Deicing robot and system with electric clutch climbing rope module

Abstract

The invention belongs to the technical field of deicing robots, and provides a deicing robot and system with an electric clutch climbing rope module, and the deicing robot comprises a deicing robot main body, the electric clutch climbing rope module, a rope guide wheel group, a wire clamping module, a locking module and a deicing module; the electric clutch climbing rope module and the rope guide wheel group are both arranged in the deicing robot main body; the wire clamping module is connected to the deicing robot main body through a turnover motor; the locking module is arranged in the deicing robot main body; the deicing module is arranged on an adapter plate of the deicing robot main body and is an ice knife; according to the deicing robot and the deicing robot system provided by the invention, the hook module connected with the climbing rope can be hung at the preset position of the line to be deiced through the small unmanned aerial vehicle, and then the deicing robot climbs to the line along the climbing rope; after the line is loaded to the preset position of the to-be-deiced line, a small section of line convenient for equipment to be loaded does not need to be manually cleaned in advance, and an additional elevator or manual assistance is also not needed.

Description

Technical Field

[0001] The invention belongs to the technical field of deicing robots with electric clutch rope climbing modules, and in particular relates to a deicing robot and a system with an electric clutch rope climbing module. Background Art

[0002] Among the existing technical means for clearing ice from line ground wires, robot online deicing is a cleaning method that takes into account both deicing efficiency and less damage to the wires. The robot reaches the designated work area to perform deicing operations, and various different deicing tools can be tried to achieve the purpose of clearing ice from the line.

[0003] The robot design based on this technical principle also faces various problems. First, in the online stage of the robot, some companies use large drones to carry it online. Due to the height of the tower, the pilot's view is limited, which makes it inconvenient to operate and easily leads to accidents. The risk of deploying this kind of robot is very high. Some solutions also require workers to take a lift to deploy the robot, which cannot effectively save human resources. Secondly, the existing de-icing robot with electric clutch rope climbing module cannot cope well with ice of different thicknesses and shapes. When facing thicker ice-covered lines, it is often necessary to manually clean a section of the line to ensure that the robot can walk stably on the line.

[0004] In order to reduce manual intervention in de-icing operations, improve operational efficiency, and reduce operational difficulty, the problems listed above need to be solved. Summary of the invention

[0005] In view of this, the present invention provides an ice-removing robot and system with an electric clutch rope-climbing module to solve the problem that in the current technology for clearing ice on line ground wires, the ice-removing robot with an electric clutch rope-climbing module is carried online by a large drone. Due to the height of the line tower, the pilot's field of view is limited, making operation inconvenient, which can easily lead to accidents and make the ice-removing robot with an electric clutch rope-climbing module unable to go online and offline normally.

[0006] In a first aspect, the present invention provides a deicing robot with an electric clutch rope climbing module, comprising a deicing robot body, an electric clutch rope climbing module, a guide rope wheel assembly, a wire clamping module, a locking module and a deicing module; The electric clutch rope climbing module is arranged in the deicing robot body and includes a clutch motor, which is used to perform a climbing operation on a climbing rope connected to a hook module that has been transported by a drone to the deicing line and is suspended on the deicing line; The clutch motor can adjust the transmission state of the rope climbing module during the climbing operation so that the deicing robot with the electric clutch rope climbing module can be naturally offline in an unexpected locked state; The guide rope wheel assembly is arranged in the deicing robot body, and is used to guide the climbing rope during the climbing process of the deicing robot with the electric clutch rope climbing module. The climbing rope connected to the hook module first passes through the guide rope wheel assembly, and then is connected to the electric clutch rope climbing module. The wire clamping module is connected to the deicing robot body through a flipping motor and is located above the electric clutch rope climbing module, and is used for flipping to a working position to clamp the deicing line under the drive of the flipping motor when the electric clutch rope climbing module climbs to a preset position of the line to be deiced through a climbing rope; The locking module is arranged in the deicing robot body, and is used to extend a lock to lock the wire clamping module in the working position when the wire clamping module is turned over to the working position under the drive of the turning motor; The deicing module is arranged on the adapter plate of the deicing robot body, and the deicing module is an ice blade.

