 820 is composed of two long strips of plate bodies, including a base plate 821 and an expansion plate 822; the base plate 821 is a soft metal plate fixed on the side wall of the output shaft; the expansion plate 822 is made of rubber, and its end is detachably fixed to the end of the base plate 821 away from the output shaft; the expansion plate 822 is easy to replace and is not prone to plastic deformation; when whipping, the expansion plate 822 has a longer life and a better ice-clearing effect due to its material.

[0043] Preferably, Figures 6 to 9 As shown, a plurality of rotating striking plates 820 are positioned on the driving motor 810, and the expansion plates 822 of different rotating striking plates 820 have different shapes, including whip-shaped, long strip-shaped and brush-shaped. The expansion plates 822 of different shapes impact the ice-carrying cables successively to achieve the effects of whipping, breaking up the ice and sweeping away the ice.

[0044] Preferably, in order to adapt to different cables, such as Fig. 9As shown, the striking assembly also includes a board length adjustment assembly, which is used to adjust the length of the rotating striking plate 820 to change the impact effect on the ice (for example, the ice cones hanging on the cable can be knocked down first to destroy the integrity of the ice layer, and then the rotating striking plate 820 can be controlled to become longer to beat the ice on the cable, thereby making it easier to complete ice removal); adjusting the length of the rotating striking plate 820 can make it only contact the cable away from the end of the drive motor 810, thereby reducing the running resistance; the board length adjustment assembly includes a pulling rope body 831 and a pulling rope body 832. The pulling rope 832; the pulling rope body 831 is fixed on the output shaft of the driving motor 810, with its axial direction perpendicular to the axial direction of the driving motor 810, and is arranged close to the rotating striking plate 820, and is extended and retracted under the control of the control unit; the pulling rope 832 is a steel wire rope, one end of which is fixed to the end of the rotating striking plate 820 away from the output shaft, and the other end is fixed to the end of the pulling rope body 831 away from the output shaft of the driving motor 810, and is always in a straight state; when the pulling rope body 831 is extended and retracted, it drives the rotating striking plate 820 to bend and thus adjusts its length.

[0045] Furthermore, there are two striking components, which are located at two ends of the battery pack 600 respectively.

[0046] Preferably, when the two striking components are in operation, the output shafts of the driving motors 810 on the two components rotate in opposite directions. When the two striking components are in operation at the same time, the movement of the robot is more stable and the deicing effect is better.

[0047] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: The invention solves the technical problems in the prior art that the cable cleaning robots have poor applicability, are cumbersome to use, have high labor intensity during use, are highly dangerous, have large travel resistance, have poor endurance, have poor stability during driving, and have low cleaning efficiency; and achieves the technical effect that the surface cleaning and maintenance robot for power grid lines has strong applicability, is easy to use, has low danger, can be installed with the aid of drones, has low travel resistance, has strong endurance, has stable cleaning and driving processes, and has high cleaning efficiency. Example

[0048] In order to further improve the practicality of the present application and ensure the deicing effect, the present application embodiment adds an effect detection component on the basis of the above embodiment, and automatically checks the deicing effect while the robot is moving, specifically: like Fig.10 and Fig.11 As shown, the effect detection assembly is positioned on the top of the bottom plate 710, and includes a rotating plate 910 and a plate pulling assembly; The rotating plate 910 is an inclined long strip hard plate, one end of which is rotatably connected to the top of the bottom plate 710, and the width and the axial direction of the rotating axis are the same as the width direction of the battery pack 600, and the other end is normally against the bottom of the cable; An angle sensor and a torsion spring are positioned at the connection position between the rotating plate 910 and the bottom plate 710. The existence of the torsion spring makes the angle between the rotating plate 910 and the bottom plate 710 tend to increase under the action of elastic force (that is, after the robot is placed on the cable, the rotating plate 910 tends to move toward the bottom of the cable); the angle sensor is used to detect the angle between the rotating plate 910 and the bottom plate 710 in real time, and is connected to the control unit signal; the plate pulling component is used to control the angle between the rotating plate 910 and the bottom plate 710 by pulling, and is a combination of a drum and a rope. When it is necessary to place the robot on the cable, the rotating plate 910 is pulled. 0 to rotate so that the cable can be inserted into the gap between the bottom plate 710 and the wheel body bearing rod; during the de-icing process, the rotating plate 910 is always close to the bottom of the cable. If the ice at the bottom or top of the cable is not completely removed, it will affect the movement of the rotating plate 910 and the smoothness of the rotation of the transverse wheel 520, thereby causing the angle between the rotating plate 910 and the bottom plate 710 to change; at this time, the control unit can control the robot to return and de-ice again. When returning to de-ice, the rotation speed of the rotating striking plate 820 and the extension of the rotating striking plate 820 can be controlled as needed to adjust the de-icing effect; when the robot returns to de-ice, the rotating plate 910 also has a certain ice shoveling effect.

