Power grid line deicing unmanned aerial vehicle and use method thereof

Abstract

The invention relates to the technical field of power grids, and discloses a power grid line deicing unmanned aerial vehicle and a using method thereof.The power grid line deicing unmanned aerial vehicle comprises an unmanned aerial vehicle body, a supporting plate is arranged at the top end of the unmanned aerial vehicle body, an obstacle crossing mechanism and a cleaning mechanism are arranged at the top end of the supporting plate, the obstacle crossing mechanism is located on the front side of the supporting plate, and the cleaning mechanism is located on the rear side of the supporting plate; the obstacle crossing mechanism comprises a first fixing clamp, a second fixing clamp and a sliding clamp, the first fixing clamp and the second fixing clamp are located on the front side and the rear side of the line and used alternately when crossing the obstacle, and the sliding clamp, the first fixing clamp and the second fixing clamp are used alternately when crossing the obstacle. According to the cable deicing device, the first motor drives the gear disc to rotate, the gear disc drives the rotating shaft to rotate in the first arc block, the rotating shaft drives the clamping plate and the second motor to rotate synchronously in the rotating process, the cable is deiced in a rotating mode, and the ice layer of the cable is deeply cleaned to the maximum extent.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power grid, and in particular to a grid line deicing drone and a use method thereof. Background Art

[0002] High-voltage transmission lines play a vital role and are necessary equipment for long-distance power transmission. Similarly, the maintenance of high-voltage transmission lines is a necessary guarantee for production and life. For example, high-voltage overhead lines are wrapped in thick ice in winter. If they are not cleared in time, it will bring huge pressure to the lines, which may easily lead to the collapse of overhead transmission line towers and disconnection, which will have a serious impact on production and life.

[0003] Therefore, the above problems are solved by a power grid line deicing drone and a method for using the drone. Summary of the invention

[0004] The purpose of the present invention is to provide a power grid line deicing drone and a method of using the drone to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: comprising a drone, a support plate is arranged at the top of the drone, an obstacle crossing mechanism and a cleaning mechanism are respectively arranged at the top of the support plate, the obstacle crossing mechanism is located on the front side of the support plate, and the cleaning mechanism is located on the rear side of the support plate.

[0006] Preferably, the obstacle crossing mechanism includes a first fixed clamp, a second fixed clamp and a sliding clamp, the first fixed clamp and the second fixed clamp are located at the front and rear sides of the line, and the first fixed clamp and the second fixed clamp are used alternately when crossing over obstacles, the sliding clamp is used alternately with the first fixed clamp and the second fixed clamp when crossing over obstacles, and the sliding clamp is located between the first fixed clamp and the second fixed clamp.

[0007] Preferably, the obstacle-crossing mechanism is also used for guiding the line of the cleaning mechanism.

[0008] Preferably, the obstacle crossing mechanism includes an installation frame, the installation frame is provided with a top end of a support plate, the top end of the installation frame is provided with a cover plate, the inner middle bottom end of the installation frame is provided with a bottom plate, the top end of the bottom plate is provided with an auxiliary shaft and a first screw rod, and the outer cylindrical surface of the auxiliary shaft and the first screw rod is connected to the sliding clamp.

[0009] Preferably, a first fixing clip and a second fixing clip are provided inside the installation frame, and the first fixing clip and the second fixing clip are located on both sides of the bottom plate.

[0010] Preferably, the second fixing clamp includes a support column, the support column is provided with an installation frame, the support columns are two, a first mounting plate is provided at the top of the two support columns, a first telescopic column is provided at the top of the first mounting plate, a connecting plate is provided at the top of the telescopic end of the first telescopic column, two fixing columns are provided on both sides of the top of the connecting plate, a second telescopic column is provided between the two fixing columns, a second mounting plate is provided at the top of the two fixing columns, the second telescopic column passes through the second mounting plate and is connected to a movable plate, a vertical plate is provided at the top of the second mounting plate, the movable plate is located inside the vertical plate, a connecting rod is connected to one side of the movable plate, a vertical plate is provided at the top of the vertical plate, a third mounting plate is provided at the top of the vertical plate, one side of the third mounting plate is connected to the connecting rod, and a movable clamp is provided at the movable end of the connecting rod.

[0011] Preferably, the first fixing clamp and the second fixing clamp have the same structure, the second fixing clamp and the sliding frame have the same structure, the first screw rod passes through the support column of the sliding frame, and the support column of the sliding frame slides on the outer circumferential surface of the first screw rod.

[0012] Preferably, the cleaning mechanism includes a first sliding groove and a second sliding groove, a reciprocating screw is arranged inside the first sliding groove, second support blocks are arranged opposite to each other at two ends of the outer cylindrical surface of the reciprocating screw, the second support blocks are two blocks, cable fixing rings are arranged opposite to each other at the top ends of the two second support blocks, the cable fixing ring includes a second arc block, a connecting block is arranged at the opening of the second arc block, a cable ring is connected to the middle of the connecting block, a limiting block is arranged on the lower side of the end face of the second support block, a card slot is also provided on the inner side wall of the first sliding groove, and the limiting block is card-engaged with the card slot.

