De-icing Robot and System with Electric Clutch Rope-Climbing Module

Abstract

The present invention belongs to the technical field of de-icing robots, and provides a de-icing robot and system with an electric clutch rope climbing module, including: a de-icing robot main body, an electric clutch rope climbing module, a guide rope wheel set, a wire clamping module, a locking module, and a de-icing module; the electric clutch rope climbing module and the guide rope wheel set are both arranged inside the de-icing robot main body; the wire clamping module is connected to the de-icing robot main body through a flipping motor; the locking module is arranged inside the de-icing robot main body; the de-icing module is arranged on the adapter plate of the de-icing robot main body and is an ice knife; the de-icing robot and the de-icing robot system provided by the present invention can hang a hook module connected with a climbing rope at a preset position of a line to be de-iced through a small unmanned aerial vehicle, and then the de-icing robot climbs up along the climbing rope. After climbing to the preset position of the line to be de-iced, there is no need to manually pre-clean a small section of the line to facilitate the equipment to climb up in advance, nor is there a need for an additional elevator or manual assistance.

Description

Technical Field

[0001] The present invention belongs to the technical field of de-icing robots with electric clutch rope climbing modules, and particularly relates to a de-icing robot and system with an electric clutch rope climbing module. Background Art

[0002] Among the existing technical means for cleaning ice on line conductors and ground wires, in-line de-icing by robots is a cleaning method that takes into account both de-icing efficiency and less damage to the conductors. By having the robot reach the designated working area for de-icing operations, various different de-icing tools can be tried, so as to achieve the purpose of cleaning ice on the line.

[0003] The robot design developed around this technical principle also faces various problems. First, during the online stage of the robot, some enterprises use large unmanned aerial vehicles (UAVs) to carry it online. Due to the height of the line towers and the limited view of the drone pilots, the operation is inconvenient and accidents are likely to occur. The risk of deploying such robots is very high. Some solutions also require workers to ride in a lift for robot deployment, which does not effectively save human resources. Secondly, the existing de-icing robots with electric clutch rope climbing modules cannot well handle ice coatings of different thicknesses and shapes. Facing thickly iced lines, it is often necessary to manually clean a section of the line before the robot can walk and operate stably on the line.

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

[0005] In view of this, the present invention provides a de-icing robot and system with an electric clutch rope climbing module to solve the problem that in the current technology for cleaning ice on line conductors and ground wires, the de-icing robot with an electric clutch rope climbing module is carried online by a large UAV. Due to the height of the line towers and the limited view of the drone pilots, the operation is inconvenient and accidents are likely to occur, resulting in the de-icing robot with an electric clutch rope climbing module being unable to go online and offline normally.

[0006] In a first aspect, the present invention provides a de-icing robot with an electric clutch rope climbing module, including a de-icing robot main body, an electric clutch rope climbing module, a guide rope wheel set, a wire clamping module, a locking module, and a de-icing module;

[0007] The electric clutch rope climbing module is disposed inside the de-icing robot main body and includes a clutch motor for climbing the climbing rope connected to a hook module that has been transported by a UAV to the line to be de-iced and is suspended on the line to be de-iced;

[0008] The clutch motor can adjust the transmission state of the rope climbing module during the climbing operation so that the de-icing robot with the electric clutch rope climbing module can achieve natural offline in the event of an accidental lock-up state;

[0009] The wire guiding pulley set is arranged inside the de-icing robot main body and is used to guide the climbing rope during the climbing process of the de-icing robot with an electric clutch climbing rope module. The climbing rope connected to the hook module first passes through the wire guiding pulley set and then is connected to the electric clutch climbing rope module;

[0010] The wire clamping module is connected to the de-icing robot main body through a flipping motor and is located above the electric clutch climbing rope module. When the electric clutch climbing rope module climbs to a preset position on the line to be de-iced through the climbing rope, it flips to the working position under the drive of the flipping motor to clamp the line to be de-iced;

[0011] The locking module is arranged inside the de-icing robot main body and is used to extend a lock to lock the wire clamping module in the working position when the wire clamping module flips to the working position under the drive of the flipping motor;

[0012] The de-icing module is arranged on the adapter plate of the de-icing robot main body, and the de-icing module is an ice knife.