[0007] In some embodiments, the electric clutch rope climbing module also includes an electric clutch rope climbing module body, a first rope climbing wheel, a second rope climbing wheel, a first drive motor, a second drive motor and an upper line cover; the first rope climbing wheel is sleeved on a first rotating shaft on a first side of the electric clutch rope climbing module body; the second rope climbing wheel is sleeved on a second rotating shaft on a second side of the electric clutch rope climbing module body; the first drive motor is arranged on the electric clutch rope climbing module body and is located on one side of the first rope climbing wheel, and is meshed with a first driven transmission gear on the first rotating shaft through a first active transmission gear; the second drive motor is arranged on the electric clutch rope climbing module body and is located on the second side of the electric clutch rope climbing module body The clutch motor is arranged on the main body of the electric clutch rope climbing module, and is used to drive the first driving transmission gear on the first drive motor to engage or disengage with the first driven transmission gear, and is used to drive the second driving transmission gear on the second drive motor to engage or disengage with the second driven transmission gear; the upper wire cover is connected to the main body of the electric clutch rope climbing module, and is used to cover and protect the first rope climbing wheel, the second rope climbing wheel, the first drive motor, the second drive motor and the clutch motor on the main body of the electric clutch rope climbing module.

[0008] In some embodiments, the outer walls of the first climbing rope wheel and the outer walls of the second climbing rope wheel are both provided with knurled conical surfaces; the first climbing rope wheel is mounted on the first rotating shaft through a first one-way damping bearing; the second climbing rope wheel is mounted on the second rotating shaft through a second one-way damping bearing.

[0009] In some embodiments, the guide rope wheel group includes a first guide rope wheel and a second guide rope wheel, the first guide rope wheel and the second guide rope wheel are both arranged in the de-icing robot body, and the first guide rope wheel is located above the first climbing rope wheel, and the second guide rope wheel is located above the second climbing rope wheel.

[0010] In some embodiments, the wire clamping module includes a wire clamping module frame, a screw rod group and a wire clamping block; the wire clamping module frame is also provided with a rotating transmission gear, and the rotating transmission gear is meshed with a flipping transmission gear provided on the rotating shaft of the flipping motor; both ends of the screw rod group are connected to the wire clamping module frame; the wire clamping block is sleeved on the screw rod group and can move along the screw rod group.

[0011] In some embodiments, the wire clamping block includes a wire clamping block driving motor and a walking wheel. The wire clamping block driving motor is sleeved on the screw rod group and can move along the screw rod group, and one end of the walking wheel is connected to the wire clamping block driving motor.

[0012] In some embodiments, the locking module includes a locking module body, a push rod motor and a wire clamp lock; the push rod motor is fixed in the locking module body, and the first end of the push rod motor is connected to the wire clamp lock through a wire clamp lock connecting rod.

[0013] In some embodiments, the wire clamp module is also provided with a wire clamp lock hole adapted to the wire clamp lock.

[0014] In some embodiments, a mechanical arm or a vibration generator is further provided on the rear panel of the deicing robot body.

[0015] In the second aspect, the present invention provides a deicing robot system with an electric clutch rope climbing module, comprising the deicing robot with an electric clutch rope climbing module as described in the first aspect above, and also comprising a drone, wherein the drone is used to transport the hook module to the line to be deiced and hang it on the line to be deiced, and the climbing rope connected to the hook module serves as a climbing path for the deicing robot with an electric clutch rope climbing module to climb to the line to be deiced.

[0016] Beneficial effects of the present invention: Compared with the prior art, the present application can use a small drone to hang a hook module connected to a climbing rope at a preset position of the line to be de-iced, and then a de-icing robot with an electric clutch climbing rope module can climb up the line along the climbing rope. After going online to the preset position of the line to be de-iced, there is no need for manual pre-clearing of a short section of the line to facilitate the equipment to go online, and no additional lifts or manual assistance are required. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0018] Figure 1 The structure of the present invention is schematically shown in FIG. Figure 1 ;

[0019] Figure 2 is a schematic diagram of the structure of the deicing robot body of the present invention after the upper shell is removed;

[0020] Figure 3 The structure of the present invention is schematically shown in FIG. Figure 2 ;

[0021] Figure 4 It is a structural schematic diagram of the electric clutch rope climbing module of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the wire clamping module of the present invention;

[0023] Figure 6 It is a structural schematic diagram of the locking module of the present invention.