[0013] Preferably, two first support blocks are arranged inside the second sliding groove, a limit block is arranged on the lower side of the end face of the first support block, a clamping slot is provided on the inner side wall of the second sliding groove, the limit block is clamped with the clamping slot, a first arc block is arranged on the top of the first support block, a rotating shaft is arranged inside the first arc block, a clamping plate is arranged inside the rotating shaft, a second motor is arranged at one end inside the clamping plate, and a blade is arranged at the output end of the second motor.

[0014] Preferably, teeth are provided at one end of the rotating shaft close to the second supporting block.

[0015] Preferably, a connecting column is provided between the end surface of the second arc block and the end surface of the first arc block, and the second arc block drives the first arc block to move via the connecting column.

[0016] Preferably, a first motor is arranged between the first sliding groove and the second sliding groove, and a gear plate is arranged at the rotating end of the first motor, and the gear plate is meshed with teeth of the rotating shaft.

[0017] A power grid line deicing drone and a method for using the same, characterized in that: (1) the drone takes off and drives the support plate to move toward the cable. When approaching the cable, the obstacle crossing mechanism is buckled on the outer circumference of the cable. Then, the flight angle of the drone is adjusted, and the cleaning mechanism is also buckled on the outer circumference of the cable, and the obstacle crossing mechanism and the cleaning mechanism start to work;

[0018] (2) The cable is affected by gravity, and the middle part of the cable sags in an arc shape. Therefore, the UAV's flight posture is tilted. The tilted UAV posture obtains flight power, and the power generated by the UAV flight drives the obstacle crossing mechanism and the cleaning mechanism forward;

[0019] (3) During the process of moving forward, the obstacle-crossing mechanism climbs over the connecting string of cables. During the process of climbing over the connecting string, the sliding clamp is released and moves toward the first fixed clamp, the sliding clamp clamps the line, the first fixed clamp is released, and then the first fixed clamp descends. The UAV drives the sliding clamp and the second fixed clamp to continue to move forward. After the first fixed clamp climbs over the connecting string, the first fixed clamp rises, clamps the cable, and the sliding clamp releases the cable. Then, the sliding clamp moves toward the second fixed clamp. While the sliding clamp moves toward the second fixed clamp, the UAV continues to move forward. When the second fixed clamp approaches the connecting string, the sliding clamp clamps the cable on the side away from the second clamp. After the sliding clamp clamps, the second fixed clamp is released and descends. The UAV continues to move forward. Driven by the UAV, the second fixed clamp climbs over the connecting string, and then the second fixed clamp clamps, the sliding clamp is released and descends, completing the climbing.

[0020] (4) After climbing over, the cleaning mechanism reaches the connection string, the cleaning mechanism separates from the middle, loosens the cable, makes the first arc block and the second arc block relatively far apart, and the connection string passes between the first arc block and the second arc block, thereby continuing cleaning.

[0021] Technical effects and advantages of the present invention:

[0022] 1. The first fixing clamp and the second fixing clamp of the obstacle crossing mechanism of the present invention clamp the cable. During the climbing process, the sliding clamp is released and moves in the direction of the first fixing clamp, the sliding clamp clamps the line, the first fixing clamp is released, and then the first fixing clamp descends, and the drone drives the sliding clamp and the second fixing clamp to continue to move forward. After the first fixing clamp climbs over the connecting string, the first fixing clamp rises to clamp the cable, and the sliding clamp releases the cable. After that, the sliding clamp moves in the direction of the second fixing clamp. While the sliding clamp moves in the direction of the second fixing clamp, the drone continues to move forward. When the second fixing clamp approaches the connecting string, the sliding clamp clamps the cable on the side away from the second fixing clamp. After the sliding clamp clamps, the second fixing clamp is released and descends, and the drone continues to move forward. Driven by the drone, the second fixing clamp climbs over the connecting string, and then the second fixing clamp clamps, the sliding clamp is released and descends, and the climbing is completed. At the same time, after the obstacle crossing mechanism clamps the sub-cable, the flight trajectory of the drone is restricted and it can only fly along the direction of the cable. The cleaning mechanism clears the ice layer of the cable on the trajectory through the flight trajectory of the drone.

[0023] 2. During the movement of the second arc block of the present invention, the first arc block is driven to move through the connecting column, and the second arc block moves synchronously with the first arc block. After the second arc block and the first arc block move synchronously to form a circle, the rotating shaft of the first arc block engages with the gear plate, the first motor drives the gear plate to rotate, and the gear plate drives the rotating shaft to rotate inside the first arc block. During the rotation process, the rotating shaft drives the clamping plate and the second motor to rotate synchronously, so as to rotate and de-ice the cable, and deep clean the ice layer of the cable to the maximum extent.

[0024] 3. After the second arc block of the present invention forms a circle, the connecting blocks are in contact, so that the cable ring forms a circle, the cable is clamped, and the cable is cleaned and scraped for the third time to ensure that the ice layer on the cable is completely removed. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 It is a schematic diagram of the internal structure of the installation frame of the present invention.

[0027] Figure 3 It is a schematic diagram of the fixing clamp structure of the present invention.