[0013] In some embodiments, the electric clutch climbing rope module further includes an electric clutch climbing rope module main body, a first climbing rope wheel, a second climbing rope wheel, a first driving motor, a second driving motor and an upper line cover; the first climbing rope wheel is sleeved on a first rotating shaft on the first side of the electric clutch climbing rope module main body; the second climbing rope wheel is sleeved on a second rotating shaft on the second side of the electric clutch climbing rope module main body; the first driving motor is arranged on the electric clutch climbing rope module main body and is located on one side of the first climbing rope wheel, and is meshed with a first driven transmission gear on the first rotating shaft through a first driving transmission gear; the second driving motor is arranged on the electric clutch climbing rope module main body and is located on one side of the second climbing rope wheel, and is meshed with a second driven transmission gear on the second rotating shaft through a second driving transmission gear; the clutch motor is arranged on the electric clutch climbing rope module main body and is used to drive the first driving transmission gear on the first driving motor to be meshed or separated from the first driven transmission gear, and is used to drive the second driving transmission gear on the second driving motor to be meshed or separated from the second driven transmission gear; the upper line cover is connected to the electric clutch climbing rope module main body and is used to provide a covering protection for the first climbing rope wheel, the second climbing rope wheel, the first driving motor, the second driving motor and the clutch motor on the electric clutch climbing rope module main body.

[0014] In some embodiments, knurled conical surfaces are provided on the outer walls of both the first climbing rope wheel and the second climbing rope wheel; the first climbing rope wheel is sleeved on the first rotating shaft through a first one-way damping bearing; the second climbing rope wheel is sleeved on the second rotating shaft through a second one-way damping bearing.

[0015] In some embodiments, the wire guiding pulley group includes a first wire guiding pulley and a second wire guiding pulley. Both the first wire guiding pulley and the second wire guiding pulley are disposed inside the ice removal robot body. The first wire guiding pulley is located above the first rope climbing pulley, and the second wire guiding pulley is located above the second rope climbing pulley.

[0016] In some embodiments, the wire clamping module includes a wire clamping module frame, a lead screw group, and a wire clamping block. A rotating transmission gear is further disposed on the wire clamping module frame, and the rotating transmission gear meshes with a flipping transmission gear provided on the rotating shaft of the flipping motor. Both ends of the lead screw group are connected to the wire clamping module frame. The wire clamping block is sleeved on the lead screw group and can move along the lead screw group.

[0017] 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 lead screw group and can move along the lead screw group, and one end of the walking wheel is connected to the wire clamping block driving motor.

[0018] 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 fixedly disposed inside 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.

[0019] In some embodiments, the wire clamping module is further provided with a wire clamp lock hole adapted to the wire clamp lock.

[0020] In some embodiments, a robotic arm or a vibration generator is further disposed on the back panel of the ice removal robot body.

[0021] In a second aspect, the present invention provides an ice removal robot system with an electric clutch rope climbing module, including the ice removal robot with an electric clutch rope climbing module as described in the first aspect above, and further including a drone. The drone is used to transport the hook module to the line to be de-iced and hang it on the line to be de-iced, and the climbing rope connected to the hook module serves as the climbing path for the ice removal robot with an electric clutch rope climbing module to climb onto the line to be de-iced.

[0022] Advantages of the present invention:

[0023] Compared with the prior art, the present application can hang the hook module connected with the climbing rope at a preset position on the line to be de-iced by a small drone, and then the ice removal robot with an electric clutch rope climbing module climbs onto the line along the climbing rope. After climbing onto the preset position on the line to be de-iced, there is no need to manually pre-clean a small section of the line for the equipment to climb onto the line in advance, nor is there a need for an additional elevator or manual assistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0025] Figure 1 is the structural schematic of the present invention Figure 1 ;

[0026] Figure 2 is the structural schematic diagram of the de-icing robot main body of the present invention after removing the upper shell;

[0027] Figure 3 is the structural schematic of the present invention Figure 2 ;

[0028] Figure 4 is the structural schematic diagram of the electric clutch rope climbing module of the present invention;

[0029] Figure 5 is the structural schematic diagram of the wire clamping module of the present invention;

[0030] Figure 6 is the structural schematic diagram of the locking module of the present invention.