[0024] In the figure, 10-line to be de-iced; 20-hook module; 30-climbing rope; 100-de-icing robot body; 110-flip motor; 111-flip transmission gear; 200-electric clutch rope climbing module; 210-rope climbing module body; 211-first rotating shaft; 212-second rotating shaft; 220-first rope climbing wheel; 221-first one-way damping bearing; 230-second rope climbing wheel; 231-second one-way damping bearing; 240-first drive motor; 250-second drive motor; 260-clutch motor; 300-guide rope wheel group; 310-first Guide rope wheel; 320-second guide rope wheel; 400-clip module; 401-clip lock hole; 410-clip module frame; 411-rotating transmission gear; 420-screw rod group; 430-clip block; 431-clip block drive motor; 432-travel wheel; 433-linear motor; 500-locking module; 510-module body; 520-push rod motor; 521-clip lock connecting rod; 530-clip lock; 600-deicing module; 700-mechanical arm or vibration generator; 2111-first driven transmission gear; 2121-second driven transmission gear. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0026] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0027] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of the present invention mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in some embodiments", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Multiple" means two or more.

[0031] like Figure 1-Figure 3As shown, the deicing robot with an electric clutch rope climbing module provided by the present invention specifically includes: a deicing robot body 100, an electric clutch rope climbing module 200, a guide rope wheel group 300, a clamping module 400, a locking module 500 and a deicing module 600; the electric clutch rope climbing module 200 is arranged in the deicing robot body 100 and includes a clutch motor 260, which is used to perform a climbing operation on a climbing rope 30 connected to a hook module 20 that has been transported by a drone to a line 10 to be deiced and is suspended on the line 10 to be deiced; the clutch motor 260 can adjust the transmission state of the electric clutch rope climbing module 20 during the climbing operation so that the deicing robot with the electric clutch rope climbing module can achieve a natural landing in an unexpectedly locked state; the guide rope wheel group 300 is arranged in the deicing robot body 100, and the climbing rope 30 connected to the hook module 20 first passes through the guide rope wheel group 300, and then is connected to the The electric clutch rope climbing module 200 is used to guide the climbing rope 30 during the climbing process of the deicing robot with the electric clutch rope climbing module; the wire clamping module 400 is connected to the deicing robot body 100 through the flipping motor 110 and is located above the electric clutch rope climbing module 200, and is used to flip to the working position under the drive of the flipping motor 110 to clamp the deicing line 10 when the electric clutch rope climbing module 200 climbs to the preset position of the deicing line 10 through the climbing rope 30 connected to the hook module 20; the locking module 500 is arranged in the deicing robot body 100, and is used to extend the lock to lock the wire clamping module 400 in the working position when the wire clamping module 400 is flipped to the working position under the drive of the flipping motor 110; the deicing module 600 is arranged on the adapter plate of the deicing robot body 100, and the deicing module 600 is an ice skate.

[0032] In this embodiment, when it is necessary to perform a deicing operation on the line 10 to be deiced, the specific process is as follows: 1) Determine the preset position of the line 10 to be deiced as the starting position of the deicing operation. At this time, the deicing robot with the electric clutch climbing rope module has not climbed to the preset position of the line 10 to be deiced, but needs to be transported by a drone (such as a small drone) to the preset position of the line 10 to be deiced by flying the hook module 20 connected with the climbing rope 30; 2) It is necessary to use a manual rope threading method to first pass the end (also understood as the bottom end) of the climbing rope 30 through the guide rope wheel assembly 300 and then connect it to the electric clutch climbing rope module 200 (specifically, the climbing rope 30 can be wound around the climbing rope wheel structure of the electric clutch climbing rope module 200); 3) Start the electric clutch rope climbing module 200 to start climbing along the climbing rope 30 until it reaches the preset position of the line to be deiced 10, and then, driven by the flipping motor 110, flip to the working position to clamp the line to be deiced 10, and the locking module 500 extends the lock to lock the wire clamping module 400 in the working position; this step corresponds to the online operation link and the wire grasping operation link of the deicing robot with the electric clutch rope climbing module; 4) The wire clamping module 400 drives the entire deicing robot with the electric clutch rope climbing module to walk on the deicing line 10, such as moving forward and backward, climbing a slope (the line is generally in the shape of a vertical chain with a large slope at both ends) or crossing obstacles (there may be some ice debris adhering); this step corresponds to the wire walking operation link of the deicing robot with the electric clutch rope climbing module; 5) The de-icing module 600 knocks and removes ice with ice knives when the de-icing robot with the electric clutch rope climbing module moves along the de-icing route 10; 6) After the deicing operation of the deicing line 10 is completed, the locking module 500 retracts the lock and no longer locks the clamping module 400 in the working position, and the electric clutch rope climbing module 200 goes down the line along the climbing rope 30; this step corresponds to the downline operation link of the deicing robot with the electric clutch rope climbing module; 7) After the deicing robot with the electric clutch rope climbing module has completed the offline operation through the electric clutch rope climbing module 200 and removed the climbing rope 30 from the electric clutch rope climbing module 200, the drone (such as a small drone) is operated to remove the hook module 20 connected to the climbing rope 30 from the line to be deiced 10 and transport it back to the ground, thereby completing the entire deicing process.