[0028] Figure 4 It is a front view structural schematic diagram of the cleaning mechanism of the present invention.

[0029] Figure 5 It is a schematic diagram of the side structure of the cleaning mechanism of the present invention.

[0030] Figure 6 It is a schematic diagram of the top structure of the cleaning mechanism of the present invention.

[0031] Figure 7It is a schematic diagram of the structure of the toothed cable fixing ring of the present invention.

[0032] Figure 8 This is a schematic diagram of the structure of the first support block of the gear of the present invention.

[0033] Fig. 9 It is a schematic diagram of the tooth blade structure of the present invention.

[0034] Fig.10 It is a schematic diagram of the connection structure between the first arc plate and the rotating shaft of the present invention.

[0035] In the figure: 1, UAV; 2, obstacle crossing mechanism; 3, support plate; 4, cleaning mechanism; 201, mounting frame; 202, cover plate; 203, bottom plate; 204, auxiliary shaft; 205, first screw rod; 206, first fixing clamp; 207, second fixing clamp; 2071, supporting column; 2072, first mounting plate; 2073, first telescopic column; 2074, connecting plate; 2075, fixing column; 2076, second telescopic column; 2077, second mounting plate; 2078, vertical plate; 2079, movable plate; 20710, vertical column; 20711, connecting rod; 20712, third mounting plate; 20713, movable clamp; 208, sliding clamp;

[0036] 401, first sliding groove; 402, reciprocating screw rod; 403, first motor; 404, second sliding groove; 405, first support block; 406, cable fixing ring; 407, connecting column; 408, second support block; 409, second arc block; 4010, connecting block; 4011, cable ring; 4012, limit block; 4013, first arc block; 4014, rotating shaft; 4015, clamping plate; 4016, second motor; 4017, blade; 4018, gear plate. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] In the production and life of the people, high-voltage transmission lines play a vital role and are necessary equipment for long-distance power transmission. Similarly, the maintenance of high-voltage transmission lines is a necessary guarantee for production and life. For example, if high-voltage overhead lines are wrapped in thick ice in winter and are not cleared in time, it will bring huge pressure to the lines, which may easily lead to the breakage and destruction of overhead lines, bringing serious impacts on production and life.

[0039] The present invention provides Figures 1 to 10A power grid line deicing drone shown includes a drone 1, a support plate 3 is arranged on the top of the drone 1, an obstacle crossing mechanism 2 and a cleaning mechanism 4 are respectively arranged on the top of the support plate 3, the obstacle crossing mechanism 2 is located on the front side of the support plate 3, and the cleaning mechanism 4 is located on the rear side of the support plate 3.

[0040] When in use, the drone 1 drives the support plate 3 close to the cable, and the obstacle crossing mechanism 2 of the support plate 3 is buckled on the outer circumferential surface of the cable. The obstacle crossing mechanism 2 slides the drone 1 onto the cable and clamps it on the outer circumferential surface of the cable. The obstacle crossing mechanism 2 slides forward on the cable. During the clamping and sliding process of the obstacle crossing mechanism 2, the ice layer on the outer surface of the cable is destroyed to avoid the entire drone 1 sliding due to excessive slippery surface of the ice layer when cleaning the ice layer of the cable. The cleaning mechanism 4 at the rear end of the obstacle crossing mechanism 2 is unable to clean the ice layer. The obstacle crossing mechanism 2 climbs over the connecting string of the cable to ensure that the drone 1 is always connected to the cable.

[0041] The drone 1 approaches the cable, and the obstacle crossing mechanism 2 is clamped on the outer cylindrical surface of the cable. The clamping force of the obstacle crossing mechanism 2 damages the ice layer, so that a step is formed between the ice layer and the cable, which facilitates the cleaning mechanism 4 to contact the cable surface, and the obstacle crossing mechanism 2 slides on the cable surface. During the sliding process, the obstacle crossing mechanism 2 continuously scrapes the ice layer on the outside of the cable, and then the cleaning mechanism 4 performs a secondary cleaning on the ice layer of the cable to ensure that all the ice layer on the cable is removed.

[0042] The obstacle crossing mechanism 2 includes a first fixed clamp 206, a second fixed clamp 207 and a sliding clamp 208. The first fixed clamp 206 and the second fixed clamp 207 are located at the front and rear sides of the line, and the first fixed clamp 206 and the second fixed clamp 207 are used alternately when crossing over obstacles. The sliding clamp 208 is used alternately with the first fixed clamp 206 and the second fixed clamp 207 when crossing over obstacles, and the sliding clamp 208 is located between the first fixed clamp 206 and the second fixed clamp 207.

