Rotating cutting and deicing robot for transmission cables and control method thereof

Abstract

The present invention relates to the field of cable de-icing technology, and in particular to a rotary cutting de-icing robot suitable for power transmission cables and a control method thereof, comprising a walking mechanism, an auxiliary walking component, a drone hanging component, a clamping and centering component, a rotary cutting component and a first camera. The present application can complete cable mounting by drone hanging, and the operation method is more flexible. The auxiliary walking component applies a bending force to the ice at the initial position on the cable to make the ice fall off, thereby achieving the effect of de-icing the cable at the initial position. The clamping and centering component is used to guide and clamp the cable so that the cable center coincides with the motion center of the rotary cutting component, thereby improving the rotary cutting accuracy and preventing the blade from causing contact damage to the cable. The rotary cutting component is used to rotate and cut the ice layer to ensure that the ice is completely removed, thereby improving the ice removal effect. The first camera is used to identify the ice thickness in real time, and then the speed is dynamically adjusted according to the ice thickness, thereby improving the degree of intelligence.

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 pressing problem in power grid operations. Overhead cables typically include transmission conductors, ground wires, and communication cables. Ground wires, which lack current thermal efficiency due to their lack of power transmission, are the most susceptible to icing. In extremely cold weather, large-scale cable icing can easily occur, causing line tripping, line breakage, tower collapse, insulator flashover, and communication interruptions, resulting in significant property losses for the power grid. Currently, high-current thermal de-icing is used, but this method consumes a large amount of energy, is complex to operate, and requires power outages on transmission lines, impacting users' normal electricity use.

[0003] To de-ice high-voltage overhead lines, existing patent CN202410158335.X discloses a high-voltage overhead line de-icing robot. This robot uses a winch mechanism to move the robot up and down the cable. By providing an upper walking mechanism, a lower walking mechanism, and a vibration mechanism, the upper and lower anti-skid wheels can crush the ice on the upper and lower ends of the high-voltage overhead line, respectively, while traveling on the high-voltage overhead line. The vibration motor is then activated while traveling, causing the crushed ice to fall. The invention is limited by the length of the winch rope and can only be applied to distribution network overhead lines, reducing its applicability. Furthermore, since transmission cables are relatively strong and difficult to bend, it is difficult to completely crush the ice on the cables using the walking wheels. Relying solely on the robot's own vibrations makes it difficult to shake the ice off the cables, thereby reducing the ice removal effect. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, the purpose of the present invention is to provide a rotary cutting de-icing robot suitable for power transmission cables, which can complete cable mounting by hanging with a drone, improve applicability, and use the blade to rotate and cut the ice layer without damaging the cable, thereby improving the ice removal effect.

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

[0006] A rotary cutting and deicing robot suitable for power transmission cables includes a walking mechanism, a drone hanging assembly is provided above the walking mechanism, and a deicing mechanism is connected to the front side of the walking mechanism. The deicing mechanism includes 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 is connected to two nut blocks via forward and reverse threads. The nut blocks are slidably connected to the guide rod, and a tilting rod is connected to the bottom of the nut block. 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 bracket 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. The front end of the rotary cutter head is connected to a blade.

[0009] Preferably, the walking mechanism includes a frame, a front active walking wheel and a rear active walking wheel, the middle part of the front active walking wheel and the rear active walking wheel are provided with an annular groove, the inner side of the annular groove is provided with anti-slip grooves, the front active walking wheel and the rear active walking wheel are both rotatably connected to the frame, and 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 active walking wheel, and the output end of the fourth motor is transmission connected to the rear active walking wheel.

[0010] The cam is connected to the second supporting plate of the lifting link, and the cam is connected to the first supporting plate of the lifting link, and the cam is connected to the first supporting plate of the lifting link, and the cam is connected to the first supporting plate of the lifting link.

[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 and 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 slidingly connected to the two guide rails respectively. A support plate is provided between the two guide rails, and a rubber-coated bolt is connected to the support plate through a thread. The lower side of the second motor is movably abutted against the rubber-coated bolt.