[0033] It can be seen that through the deicing operation of the above-mentioned deicing robot with electric clutch rope climbing module, the deicing robot with electric clutch rope climbing module can be assisted by a drone to go online to the line to be deiced 10, without the need to manually clear a small section of the line to be deiced 10 in advance as the line for the equipment to go online, and without the need for additional elevators or manual assistance, which significantly improves the flexibility and response speed in dealing with extreme weather.

[0034] like Figure 4As shown, in some embodiments, the electric clutch rope climbing module 200 includes an electric clutch rope climbing module body 210, a first rope climbing wheel 220, a second rope climbing wheel 230, a first drive motor 240, a second drive motor 250, a clutch motor 260 and an upper line cover (not shown in the figure); the first rope climbing wheel 220 is sleeved on the first rotating shaft 211 on the first side of the electric clutch rope climbing module body 210; the second rope climbing wheel 230 is sleeved on the second rotating shaft 212 on the second side of the electric clutch rope climbing module body 210; the first drive motor 240 is arranged on the electric clutch rope climbing module body 210 and is located on one side of the first rope climbing wheel 220, and is meshed with the first driven transmission gear 2111 on the first rotating shaft 211 through a first active transmission gear (not shown in the figure); the second drive motor 250 is arranged on the electric clutch rope climbing module body 21 0 and is located on one side of the second rope climbing wheel 230, and is meshed with the second driven transmission gear 2121 on the second rotating shaft 212 through the second active transmission gear; the clutch motor 260 is provided on the electric clutch rope climbing module body 210, and is used to drive the first active transmission gear on the first drive motor 240 to engage or disengage with the first driven transmission gear 2111, and is also used to drive the second active transmission gear (not shown in the figure) on the second drive motor 250 to engage or disengage with the second driven transmission gear 2121; the upper line cover is detachably connected to the electric clutch rope climbing module body 210, and is used to cover and protect the first rope climbing wheel 220, the second rope climbing wheel 230, the first drive motor 240, the second drive motor 250 and the clutch motor 260 on the electric clutch rope climbing module body 210.

[0035] In this embodiment, if the hook module 20 includes two hooks and each hook is connected to a climbing rope 30, which are respectively recorded as a first climbing rope and a second climbing rope, before the deicing robot with an electric clutch climbing rope module goes online to the preset position of the line 10 to be deiced, the following operations need to be performed: 11) First manually remove the upper cable cover from the electric clutch rope climbing module body 210: 12) In the process of manually threading the rope, the end of the first climbing rope is first passed through the guide rope wheel group 300 and then connected to the first climbing rope wheel 220, and the end of the second climbing rope is first passed through the guide rope wheel group 300 and then connected to the second climbing rope wheel 230. The specific operation is to make the end of the first climbing rope wrap around the outer wall of the first climbing rope wheel 220 for at least half a circle, then wrap around the first auxiliary guide wheel on one side of the first climbing rope wheel 220 for another half a circle, and then hang down in the vertical direction. At the same time, the end of the second climbing rope needs to wrap around the outer wall of the second climbing rope wheel 230 for at least half a circle, then wrap around the second auxiliary guide wheel on one side of the second climbing rope wheel 230 for another half a circle, and then hang down in the vertical direction. 13) Install the upper cable cover back onto the electric clutch rope climbing module body 210; 14) Starting the clutch motor 260 makes the first active transmission gear on the first drive motor 240 mesh with the first driven transmission gear 2111, and makes the second active transmission gear on the second drive motor 250 mesh with the second driven transmission gear 2121. After the above process is completed, the clutch motor 260 is controlled to stop running; this operation enables the two drive motors to effectively transmit the corresponding rope climbing wheels respectively during the process of the deicing robot with electric clutch rope climbing module climbing to the preset position of the line 10 to be deiced; 15) The first drive motor 240 and the second drive motor 250 are started simultaneously, so that the electric clutch rope climbing module 200 as a whole climbs upward on the first climbing rope and the second climbing rope until it climbs to a preset position of the line 10 to be de-iced.

