Rotary cutting deicing robot suitable for power transmission cable and control method thereof

Abstract

The invention relates to the technical field of cable deicing, in particular to a rotary cutting deicing robot suitable for a power transmission cable and a control method thereof.The rotary cutting deicing robot comprises a walking mechanism, an auxiliary walking assembly, an unmanned aerial vehicle hanging assembly, a clamping and aligning assembly, a rotary cutting assembly and a first camera. The operation mode is more flexible, the auxiliary walking assembly applies bending force to ice on the initial position of the cable to enable the ice to fall off, the deicing effect of the initial position of the cable is achieved, the cable is guided and clamped through the clamping and aligning assembly, the center of the cable coincides with the motion center of the rotary cutting assembly, and then the rotary cutting precision is improved; the rotary cutting assembly is used for rotationally cutting the ice layer, it is guaranteed that the icing is completely removed, the icing removing effect is improved, the icing thickness is recognized in real time through the first camera, then dynamic speed regulation is conducted according to the icing thickness, and the intelligent degree is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable deicing, and in particular to a rotary cutting deicing robot suitable for power transmission cables and a control method thereof. Background Art

[0002] Cable icing has long been a difficult problem that needs to be solved in the operation of power grids. Overhead cables usually include transmission wires, ground wires and communication cables. Among them, ground wires have no current thermal efficiency because they do not bear the task of transmitting electric energy, resulting in the most serious icing. In extremely cold weather, it is easy for large areas of cables to be covered with ice, causing accidents such as line tripping, line breaking, tower collapse, insulator flashover and communication interruption, causing huge property losses to the power grid. At present, large-current thermal ice melting methods are used for de-icing, but this method consumes a lot of energy, is very complicated to operate, and requires power outages on transmission lines, affecting users' normal electricity consumption.

[0003] In order to de-ice the high-voltage overhead lines, the existing patent CN202410158335.X discloses a high-voltage overhead line de-icing robot, which uses a winch mechanism to realize the up and down hanging action of the robot on the cable. By setting an upper walking mechanism, a lower walking mechanism and a vibration mechanism, the upper anti-skid wheel and the lower anti-skid wheel can crush the ice on the upper and lower ends of the high-voltage overhead line respectively when walking on the high-voltage overhead line, and turn on the vibration motor while walking, and the vibration of the vibration motor causes the crushed ice to fall. The invention is limited by the length of the winch rope and can only be applied to the distribution network overhead line, which reduces the applicability. Moreover, since the transmission cable is strong and not easy to bend, it is difficult to use the walking wheel to completely crush the ice on the cable, and it is difficult to shake off the ice on the cable by its own vibration, thereby reducing the ice removal effect. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a rotary cutting and deicing robot suitable for power transmission cables, which can complete cable mounting by hanging from an unmanned aerial vehicle to improve applicability, and use a rotating blade to cut the ice layer while ensuring that the cable is not damaged, thereby improving the ice removal effect.

[0005] The technical solution adopted by the present invention is:

[0006] A rotary cutting and deicing robot suitable for power transmission cables comprises a walking mechanism, a drone hanging assembly is arranged above the walking mechanism, and a deicing mechanism is connected to the front side of the walking mechanism, the deicing mechanism comprises a clamping and centering assembly, a rotary cutting assembly and a first camera arranged above the rotary cutting assembly;

[0007] The clamping and centering assembly includes a first mounting frame, a guide rod, a bidirectional screw rod, and a first motor connected to the bidirectional screw rod. The first mounting frame is rotatably connected to a limit rod. The bidirectional screw rod is rotatably connected to the first mounting frame and has two nut blocks connected thereto through forward and reverse threads. The nut block is slidably connected to the guide rod, and a tilting rod is connected to the bottom thereof. The tilting rod is arranged below the limit rod.

[0008] The rotary cutting assembly includes a rotary cutter head, a gear seat, a driving gear, two driven gears, an open gear and a second motor connected to the driving gear. Each driven gear is respectively meshed with the driving gear and the open gear. The driving gear, the driven gear and the open gear are all rotatably connected in the gear seat. The gear seat is fixedly connected to the first mounting frame and has a U-shaped opening at its bottom. The rotary cutter head is connected to the inner side of the open gear and protrudes forward from the gear seat. A blade is connected to the front end of the rotary cutter head.

[0009] Preferably, the walking mechanism includes a frame, a front driving walking wheel and a rear driving walking wheel, the middle parts of the front driving walking wheel and the rear driving walking wheel are provided with annular grooves, the inner sides of the annular grooves are provided with anti-slip grooves, the front driving walking wheel and the rear driving walking wheel are both rotatably connected to the frame, a third motor and a fourth motor are installed on the frame, the output end of the third motor is transmission connected to the front driving walking wheel, and the output end of the fourth motor is transmission connected to the rear driving walking wheel.

[0010] Preferably, an auxiliary walking assembly is connected to the middle part of the frame, and the auxiliary walking assembly includes a second mounting frame, a first lifting sliding block, a second lifting sliding block, a bracket, an L-shaped seat, an intermediate auxiliary wheel, a screw and a fifth motor connected to the top end of the screw, the first lifting sliding block is arranged above the second lifting sliding block, the second mounting frame is connected to a guide shaft, the first lifting sliding block and the second lifting sliding block are both slidably connected to the guide shaft, the first lifting sliding block is connected to the screw by a thread, and one side of the first lifting sliding block is hinged with a first rocking arm, one side of the second lifting sliding block is hinged with a second rocking arm, the top of the second rocking arm is hinged with the first rocking arm, and one side of the first lifting sliding block is connected with a hinge shaft, a spring is connected between the first lifting sliding block and the second lifting sliding block, the L-shaped seat is fixedly connected to the second rocking arm, the intermediate auxiliary wheel is rotatably installed on the bracket, the bracket is connected to the L-shaped seat, the second mounting frame is provided with a vertical guide groove and an arc guide groove, the arc guide groove is connected to the lower end of the vertical guide groove, and the hinge shaft slides along the vertical guide groove and the arc guide groove.