[0031] In the figure, 10 - de-icing line to be removed; 20 - hook module; 30 - climbing rope; 100 - de-icing robot main body; 110 - flipping motor; 111 - flipping transmission gear; 200 - electric clutch rope climbing module; 210 - rope climbing module main 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 driving motor; 250 - second driving motor; 260 - clutch motor; 300 - guide rope wheel set; 310 - first guide rope wheel; 320 - second guide rope wheel; 400 - wire clamping module; 401 - wire clamp lock hole; 410 - wire clamping module frame; 411 - rotating transmission gear; 420 - lead screw group; 430 - wire clamping block; 431 - wire clamping block driving motor; 432 - walking wheel; 433 - linear motor; 500 - locking module; 510 - module main body; 520 - push rod motor; 521 - wire clamp lock connecting rod; 530 - wire clamp lock; 600 - de-icing module; 700 - robotic arm or vibration generator; 2111 - first driven transmission gear; 2121 - second driven transmission gear. Specific Embodiments

[0032] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented in order to thoroughly understand the embodiments of the present invention. However, those skilled in the art should clearly understand that the present invention can also 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 avoid unnecessary details from interfering with the description of the present invention.

[0033] It should also be understood that the term "and / or" used in the description of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] It should be noted that when an element is referred to as "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 "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0035] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0036] In addition, in the description of the present invention and the appended claims, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0037] The reference to "an embodiment" or "some embodiments" etc. described in the description of the present invention means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present invention. Thus, the statements "in some embodiments", "in some embodiments", "in other some embodiments", "in still other some 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 "comprising", "including", "having" and their variants mean "including but not limited to", unless otherwise specifically emphasized in other ways. "Plurality" means two or more.

[0038] Such as Figures 1-3As shown in the figure, the de-icing robot with an electric clutch rope climbing module provided by the present invention specifically includes: a de-icing robot main body 100, an electric clutch rope climbing module 200, a guide pulley group 300, a wire clamping module 400, a locking module 500, and a de-icing module 600; the electric clutch rope climbing module 200 is arranged inside the de-icing robot main body 100 and includes a clutch motor 260, which is used to climb the climbing rope 30 connected to the hook module 20 that has been transported by the unmanned aerial vehicle to the line to be de-iced 10 and is suspended on the line to be de-iced 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 de-icing robot with the electric clutch rope climbing module can achieve natural descent in the case of accidental locking; the guide pulley group 300 is arranged inside the de-icing robot main body 100, and the climbing rope 30 connected to the hook module 20 first passes through the guide pulley group 300 and then is connected to the electric clutch rope climbing module 200, which is used to guide the climbing rope 30 during the climbing process of the de-icing robot with the electric clutch rope climbing module; the wire clamping module 400 is connected to the de-icing robot main body 100 through a flipping motor 110 and is located above the electric clutch rope climbing module 200, and is used to flip to the working position to clamp the line to be de-iced 10 under the drive of the flipping motor 110 when the electric clutch rope climbing module 200 climbs to a preset position of the line to be de-iced 10 through the climbing rope 30 connected by the hook module 20; the locking module 500 is arranged inside the de-icing robot main 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 flips to the working position under the drive of the flipping motor 110; the de-icing module 600 is arranged on the adapter plate of the de-icing robot main body 100, and the de-icing module 600 is an ice knife.

[0039] In this embodiment, when de-icing operation needs to be performed on the line to be de-iced 10, the specific process is as follows:

[0040] 1) Determine the preset position of the line to be de-iced 10 as the starting position of the de-icing operation. At this time, the de-icing robot with the electric clutch rope climbing module has not climbed to the preset position of the line to be de-iced 10, but it is necessary for an unmanned aerial vehicle (such as a small unmanned aerial vehicle) to transport the hook module 20 connected with the climbing rope 30 to the preset position of the line to be de-iced 10 by flying.