[0013] Preferably, the limiting rod is rotatably connected to the first mounting frame via a bearing, and an ice-breaking knife is provided on the front side thereof, the bottom of the ice-breaking knife 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, the top of the walking mechanism is connected to a third mounting bracket, which is provided with a mounting slot. The bottom of the hanger is connected to a plug-in pin, which is movably inserted into the mounting slot. The third mounting bracket is detachably connected to a ball head quick release pin, which is movably inserted into the plug-in pin.

[0016] Preferably, inclined support assemblies are symmetrically connected on 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 sides thereof are movably fastened by a lock.

[0018] The present invention also provides a control method for a rotary cutting 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, using remote control to control the drone to lift the rotary cutting deicing robot and hang it on the cable;

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

[0022] S2 initial position de-icing, including:

[0023] S21. When the second camera recognizes that the boom of the drone is completely out of the hook, the auxiliary travel assembly is activated, causing the middle auxiliary wheel to move upward and pressurize the position between the front active travel wheel and the rear active travel wheel, thereby applying a bending force to the ice on the cable, causing the ice to bend and fall off;

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

[0025] S23, start the walking mechanism and 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 is completed at the initial position, starting the clamping and centering assembly;

[0028] S32, driving the two tilting rods to move in opposite directions by a 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 preset current threshold of 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. Simultaneously starting the walking mechanism and the rotary cutting assembly to drive the rotary cutting deicing robot to move forward along the cable, and to rotary cut ice on the cable by the rotary cutting assembly;

[0032] S42: Using a first camera to identify the thickness of the ice cover in real time, when the ice cover thickness is greater than a preset first thickness threshold, simultaneously reducing the forward speed of the traveling mechanism and the rotational cutting speed of the rotary cutting assembly; when the ice cover thickness is less than a preset second thickness threshold, simultaneously increasing the forward speed of the traveling mechanism and the rotational cutting speed of the rotary cutting assembly;

[0033] S43, after the rotary cutting assembly rotates and cuts the ice covering the cable, the remaining thin ice layer is cut with 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 simultaneously the first motor is used to drive the two tilting rods to move in opposite directions, thereby loosening the cable;

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

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

[0038] 1. This rotary cutting and deicing robot for power transmission cables and its control method utilizes drone-mounted cable mounting, making operation more flexible and improving applicability.

[0039] 2. Install the battery box and counterweight on the tilt support assembly so that the robot's center of gravity is lower than the lowest point of the cable. This allows the robot's own gravity to generate a righting torque when the robot deviates, preventing it from tipping over and improving its stability.

[0040] 3. The auxiliary walking component applies a bending force to the ice at the initial position of the cable, causing it to bend and fall off, achieving the effect of de-icing the cable at the initial position. The auxiliary walking component cooperates with the walking mechanism to clamp the cable tightly, increasing friction, preventing slipping during walking, and preventing the robot from falling off the cable, thereby improving walking reliability and safety.

[0041] 4. The two tilting rods of the clamping and centering assembly move toward each other, thereby clamping the cable. The guiding action aligns the cable center with the motion center of the rotating cutting assembly, thereby improving the ice cutting effect of the rotating cutting assembly and preventing the blade from contacting and damaging the cable, improving safety and extending the service life of the robot.

[0042] 5. The limit rod ensures that the ice-breaking blades will not damage the cables when removing residual ice. The two blades in different positions are 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 detects the ice thickness in real time, then adjusts the forward speed of the travel mechanism and the rotary cutting speed of the rotary cutting assembly according to the ice thickness, achieving dynamic speed regulation. This allows the system to flexibly adjust operating strategies based on the actual ice thickness, improving operational flexibility and 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 occupation and facilitating the storage and transportation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 Schematic diagram of the structure of a rotary cutting and deicing robot suitable for transmission cables.

[0046] Figure 2 Schematic 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 This is a structural diagram of the auxiliary walking component.

[0050] Figure 6 It is a three-dimensional cross-sectional view of the auxiliary walking component.

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

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

[0053] Figure 9 for Figure 8 Enlarged schematic diagram of point A in the middle.

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

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

[0056] Figure 12 This is a second exploded schematic diagram of a rotary cutting and deicing robot suitable for power transmission cables.

[0057] Figure 13 for Figure 12 Enlarged schematic diagram of point B in the middle.