[0011] Preferably, external threaded bearings are symmetrically connected to both sides of the L-shaped seat, and both external threaded bearings are movably abutted against the outer side of the second mounting bracket. The bracket and the L-shaped seat are connected via a tension pressure sensor.

[0012] Preferably, two guide rails are symmetrically connected to the front side of the walking mechanism, and two sliders are symmetrically connected to the rear side of the first mounting frame. The two sliders are respectively slidably connected to the two guide rails. A support plate is provided between the two guide rails, and rubber-coated bolts are threadedly connected to the support plate. The lower side of the second motor is movably abutted against the rubber-coated bolts.

[0013] Preferably, the limiting rod is rotatably connected to the first mounting frame via a bearing, and an icebreaker is provided on the front side thereof, the bottom of the icebreaker is higher than the bottom of the limiting rod, and a plurality of ball bearings are evenly sleeved on the outer side of the tilting rod.

[0014] Preferably, the UAV hanging assembly includes a hanger and an inclined guide frame, hooks are symmetrically connected to both sides of the top of the hanger, and the two ends of the inclined guide frame are respectively connected to the two hooks. A second camera with a vertical upward shooting direction is provided below the UAV hanging assembly. The second camera is fixed on the walking mechanism, and a transparent acrylic plate is detachably connected to the top.

[0015] Preferably, a third mounting frame is connected to the top of the walking mechanism, a mounting groove is provided on the third mounting frame, a plug-in pin is connected to the bottom of the hanger, the plug-in pin is movably inserted into the mounting groove, and a ball head quick release pin is detachably connected to the third mounting frame, and the ball head quick release pin movably passes through the plug-in pin.

[0016] Preferably, inclined support assemblies are symmetrically connected to both sides of the bottom of the walking mechanism, a battery box is installed on one of the inclined support assemblies, and a counterweight block corresponding to the weight of the battery box is installed on the other inclined support assembly, and the center of gravity of the counterweight block is set backward.

[0017] Preferably, the tilt support assembly includes a first support leg and a second support leg, one side between the first support leg and the second support leg is hinged by a hinge, and the adjacent side thereof is movably buckled by a lock.

[0018] The present invention also provides a control method for a rotary cutting and deicing robot suitable for power transmission cables, comprising the following steps:

[0019] S1 robot hanging line, including:

[0020] S11, hanging the boom of the drone into the hook, and using the remote control to control the drone to lift the rotary cutting and deicing robot and hang it on the cable;

[0021] S12, controlling the boom of the drone to move out of the hook, and identifying the position of the boom of the drone in real time through the second camera;

[0022] S2 initial position deicing, including:

[0023] S21, when the second camera recognizes that the boom of the drone is completely moved out of the hook, the auxiliary walking component is started, so that the middle auxiliary wheel is lifted and pressed to the position between the front active walking wheel and the rear active walking wheel, thereby applying a bending force to the ice on the cable, so that the ice is bent and falls off;

[0024] S22, detecting the real-time pressure value by pulling the pressure sensor, and when the real-time pressure value reaches a preset pressure threshold, controlling the middle auxiliary wheel to stop rising;

[0025] S23, start the walking mechanism to move forward a certain distance, so that the ice in front bends and falls off, and then moves back to reset, so as to achieve the effect of deicing at the initial position;

[0026] S3 clamping and centering assembly centering, including:

[0027] S31, using a first camera to observe the deicing condition at the initial position, and when the deicing at the initial position is completed, starting the clamping and centering assembly;

[0028] S32, driving the two tilting rods to move in opposite directions by the first motor, thereby pressing the cable toward the center of the rotating cutting assembly, and determining whether the cable is clamped in place according to a current threshold preset by the first motor during the clamping process;

[0029] S33, when the current supplied by the first motor reaches a preset current threshold, closing the clamping and centering assembly;

[0030] S4 dynamic speed regulation de-icing, including:

[0031] S41, starting the walking mechanism and the rotary cutting assembly at the same time, thereby driving the rotary cutting deicing robot to move forward along the cable, and rotary cutting the ice on the cable through the rotary cutting assembly;

[0032] S42, real-time identification of ice thickness by a first camera, when the ice thickness is greater than a preset first thickness threshold, simultaneously reducing the forward speed of the walking mechanism and the rotational cutting speed of the rotary cutting assembly, and when the ice thickness is less than a preset second thickness threshold, simultaneously increasing the forward speed of the walking mechanism and the rotational cutting speed of the rotary cutting assembly;

[0033] S43, after the rotary cutting assembly has rotary cut the ice on the cable, the remaining thin ice layer is cut by an ice breaker;

[0034] S5 robots are offline, including:

[0035] S51, after all ice covering the cable is cleared, the middle auxiliary wheel is controlled to descend and flip downward to form an open state, and at the same time, the two tilting rods are driven by the first motor to move in opposite directions, thereby loosening the cable;

[0036] S52. Use remote control to control the boom of the drone to hang into the hook, and then use the drone to recover the rotating cutting and deicing robot.

[0037] The beneficial effects of the present invention are:

[0038] 1. The rotary cutting and deicing robot and control method for power transmission cables can complete cable mounting by hanging from a drone, making the operation more flexible and improving applicability;

[0039] 2. Install the battery box and counterweight on the tilt support assembly so that the center of gravity of the robot is lower than the lowest position of the cable, so that the robot's own gravity can be used to generate a restoring torque when the robot is tilted, ensuring that the robot does not tip over and improving the stability of the robot's posture;

[0040] 3. The auxiliary walking component applies a bending force to the ice at the initial position of the cable, so that the ice bends and falls off, achieving the effect of deicing the initial position of the cable. The auxiliary walking component cooperates with the walking mechanism to clamp the cable tightly, increase friction, prevent slipping during walking, and prevent the robot from detaching from the cable, thereby improving walking reliability and safety;

[0041] 4. The two tilt rods of the clamping centering assembly move toward each other, thereby clamping the cable, and through the guiding effect, the cable center coincides with the movement center of the rotating cutting assembly, thereby improving the ice cutting effect of the rotating cutting assembly and preventing the blade from causing contact damage to the cable, improving safety and extending the service life of the robot;

[0042] 5. The limit rod is used to ensure that the ice-breaking blade will not damage the cable when removing residual ice. The double blade combination in different positions is used to remove sharp ice and thin ice respectively, ensuring that the ice can be completely removed, thereby improving the ice removal effect;

[0043] 6. The first camera is used to identify the ice thickness in real time, and then the forward speed of the walking mechanism and the rotary cutting speed of the rotary cutting assembly are adjusted according to the ice thickness to achieve the effect of dynamic speed regulation, so that the operation strategy can be flexibly adjusted according to the actual ice thickness, thereby improving the operation flexibility and the degree of intelligence;

[0044] 7. When not in use, the tilt support assembly can be folded, and the drone hanging assembly can be quickly disassembled, reducing space occupancy and facilitating the storage and transportation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 The schematic diagram of the structure of the rotary cutting and deicing robot suitable for power transmission cables.