[0041] 2) It is necessary to adopt the method of manually threading the rope. First, the end (which can also be understood as the bottom end) of the climbing rope 30 is passed through the guide pulley group 300 and then connected to the electric clutch rope climbing module 200 (specifically, the climbing rope 30 can be wound on the rope climbing wheel structure of the electric clutch rope climbing module 200).

[0042] 3) Start the electric clutch climbing rope module 200 to start climbing along the climbing rope 30. When it climbs to the preset position of the line to be de-iced 10, it flips to the working position under the drive of the flipping motor 110 to clamp the line to be de-iced 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 de-icing robot with an electric clutch climbing rope module;

[0043] 4) The entire de-icing robot with an electric clutch climbing rope module is driven by the wire clamping module 400 to move on the line to be de-iced 10, such as moving forward and backward, climbing slopes (the line is generally in a vertical chain shape with large slopes at both ends), or crossing obstacles (there may be some ice slag adhering); this step corresponds to the wire walking operation link of the de-icing robot with an electric clutch climbing rope module;

[0044] 5) When the de-icing robot with an electric clutch climbing rope module as a whole moves along the line to be de-iced 10, the de-icing module 600 knocks and de-ices through ice knives;

[0045] 6) When the de-icing operation of the line to be de-iced 10 is completed, the locking module 500 retracts the lock and no longer locks the wire clamping module 400 in the working position, and the electric clutch climbing rope module 200 descends along the climbing rope 30; this step corresponds to the offline operation link of the de-icing robot with an electric clutch climbing rope module;

[0046] 7) When the de-icing robot with an electric clutch climbing rope module completes the descent through the electric clutch climbing rope module 200 and removes the climbing rope 30 from the electric clutch climbing rope module 200, then operate the drone (such as a small drone) to remove the hook module 20 connected with the climbing rope 30 from the line to be de-iced 10 and transport it back to the ground, thereby completing the entire de-icing process.

[0047] It can be seen that through the de-icing operation of the above-mentioned de-icing robot with an electric clutch climbing rope module, the drone can assist the de-icing robot with an electric clutch climbing rope module to go online to the line to be de-iced 10, without the need for manual pre-cleaning of a small section of the line to be de-iced 10 as the line for the equipment to go online, and without the need for additional elevators or manual assistance, significantly improving the flexibility and response speed in dealing with extreme weather.

[0048] Such as Figure 4As shown, in some embodiments, the electric clutch climbing rope module 200 includes an electric clutch climbing rope module main body 210, a first climbing rope wheel 220, a second climbing rope wheel 230, a first driving motor 240, a second driving motor 250, a clutch motor 260, and an upper line cover (not shown in the figure); the first climbing rope wheel 220 is sleeved on a first rotating shaft 211 on the first side of the electric clutch climbing rope module main body 210; the second climbing rope wheel 230 is sleeved on a second rotating shaft 212 on the second side of the electric clutch climbing rope module main body 210; the first driving motor 240 is disposed on the electric clutch climbing rope module main body 210 and on one side of the first climbing rope wheel 220, and is engaged with a first driven transmission gear 2111 on the first rotating shaft 211 through a first driving transmission gear (not shown in the figure); the second driving motor 250 is disposed on the electric clutch climbing rope module main body 210 and on one side of the second climbing rope wheel 230, and is engaged with a second driven transmission gear 2121 on the second rotating shaft 212 through a second driving transmission gear; the clutch motor 260 is disposed on the electric clutch climbing rope module main body 210, and is used to drive the first driving transmission gear on the first driving motor 240 to be engaged with or separated from the first driven transmission gear 2111, and is also used to drive the second driving transmission gear (not shown in the figure) on the second driving motor 250 to be engaged with or separated from the second driven transmission gear 2121; the upper line cover is detachably connected to the electric clutch climbing rope module main body 210, and is used to perform covering protection on the first climbing rope wheel 220, the second climbing rope wheel 230, the first driving motor 240, the second driving motor 250, and the clutch motor 260 on the electric clutch climbing rope module main body 210.