[0036] Moreover, when the deicing robot with the electric clutch rope climbing module climbs to the preset position of the line 10 to be deiced under the drive of the electric clutch rope climbing module 200, it needs to be flipped to the working position under the drive of the flip motor 110 to clamp the line 10 to be deiced, and the locking module 500 extends the lock to lock the clamping module 400 in the working position. It can be seen that the above process realizes that the deicing robot with the electric clutch rope climbing module is driven by the electric clutch rope climbing module 200 to climb to the preset position of the line 10 to be deiced along the climbing rope 30, without the need for a large drone to lift it to the preset position of the line 10 to be deiced.

[0037] In some embodiments, Figure 1-Figure 4 As shown, the outer walls of the first rope climbing wheel 220 and the outer walls of the second rope climbing wheel 230 are both provided with knurled conical surfaces; the first rope climbing wheel 220 is sleeved on the first rotating shaft 211 through a first one-way damping bearing 221; the second rope climbing wheel 230 is sleeved on the second rotating shaft 212 through a second one-way damping bearing 231.

[0038] Since the outer wall of the first rope climbing wheel 220 and the outer wall of the second rope climbing wheel 230 are both provided with a knurled conical surface, the friction between the climbing rope 30 can be increased. Moreover, when the first rope climbing wheel 220 is sleeved on the first rotating shaft 211 through the first one-way damping bearing 221, and the second rope climbing wheel 230 is sleeved on the second rotating shaft 212 through the second one-way damping bearing 231, when the electric clutch rope climbing module 200 climbs up along the first climbing rope and the second climbing rope to reach the preset position of the de-icing line 10, the first one-way damping bearing 221 and the second one-way damping bearing 231 will not have a damping effect, and will not consume additional energy. However, when the electric clutch rope climbing module 200 is in the process of descending down along the first climbing rope and the second climbing rope, the first rope climbing wheel 220 and the second rope climbing wheel 230 are reversed, and the first one-way damping bearing 221 and the second one-way damping bearing 231 produce a damping effect during this stroke.

[0039] Moreover, before the electric clutch rope climbing module 200 starts the process of descending down the first climbing rope and the second climbing rope, it is necessary to start the clutch motor 260 to disengage the first active transmission gear on the first drive motor 240 from the first driven transmission gear 2111, and to disengage the second active transmission gear on the second drive motor 250 from the second driven transmission gear 2121. After the above process is completed, the clutch motor 260 is controlled to stop running. At this time, the entire deicing robot with the electric clutch rope climbing module descends to the ground under the action of gravity. Due to the damping effect of the above two one-way damping bearings, the descent speed of the deicing robot with the electric clutch rope climbing module will not be too fast.

[0040] In some embodiments, Figure 1-Figure 4 As shown, the guide rope wheel group 300 includes a first guide rope wheel 310 and a second guide rope wheel 320. The first guide rope wheel 310 and the second guide rope wheel 320 are both arranged in the de-icing robot body 100, and the first guide rope wheel 310 is located above the first climbing rope wheel 220, and the second guide rope wheel 320 is located above the second climbing rope wheel 230.