[0049] Furthermore, the plate pulling assembly includes a pulling drum 921 and a pulling rope 922; the pulling drum 921 is positioned at the top of the base plate 710, below the rotating plate 910, and is a drum structure controlled by a control unit, which reels and releases the pulling rope 922 when rotating; the pulling rope 922 is a steel wire rope, one end of which is positioned on the pulling drum 921, and the other end is fixed on the rotating plate 910.

[0050] Furthermore, the rotating plate 910 is composed of a basic rotating plate and an extended plate body 914; the basic rotating plate and the extended plate body 914 are both rectangular plates with their ends fixed together; the basic rotating plate is positioned on the bottom plate 710, and the end of the extended plate body 914 away from the basic rotating plate abuts against the bottom of the cable.

[0051] Preferably, a V-shaped groove 915 is provided at the end of the extension plate 914 away from the base rotating plate; the extension plate 914 is made of plastic; the existence of the V-shaped groove 915 allows the extension plate 914 to fit the cable more closely.

[0052] Preferably, in order to improve the accuracy of detection of the effect detection component, the basic rotating plate includes a first plate body 911, a connecting telescopic rod 912 and a second plate body 913; the first plate body 911 and the second plate body 913 are both hard rectangular plates, which are combined together by connecting the telescopic rod 912 and spliced ​​together into a long strip plate; the connecting telescopic rod 912 is a telescopic rod with a built-in compression spring; the first plate body 911 is positioned on the base plate 710, and the second plate body 913 is positioned on the extension plate body 914; when the second plate body 913 is under pressure, the length of the connecting telescopic rod 912 changes; a distance sensor for real-time measurement of the length of the connecting telescopic rod 912 is positioned on the connecting telescopic rod 912, and the distance sensor is connected to the control unit signal, and together with the angle sensor, provides data support for the robot's de-icing effect judgment.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A surface cleaning and maintenance robot for power grid lines, characterized in that: It comprises a basic bearing block (100), a wheel bearing rod, four clamping shifting wheels (300) arranged longitudinally and rotatably connected to the four ends of the wheel bearing rod, a shifting driving assembly (400) which is an electric telescopic rod structure and whose two ends are respectively hinged to the two wheel bearing rods, a top wheel assembly, a battery pack (600), a battery pack bracket, and a striking assembly for cleaning the cable by striking; The basic bearing block (100) is a columnar block arranged longitudinally, with a positioning slot (110) provided on the side wall and a top assembly plate (120) provided on the top for connecting and fixing with the drone; The wheel bearing rod is a hard straight rod arranged transversely; the middle parts of the two wheel bearing rods are hinged together to form an X shape; the two wheel bearing rods pass through the positioning slot (110) and one of the wheel bearing rods is rotatably connected to the basic bearing block (100); The top wheel assembly is positioned at the bottom of the basic bearing block (100), and is a combination of a horizontally placed wheel body and a frame supporting the wheel bodies, and is placed on top of the cable during cleaning; The battery pack (600) is in the shape of a rectangular block and is fixed directly below the basic bearing block (100) via a battery pack bracket fixed to one side of the basic bearing block (100). Its length direction is the same as the moving direction of the robot, and its top surface is more than 15 centimeters away from the wheel bearing rod.

2. The surface cleaning and maintenance robot for power grid lines according to claim 1, characterized in that: The battery pack bracket comprises a base plate (710) and a plate connector (720); the base plate (710) is a horizontally arranged hard plate fixed on the top of the battery pack (600); the plate connector (720) is L-shaped or I-shaped, with the top fixed on the side wall of the basic bearing block (100) and the bottom fixed on the top surface of the base plate (710).

3. The surface cleaning and maintenance robot for power grid lines according to claim 1, characterized in that: The top wheel assembly comprises a wheel frame (510) and a transverse wheel (520); the wheel frame (510) is a rectangular frame structure, horizontally arranged, fixed at the bottom of the basic bearing block (100), and its length direction is the same as the travel direction of the entire robot; the transverse wheel (520) is a waist drum-shaped or funnel-shaped horizontally arranged cylindrical wheel body, which rotates around its own axis and is connected to the wheel frame (510), and the number is more than two.