[0049] In this embodiment, if the hook module 20 specifically includes 2 hooks in implementation and each hook is connected with a climbing rope 30, which are respectively denoted as the first climbing rope and the second climbing rope, before the de-icing robot with the electric clutch climbing rope module is lifted to a preset position on the de-icing line 10, the following operations need to be performed:

[0050] 11) Manually remove the upper line cover from the electric clutch climbing rope module main body 210 first:

[0051] 12) In the way of manually threading the rope, first pass the end of the first climbing rope through the guide pulley set 300 and then connect it to the first climbing rope pulley 220. During the process of passing the end of the second climbing rope through the guide pulley set 300 and then connecting it to the second climbing rope pulley 230 respectively, the specific operation is to make the end of the first climbing rope surround the outer wall of the first climbing rope pulley 220 for at least half a circle, then surround the first auxiliary guide pulley on one side of the first climbing rope pulley 220 for another half a circle and then hang vertically. At the same time, it is also necessary to make the end of the second climbing rope surround the outer wall of the second climbing rope pulley 230 for at least half a circle, then surround the second auxiliary guide pulley on one side of the second climbing rope pulley 230 for another half a circle and then hang vertically;

[0052] 13) Install the upper cover back onto the main body 210 of the electric clutch climbing rope module;

[0053] 14) Start the clutch motor 260 to make the first driving gear on the first driving motor 240 engage with the first driven gear 2111, and make the second driving gear on the second driving motor 250 engage with the second driven gear 2121. After completing the above process, control the clutch motor 260 to stop running; this operation enables the two driving motors to effectively drive the corresponding climbing rope pulleys respectively during the process of the deicing robot with the electric clutch climbing rope module climbing to the preset position on the deicing line 10.

[0054] 15) Start the first driving motor 240 and the second driving motor 250 simultaneously to make the whole electric clutch climbing rope module 200 climb upward on the first climbing rope and the second climbing rope until it climbs to the preset position on the deicing line 10.

[0055] Moreover, when the deicing robot with the electric clutch climbing rope module climbs to the preset position on the deicing line 10 driven by the electric clutch climbing rope module 200, it is also necessary to be flipped to the working position to clamp the deicing line 10 under the drive of the flipping motor 110, and the locking module 500 extends the lock to lock the wire clamping module 400 in the working position. It can be seen that the above process realizes that the deicing robot with the electric clutch climbing rope module is driven by the electric clutch climbing rope module 200 to climb along the climbing rope 30 to the preset position on the deicing line 10, without the need to lift the rope to the preset position on the deicing line 10 by a large unmanned aerial vehicle.

[0056] In some embodiments, as Figures 1-4 shown, knurled conical surfaces are provided on the outer walls of the first climbing rope pulley 220 and the second climbing rope pulley 230; the first climbing rope pulley 220 is sleeved on the first rotating shaft 211 through a first one-way damping bearing 221; the second climbing rope pulley 230 is sleeved on the second rotating shaft 212 through a second one-way damping bearing 231.

[0057] Since knurled conical surfaces are provided on the outer walls of the first rope climbing wheel 220 and the second rope climbing wheel 230, the friction with 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, during the upward climbing process of the electric clutch rope climbing module 200 along the first climbing rope and the second climbing rope to reach the preset position of the line to be de-iced 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 extra energy. However, when the electric clutch rope climbing module 200 descends along the first climbing rope and the second climbing rope to lower the line, the first rope climbing wheel 220 and the second rope climbing wheel 230 rotate in reverse, and the first one-way damping bearing 221 and the second one-way damping bearing 231 generate a damping effect during this process.