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

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

[0060] Figure: 1. Travel mechanism; 101. Frame; 102. Front active travel wheel; 103. Rear active travel wheel; 104. Third motor; 105. Fourth motor; 106. Annular groove; 107. Anti-skid groove; 2. UAV hanging assembly; 201. Hanger; 202. Tilt guide frame; 203. Hook; 204. Connector pin; 3. De-icing mechanism; 301. Clamping and centering assembly; 3011. First mounting frame; 3012. Guide rod 3013. Bidirectional screw; 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 opening; 3028. Blade; 4. First camera; 5. Auxiliary walking assembly 501. Second mounting bracket; 502. First lifting slide block; 503. Second lifting slide 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. Externally threaded bearing; 517. Tension pressure sensor; 6. Guide rail; 7. Slider; 8. Support plate; 9. Rubber-coated bolt; 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0062] See also Figures 1-14 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 being provided above the walking mechanism 1, and a deicing mechanism 3 being connected to the front side thereof, the deicing mechanism 3 comprising a clamping and centering assembly 301, a rotary cutting assembly 302, and a first camera 4 provided 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 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 bracket 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] The drone's boom is hung on the drone's hanging assembly 2, and the drone is controlled by remote control to lift the rotary cutting and de-icing 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, and then the clamping and centering assembly 301 is started, and the bidirectional screw rod 3013 is driven to rotate by 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, whether the clamping is in place is determined 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 and de-icing 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 rotates and cuts the ice on the cable. 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 rotary 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 rotary cutting component 302 are increased at the same time. After deicing is completed, the rotary 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 de-icing 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, the middle parts of the front active walking wheel 102 and the rear active walking wheel 103 are provided with an annular groove 106, the inner side of the annular groove 106 is provided with an anti-slip groove 107, 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, 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 part 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 groove 107. The anti-slip groove 107 can increase the friction between the walking wheel and the cable surface, reduce the possibility of slipping, and ensure that the walking wheel can move stably along the cable to avoid slipping.

[0069] See also Figure 5-Figure 6In order to facilitate deicing of the cable at its initial position 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 first and second lifting slide blocks 502 and 503 are connected by a threaded connection, and one side of the first and second lifting slide blocks 503 is hinged to a first rocking arm 510. The second rocking arm 511 is hinged to the top of the second rocking arm 511 and is connected to a hinge shaft 512 on one side. A spring 513 is connected between the first and second lifting slide blocks 502 and 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. 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. 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 de-icing 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, while making the hinge shaft 512 slide downward along the vertical guide groove 514 and the arc guide groove 515, thereby improving 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 slide block 502 and the second lifting slide block 503 approach each other. The spring 513 reduces the vibration generated when approaching each other, improving the smoothness of the movement when moving closer. When the hinge shaft 512 slides to the bottom end 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, preventing the middle auxiliary wheel 506 from interfering with the cable.

[0071] After the cable smoothly enters the walking mechanism 1, the fifth motor 508 drives the screw 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 510 and the second rocker 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 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 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 reduces 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-shaped guide groove 515, the second rocker 511 drives the L-shaped seat 505 to flip upward to form a closed state. At this time, the intermediate 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. The hinge shaft 512 slides upward in the vertical guide groove 514, and the second rocker 511 drives the L-shaped seat 505 to rise vertically upward until the intermediate 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. Then the intermediate auxiliary wheel 506 presses the cable and cooperates with the walking mechanism 1 to form a state of clamping the cable, increasing friction, preventing slipping during walking, and preventing the rotary cutting de-icing robot from detaching from the cable, thereby improving walking reliability and safety.

[0072] In order to improve the smoothness of the lifting and lowering of the L-shaped seat 505 and enable the middle auxiliary wheel 506 to automatically stop rising, thereby improving the degree of automation and preventing excessive tightening of the cable, in this embodiment, preferably, external threaded bearings 516 are symmetrically connected to both sides of the L-shaped seat 505, and the two external threaded bearings 516 are movably abutted against the outer side of the second mounting bracket 501, and the bracket 504 and the L-shaped seat 505 are connected via a tension and 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 and lowered. 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 and applies a bending force to the ice at the initial position on the cable, causing the ice to bend and fall off. Then the intermediate auxiliary wheel 506 continues to rise and press 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, two guide rails 6 are symmetrically connected to the front side of the walking mechanism 1, and two sliders 7 are symmetrically connected to the rear side of the first mounting frame 3011. 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. A rubber-coated bolt 9 is connected to the support plate 8 through a thread, 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 deicing robot walks forward and climbs the slope, because the front of the cable is tilted upward, the upward tilted 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, preventing the overall gravity of the rotary cutting deicing robot from being concentrated on the deicing mechanism 3 and causing the walking mechanism 1 to slip, and forming a limit of the second motor 3026 at the lowest position in the adaptive adjustment through the rubber-coated bolt 9 and the lower side of the second motor 3026.