4. The surface cleaning and maintenance robot for power grid lines according to claim 1, characterized in that: The striking assembly comprises a driving motor (810) and a rotating striking plate (820) positioned on the output shaft of the driving motor (810); the driving motor (810) is fixed to the end of the battery pack (600), and its axial direction is the same as the length direction of the battery pack (600); the rotating striking plate (820) is a long strip of metal, plastic and / or rubber material, and is fixed to the side wall of the output shaft of the driving motor (810); when the output shaft of the driving motor (810) rotates, the rotating striking plate (820) whips the cable to remove ice on the cable.

5. The surface cleaning and maintenance robot for power grid lines according to claim 4, characterized in that: The rotating striking plate (820) is formed by splicing and assembling two long strip-shaped plates, including a base plate (821) and an expansion plate (822); The base plate (821) is a soft metal plate fixed on the side wall of the output shaft; The expansion plate (822) is made of rubber, and its end is detachably fixed to the end of the base plate (821) away from the output shaft.

6. The surface cleaning and maintenance robot for power grid lines according to claim 5, characterized in that: A plurality of rotating striking plates (820) are positioned on the driving motor (810), and the expansion plates (822) of different rotating striking plates (820) have different shapes, such as whip-shaped, long strip-shaped, and brush-shaped. The expansion plates (822) of different shapes successively impact the ice-carrying cable to achieve the effects of whipping, breaking up the ice, and sweeping away the ice.

7. The power grid line surface cleaning and maintenance robot according to any one of claims 4 to 6, characterized in that: The striking assembly also includes a plate length adjustment assembly; the plate length adjustment assembly includes a pulling rope body (831) and a pulling rope (832); the pulling rope body (831) is fixed on the output shaft of the driving motor (810), the axial direction of which is perpendicular to the axial direction of the driving motor (810), and is arranged close to the rotating striking plate (820), and is extended and retracted under the control of the control unit; the pulling rope (832) is a steel wire rope, one end of which is fixed to the end of the rotating striking plate (820) away from the output shaft, and the other end of which is fixed to the end of the pulling rope body (831) away from the output shaft of the driving motor (810), and is always in a straight state; when the pulling rope body (831) is extended and retracted, it drives the rotating striking plate (820) to bend and thus adjust its length.

8. The power grid line surface cleaning and maintenance robot according to any one of claims 4 to 6, characterized in that: There are two striking assemblies, which are respectively located at two ends of the battery pack (600); When the two striking assemblies are in operation, the output shafts of the driving motors (810) on the two striking assemblies rotate in opposite directions.

9. The power grid line surface cleaning and maintenance robot according to any one of claims 1 to 6, characterized in that: Also included is an effect detection assembly, which is positioned on the top of the bottom plate (710) and includes a rotating plate (910) and a plate pulling assembly; The rotating plate (910) is an inclined long strip hard plate, one end of which is rotatably connected to the top of the bottom plate (710), the width and the axial direction of the rotating axis are the same as the width direction of the battery pack (600), and the other end is normally in contact with the bottom of the cable; An angle sensor and a torsion spring are positioned at the connection position between the rotating plate (910) and the base plate (710). The presence of the torsion spring makes the angle between the rotating plate (910) and the base plate (710) have a tendency to increase under the action of elastic force; the angle sensor is used to detect the angle between the rotating plate (910) and the base plate (710) in real time, and is connected to the control unit signal; the plate pulling component is used to control the angle between the rotating plate (910) and the base plate (710) by pulling, and is a combination of a drum and a rope. When it is necessary to place a robot on the cable, the rotating plate (910) is pulled to rotate so that the cable can be inserted into the gap between the base plate (710) and the wheel body bearing rod.

10. The surface cleaning and maintenance robot for power grid lines according to claim 9, characterized in that: The rotating plate (910) is formed by splicing and assembling a basic rotating plate and an extended plate body (914); the end of the extended plate body (914) away from the basic rotating plate abuts against the bottom of the cable; The basic rotating plate comprises a first plate body (911), a connecting telescopic rod (912) and a second plate body (913); the first plate body (911) and the second plate body (913) are combined together by connecting the telescopic rod (912); The connecting telescopic rod (912) is a telescopic rod with a built-in compression spring; the first plate body (911) is positioned on the bottom plate (710), and the second plate body (913) is positioned on the expansion plate body (914); A distance sensor for real-time measurement of the length of the connecting telescopic rod (912) is positioned on the connecting telescopic rod (912), and the distance sensor is connected to the control unit by signal.

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