[0041] In the present embodiment, the first guide rope wheel 310, the first climbing rope wheel 220 and the first auxiliary guide wheel arranged on one side of the first climbing rope wheel 220 form a pulley group, and the end of the first climbing rope is first passed through the first guide rope wheel 310, and then wrapped around the outer wall of the first climbing rope wheel 220 for at least half a circle (ensuring that the vertical parts of the first climbing rope located at both ends of the first climbing rope wheel 220 are tangent to the first climbing rope wheel 220), and then wrapped around the first auxiliary guide wheel on one side of the first climbing rope wheel 220 for another half a circle and then hung down in the vertical direction.

[0042] Similarly, the second guide rope wheel 320, the second climbing rope wheel 230 and the second auxiliary guide wheel arranged on one side of the second climbing rope wheel 230 form a pulley block, and the end of the second climbing rope first passes through the second guide rope wheel 320, and then wraps around the outer wall of the second climbing rope wheel 230 for at least half a circle (ensuring that the vertical parts of the second climbing rope located at both ends of the second climbing rope wheel 230 are tangent to the second climbing rope wheel 230), and then wraps around the second auxiliary guide wheel on one side of the second climbing rope wheel 230 for another half a circle and then hangs down in the vertical direction. In the above manner, the entire deicing robot with electric clutch climbing rope module is effectively guided during the movement process of completing the online operation and offline operation.

[0043] In some embodiments, Figure 5 As shown, the wire clamping module 400 includes a wire clamping module frame 410, a screw rod group 420 and a wire clamping block 430; the wire clamping module frame 410 is also provided with a rotating transmission gear 411, and the rotating transmission gear 411 is engaged with the flip transmission gear 111 provided on the rotating shaft of the flip motor 110; both ends of the screw rod group 420 are connected to the wire clamping module frame 410; the wire clamping block 430 is sleeved on the screw rod group 420 and can move along the screw rod group 420.

[0044] In this embodiment, as the core walking component of the deicing robot with electric clutch rope climbing module during the on-line operation, it stays at the initial position before the electric clutch rope climbing module 200 climbs to the preset position of the line 10 to be deiced through the climbing rope 30 connected to the hook module 20, and only when it climbs to the preset position of the line 10 to be deiced, it is turned to the working position under the drive of the turning motor 110 to clamp the line 10 to be deiced. In addition, the clamping block 430 can move up and down along the screw rod group 420 according to the thickness of the ice on the line 10 to be deiced, so as to achieve more stable clamping of the line 10 to be deiced. After the clamping block 430 completes the clamping operation of the line 10 to be deiced, it drives the walking wheel 432 arranged on it to rotate, so as to drive the deicing robot with electric clutch rope climbing module to walk on the line 10 to be deiced, and deicing the line 10 to be deiced is performed through the deicing module 600 during the walking process.

[0045] In some embodiments, Figure 5 As shown, the clamping block 430 includes a clamping block driving motor 431 and a walking wheel 432. The clamping block driving motor 431 is sleeved on the screw rod group 420 and can move along the screw rod group 420, and one end of the walking wheel 432 is connected to the clamping block driving motor 431.

[0046] In this embodiment, a linear motor 433 may be provided on the clamping module frame 410, and the rotating shaft of the linear motor 433 is connected to the screw rod group 420, and the clamping block driving motor 431 may be driven to move up and down along the screw rod group 420 by the driving of the linear motor 433. Moreover, the clamping block driving motor 431 is used as a driving component of the running wheel 432, and the running wheel 432 may be directly sleeved and connected to the rotating shaft of the clamping block driving motor 431, and when the clamping block driving motor 431 is started, the running wheel 432 may be driven to move along the line 10 to be de-iced.

[0047] In some embodiments, Figure 6 As shown, the locking module 500 includes a locking module body 510, a push rod motor 520 and a wire clamp lock 530; the push rod motor 520 is fixed in the locking module body 510, and the first end of the push rod motor 520 is connected to the wire clamp lock 530 through a wire clamp lock connecting rod 521.

[0048] In this embodiment, in order to enable the wire clamping module 400 to flip to the working position under the drive of the flipping motor 110 and more firmly clamp the line to be de-iced 10, it is also necessary that when the wire clamping module 400 flips to the working position, the push rod motor 520 drives the wire clamp lock 530 to switch from the retracted state to the extended state, and snaps into the wire clamping module frame 410 of the wire clamping module 400, which can ensure that the wire clamping module 400 remains stably in the working position.