[0058] Moreover, before the process of the electric clutch rope climbing module 200 descending along the first climbing rope and the second climbing rope to lower the line starts, it is also necessary to start the clutch motor 260 to disengage the first driving gear on the first driving motor 240 from the first driven gear 2111, and to disengage the second driving gear on the second driving motor 250 from the second driven gear 2121. After completing the above process, control the clutch motor 260 to stop running. At this time, the de-icing 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 descending speed of the de-icing robot with the electric clutch rope climbing module will not be too fast.

[0059] In some embodiments, as Figures 1-4 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 inside the de-icing robot main body 100, and the first guide rope wheel 310 is located above the first rope climbing wheel 220, and the second guide rope wheel 320 is located above the second rope climbing wheel 230.

[0060] In this embodiment, the first guide rope wheel 310, the first rope climbing wheel 220 and the first auxiliary guide wheel arranged on one side of the first rope climbing wheel form a pulley block. The end of the first climbing rope is first passed through the first guide rope wheel 310, and then wound around the outer wall of the first rope climbing wheel 220 for at least half a circle (ensuring that the vertical parts of the first climbing rope at both ends of the first rope climbing wheel 220 are tangent to the first rope climbing wheel 220), and then wound around the first auxiliary guide wheel on one side of the first rope climbing wheel for another half a circle and then hangs vertically downward.

[0061] Similarly, the second guide pulley 320, the second rope climbing pulley 230, and the second auxiliary guide pulley disposed on one side of the second rope climbing pulley 230 form a pulley block. The end of the second climbing rope first passes through the second guide pulley 320, and then surrounds the outer wall of the second rope climbing pulley 230 for at least half a circle (ensuring that the vertical portions of the second climbing rope at both ends of the second rope climbing pulley 230 are tangent to the second rope climbing pulley 230), and then surrounds the second auxiliary guide pulley on one side of the second rope climbing pulley 230 for another half a circle and then hangs vertically downward. Through the above method, the movement process of the entire de-icing robot with an electric clutch rope climbing module during the online operation and the offline operation is effectively guided.

[0062] In some embodiments, Figure 5 As shown, the wire clamping module 400 includes a wire clamping module frame 410, a lead screw group 420, and a wire clamping block 430; a rotating drive gear 411 is further provided on the wire clamping module frame 410, and the rotating drive gear 411 meshes with a flipping drive gear 111 provided on the rotating shaft of the flipping motor 110; both ends of the lead screw group 420 are connected to the wire clamping module frame 410; the wire clamping block 430 is sleeved on the lead screw group 420 and can move along the lead screw group 420.

[0063] In this embodiment, as the core walking component of the de-icing robot with an electric clutch rope climbing module during the online operation process, it stays at the initial position before the electric clutch rope climbing module 200 climbs to the preset position of the line to be de-iced 10 through the climbing rope 30 connected by the hook module 20. Only when it climbs to the preset position of the line to be de-iced 10, it flips to the working position under the drive of the flipping motor 110 to clamp the line to be de-iced 10. Moreover, the wire clamping block 430 can perform a lifting movement along the lead screw group 420 according to the thickness of the ice covering on the line to be de-iced 10, so as to achieve a more stable clamping of the line to be de-iced 10. After the wire clamping block 430 completes the clamping operation on the line to be de-iced 10, the walking wheels 432 provided thereon are driven to rotate, so as to drive the de-icing robot with an electric clutch rope climbing module to walk on the line to be de-iced 10, and the line to be de-iced 10 is de-iced through the de-icing module 600 during the walking process.

[0064] In some embodiments, Figure 5 As shown, the wire clamping block 430 includes a wire clamping block drive motor 431 and walking wheels 432. The wire clamping block drive motor 431 is sleeved on the lead screw group 420 and can move along the lead screw group 420, and one end of the walking wheels 432 is connected to the wire clamping block drive motor 431.

[0065] In this embodiment, during specific implementation, a linear motor 433 may further be arranged on the clamping module frame 410, and the rotating shaft of the linear motor 433 is connected to the lead screw group 420. By driving of the linear motor 433, the clamping block driving motor 431 can be driven to move up and down along the lead screw group 420. Moreover, as the driving component of the traveling wheels 432, the clamping block driving motor 431 can directly sleeved and connected the traveling wheels 432 on the rotating shaft thereof. When the clamping block driving motor 431 is started, the traveling wheels 432 can be driven to travel along the ice removal line 10 to be removed.

