Deicing robot for power transmission line inspection

Abstract

The invention discloses a deicing robot for power transmission line inspection, and relates to the technical field of power equipment. The deicing robot for power transmission line inspection comprises a robot support, a bearing track frame, a walking unit, a deicing unit, an inspection camera box body, a cleaning protection unit, a spraying unit and a transmission unit, and through the design of the transmission unit, power of the deicing unit drives the cleaning protection unit and the spraying unit; the robot support and the bearing track frame form a robot framework, the walking unit is used for controlling the robot to walk on the power transmission line, the deicing unit is used for removing ice blocks on the power transmission line, and the inspection camera box is used for inspecting and observing the working condition of the robot in real time. The cleaning protection unit is used for ensuring that the view field of a camera in the inspection camera box body is clear, and the spraying unit is used for spraying protection liquid on the cable, so that secondary freezing of the cable is avoided, and the cable is protected.

Description

Technical Field

[0001] The invention relates to the technical field of electric power equipment, in particular to a deicing robot for power transmission line inspection. Background Art

[0002] Snow and ice accumulation on high-voltage power lines in winter is a serious problem, which may lead to the collapse of power towers and large-scale power outages. In order to deal with this problem, deicing devices for power grid lines are particularly important. Among them, deicing robots for power transmission line inspection have been widely studied and applied as a modern solution.

[0003] In the prior art, the deicing robot is usually simple in composition, mainly consisting of a mobile system, a control system, a deicing tool and an energy system. The deicing tool usually directly uses a motor-driven soft knocking tool to knock the ice cubes, so that the ice cubes fall off. In the actual operation process, there are the following problems: First, when the robot is walking, a camera is usually used for video transmission, so that personnel can remotely monitor the environment. Due to the poor working conditions of the de-icing robot, the lens is often exposed to rain and snow. At the same time, when the de-icing tool knocks to remove ice, ice debris may also splash onto the lens position, making the lens not only easily attached to the rain and snow in rainy and snowy weather, but also easily affected by the ice dropped by the de-icing tool. If the lens position is adhered, it will directly affect the field of vision. Although the heating function is set at the lens position to alleviate the above situation, under low temperature conditions, on the one hand, the heating method causes high energy consumption, and on the other hand, after the ice debris is attached, it cannot be quickly removed, and the melting speed of heating treatment is slow, which blocks the field of vision for a long time. Second, although robots can quickly de-ice the lines, if there is heavy rain or snow, the lines will freeze again after a period of time. Therefore, many lines need to perform de-icing operations twice or more, which increases equipment and manpower investment. In view of the deficiencies in the prior art, the present invention provides a deicing robot for power transmission line inspection to solve the above problems. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an ice-removing robot for power transmission line inspection, wherein an ice-removing unit is provided and an inspection camera box is added to protect the camera, and a transmission unit, a cleaning and protection unit and a spraying unit are further provided. The ice-removing unit, the cleaning and protection unit and the spraying unit are linked via the transmission unit to ensure that the cleaning and protection unit and the spraying unit work synchronously when the ice-removing unit is working, and the cleaning and protection unit is utilized to continuously clean the field of view of the inspection camera box lens. This cleaning method has low energy consumption and good effect, and can clean ice debris and rain and snow quickly, thereby ensuring good field of view conditions for the camera. At the same time, the spraying unit is utilized to spray antifreeze paint or other materials on the transmission line, thereby greatly extending the secondary freezing time of the cable, thereby reducing the investment in ice-removing robots and manpower.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: A deicing robot for power transmission line inspection, comprising: A robot support, on which a power module and a controller for providing power and controlling operations of the robot are respectively provided; A bearing track frame, which is arranged on the robot bracket; A walking unit, which is arranged on the bearing track frame, and is used to enable the deicing robot to walk on the transmission line; A deicing unit, which is arranged on the bearing rail frame, and is used to remove ice blocks on the transmission line; An inspection camera box is arranged on the bearing track frame, and a camera is arranged inside the inspection camera box; A cleaning and protection unit, which is arranged on the inspection camera housing, and is used to ensure a clear field of view of the camera; A spraying unit, which is arranged on the robot bracket, and is used to spray a protective liquid on the power transmission line; The transmission unit is arranged on the bearing track frame, and the transmission unit is used to drive the cleaning and protection unit and the spraying unit to work by utilizing the power end of the deicing unit.

[0006] Preferably, the deicing unit comprises: A bearing seat, which is arranged on the bearing track frame; A second motor, which is disposed on the bearing seat; A rotating wheel, which is arranged at the output end of the second motor; A de-icing chain is arranged on the rotating wheel.