[0046] Figure 2 It is a structural diagram of the de-icing mechanism.

[0047] Figure 3 Schematic diagram of the de-icing mechanism.

[0048] Figure 4 It is a structural diagram of the walking mechanism.

[0049] Figure 5 It is a structural schematic diagram of the auxiliary walking component.

[0050] Figure 6 A three-dimensional cross-sectional view of the walking aid component.

[0051] Figure 7 Schematic diagram of the connection between the slider and the guide rail.

[0052] Figure 8 The first exploded schematic diagram of a rotary cutting and deicing robot suitable for power transmission cables.

[0053] Fig. 9 for Figure 8 A magnified schematic diagram of center A.

[0054] Fig.10 This is a schematic diagram of the installation position of the ice breaker.

[0055] Fig.11 for Fig.10 Cross-sectional view of the structure.

[0056] Fig.12 The second exploded schematic diagram of the rotary cutting and deicing robot suitable for power transmission cables.

[0057] Fig.13 for Fig.12 A magnified schematic diagram of point B in the middle.

[0058] Fig.14 for Fig.12 Enlarged schematic diagram of point C in the middle.

[0059] Fig.15 The present invention is a flow chart of a control method of a rotary cutting and deicing robot suitable for power transmission cables.

[0060] In the figure: 1. walking mechanism; 101. frame; 102. front active walking wheel; 103. rear active walking wheel; 104. third motor; 105. fourth motor; 106. annular groove; 107. anti-skid pattern; 2. UAV hanging assembly; 201. hanger; 202. tilt guide frame; 203. hook; 204. plug-in foot; 3. deicing mechanism; 301. clamping and centering assembly; 3011. first mounting frame; 3012. guide rod ; 3013. Bidirectional screw rod; 3014. First motor; 3015. Limit rod; 3016. Nut block; 3017. Tilt rod; 302. Rotating cutting assembly; 3021. Rotating cutter head; 3022. Gear seat; 3023. Driving gear; 3024. Driven gear; 3025. Open gear; 3026. Second motor; 3027. U-shaped mouth; 3028. Blade; 4. First camera; 5. Auxiliary walking assembly ; 501. Second mounting frame; 502. First lifting sliding block; 503. Second lifting sliding block; 504. Bracket; 505. L-shaped seat; 506. Intermediate auxiliary wheel; 507. Screw; 508. Fifth motor; 509. Guide shaft; 510. First rocker; 511. Second rocker; 512. Hinge shaft; 513. Spring; 514. Vertical guide groove; 515. Arc guide groove; 516. External threaded bearing; 517. Tension pressure sensor; 6. Guide rail; 7. Slider; 8. Support plate; 9. Rubber-coated bolts; 10. Ice breaker; 11. Ball bearing; 12. Third mounting bracket; 13. Mounting slot; 14. Ball head quick release pin; 15. Tilt support assembly; 1501. First support leg; 1502. Second support leg; 1503. Hinge; 1504. Lock; 16. Battery box; 17. Counterweight; 18. Second camera; 19. Transparent acrylic plate. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] See also Figure 1-Figure 14 The present invention provides a technical solution: a rotary cutting and deicing robot suitable for power transmission cables, comprising a walking mechanism 1, a drone hanging assembly 2 is arranged above the walking mechanism 1, and a deicing mechanism 3 is connected to the front side thereof, the deicing mechanism 3 comprises a clamping and centering assembly 301, a rotary cutting assembly 302 and a first camera 4 arranged above the rotary cutting assembly 302;

[0063] See also Figure 2The clamping and centering assembly 301 includes a first mounting frame 3011, a guide rod 3012, a bidirectional screw rod 3013, and a first motor 3014 connected to the bidirectional screw rod 3013. The first mounting frame 3011 is rotatably connected to a limit rod 3015. The bidirectional screw rod 3013 is rotatably connected to the first mounting frame 3011, and is connected to two nut blocks 3016 through forward and reverse threads. The nut block 3016 is slidably connected to the guide rod 3012, and a tilting rod 3017 is connected to the bottom thereof. The tilting rod 3017 is arranged below the limit rod 3015.

[0064] See also Figure 3 The rotary cutting assembly 302 includes a rotary cutter head 3021, a gear seat 3022, a driving gear 3023, two driven gears 3024, an open gear 3025, and a second motor 3026 connected to the driving gear 3023. Each driven gear 3024 is meshed with the driving gear 3023 and the open gear 3025, respectively. The driving gear 3023, the driven gear 3024, and the open gear 3025 are all rotatably connected in the gear seat 3022. The gear seat 3022 is fixedly connected to the first mounting frame 3011, and a U-shaped opening 3027 is provided at the bottom thereof. The rotary cutter head 3021 is connected to the inner side of the open gear 3025, and protrudes forward from the gear seat 3022. The front end of the rotary cutter head 3021 is connected to a blade 3028.

[0065] Hang the boom of the drone on the drone hanging assembly 2, use the remote control to control the drone to lift the rotary cutting deicing robot and hang it on the cable, so that the cable enters the gear seat 3022 from the U-shaped opening 3027 and enters the inner side of the open gear 3025 at the same time, then start the clamping and centering assembly 301, and drive the bidirectional screw rod 3013 to rotate through the first motor 3014, so that the two nut blocks 3016 move in opposite directions, thereby driving the two tilting rods 3017 to move in opposite directions and clamp the cable, and at the same time press the cable to the center position of the rotary cutting assembly 302. During the clamping process, it is determined whether the clamping is in place according to the preset current threshold of the first motor 3014. When the current passed through the first motor 3014 reaches the preset current threshold, the walking mechanism 1 and the rotary cutting assembly 302 are started at the same time, thereby driving the rotary cutting deicing robot to move forward along the cable.