[0043] When in use, the first fixing clamp 206 and the second fixing clamp 207 of the obstacle crossing mechanism 2 clamp the cable. During the crossing process, the sliding clamp 208 is released and moves toward the first fixing clamp 206. The sliding clamp 208 clamps the line, and the first fixing clamp 206 is released. Then the first fixing clamp 206 descends, and the UAV 1 drives the sliding clamp 208 and the second fixing clamp 207 to continue to move forward. After the first fixing clamp 206 crosses over the connection string, the first fixing clamp 206 rises to clamp the cable, and the sliding clamp 208 releases the cable. Then, the sliding clamp 208 The clamp 208 moves toward the second fixed clamp 207. While the sliding clamp 208 moves toward the second fixed clamp 207, the drone 1 continues to move forward. When the second fixed clamp 207 approaches the connection string, the sliding clamp 208 clamps the cable on the side away from the second fixed clamp 207. After the sliding clamp 208 clamps, the second fixed clamp 207 releases and descends. The drone 1 continues to move forward. Driven by the drone 1, the second fixed clamp 207 climbs over the connection string. After that, the second fixed clamp 207 clamps, and the sliding clamp 208 releases and descends to complete the climbing.

[0044] The obstacle-crossing mechanism 2 is also used for line guidance of the cleaning mechanism 4 .

[0045] When in use, after the obstacle crossing mechanism 2 clamps the sub-cable, the flight trajectory of the drone 1 is restricted and it can only fly along the direction of the cable. The cleaning mechanism 4 clears the ice layer on the cable on the flight trajectory of the drone 1.

[0046] A first fixing clip 206 and a second fixing clip 207 are disposed inside the installation frame 201 . The first fixing clip 206 and the second fixing clip 207 are located on both sides of the bottom plate 203 .

[0047] The obstacle crossing mechanism 2 includes an installation frame 201, the installation frame 201 is provided with a top end of a support plate 3, the top end of the installation frame 201 is provided with a cover plate 202, the inner middle bottom end of the installation frame 201 is provided with a bottom plate 203, the top end of the bottom plate 203 is provided with an auxiliary shaft 204 and a first screw rod 205, and the outer cylindrical surfaces of the auxiliary shaft 204 and the first screw rod 205 are connected to a sliding clamp 208.

[0048] The first fixing clamp 206 and the second fixing clamp 207 have the same structure. The second fixing clamp 207 and the sliding clamp 208 have the same function. The first screw rod 205 passes through the support column 2071 of the sliding clamp 208, and the support column 2071 of the sliding clamp 208 slides on the outer circumferential surface of the first screw rod 205.

[0049] When in use, the first fixing clamp 206, the second fixing clamp 207 and the sliding clamp 208 are arranged inside the installation frame 201, the first fixing clamp 206 and the second fixing clamp 207 have the same height, and the bottom ends of the first fixing clamp 206 and the second fixing clamp 207 are located in the same horizontal plane, so as to avoid bending of the cable due to the different heights of the first fixing clamp 206 and the second fixing clamp 207 during the clamping process.

[0050] The auxiliary shaft 204 and the first screw rod 205 on the base plate 203 drive the sliding clamp 208 to slide on the base plate 203. The first screw rod 205 is driven to rotate by the motor. The first screw rod 205 drives the sliding clamp 208 to slide on the surface of the first screw rod 205. The auxiliary shaft 204 restricts the sliding clamp 208 to prevent the sliding clamp 208 from rotating with the first screw rod 205 and affecting its use.

[0051] The second fixing clamp 207 includes a support column 2071, and the support column 2071 is provided inside the installation frame 201. There are two support columns 2071, and the top of the two support columns 2071 is provided with a first mounting plate 2072, and the top of the first mounting plate 2072 is provided with a first telescopic column 2073, and the top of the telescopic end of the first telescopic column 2073 is provided with a connecting plate 2074, and two fixing columns 2075 are provided on both sides of the top of the connecting plate 2074, and a second telescopic column 2076 is provided between the two fixing columns 2075, and the tops of the two fixing columns 2075 are provided with a second The mounting plate 2077, the second telescopic column 2076 passes through the second mounting plate 2077 and is connected to a movable plate 2079, a vertical plate 2078 is arranged at the top of the second mounting plate 2077, the movable plate 2079 is located inside the vertical plate 2078, one side of the movable plate 2079 is connected to a connecting rod 20711, a vertical column 20710 is arranged at the top of the vertical plate 2078, a third mounting plate 20712 is arranged at the top of the vertical column 20710, one side of the third mounting plate 20712 is connected to the connecting rod 20711, and a movable clamp 20713 is arranged at the movable end of the connecting rod 20711.

[0052] When in use, the support column 2071 supports the fixing clamp as a whole, and the first telescopic column 2073 is fixedly installed on the top of the first mounting plate 2072 to drive the fixing clamp to extend and retract, so that the fixing clamp can be lowered and climb over the connecting string after releasing the cable. The connecting plate 2074 is used to install the second telescopic column 2076, and the fixed column 2075 on the connecting plate 2074 supports the second mounting plate 2077 and limits the position of the second mounting plate 2077 to prevent the second mounting plate 2077 from rotating or rising and falling during the extension and retraction of the second telescopic column 2076. The movable plate 2079 installed at the movable end of the second telescopic column 2076 is used to connect with the connecting rod 20711, and the column 20710 at the top of the vertical plate 2078 is used to pull the distance between the movable plate 2079 and the third mounting plate 20712, and the third mounting plate 20712 is also used for the installation and fixation of the connecting rod 20711.