[0066] In some embodiments, as Figure 6 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 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 through a wire clamp lock connecting rod 521.

[0067] In this embodiment, in order to enable the clamping module 400 to more stably clamp the ice removal line 10 to be removed at the working position under the driving of the flipping motor 110, when the clamping module 400 flips to the working position, the push rod motor 520 is also required to drive the wire clamp lock 530 to switch from the retracted state to the extended state and be clamped to the clamping module frame 410 of the clamping module 400, so as to ensure that the clamping module 400 is stably held at the working position.

[0068] In some embodiments, as Figures 1-6 shown, a wire clamp lock hole 401 adapted to the wire clamp lock 530 is further arranged on the clamping module 400.

[0069] In this embodiment, specifically, a wire clamp lock hole 401 adapted to the wire clamp lock 530 is further arranged on the clamping module frame 410 of the clamping module 400. When the push rod motor 520 drives the wire clamp lock 530 to switch from the retracted state to the extended state, it can be clamped in the wire clamp lock hole 401, so as to ensure that the clamping module 400 is stably held at the working position.

[0070] In some embodiments, as Figures 1-3 shown, the rear panel of the ice removal robot body 100 is also used to detachably connect a robotic arm or a vibration generator 700.

[0071] In this embodiment, the robotic arm or the vibration generator 700 arranged on the rear panel of the ice removal robot body can be used as an auxiliary ice removal tool for the ice removal module 600 to achieve a better ice removal effect.

[0072] The present invention also provides an ice removal robot system with an electric clutch climbing rope module, which includes the ice removal robot with an electric clutch climbing rope module as described above, and also includes a drone. The drone is used to transport the hook module 20 to the line to be de-iced 10 and hang it on the line to be de-iced 10, and the climbing rope 30 connected to the hook module 20 is used as the climbing path for the ice removal robot with an electric clutch climbing rope module to climb to the line to be de-iced 10.

[0073] It can be seen that the ice removal robot with an electric clutch climbing rope module and the ice removal robot system with an electric clutch climbing rope module of the present invention can hang the hook module 20 connected with the climbing rope 30 at a preset position on the line to be de-iced 10 through a small drone, and then the ice removal robot with an electric clutch climbing rope module climbs up along the climbing rope 30. After climbing up to the preset position on the line to be de-iced 10, there is no need to manually pre-clean a small section of the line to facilitate the equipment to climb up, nor is there a need for an additional elevator or manual assistance.