[0066] The second motor 3026 drives the driving gear 3023 to rotate, and the driving gear 3023 drives the open gear 3025 to rotate through the driven gear 3024, thereby driving the rotating cutter head 3021 and the blade 3028 to rotate, so that the blade 3028 performs rotational cutting on the ice on the cable, and the ice thickness is identified in real time by the first camera 4. When the ice thickness is greater than a preset first thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotating cutting component 302 are reduced at the same time. When the ice thickness is less than a preset second thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotating cutting component 302 are increased at the same time. After deicing is completed, the rotating cutting deicing robot is recovered by a drone.

[0067] See also Figure 4 In order to improve the walking and climbing power of the rotary cutting deicing robot and prevent slipping, in this embodiment, preferably, the walking mechanism 1 includes a frame 101, a front active walking wheel 102 and a rear active walking wheel 103, and the middle parts of the front active walking wheel 102 and the rear active walking wheel 103 are provided with an annular groove 106, and the inner side of the annular groove 106 is provided with an anti-slip pattern 107, and the front active walking wheel 102 and the rear active walking wheel 103 are both rotatably connected to the frame 101, and a third motor 104 and a fourth motor 105 are installed on the frame 101, and the output end of the third motor 104 is transmission-connected to the front active walking wheel 102, and the output end of the fourth motor 105 is transmission-connected to the rear active walking wheel 103;

[0068] The purpose is that the front active walking wheel 102 and the rear active walking wheel 103 are driven by the third motor 104 and the fourth motor 105 respectively, so that each walking wheel has a separate motor drive, which greatly increases the walking and climbing power. The middle of the front active walking wheel 102 and the rear active walking wheel 103 are provided with an annular groove 106, and the inner side of the annular groove 106 is provided with an anti-skid pattern 107. The anti-skid pattern 107 can increase the friction between the walking wheel and the cable surface, reduce the possibility of sliding, and ensure that the walking wheel can stably move along the cable to avoid slipping.

[0069] See also Figure 5-Figure 6In order to facilitate deicing of the initial position of the cable and prevent the rotating cutting deicing robot from being separated from the cable, in this embodiment, preferably, an auxiliary walking assembly 5 is connected to the middle of the frame 101, and the auxiliary walking assembly 5 includes a second mounting frame 501, a first lifting sliding block 502, a second lifting sliding block 503, a bracket 504, an L-shaped seat 505, an intermediate auxiliary wheel 506, a screw 507 and a fifth motor 508 connected to the top of the screw 507, the first lifting sliding block 502 is arranged above the second lifting sliding block 503, and a guide shaft 509 is connected to the second mounting frame 501, the first lifting sliding block 502 and the second lifting sliding block 503 are both slidably connected to the guide shaft 509, and the first lifting sliding block 502 and the screw 507 are connected. The second lifting slide block 503 is connected by a thread, and one side of the second lifting slide block 503 is hinged with a first rocking arm 510, and one side of the second rocking arm 511 is hinged, the top of the second rocking arm 511 is hinged with the first rocking arm 510, and one side of the second rocking arm 511 is connected with a hinge shaft 512, a spring 513 is connected between the first lifting slide block 502 and the second lifting slide block 503, the L-shaped seat 505 is fixedly connected with the second rocking arm 511, the middle auxiliary wheel 506 is rotatably mounted on the bracket 504, the bracket 504 is connected with the L-shaped seat 505, and the second mounting frame 501 is provided with a vertical guide groove 514 and an arc guide groove 515, the arc guide groove 515 is connected to the lower end of the vertical guide groove 514, and the hinge shaft 512 slides along the vertical guide groove 514 and the arc guide groove 515;

[0070] The purpose is that before the rotary cutting deicing robot needs to hang the line, the fifth motor 508 drives the screw 507 to rotate, thereby driving the first lifting sliding block 502 to descend along the guide shaft 509, and the first lifting sliding block 502 drives the second lifting sliding block 503 to descend through the first rocker 510 and the second rocker 511, and at the same time makes the hinge shaft 512 slide downward along the vertical guide groove 514 and the arc guide groove 515, so as to improve the guiding accuracy of the descending stroke. When the hinge shaft 512 slides in the arc guide groove 515, The first rocker 510 and the second rocker 511 both rotate along the hinge point, and the second rocker 511 drives the L-shaped seat 505 to flip downward. At this time, the first lifting sliding block 502 and the second lifting sliding block 503 approach each other, and the spring 513 reduces the vibration generated when approaching each other, thereby improving the stability of the movement when moving closer. When the hinge shaft 512 slides to the bottom of the arc-shaped guide groove 515, the second rocker 511 drives the L-shaped seat 505 to flip downward to form an open state, thereby avoiding interference between the middle auxiliary wheel 506 and the cable.

[0071] After the cable successfully enters the walking mechanism 1, the fifth motor 508 drives the screw rod 507 to rotate in the opposite direction, thereby driving the first lifting sliding block 502 to rise along the guide shaft 509. The first lifting sliding block 502 drives the second lifting sliding block 503 to rise through the first rocker arm 510 and the second rocker arm 511, and at the same time makes the hinge shaft 512 slide upward along the arc guide groove 515 and the vertical guide groove 514. When the hinge shaft 512 slides in the arc guide groove 515, the first rocker arm 510 and the second rocker arm 511 both rotate along the hinge point, and the second rocker arm 511 drives the L-shaped seat 505 to flip upward. At this time, the first lifting sliding block 502 and the second lifting sliding block 503 move away from each other, and the spring 513 is used to reduce the vibration generated when moving away from each other, thereby improving the action when moving away. In order to ensure the stability of the vehicle, when the hinge shaft 512 slides to the top of the arc guide groove 515, the second rocker arm 511 drives the L-shaped seat 505 to flip upward to form a closed state. At this time, the middle auxiliary wheel 506 is located directly below the cable, and then continues to drive the screw 507 to rotate in the opposite direction through the fifth motor 508, and the hinge shaft 512 slides upward in the vertical guide groove 514, and the second rocker arm 511 drives the L-shaped seat 505 to rise vertically upward until the middle auxiliary wheel 506 applies a bending force to the ice at the initial position on the cable, causing the ice to bend and fall off, and then the middle auxiliary wheel 506 presses the cable and cooperates with the walking mechanism 1 to form a state of clamping the cable, thereby increasing friction, preventing slipping during walking, and preventing the rotary cutting deicing robot from detaching from the cable, thereby improving walking reliability and safety.