[0053] The support column 2071 is fixed inside the installation frame 201, and the first telescopic column 2073 drives the fixed clamp to descend or rise to facilitate climbing over the connecting string. The second telescopic column 2076 descends, driving the movable plate 2079 to descend, and the movable plate 2079 drives one end of the connecting rod 20711 to descend. The connecting rod 20711 is fixed at one end of the third mounting plate 20712 and retracts inward to complete the clamping of the cable. When the cable needs to be loosened, the second telescopic column 2076 rises, the movable plate 2079 rises, and the movable plate 2079 pushes one end of the connecting rod 20711 to rise. The connecting rod 20711 is fixed at one end of the third mounting plate 20712 and expands outward to complete the action of loosening the cable.

[0054] The cleaning mechanism 4 includes a first sliding groove 401 and a second sliding groove 404. A reciprocating screw 402 is arranged inside the first sliding groove 401. Second support blocks 408 are arranged opposite to each other at two ends of the outer cylindrical surface of the reciprocating screw 402. The second support blocks 408 are divided into two blocks. Cable fixing rings 406 are arranged opposite to each other at the top ends of the two second support blocks 408. The cable fixing ring 406 includes a second arc block 409. A connecting block 4010 is arranged at the opening of the second arc block 409. A cable ring 4011 is connected in the middle of the connecting block 4010. A limiting block 4012 is arranged on the lower side of the end surface of the second support block 408. A card slot is also provided on the inner side wall of the first sliding groove 401. The limiting block 4012 is card-engaged with the card slot.

[0055] When in use, the first sliding groove 401 and the second sliding groove 404 are installed on the support plate 3, and the reciprocating screw rod 402 of the first sliding groove 401 drives the second support block 408 to move relative to each other, and the movement of the second support block 408 drives the second arc block 409 to move. After the two second support blocks 408 move together, the two second arc blocks 409 form a circle, and the connecting block 4010 contacts, so that the cable ring 4011 forms a circle to clamp the cable.

[0056] The reciprocating screw rod 402 is driven by a motor, and the reciprocating screw rod 402 rotates, driving the second support block 408 to move relative to each other. The limit block 4012 of the second support block 408 is connected to the internal slot of the first sliding slot 401, and the slot limits the position of the second support block 408 to prevent the second support block 408 from rotating with the reciprocating screw rod 402. When the cable needs to be clamped, the two second support blocks 408 move relative to each other, so that the two second support blocks 408 drive the second arc blocks 409 to fit together, and the two second arc blocks 409 form a circle. The connecting block 4010 is in contact, so that the cable ring 4011 forms a circle to clamp the cable.

[0057] After the first cleaning of the fixing clamp, a layer of ice will remain on the surface of the cable. Due to the relatively low temperature, the remaining ice will freeze quickly and cover the surface of the cable again. The blades of the cleaning mechanism 4 clean the cable for a second time. The blades rotate to clean the remaining ice on the surface of the line for a second time. Then the reciprocating screw 402 drives the second support block 408 and the second arc block 409 to move. The cable ring 4011 of the second arc block 409 fits the surface of the cable and squeezes it, causing the outer insulation layer of the cable to deform. After the insulation layer is deformed, the ice layer outside the insulation layer follows and deforms, causing the ice layer to break and fall off. After the insulation layer is deformed, it will drive the insulation layer at the front and rear ends of this area as the midpoint to deform, thereby accelerating the efficiency of de-icing.

[0058] Two first support blocks 405 are arranged inside the second sliding groove 404, a limit block 4012 is arranged on the lower side of the end face of the first support block 405, a clamping slot is provided on the inner side wall of the second sliding groove 404, the limit block 4012 is clamped with the clamping slot, a first arc block 4013 is arranged on the top of the first support block 405, a rotating shaft 4014 is arranged inside the first arc block 4013, a clamping plate 4015 is arranged inside the rotating shaft 4014, a second motor 4016 is arranged at one end inside the clamping plate 4015, and a blade 4017 is arranged at the output end of the second motor 4016.

[0059] The rotating shaft 4014 is provided with teeth at one end close to the second supporting block 408 .

[0060] When in use, the first support block 405 slides inside the second sliding groove 404, the limiting block 4012 of the first support block 405 is engaged with the slot of the second sliding groove 404, the first arc block 4013 is engaged with the rotating shaft 4014, but the two ends are not limited, so that the rotating shaft 4014 slides inside the first arc block 4013, a groove is provided inside the first arc block 4013, and a limiting groove is provided on the inner side wall of the groove, a clamping column is provided on one side of the rotating shaft 4014 close to the first arc block 4013, and limiting columns are provided on both sides of the clamping column, the clamping column is engaged with the groove, and the limiting column is engaged with the limiting groove, The movable shaft 4014 is slidably clamped inside the first arc block 4013, and a plurality of protrusions are provided on the end face of the clamping column. The protrusions are used to increase friction. When not working, the protrusions increase friction. At this time, the friction is greater than the sliding force of the rotating shaft 4014 inside the first arc block 4013. Therefore, the rotating shaft 4014 does not move, and at the same time, it is prevented from sliding out of the groove and causing the loss of the rotating shaft 4014. When working, the gear plate 4018 drives the rotating shaft 4014 to rotate. At this time, the rotational force is greater than the friction of the protrusions. Therefore, the gear plate 4018 drives the rotating shaft 4014 to rotate.