[0074] The above-described embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. An ice removal robot with an electric clutch rope climbing module, characterized in that, It includes a de-icing robot main body (100), an electric clutch rope-climbing module (200), a guide pulley group (300), a wire clamping module (400), a locking module (500) and a de-icing module (600); The electric clutch rope-climbing module (200) is arranged inside the de-icing robot main body (100) and includes a clutch motor (260), which is used to perform a climbing operation on the climbing rope (30) connected to a hook module (20) that has been transported by a drone to a line to be de-iced (10) and is suspended on the line to be de-iced (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 de-icing robot with the electric clutch rope-climbing module can achieve natural lowering in the event of an accidental locking state; The guide pulley group (300) is arranged inside the de-icing robot main body (100) and is used to guide the climbing rope (30) during the climbing process of the de-icing robot with the electric clutch rope-climbing module. The climbing rope (30) connected to the hook module (20) first passes through the guide pulley group (300) and then is connected to the electric clutch rope-climbing module (200); The wire clamping module (400) is connected to the de-icing robot main body (100) through a flipping motor (110) and is located above the electric clutch rope-climbing module (200). It is used to flip to the working position under the drive of the flipping motor (110) to clamp the line to be de-iced (10) when the electric clutch rope-climbing module (200) climbs to a preset position on the line to be de-iced (10) through the climbing rope (30); The locking module (500) is arranged inside the de-icing robot main 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) flips to the working position under the drive of the flipping motor (110); The de-icing module (600) is arranged on the adapter plate of the de-icing robot main body (100), and the de-icing module (600) is an ice knife; The electric clutch rope climbing module (200) further includes an electric clutch rope climbing module main body (210), a first rope climbing wheel (220), a second rope climbing wheel (230), a first driving motor (240), a second driving motor (250) and an upper line cover; the first rope climbing wheel (220) is sleeved on a first rotating shaft (211) on the first side of the electric clutch rope climbing module (200) main body; the second rope climbing wheel (230) is sleeved on a second rotating shaft (212) on the second side of the electric clutch rope climbing module (200) main body; the first driving motor (240) is arranged on the electric clutch rope climbing module (200) main body and 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 driving transmission gear; the second driving motor (250) is arranged on the electric clutch rope climbing module (200) main body and on one side of the second rope climbing wheel (230), and is meshed with a second driven transmission gear (2121) on the second rotating shaft (212) through a second driving transmission gear; the clutch motor (260) is arranged on the electric clutch rope climbing module (200) main body, and is used to drive the first driving transmission gear on the first driving motor (240) to be meshed with or separated from the first driven transmission gear (2111), and is also used to drive the second driving transmission gear on the second driving motor (250) to be meshed with or separated from the second driven transmission gear (2121); the upper line cover is connected to the electric clutch rope climbing module (200) main body, and is used for covering and protecting the first rope climbing wheel (220), the second rope climbing wheel (230), the first driving motor (240), the second driving motor (250) and the clutch motor (260) on the electric clutch rope climbing module (200) main body.

2. The ice removal robot with an electric clutch climbing rope module according to claim 1, characterized in that, Knurled conical surfaces are provided on the outer walls of both the first rope climbing wheel (220) and the second rope climbing wheel (230); 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).

3. The ice removal robot with an electric clutch climbing rope module according to claim 1, characterized in that, The wire guiding wheel set (300) includes a first wire guiding wheel (310) and a second wire guiding wheel (320). Both the first wire guiding wheel (310) and the second wire guiding wheel (320) are arranged inside the de-icing robot main body (100), and the first wire guiding wheel (310) is located above the first rope climbing wheel (220), and the second wire guiding wheel (320) is located above the second rope climbing wheel (230).

4. The ice removal robot with an electric clutch climbing rope module according to claim 1, wherein, The wire clamping module (400) includes a wire clamping module frame (410), a lead screw group (420), and a wire clamping block (430); a rotating drive gear (411) is further provided on the wire clamping module frame (410), and the rotating drive gear (411) meshes with a flipping drive gear (111) provided on the rotating shaft of the flipping motor (110); both ends of the lead screw group (420) are connected to the wire clamping module frame (410); the wire clamping block (430) is sleeved on the lead screw group (420) and can move along the lead screw group (420).

5. The ice removal robot with an electric clutch rope climbing module according to claim 4, characterized in that, The wire clamping block (430) includes a wire clamping block drive motor (431) and a walking wheel (432), the wire clamping block drive motor (431) is sleeved on the lead screw group (420) and can move along the lead screw group (420), and one end of the walking wheel (432) is connected to the wire clamping block drive motor (431).

6. The ice removal robot with an electric clutch climbing rope module according to claim 1, characterized in that, 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 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) through a wire clamp lock connecting rod (521).

7. The de-icing robot with an electric clutch climbing rope module according to claim 6, characterized in that, A wire clamp lock hole (401) adapted to the wire clamp lock (530) is further provided on the wire clamping module (400).

8. The ice removal robot with an electric clutch rope climbing module according to claim 1, characterized in that, A robotic arm or a vibration generator (700) is further provided on the rear panel of the deicing robot body (100).

9. An ice removal robot system with an electric clutch climbing rope module, characterized in that, It includes a deicing robot with an electric clutch climbing rope module as described in any one of claims 1-8, and further includes a drone, 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) serves as the climbing path for the deicing robot with the electric clutch climbing rope module to climb to the line to be deiced (10).

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