[0049] In some embodiments, Figure 1-Figure 6 As shown, the wire clamp module 400 is further provided with a wire clamp lock hole 401 adapted to the wire clamp lock 530 .

[0050] In this embodiment, a wire clamp lock hole 401 compatible with the wire clamp lock 530 is further provided on the wire clamp module frame 410 of the wire clamp module 400. When the wire clamp lock 530 is driven by the push rod motor 520 to switch from a retracted state to an extended state, it can be engaged in the wire clamp lock hole 401, thereby ensuring that the wire clamp module 400 is stably maintained in the working position.

[0051] In some embodiments, Figure 1-Figure 3 As shown, the back panel of the deicing robot body 100 is also used to connect the robot arm or the vibration generator 700 in a detachable manner.

[0052] In this embodiment, the mechanical arm or vibration generator 700 provided on the rear panel of the deicing robot body can be used as an auxiliary deicing tool of the deicing module 600 to achieve a better deicing effect.

[0053] The present invention also provides a deicing robot system with an electric clutch rope climbing module, comprising the deicing robot with an electric clutch rope climbing module as described above, and also comprising a drone, wherein the drone is used to transport the hook module 20 to the line to be deiced 10 and hang it on the line to be deiced 10, and the climbing rope 30 connected to the hook module 20 is used as a climbing path for the deicing robot with an electric clutch rope climbing module to climb to the line to be deiced 10.

[0054] It can be seen that the deicing robot with an electric clutch rope climbing module and the deicing robot system with an electric clutch rope climbing module of the present invention can hang the hook module 20 connected to the climbing rope 30 at the preset position of the line 10 to be deiced through a small drone, and then the deicing robot with an electric clutch rope climbing module can climb online along the climbing rope 30. After going online to the preset position of the line 10 to be deiced, there is no need for manual pre-clearing of a short section of the line to facilitate the equipment to go online, and no additional elevator or manual assistance is required.

[0055] The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above-mentioned embodiments, or replace some of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A deicing robot with an electric clutch rope climbing module, characterized in that: It comprises a deicing robot body (100), an electric clutch rope climbing module (200), a rope guide wheel assembly (300), a wire clamping module (400), a locking module (500) and a deicing module (600); The electric clutch rope climbing module (200) is disposed in the deicing robot body (100) and comprises a clutch motor (260) for performing a climbing operation on a climbing rope (30) connected to a hook module (20) that has been transported by a drone to the deicing line (10) and is suspended on the deicing line (10); The clutch motor (260) can adjust the transmission state of the electric clutch rope climbing module (200) during the climbing operation so that the deicing robot with the electric clutch rope climbing module can be naturally offline in an unexpected locked state; The guide rope wheel assembly (300) is arranged in the deicing robot body (100) and is used to guide the climbing rope (30) during the climbing process of the deicing robot with the electric clutch rope climbing module. The climbing rope (30) connected to the hook module (20) first passes through the guide rope wheel assembly (300) and then connects to the electric clutch rope climbing module (200); The wire clamping module (400) is connected to the deicing robot body (100) via a flipping motor (110) and is located above the electric clutch rope climbing module (200) and is used for flipping to a working position driven by the flipping motor (110) to clamp the deicing line (10) when the electric clutch rope climbing module (200) climbs to a preset position of the deicing line (10) via a climbing rope (30); The locking module (500) is arranged in the deicing robot body (100) and is used to extend a lock to lock the wire clamping module (400) in the working position when the wire clamping module (400) is turned over to the working position under the drive of the turning motor (110); The deicing module (600) is arranged on an adapter plate of a deicing robot body (100), and the deicing module (600) is an ice blade.