[0061] The two first arc blocks 4013 fit together to form a circle, and the internal groove and the limit groove simultaneously form a circle, which is convenient for the rotation of the rotating shaft 4014 on the first arc block 4013. During the rotation, the second motor 4016 between the clamping plates 4015 runs, driving the blades 4017 to move, thereby clearing the ice layer on the cable surface.

[0062] The rotating shaft 4014 is provided with teeth at one end close to the second supporting block 408 .

[0063] A connecting column 407 is provided between the end surface of the second arc block 409 and the end surface of the first arc block 4013 , and the second arc block 409 drives the first arc block 4013 to move via the connecting column 407 .

[0064] A first motor 403 is disposed between the first sliding slot 401 and the second sliding slot 404 . A gear plate 4018 is disposed at a rotating end of the first motor 403 . The gear plate 4018 meshes with teeth of the rotating shaft 4014 .

[0065] When in use, the second arc block 409 drives the first arc block 4013 to move through the connecting column 407 during the movement, and the second arc block 409 moves synchronously with the first arc block 4013. After the second arc block 409 and the first arc block 4013 move synchronously to form a circle, the rotating shaft 4014 of the first arc block 4013 engages with the gear plate 4018, and the first motor 403 drives the gear plate 4018 to rotate, and the gear plate 4018 drives the rotating shaft 4014 to rotate inside the first arc block 4013. During the rotation process, the rotating shaft 4014 drives the clamping plate 4015 and the second motor 4016 to rotate synchronously, so as to rotate and de-ice the cable, and deep clean the ice layer of the cable to the maximum extent.

[0066] Afterwards, after the second arc block 409 forms a circle, the connecting block 4010 contacts to make the cable ring 4011 form a circle, clamp the cable, and clean and scrape the cable for the third time to ensure that the ice layer on the cable is completely removed.

[0067] Here’s how to use it:

[0068] (1) The UAV 1 takes off, driving the support plate 3 to move toward the cable. When approaching the cable, the obstacle crossing mechanism 2 is buckled onto the outer circumferential surface of the cable. Then, the flight angle of the UAV 1 is adjusted, and the cleaning mechanism 4 is also buckled onto the outer circumferential surface of the cable. The obstacle crossing mechanism 20 and the cleaning mechanism 4 start to work.

[0069] (2) The cable is affected by gravity, and the middle part of the cable sags in an arc shape. Therefore, the UAV 1 is tilted in flight. The tilted UAV 1 obtains flight power, and the power generated by the flight of the UAV 1 drives the obstacle crossing mechanism 2 and the cleaning mechanism 4 forward.

[0070] (3) During the process of moving forward, the obstacle-crossing mechanism 2 climbs over the connecting string of cables. During the process of climbing over the connecting string, the sliding clamp 208 is released and moves toward the first fixed clamp 206. The sliding clamp 208 clamps the line, and the first fixed clamp 206 is released. Then, the first fixed clamp 206 descends, and the UAV 1 drives the sliding clamp 208 and the second fixed clamp 207 to continue moving forward. After the first fixed clamp 206 climbs over the connecting string, the first fixed clamp 206 rises to clamp the cable, and the sliding clamp 208 releases the cable. Then, the sliding clamp 208 moves toward the second fixed clamp 207. While the sliding clamp 208 moves toward the second fixed clamp 207, the drone 1 continues to move forward. When the second fixed clamp 207 approaches the connection string, the sliding clamp 208 clamps the cable on the side away from the second fixed clamp 207. After the sliding clamp 208 clamps, the second fixed clamp 207 releases and descends. The drone 1 continues to move forward. Driven by the drone 1, the second fixed clamp 207 climbs over the connection string. After that, the second fixed clamp 207 clamps, and the sliding clamp 208 releases and descends to complete the climbing.

[0071] (4) The support column 2071 supports the fixing clamp as a whole. The first telescopic column 2073 is fixedly installed on the top of the first mounting plate 2072 to drive the fixing clamp to extend and retract, so that the fixing clamp can be lowered and climb over the connecting string after the cable is released. The connecting plate 2074 is used to install the second telescopic column 2076. The fixed column 2075 on the connecting plate 2074 supports the second mounting plate 2077 and limits the position of the second mounting plate 2077 to prevent the second mounting plate 2077 from rotating or rising or falling during the extension and retraction of the second telescopic column 2076. The movable plate 2079 installed at the movable end of the second telescopic column 2076 is used to connect with the connecting rod 20711. The column 20710 on the top of the vertical plate 2078 is used to increase the distance between the movable plate 2079 and the third mounting plate 20712. The third mounting plate 20712 is also used for the installation and fixation of the connecting rod 20711.