[0072] In order to improve the lifting stability of the L-shaped seat 505 and enable the intermediate auxiliary wheel 506 to automatically stop rising, improve the degree of automation, and prevent the cable from being over-tightened, in this embodiment, preferably, both sides of the L-shaped seat 505 are symmetrically connected with external threaded bearings 516, and the two external threaded bearings 516 are movably abutted against the outer side of the second mounting frame 501, and the bracket 504 and the L-shaped seat 505 are connected through a tension pressure sensor 517;

[0073] The purpose is to make the external threaded bearing 516 roll along the outer side of the second mounting frame 501 while the L-shaped seat 505 is being lifted. The rolling of the external threaded bearing 516 can share the friction between the L-shaped seat 505 and the second mounting frame 501, making the lifting process smoother and avoiding the resistance and jitter caused by direct sliding, thereby improving the lifting and lowering stability of the L-shaped seat 505. Moreover, with the support of the external threaded bearing 516, the load and pressure of the L-shaped seat 505 can be evenly distributed, reducing local wear and extending the service life. The intermediate auxiliary wheel 506 rises vertically upward and applies a bending force to the ice at the initial position of the cable, causing the ice to bend and fall off. Then the intermediate auxiliary wheel 506 continues to rise and presses the cable, and the real-time pressure value is detected by the pull pressure sensor 517. When the real-time pressure value reaches the preset pressure threshold, the fifth motor 508 is controlled to stop the rotational drive of the screw 507, so that the intermediate auxiliary wheel 506 stops rising, thereby improving the degree of automation and preventing excessive tightening of the cable.

[0074] See also Figure 7-Figure 9 In order to facilitate adaptive adjustment according to the inclination of the cable, in this embodiment, preferably, the front side of the walking mechanism 1 is symmetrically connected to two guide rails 6, and the rear side of the first mounting frame 3011 is symmetrically connected to two sliders 7, the two sliders 7 are slidably connected to the two guide rails 6 respectively, and a support plate 8 is provided between the two guide rails 6. The support plate 8 is threadedly connected to a rubber-coated bolt 9, and the lower side of the second motor 3026 is movably abutted against the rubber-coated bolt 9;

[0075] The purpose is that when the rotary cutting and deicing robot walks forward and climbs the slope, because the front of the cable is inclined upward, the upwardly inclined cable can lift the deicing mechanism 3 through the limit rod 3015, so that the deicing mechanism 3 slides upward along the guide rail 6 through the slider 7, and then performs adaptive adjustment according to the inclination of the cable, thereby improving the degree of adaptability and preventing the overall gravity of the rotary cutting and deicing robot from being concentrated on the deicing mechanism 3 to cause the walking mechanism 1 to slip, and through the rubber-coated bolt 9, it is movably abutted with the lower side of the second motor 3026 to form a limit of the second motor 3026 at the lowest position in the adaptive adjustment.

[0076] See also Figure 10-11 In order to facilitate the smoothness of the walking of the rotary cutting de-icing robot, and to be able to cut the thin ice layer and improve the ice removal effect, in this embodiment, preferably, the limit rod 3015 is rotatably connected to the first mounting frame 3011 through a bearing, and an ice-breaking knife 10 is provided on the front side thereof, the bottom of the ice-breaking knife 10 is higher than the bottom of the limit rod 3015, and a plurality of ball bearings 11 are evenly sleeved on the outer side of the tilt rod 3017;

[0077] The purpose is to make the limit rod 3015 and the two tilting rods 3017 form a triangular structure and clamp the cable when the rotary cutting deicing robot walks along the cable. The limit rod 3015 is rotatably connected to the first mounting frame 3011 through a bearing, and the tilting rod 3017 contacts the cable through a ball bearing 11, thereby reducing the relative friction between the rotary cutting deicing robot and the cable when walking, improving the smoothness of walking, and after the rotary cutting component 302 rotates and cuts the thick ice layer on the cable, the thin ice layer can be cut by the ice breaker 10, further improving the ice removal effect.

[0078] See also Fig.12 In order to facilitate hanging the boom of the drone on the drone hanging assembly 2 and to facilitate removing the boom of the drone from the drone hanging assembly 2, in this embodiment, preferably, the drone hanging assembly 2 includes a hanger 201 and an inclined guide frame 202, and hooks 203 are symmetrically connected to the top of the hanger 201. The two ends of the inclined guide frame 202 are respectively connected to the two hooks 203. A second camera 18 with a vertical upward shooting direction is provided below the drone hanging assembly 2. The second camera 18 is fixed on the walking mechanism 1, and a transparent acrylic plate 19 is detachably connected to the top thereof;

[0079] The purpose is to guide by tilting the guide frame 202, so as to facilitate hanging the boom of the UAV into the hook 203, use remote control to control the UAV to lift the rotary cutting and deicing robot and hang it on the cable, and use the second camera 18 to identify the position of the boom of the UAV in real time, so as to facilitate controlling the boom of the UAV to move out of the hook 203.