2. The deicing robot with electric clutch rope climbing module according to claim 1, characterized in that: The electric clutch rope climbing module (200) further comprises an electric clutch rope climbing module body (210), a first rope climbing wheel (220), a second rope climbing wheel (230), a first drive motor (240), a second drive motor (250) and an upper line cover; the first rope climbing wheel (220) is sleeved on a first rotating shaft (211) on a first side of the electric clutch rope climbing module (200) body; the second rope climbing wheel (230) is sleeved on a second rotating shaft (212) on a second side of the electric clutch rope climbing module (200) body; the first drive motor (240) is arranged on the electric clutch rope climbing module (200) body and is located on one side of the first rope climbing wheel (220), and is meshed with a first driven transmission gear (2111) on the first rotating shaft (211) through a first active transmission gear; the second drive motor (250) is arranged on the electric clutch rope climbing module (200) body and is located on the second rotating shaft (212) on the second side of the electric clutch rope climbing module (200) body. The first driving motor (240) is connected to one side of the second rope climbing wheel (230), and is meshed with the second driven transmission gear (2121) on the second rotating shaft (212) through the second active transmission gear; the clutch motor (260) is arranged on the main body of the electric clutch rope climbing module (200), and is used to drive the first active transmission gear on the first drive motor (240) to mesh with or disengage the first driven transmission gear (2111), and is also used to drive the second active transmission gear on the second drive motor (250) to mesh with or disengage the second driven transmission gear (2121); the upper wire cover is connected to the main body of the electric clutch rope climbing module (200), and is used to cover and protect the first rope climbing wheel (220), the second rope climbing wheel (230), the first drive motor (240), the second drive motor (250) and the clutch motor (260) on the main body of the electric clutch rope climbing module (200).

3. The deicing robot with electric clutch rope climbing module according to claim 2, characterized in that: The outer walls of the first rope climbing wheel (220) and the outer walls of the second rope climbing wheel (230) are both provided with knurled conical surfaces; the first rope climbing wheel (220) is sleeved on the first rotating shaft (211) via a first one-way damping bearing (221); and the second rope climbing wheel (230) is sleeved on the second rotating shaft (212) via a second one-way damping bearing (231).

4. The deicing robot with electric clutch rope climbing module according to claim 2, characterized in that: The guide rope wheel assembly (300) comprises a first guide rope wheel (310) and a second guide rope wheel (320), wherein the first guide rope wheel (310) and the second guide rope wheel (320) are both arranged in the deicing robot body (100), and the first guide rope wheel (310) is located above the first climbing rope wheel (220), and the second guide rope wheel (320) is located above the second climbing rope wheel (230).

5. The deicing robot with electric clutch rope climbing module according to claim 1, characterized in that: The wire clamping module (400) comprises a wire clamping module frame (410), a screw rod group (420) and a wire clamping block (430); the wire clamping module frame (410) is also provided with a rotating transmission gear (411), and the rotating transmission gear (411) is meshed with a flip transmission gear (111) provided on the rotating shaft of the flip motor (110); both ends of the screw rod group (420) are connected to the wire clamping module frame (410); the wire clamping block (430) is sleeved on the screw rod group (420) and can move along the screw rod group (420).

6. The deicing robot with electric clutch rope climbing module according to claim 5, characterized in that: The wire clamping block (430) comprises a wire clamping block driving motor (431) and a running wheel (432); the wire clamping block driving motor (431) is sleeved on the screw rod group (420) and can move along the screw rod group (420); and one end of the running wheel (432) is connected to the wire clamping block driving motor (431).

7. The deicing robot with electric clutch rope climbing module according to claim 1, characterized in that: The locking module (500) comprises a locking module body (510), a push rod motor (520) and a wire clamp lock (530); the push rod motor (520) is fixedly arranged in the locking module body (510), and the first end of the push rod motor (520) is connected to the wire clamp lock (530) via a wire clamp lock connecting rod (521).

8. The deicing robot with electric clutch rope climbing module according to claim 7, characterized in that: The wire clamp module (400) is also provided with a wire clamp lock hole (401) adapted to the wire clamp lock (530).

9. The deicing robot with electric clutch rope climbing module according to claim 1, characterized in that: A mechanical arm or a vibration generator (700) is also provided on the rear panel of the deicing robot body (100).

10. A de-icing robot system with an electric clutch rope climbing module, characterized in that: A deicing robot with an electric clutch climbing rope module as claimed in any one of claims 1 to 9, further comprising a drone, wherein the drone is used to transport the hook module (20) to the line (10) to be deiced and hang it on the line (10) to be deiced, and the climbing rope (30) connected to the hook module (20) serves as a climbing path for the deicing robot with the electric clutch climbing rope module to climb to the line (10) to be deiced.

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