[0072] The support column 2071 is fixed inside the installation frame 201, and the first telescopic column 2073 drives the fixed clamp to descend or rise to facilitate climbing over the connecting string. The second telescopic column 2076 descends, driving the movable plate 2079 to descend, and the movable plate 2079 drives one end of the connecting rod 20711 to descend. The end of the connecting rod 20711 fixed to the third mounting plate 20712 retracts inward to complete the clamping of the cable. When the cable needs to be loosened, the second telescopic column 2076 rises, the movable plate 2079 rises, and the movable plate 2079 pushes one end of the connecting rod 20711 to rise. The end of the connecting rod 20711 fixed to the third mounting plate 20712 expands outward to complete the action of loosening the cable. When the connecting rod 20711 clamps the cable and moves, the connecting rod 20711 scrapes off the ice layer, and the connecting rod 20711 performs a preliminary cleaning of the ice layer on the cable.

[0073] (5) After climbing over, the second arc block 409 drives the first arc block 4013 to move through the connecting column 407 during its movement. The second arc block 409 moves synchronously with the first arc block 4013. After the second arc block 409 and the first arc block 4013 move synchronously to form a circle, the rotating shaft 4014 of the first arc block 4013 engages with the gear plate 4018, the first motor 403 drives the gear plate 4018 to rotate, and the gear plate 4018 drives the rotating shaft 4014 to rotate inside the first arc block 4013. During the rotation process, the rotating shaft 4014 drives the clamping plate 4015 and the second motor 4016 to rotate synchronously, so as to de-ice the cable by rotation, and perform secondary deep cleaning of the ice layer of the cable to the maximum extent.

[0074] (6) The reciprocating screw rod 402 is driven by the motor, and the reciprocating screw rod 402 rotates, driving the second support block 408 to move relative to each other. The limit block 4012 of the second support block 408 is connected to the internal slot of the first sliding slot 401. The slot limits the position of the second support block 408 to prevent the second support block 408 from rotating with the reciprocating screw rod 402. When the cable needs to be clamped, the two second support blocks 408 move relative to each other, so that the two second support blocks 408 drive the second arc blocks 409 to fit together, and the two second arc blocks 409 form a circle. The connecting block 4010 contacts, so that the cable ring 4011 forms a circle, and the cable is clamped.

[0075] Note: The cable connection string is cross-shaped. When the cleaning mechanism 4 is connected, the reciprocating screw rod 402 drives the second support block 408 to expand, so that the cross-shaped connection string can pass between the two arc blocks.

[0076] Finally, it should be noted that the above is only 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, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A power line deicing drone, characterized by: The invention comprises an unmanned aerial vehicle (1), wherein a support plate (3) is arranged at the top of the unmanned aerial vehicle (1), an obstacle crossing mechanism (2) and a cleaning mechanism (4) are arranged at the top of the support plate (3), the obstacle crossing mechanism (2) is located at the front side of the support plate (3), and the cleaning mechanism (4) is located at the rear side of the support plate (3); The obstacle crossing mechanism (2) comprises a first fixing clamp (206), a second fixing clamp (207) and a sliding clamp (208), wherein the first fixing clamp (206) and the second fixing clamp (207) are located at the front and rear sides of the line, and the first fixing clamp (206) and the second fixing clamp (207) are used alternately when crossing over an obstacle, and the sliding clamp (208) is used alternately with the first fixing clamp (206) and the second fixing clamp (207) when crossing over an obstacle, and the sliding clamp (208) is located between the first fixing clamp (206) and the second fixing clamp (207). The obstacle-crossing mechanism (2) is also used for line guidance of the cleaning mechanism (4).

2. A power line deicing drone according to claim 1, characterized in that: The obstacle crossing mechanism (2) comprises a mounting frame (201), the mounting frame (201) being provided with a top end of a support plate (3), the top end of the mounting frame (201) being provided with a cover plate (202), the inner middle bottom end of the mounting frame (201) being provided with a bottom plate (203), the top end of the bottom plate (203) being provided with an auxiliary shaft (204) and a first screw rod (205), and the outer circumferential surfaces of the auxiliary shaft (204) and the first screw rod (205) being connected to a sliding clamp (208).

3. A power line deicing drone according to claim 2, characterized in that: A first fixing clip (206) and a second fixing clip (207) are arranged inside the installation frame (201), and the first fixing clip (206) and the second fixing clip (207) are located on both sides of the bottom plate (203).

4. The power grid line deicing drone according to claim 3, characterized in that: The second fixing clamp (207) comprises a support column (2071), the support column (2071) is provided inside the installation frame (201), there are two support columns (2071), the top ends of the two support columns (2071) are provided with a first mounting plate (2072), the top ends of the first mounting plate (2072) are provided with a first telescopic column (2073), the top ends of the telescopic ends of the first telescopic columns (2073) are provided with a connecting plate (2074), two fixing columns (2075) are provided on both sides of the top ends of the connecting plate (2074), a second telescopic column (2076) is provided between the two fixing columns (2075), and the top ends of the two fixing columns (2075) are provided with a second mounting plate (2077), the second telescopic column (2076) passes through the second mounting plate (2077) and is connected to a movable plate (2079), a vertical plate (2078) is arranged at the top of the second mounting plate (2077), the movable plate (2079) is located inside the vertical plate (2078), one side of the movable plate (2079) is connected to a connecting rod (20711), a vertical column (20710) is arranged at the top of the vertical plate (2078), a third mounting plate (20712) is arranged at the top of the vertical column (20710), one side of the third mounting plate (20712) is connected to the connecting rod (20711), and a movable clamp (20713) is arranged at the movable end of the connecting rod (20711).