[0080] See also Fig.13 In order to facilitate the rapid disassembly and installation of the drone hanging assembly 2, reduce the space occupied, and facilitate the storage and transportation of the rotary cutting deicing robot, in this embodiment, preferably, the top of the walking mechanism 1 is connected with a third mounting frame 12, and the third mounting frame 12 is provided with a mounting groove 13, and the bottom of the hanging frame 201 is connected with a plug pin 204, and the plug pin 204 is movably inserted into the mounting groove 13, and the third mounting frame 12 is detachably connected with a ball head quick release pin 14, and the ball head quick release pin 14 movably penetrates the plug pin 204;

[0081] The purpose is that when the rotary cutting and deicing robot is needed, the plug-in pin 204 of the UAV hanging assembly 2 is inserted downward into the installation groove 13, and then the ball head quick release pin 14 is installed so that it passes through the plug-in pin 204 to form a fixation, thereby realizing the rapid installation of the UAV hanging assembly 2. When the rotary cutting and deicing robot is finished using, the ball head quick release pin 14 is removed, and then the plug-in pin 204 of the UAV hanging assembly 2 is moved upward out of the installation groove 13, thereby realizing the rapid disassembly of the UAV hanging assembly 2, reducing the space occupied and facilitating the storage and transportation of the rotary cutting and deicing robot.

[0082] See also Fig.12 In order to facilitate the ground support of the rotary cutting deicing robot and make the center of gravity of the rotary cutting deicing robot lower than the lowest position of the cable when hanging the cable, so as to improve the stability of the rotary cutting deicing robot, in this embodiment, preferably, the bottom of the walking mechanism 1 is symmetrically connected with inclined support components 15 on both sides, one of the inclined support components 15 is installed with a battery box 16, and the other inclined support component 15 is installed with a counterweight block 17 corresponding to the weight of the battery box 16, and the center of gravity of the counterweight block 17 is set backward;

[0083] The purpose is to install the battery box 16 and the counterweight 17 on the two inclined support assemblies 15 respectively, so that the center of gravity of the rotary cutting and deicing robot is lower than the lowest position of the cable, so as to utilize the rotary cutting and deicing robot's own gravity to generate a restoring torque when the robot is tilted, thereby ensuring that the rotary cutting and deicing robot does not tip over and improving the stability of the rotary cutting and deicing robot's posture. The center of gravity of the battery box 16 and the counterweight 17 is set backward, which can offset the weight of the deicing mechanism 3 and prevent the rotary cutting and deicing robot from tilting forward as a whole.

[0084] See also Fig.14 In order to facilitate folding of the tilting support assembly 15, reduce space occupation, and facilitate storage and transportation of the rotary cutting deicing robot, in this embodiment, preferably, the tilting support assembly 15 includes a first support leg 1501 and a second support leg 1502, one side between the first support leg 1501 and the second support leg 1502 is hinged by a hinge 1503, and the adjacent side thereof is movably buckled by a lock 1504;

[0085] The purpose is to unlock the lock 1504 when the rotary cutting deicing robot is not used, and then flip the second supporting leg 1502 upward with the hinge 1503 as the center, so that the first supporting leg 1501 and the second supporting leg 1502 are in a folded state, reducing the space occupied and facilitating the storage and transportation of the rotary cutting deicing robot. When the rotary cutting deicing robot needs to be used, flip the second supporting leg 1502 downward with the hinge 1503 as the center, so that the first supporting leg 1501 and the second supporting leg 1502 are in an unfolded state, and then lock the lock 1504 to fix it.

[0086] See also Fig.15 The present invention also provides a control method for a rotary cutting and deicing robot for power transmission cables, comprising the following steps:

[0087] S1 robot hanging line, including:

[0088] S11, hanging the boom of the drone into the hook 203, and using remote control to control the drone to lift the rotary cutting deicing robot and hang it on the cable;

[0089] S12, controlling the boom of the drone to move out of the hook 203, and identifying the position of the boom of the drone in real time through the second camera 18;

[0090] S2 initial position deicing, including:

[0091] S21, when the second camera 18 recognizes that the boom of the drone is completely moved out of the hook 203, the auxiliary walking assembly 5 is started, so that the middle auxiliary wheel 506 is lifted and pressed to the position between the front active walking wheel 102 and the rear active walking wheel 103, thereby applying a bending force to the ice on the cable, so that the ice is bent and falls off;

[0092] S22, detecting the real-time pressure value by pulling the pressure sensor 517, and when the real-time pressure value reaches a preset pressure threshold, controlling the intermediate auxiliary wheel 506 to stop rising;

[0093] S23, start the walking mechanism 1 to move forward a certain distance, so that the ice in front bends and falls off, and then moves back to reset, so as to achieve the effect of deicing at the initial position;

[0094] S3 clamping and centering assembly centering, including:

[0095] S31, using the first camera 4 to observe the deicing situation at the initial position, and when the deicing at the initial position is completed, starting the clamping and centering assembly 301;

[0096] S32, driving the two tilting rods 3017 to move in opposite directions by the first motor 3014, thereby pressing the cable toward the center of the rotating cutting assembly 302, and determining whether the cable is clamped in place according to a current threshold preset by the first motor 3014 during the clamping process;

[0097] S33, when the current supplied by the first motor 3014 reaches a preset current threshold, the clamping and centering assembly 301 is closed;

[0098] S4 dynamic speed regulation de-icing, including:

[0099] S41, starting the walking mechanism 1 and the rotary cutting assembly 302 at the same time, thereby driving the rotary cutting deicing robot to move forward along the cable, and rotary cutting the ice on the cable through the rotary cutting assembly 302;

[0100] S42, real-time identification of ice thickness is performed through the first camera 4, and when the ice thickness is greater than a preset first thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotary cutting assembly 302 are reduced simultaneously; when the ice thickness is less than a preset second thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotary cutting assembly 302 are increased simultaneously;

[0101] S43, after the rotary cutting assembly 302 performs rotary cutting on the ice covering the cable, the remaining thin ice layer is cut by the ice breaker 10;

[0102] S5 robots are offline, including:

[0103] S51, after all the ice covering the cable is removed, the middle auxiliary wheel 506 is controlled to descend and flip downward to form an open state, and at the same time, the two tilting rods 3017 are driven by the first motor 3014 to move in opposite directions, thereby loosening the cable;

[0104] S52, using remote control to control the boom of the drone to hang into the hook 203, and then using the drone to recover the rotary cutting deicing robot;