[0076] See also Figure 10-11 In order to facilitate and improve the smoothness of the movement of the rotary cutting de-icing robot and to be able to cut through thin ice layers and improve the ice removal effect, in this embodiment, preferably, the limiting 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 limiting rod 3015, and a plurality of ball bearings 11 are evenly sleeved on the outer side of the tilting rod 3017;

[0077] The purpose is to make the limit rod 3015 and the two tilt rods 3017 form a triangular structure and clamp the cable when the rotary cutting and de-icing robot walks along the cable. The limit rod 3015 is rotatably connected to the first mounting frame 3011 through a bearing, and the tilt rod 3017 is in contact with the cable through a ball bearing 11, thereby reducing the relative friction between the rotary cutting and de-icing 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 Figure 12 In order to facilitate the hanging of the drone boom on the drone hanging assembly 2 and to facilitate the removal of the drone boom 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 of the second camera 18.

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

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

[0081] The purpose is that when the rotary cutting and deicing robot needs to be used, the plug-in pin 204 of the drone hanging assembly 2 is inserted downward into the installation slot 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 drone 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 drone hanging assembly 2 is moved upward out of the installation slot 13, thereby realizing the rapid disassembly of the drone hanging assembly 2, reducing the space occupied and facilitating the storage and transportation of the rotary cutting and deicing robot.

[0082] See also Figure 12 In order to facilitate the ground support of the rotary cutting and deicing robot and to make the center of gravity of the rotary cutting and deicing robot lower than the lowest position of the cable when hanging the cable, thereby improving the stability of the rotary cutting and deicing robot, in this embodiment, preferably, inclined support assemblies 15 are symmetrically connected to both sides of the bottom of the walking mechanism 1, one of the inclined support assemblies 15 is installed with a battery box 16, and the other inclined support assembly 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 rearward;

[0083] The purpose is to install the battery box 16 and the counterweight 17 on the two inclined support components 15 respectively, so that the center of gravity of the rotary cutting and deicing robot is lower than the lowest position of the cable, thereby utilizing the rotary cutting and deicing robot's own gravity to generate a restoring torque when the robot is tilted, 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 Figure 14 In order to facilitate folding of the tilt support assembly 15, reduce space occupation, and facilitate storage and transportation of the rotary cutting deicing robot, in this embodiment, preferably, the tilt support assembly 15 includes a first support leg 1501 and a second support leg 1502, one side of the first support leg 1501 and the second support leg 1502 is hinged by a hinge 1503, and the adjacent sides thereof are movably buckled by a lock 1504;

[0085] The purpose is to unlock the lock 1504 when the rotary cutting and deicing robot is finished using, and then flip the second support leg 1502 upward with the hinge 1503 as the center, so that the first support leg 1501 and the second support leg 1502 are in a folded state, reducing the space occupied and facilitating the storage and transportation of the rotary cutting and deicing robot. When the rotary cutting and deicing robot needs to be used, flip the second support leg 1502 downward with the hinge 1503 as the center, so that the first support leg 1501 and the second support leg 1502 are in an unfolded state, and then lock the lock 1504 to fix it.

[0086] See also Figure 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 UAV into the hook 203, using remote control to control the UAV 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 using the second camera 18 to identify the position of the boom of the drone in real time;

[0090] S2 initial position de-icing, including:

[0091] S21. When the second camera 18 recognizes that the boom of the drone is completely out of the hook 203, the auxiliary travel assembly 5 is activated, causing the middle auxiliary wheel 506 to move upward and press the position between the front active travel wheel 102 and the rear active travel wheel 103, thereby applying a bending force to the ice on the cable, causing the ice to bend and fall off.