[0007] Preferably, the cleaning and protection unit comprises: A limit axis, which is arranged on the inspection camera box; A scraper strip, which is arranged on the limiting shaft; The protective glass is arranged on the inspection camera housing, and the scraper strip is in contact with the protective glass.

[0008] Preferably, the spraying unit comprises: A sleeve, which is arranged on the bearing track frame; A spiral rod, which is arranged inside the sleeve; a delivery pipe, which is arranged on the sleeve; A spray pipe, which is arranged on the sleeve; A storage box is arranged on the robot support and connected to the conveying pipe.

[0009] Preferably, the transmission unit comprises: A main shaft, which is arranged on the bearing track frame, and the main shaft is connected to the spiral rod and is coaxial with the spiral rod; A first transmission component is disposed between the second motor output shaft and the main shaft, and the first transmission component is used to transmit power between the second motor output shaft and the main shaft; The second transmission component is arranged between the limiting shaft and the main shaft, and the second transmission component is used for transmitting power between the limiting shaft and the main shaft.

[0010] Preferably, the first transmission component comprises: A first pulley, which is disposed on the main shaft; a second pulley, which is arranged at the output end of the second motor; A first belt, which is sleeved on the first pulley and the second pulley; The second transmission component comprises: a third pulley, which is disposed on the main shaft; a fourth pulley, which is arranged on the limiting shaft; The second belt is sleeved on the third pulley and the fourth pulley.

[0011] Preferably, a nozzle is fixedly connected to the ejection pipe, the nozzle is arc-shaped, and a plurality of groups of spray holes are arranged at the arc opening of the nozzle; The walking unit comprises: A clamping arm, which is arranged on the bearing rail frame; A first motor, which is disposed on the clamping arm; A walking wheel is arranged at the output end of the first motor.

[0012] Preferably, a connecting rod is fixedly connected to the clamping arm, and the connecting rod is used to support the nozzle; The bearing track frame is provided with a clamping unit for driving the clamping arm to move, and the clamping unit includes: A slider, which is arranged on the clamping arm and slidably connected to the bearing track frame; A screw rod, which is rotatably connected to the interior of the bearing track frame, and the screw rod is threadedly connected to the slider; A worm gear, which is arranged on the screw rod; A guide shaft rotatably connected to the interior of the bearing track frame; a worm, which is disposed on the guide shaft and meshes with the worm wheel; A first gear, which is disposed on the guide shaft; A third motor is arranged on the bearing rail frame; The second gear is arranged at the output end of the third motor and meshes with the first gear.

[0013] Preferably, a bearing plate is movably connected to the robot bracket, and the bearing plate is used to support the power module, the controller and the storage box; The load-bearing track frame is provided with a drone rack; The internal movable card of the inspection camera box is connected with a mounting frame, and the mounting frame is used to support the camera.

[0014] Preferably, a first protective cover is provided on the robot bracket, and a second protective cover and a third protective cover are provided on the bearing track frame.

[0015] The present invention discloses a deicing robot for power transmission line inspection, which has the following beneficial effects: 1. The deicing robot used for power transmission line inspection is provided with a deicing unit and an inspection camera box is added to protect the camera. In addition, a transmission unit, a cleaning and protection unit and a spraying unit are added. The deicing unit, the cleaning and protection unit and the spraying unit are linked through the transmission unit to ensure that the cleaning and protection unit and the spraying unit work synchronously when the deicing unit is working. The cleaning and protection unit is used to continuously clean the field of view of the inspection camera box lens. This cleaning method has low energy consumption and good effect. It can clean ice debris and rain and snow quickly to ensure good camera field of view. At the same time, the spraying unit is used to spray antifreeze paint or other materials on the transmission line, which greatly prolongs the secondary freezing time of the cable, thereby reducing the investment in deicing robots and manpower.

[0016] 2. The de-icing robot used for power transmission line inspection, through the design of the clamping unit, enables the multiple groups of walking units on the bearing track frame to be adjusted synchronously, thereby ensuring stable contact between the walking unit and the power transmission line, ensuring stable walking process of the robot, improving the output position of the spray pipe, and utilizing the design of the nozzle and the spray hole to make the nozzle more fit the shape of the cable, ensuring more uniform spraying of the antifreeze paint, and improving the antifreeze effect of the cable. The design of the connecting rod for the nozzle allows the connecting rod and the nozzle to move synchronously during the adjustment of the clamping arm, so that the connecting rod and the nozzle will automatically align with the side of the cable to open and close, so that the nozzle can stably surround the cable, ensuring uniform coverage of the sprayed paint.