[0105] The present application completes cable mounting by hanging an unmanned aerial vehicle, which makes the operation more flexible and improves applicability. The battery box 16 and the counterweight 17 are installed on the tilt support assembly 15, so that the center of gravity of the robot is lower than the lowest position of the cable, so that the robot's own gravity is used to generate a restoring torque when the robot is tilted, ensuring that the robot does not tip over and improving the stability of the robot's posture. The auxiliary walking assembly 5 applies a bending force to the ice at the initial position of the cable, so that the ice bends and falls off, and the auxiliary walking assembly 5 cooperates with the walking mechanism 1 to form a state of clamping the cable, increasing friction, preventing slipping during walking, and preventing the robot from detaching from the cable, thereby improving walking reliability and safety. The two tilting rods 3017 of the clamping centering assembly 301 move toward each other, thereby clamping the cable, and through the guiding effect, the cable center is made to coincide with the movement center of the rotating cutting assembly 302, thereby improving the ice cutting effect of the rotating cutting assembly 302, and preventing the blade 3028 from causing contact damage to the cable, thereby improving safety and extending the service life of the robot. On the premise of ensuring that the cable is not damaged, the blade 3028 of the rotating cutting assembly 302 is used to rotate and cut the ice layer, thereby improving the ice removal effect, and after the rotating cutting assembly 302 rotates and cuts the thick ice layer on the cable, the thin ice layer is cut by the ice breaker 10, thereby ensuring that the ice is completely removed, further improving the ice removal effect;

[0106] The ice thickness is identified in real time by the first camera 4. When the ice thickness is greater than the preset first thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotating cutting assembly 302 are reduced at the same time, so that the blade 3028 can cut the thick ice layer more smoothly and evenly, avoiding uneven cutting or incomplete removal of the ice layer. In addition, the load of the robot is reduced, ensuring a more stable cutting process and extending the service life of the robot. When the ice thickness is less than the preset second thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotating cutting assembly 302 are increased at the same time, thereby improving the work efficiency of the robot and reducing the time to complete the task. By dynamically adjusting the speed, the robot can flexibly adjust the operation strategy according to the actual ice thickness and improve the operation flexibility. When the rotary cutting deicing robot is finished using, the tilting support assembly 15 can be folded, and the drone hanging assembly 2 can be quickly disassembled, reducing space occupancy and facilitating the storage and transportation of the robot.

[0107] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. 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 rotary cutting and deicing robot suitable for power transmission cables, comprising a walking mechanism (1), characterized in that: A drone hanging assembly (2) is provided above the walking mechanism (1), and a deicing mechanism (3) is connected to the front side thereof, wherein the deicing mechanism (3) comprises a clamping and centering assembly (301), a rotating cutting assembly (302), and a first camera (4) provided above the rotating cutting assembly (302); The clamping and centering assembly (301) comprises a first mounting frame (3011), a guide rod (3012), a bidirectional screw rod (3013), and a first motor (3014) connected to the bidirectional screw rod (3013); a limit rod (3015) is rotatably connected to the first mounting frame (3011); the bidirectional screw rod (3013) is rotatably connected to the first mounting frame (3011), and has two nut blocks (3016) connected thereto via forward and reverse threads; the nut block (3016) is slidably connected to the guide rod (3012), and a tilting rod (3017) is connected to the bottom thereof; the tilting rod (3017) is arranged below the limit rod (3015); The rotary cutting assembly (302) comprises a rotary cutter head (3021), a gear seat (3022), a driving gear (3023), two driven gears (3024), an open gear (3025), and a second motor (3026) connected to the driving gear (3023); each driven gear (3024) is respectively meshed with the driving gear (3023) and the open gear (3025); the driving gear (3023), the driven gear (3024), and the open gear (3025) are all rotatably connected to the gear seat (3022); the gear seat (3022) is fixedly connected to the first mounting frame (3011), and a U-shaped opening (3027) is provided at the bottom thereof; the rotary cutter head (3021) is connected to the inner side of the open gear (3025), and protrudes forward from the gear seat (3022); and a blade (3028) is connected to the front end of the rotary cutter head (3021).

2. The rotary cutting and deicing robot for power transmission cables according to claim 1, characterized in that: The walking mechanism (1) comprises a frame (101), a front driving walking wheel (102) and a rear driving walking wheel (103); the middle parts of the front driving walking wheel (102) and the rear driving walking wheel (103) are both provided with an annular groove (106); the inner side of the annular groove (106) is provided with an anti-slip groove (107); the front driving walking wheel (102) and the rear driving walking wheel (103) are both rotatably connected to the frame (101); a third motor (104) and a fourth motor (105) are mounted on the frame (101); the output end of the third motor (104) is transmission-connected to the front driving walking wheel (102); the output end of the fourth motor (105) is transmission-connected to the rear driving walking wheel (103).

3. The rotary cutting and deicing robot for power transmission cables according to claim 2, characterized in that: The middle part of the frame (101) is connected with an auxiliary walking assembly (5), and the auxiliary walking assembly (5) comprises a second mounting frame (501), a first lifting sliding block (502), a second lifting sliding block (503), a bracket (504), an L-shaped seat (505), an intermediate auxiliary wheel (506), a screw rod (507), and a fifth motor (508) connected to the top of the screw rod (507); the first lifting sliding block (502) is arranged above the second lifting sliding block (503); the second mounting frame (501) is connected with a guide shaft (509); the first lifting sliding block (502) and the second lifting sliding block (503) are both slidably connected to the guide shaft (509); the first lifting sliding block (502) is connected to the screw rod (507) by a thread, and a first rocker (510) is hinged on one side of the first lifting sliding block (502); A second rocking arm (511) is hinged on one side of the lifting sliding block (503); the top of the second rocking arm (511) is hinged to the first rocking arm (510), and a hinge shaft (512) is connected to one side of the second rocking arm (511); a spring (513) is connected between the first lifting sliding block (502) and the second lifting sliding block (503); the L-shaped seat (505) is fixedly connected to the second rocking arm (511); the intermediate auxiliary wheel (506) is rotatably mounted on the bracket (504); the bracket (504) is connected to the L-shaped seat (505); a vertical guide groove (514) and an arc guide groove (515) are provided on the second mounting frame (501); the arc guide groove (515) is connected to the lower end of the vertical guide groove (514); and the hinge shaft (512) slides along the vertical guide groove (514) and the arc guide groove (515).