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

[0093] S23, start the walking mechanism 1 to move forward a certain distance, causing the ice in front to bend and fall off, and then move back to reset, achieving 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 is completed at the initial position, starting the clamping and centering assembly 301;

[0096] S32, the first motor 3014 drives the two tilting rods 3017 to move in opposite directions, thereby pressing the cable toward the center of the rotating cutting assembly 302. During the clamping process, whether the cable is clamped in place is determined based on a preset current threshold of the first motor 3014;

[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, 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 rotating the rotary cutting assembly 302 to cut the ice on the cable;

[0100] S42: Real-time identification of ice thickness is performed using the first camera 4. When the ice thickness is greater than a preset first thickness threshold, the forward speed of the traveling mechanism 1 and the rotational cutting speed of the rotary cutting assembly 302 are simultaneously reduced. When the ice thickness is less than a preset second thickness threshold, the forward speed of the traveling mechanism 1 and the rotational cutting speed of the rotary cutting assembly 302 are simultaneously increased.

[0101] S43, after the rotary cutting assembly 302 rotates and cuts the ice on the cable, the ice breaker 10 is used to cut the remaining thin ice layer;

[0102] S5 robots are offline, including:

[0103] 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 simultaneously the first motor 3014 drives the two tilting rods 3017 to move in opposite directions, thereby loosening the cable;

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

[0105] The present application completes cable mounting by hanging the drone, 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 on 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 and 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. Under 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. After the rotating cutting assembly 302 rotates and cuts the thick ice layer on the cable, the ice breaker 10 cuts the thin ice layer, 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 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 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, and reducing the load of the robot, ensuring a more stable cutting process and extending the service life of the robot. 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 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, thereby improving the operation flexibility. When the rotary cutting de-icing robot is finished using, the tilt 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 merely a preferred embodiment 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 will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A rotary cutting and deicing robot 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. 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 limiting 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 is connected to two nut blocks (3016) 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 of the nut block; the tilting rod (3017) is arranged below the limiting 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 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 to the gear seat (3022). The gear seat (3022) is fixedly connected to the first mounting frame (3011) and has a U-shaped opening (3027) at its bottom. 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).

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 active walking wheel (102) and a rear active walking wheel (103); an annular groove (106) is provided in the middle of each of the front active walking wheel (102) and the rear active walking wheel (103); an anti-skid pattern (107) is provided on the inner side of each of the annular grooves (106); the front active walking wheel (102) and the rear active 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); an output end of the third motor (104) is transmission-connected to the front active walking wheel (102); and an output end of the fourth motor (105) is transmission-connected to the rear active 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 to an auxiliary walking assembly (5), 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 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 to 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). The second 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 sides of the second mounting frame (501). The bracket (504) and the L-shaped seat (505) are connected via a tension and 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 connected to the support plate (8) through a thread, 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 ice-breaking knife (10) is provided on the front side thereof, the bottom of the ice-breaking knife (10) being 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), hooks (203) are symmetrically connected to the top of the hanger (201), 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), and 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). A ball head quick release pin (14) is detachably connected to the third mounting frame (12), 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) is mounted with a battery box (16), and the other of the inclined support assemblies (15) is mounted with a counterweight (17) corresponding to the weight of the battery box (16), and the center of gravity of the counterweight (17) is 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), wherein one side between the first support leg (1501) and the second support leg (1502) is hinged via a hinge (1503), and the adjacent side thereof is movably buckled via a lock (1504).

11. A control method for a rotary cutting and deicing robot for power transmission cables according to 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 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 de-icing, 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 component (5) is activated, 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 means of the pull 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, start the walking mechanism (1) to move forward a certain distance, causing the ice in front to bend and fall off, and then move back to reset, achieving the effect of deicing at the initial position; S3 clamping and centering assembly centering, including: S31, using a first camera (4) to observe the deicing condition at the initial position, and when the deicing is completed at the initial position, starting the clamping and centering assembly (301); 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; 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 thickness is performed using a 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 rotary cutting assembly (302) are simultaneously reduced; 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 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 cleared, the middle auxiliary wheel (506) is controlled to descend and flip downward to form an open state, and at the same time, the first motor (3014) drives the two tilting rods (3017) to move in opposite directions, thereby loosening the cable; 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.

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