5. A power line deicing drone according to any one of claims 3 or 4, characterized in that: The first fixing clamp (206) and the second fixing clamp (207) have the same structure, the second fixing clamp (207) and the sliding frame (208) have the same function, the first screw rod (205) passes through the support column (2071) of the sliding frame (208), and the support column (2071) of the sliding frame (208) slides on the outer cylindrical surface of the first screw rod (205).

6. The power grid line deicing drone according to claim 1, characterized in that: The cleaning mechanism (4) comprises a first sliding groove (401) and a second sliding groove (404); a reciprocating screw rod (402) is arranged inside the first sliding groove (401); second support blocks (408) are arranged oppositely at two ends of the outer cylindrical surface of the reciprocating screw rod (402); the second support blocks (408) are two blocks; cable fixing rings (406) are arranged oppositely at the top ends of the two second support blocks (408); the cable fixing ring (406) comprises a second arc block (409); a connecting block (4010) is arranged at the opening of the second arc block (409); a cable ring (4011) is connected in the middle of the connecting block (4010); a limiting block (4012) is arranged on the lower side of the end surface of the second support block (408); a clamping slot is provided on the inner side wall of the first sliding groove (401); the limiting block (4012) is clamped with the clamping slot.

7. The power grid line deicing drone according to claim 6, characterized in that: Two first support blocks (405) are arranged inside the second sliding groove (404), a limit block (4012) is arranged on the lower side of the end surface of the first support block (405), a clamping slot is provided on the inner side wall of the second sliding groove (404), the limit block (4012) is clamped with the clamping slot, a first arc block (4013) is arranged on the top of the first support block (405), a rotating shaft (4014) is arranged inside the first arc block (4013), a clamping plate (4015) is arranged inside the rotating shaft (4014), a second motor (4016) is arranged at one end inside the clamping plate (4015), and a blade (4017) is arranged at the output end of the second motor (4016); The rotating shaft (4014) is provided with teeth at one end close to the second supporting block (408).

8. The power grid line deicing drone according to claim 6, characterized in that: A connecting column (407) is provided between the end surface of the second arc block (409) and the end surface of the first arc block (4013), and the second arc block (409) drives the first arc block (4013) to move via the connecting column (407); A first motor (403) is arranged between the first sliding groove (401) and the second sliding groove (404), and a gear plate (4018) is arranged at the rotating end of the first motor (403), and the gear plate (4018) is meshed with the teeth of the rotating shaft (4014).

9. A power grid line deicing drone according to claims 1-8, characterized in that: A power line deicing drone and a method for using the same, the method being implemented by using a power line deicing drone as claimed in any one of claims 1 to 7, characterized in that: the specific steps of use are as follows: (1) The drone (1) takes off, driving the support plate (3) to move toward the cable. When approaching the cable, the obstacle crossing mechanism (2) is buckled onto the outer circumference of the cable. Then, the flight angle of the drone (1) is adjusted, and the cleaning mechanism (4) is also buckled onto the outer circumference of the cable. The obstacle crossing mechanism (20) and the cleaning mechanism (4) start to work. (2) The cable is affected by gravity, and the middle part of the cable sags in an arc shape. Therefore, the UAV (1) is tilted in flight. The tilted UAV (1) obtains flight power, and the power generated by the flight of the UAV (1) drives the obstacle crossing mechanism (2) and the cleaning mechanism (4) forward; (3) During the process of moving forward, the obstacle-crossing mechanism (2) climbs over the connecting string of cables. During the process of the obstacle-crossing mechanism (2) climbing over the connecting string, the sliding clamp (208) is released and moves toward the first fixed clamp (206). The sliding clamp (208) clamps the line, and the first fixed clamp (206) is released. Then, the first fixed clamp (206) descends, and the drone (1) drives the sliding clamp (208) and the second fixed clamp (207) to continue moving forward. After the first fixed clamp (206) climbs over the connecting string, the first fixed clamp (206) rises to clamp the cable, and the sliding clamp (208) releases the cable. Then, the sliding clamp (208) moves in the direction of the second fixing clamp (207), while the sliding clamp (208) moves in the direction of the second fixing clamp (207), the drone (1) continues to move forward, and when the second fixing clamp (207) approaches the connection string, the sliding clamp (208) clamps the cable on the side away from the second clamp (207), after the sliding clamp (208) clamps, the second fixing clamp (207) releases and descends, the drone (1) continues to move forward, driven by the drone (1), the second fixing clamp (207) climbs over the connection string, and then the second fixing clamp (207) clamps, the sliding clamp (208) releases and descends, and the climbing is completed; (4) After climbing over, the cleaning mechanism (4) reaches the connection string, the cleaning mechanism (4) is separated from the middle, the cable is loosened, the first arc block (4013) and the second arc block (409) are relatively far apart, and the connection string passes through the middle of the first arc block (4013) and the second arc block (409), thereby continuing cleaning.

Images