4. The rotary cutting and deicing robot for power transmission cables according to claim 3, characterized in that: Externally threaded bearings (516) are symmetrically connected to both sides of the L-shaped seat (505), and both of the externally threaded bearings (516) are movably abutted against the outer side of the second mounting frame (501). The bracket (504) and the L-shaped seat (505) are connected via a tension pressure sensor (517).

5. The rotary cutting and deicing robot for power transmission cables according to claim 1, characterized in that: The front side of the walking mechanism (1) is symmetrically connected to two guide rails (6), and the rear side of the first mounting frame (3011) is symmetrically connected to two sliders (7), the two sliders (7) are respectively slidably connected to the two guide rails (6), a support plate (8) is provided between the two guide rails (6), and a rubber-coated bolt (9) is threadedly connected to the support plate (8), and the lower side of the second motor (3026) is movably abutted against the rubber-coated bolt (9).

6. The rotary cutting and deicing robot for power transmission cables according to claim 4, characterized in that: The limiting rod (3015) is rotatably connected to the first mounting frame (3011) via a bearing, and an icebreaker (10) is provided on the front side thereof, the bottom of the icebreaker (10) is higher than the bottom of the limiting rod (3015), and a plurality of ball bearings (11) are evenly sleeved on the outer side of the tilting rod (3017).

7. The rotary cutting and deicing robot for power transmission cables according to claim 6, characterized in that: The drone hanging assembly (2) comprises a hanger (201) and an inclined guide frame (202), the top of the hanger (201) is symmetrically connected to hooks (203) on both sides, and the two ends of the inclined guide frame (202) are respectively connected to the two hooks (203), and a second camera (18) with a vertical upward shooting direction is provided below the drone hanging assembly (2), the second camera (18) is fixed on the walking mechanism (1), and a transparent acrylic plate (19) is detachably connected to the top of the second camera (18).

8. The rotary cutting and deicing robot for power transmission cables according to claim 7, characterized in that: The top of the walking mechanism (1) is connected to a third mounting frame (12), and a mounting groove (13) is provided on the third mounting frame (12). The bottom of the hanger (201) is connected to a plug-in pin (204), and the plug-in pin (204) is movably inserted into the mounting groove (13). The third mounting frame (12) is detachably connected to a ball head quick release pin (14), and the ball head quick release pin (14) movably passes through the plug-in pin (204).

9. The rotary cutting and deicing robot for power transmission cables according to claim 7, characterized in that: The bottom sides of the walking mechanism (1) are symmetrically connected with inclined support assemblies (15), one of the inclined support assemblies (15) being equipped with a battery box (16), and the other of the inclined support assemblies (15) being equipped with a counterweight (17) corresponding to the weight of the battery box (16), the center of gravity of the counterweight (17) being arranged rearward.

10. The rotary cutting and deicing robot for power transmission cables according to claim 9, characterized in that: The tilt support assembly (15) comprises a first support leg (1501) and a second support leg (1502), one side between the first support leg (1501) and the second support leg (1502) is hinged by a hinge (1503), and the adjacent side thereof is movably buckled by a lock (1504).

11. A control method for a rotary cutting and deicing robot suitable for power transmission cables based on any one of claims 7 to 10, characterized in that: The following steps are involved: S1 robot hanging line, including: S11, hanging the boom of the drone into the hook (203), using remote control to control the drone to lift the rotary cutting and deicing robot and hang it on the cable; S12, controlling the boom of the drone to move out of the hook (203), and identifying the position of the boom of the drone in real time through the second camera (18); S2 initial position deicing, including: S21, when the second camera (18) recognizes that the boom of the drone is completely moved out of the hook (203), the auxiliary walking assembly (5) is started, so that the middle auxiliary wheel (506) is lifted and pressed to a position between the front active walking wheel (102) and the rear active walking wheel (103), thereby applying a bending force to the ice on the cable, causing the ice to bend and fall off; S22, detecting the real-time pressure value by pulling the pressure sensor (517), and when the real-time pressure value reaches a preset pressure threshold, controlling the intermediate auxiliary wheel (506) to stop rising; S23, starting the walking mechanism (1) to move forward a certain distance, causing the ice in front to bend and fall off, and then moving backward to reset, thereby achieving the effect of deicing at the initial position; S3 clamping and centering assembly centering, including: S31, using the first camera (4) to observe the deicing condition at the initial position, and when the deicing at the initial position is completed, starting the clamping and centering assembly (301); S32, driving the two tilting rods (3017) to move in opposite directions by means of the first motor (3014), thereby pressing the cable toward the center position of the rotating cutting assembly (302), and determining whether the cable is clamped in place according to a current threshold preset by the first motor (3014) during the clamping process; S33, when the current supplied by the first motor (3014) reaches a preset current threshold, closing the clamping and centering assembly (301); S4 dynamic speed regulation de-icing, including: S41, simultaneously starting the walking mechanism (1) and the rotary cutting assembly (302), thereby driving the rotary cutting deicing robot to move forward along the cable, and rotary cutting the ice on the cable through the rotary cutting assembly (302); S42, real-time identification of ice coating thickness is performed through the first camera (4); when the ice coating thickness is greater than a preset first thickness threshold, the forward speed of the walking mechanism (1) and the rotational cutting speed of the rotating cutting component (302) are simultaneously reduced; when the ice coating thickness is less than a preset second thickness threshold, the forward speed of the walking mechanism (1) and the rotational cutting speed of the rotating cutting component (302) are simultaneously increased; S43, after the rotary cutting assembly (302) performs rotary cutting on the ice covering the cable, the remaining thin ice layer is cut using the ice breaker (10); S5 robots are offline, including: S51, after all ice covering the cable is removed, the middle auxiliary wheel (506) is controlled to descend and flip downward to form an open state, and at the same time, the two tilting rods (3017) are driven by the first motor (3014) to move in opposite directions, thereby loosening the cable; S52, using remote control to control the boom of the drone to be hung into the hook (203), and then using the drone to recover the rotary cutting deicing robot.

Images