[0017] 3. The de-icing robot used for power transmission line inspection, when the wheels are disassembled, makes the robot no longer in an ice-breaking operation state. In daily inspections, it is also convenient to use the second motor to drive the cleaning and protection unit and the spraying unit to operate, so that the spraying unit is suitable for spraying other types of coatings, making the inspection ice-breaking robot more functional. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a side view of the present invention; Figure 3 It is a structural schematic diagram of the bearing plate of the present invention; Figure 4 It is a structural schematic diagram of the deicing unit of the present invention; Figure 5 This is a schematic diagram of the disassembly of the inspection camera housing of the present invention; Figure 6 It is a disassembly schematic diagram of the carrier plate of the present invention; Figure 7 This is a schematic diagram of the structure of the UAV pylon of the present invention; Figure 8 It is a structural schematic diagram of the clamping unit of the present invention; Fig. 9 It is a structural schematic diagram of the connecting rod of the present invention; Fig.10 is a cross-sectional view of the sleeve of the present invention; Fig.11 It is a structural schematic diagram of the main shaft of the present invention; Fig.12 It is a structural schematic diagram of the spray unit of the present invention; Fig.13 It is a disassembly schematic diagram of the clamping arm of the present invention.

[0020] In the figure: 1. Robot bracket; 11. Carrying plate; 111. Power module; 112. Controller; 12. First protective cover; 2. Carrying track frame; 21. UAV rack; 22. Second protective cover; 23. Third protective cover; 3. Walking unit; 31. Clamping arm; 32. First motor; 33. Walking wheel; 4. Deicing unit; 41. Carrying seat; 42. Second motor; 43. Rotating wheel; 44. Deicing chain; 5. Inspection camera box; 51. Mounting frame; 52. Camera; 6. Cleaning and protection unit; 61. Limiting shaft; 62. Scraper; 63 , protective glass; 7, spray unit; 71, sleeve; 72, screw rod; 73, conveying pipe; 74, spray pipe; 741, nozzle; 742, spray hole; 743, connecting rod; 75, storage box; 8, transmission unit; 81, main shaft; 82, first pulley; 83, second pulley; 84, first belt; 85, third pulley; 86, fourth pulley; 87, second belt; 9, clamping unit; 91, slider; 92, screw; 93, worm wheel; 94, guide shaft; 95, worm; 96, first gear; 97, third motor; 98, second gear. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The embodiment of the present application provides a de-icing robot for power transmission line inspection, thereby solving the problem that the inspection de-icing robot works in poor conditions, the lens is often exposed to rain and snow, and the lens is easily disturbed. At the same time, although the robot can achieve rapid de-icing of the line, after de-icing, if the rain and snow are too heavy, it will still freeze again after a period of time. Therefore, many lines need to perform secondary or multiple de-icing operations, which increases the problem of equipment and manpower investment.

[0023] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] The embodiment of the present invention discloses a deicing robot for power transmission line inspection. Figure 1-13As shown, it includes a robot bracket 1, a bearing track frame 2, a walking unit 3, a deicing unit 4, an inspection camera box 5, a cleaning and protection unit 6, a spraying unit 7 and a transmission unit 8, wherein the robot bracket 1 and the bearing track frame 2 form the skeleton of the robot, the walking unit 3 is used to control the robot to walk on the transmission line, the deicing unit 4 is used to remove ice on the transmission line, the inspection camera box 5 is used for inspection and real-time observation of the robot's working conditions, the cleaning and protection unit 6 is used to ensure that the camera 52 inside the inspection camera box 5 has a clear field of view, and the spraying unit 7 is used to spray protective liquid on the cable to prevent the cable from freezing again and protect the cable; The device also transmits the power of the deicing unit 4 to the positions of the cleaning and protection unit 6 and the spraying unit 7 through the design of the transmission unit 8. On the one hand, it ensures that the overall structure of the robot is compact and easy to maintain. On the other hand, when deicing, it automatically and synchronously cleans the position of the camera 52 inside the inspection camera box 5 to prevent ice water from affecting the field of view of the camera 52 during the ice-breaking process and rainy and snowy weather. At the same time, it also automatically and synchronously triggers the spraying unit 7 to spray antifreeze material on the surface of the cable. Therefore, the cable will not freeze again within the specified time after deicing.

[0025] The robot support 1 is provided with a power module 111 and a controller 112 for providing power to the robot and controlling operations; The load-bearing track frame 2 is arranged on the robot bracket 1; a drone hanger 21 is arranged on the load-bearing track frame 2; the design of the drone hanger 21 makes it easy for the robot as a whole to be quickly lifted to the target transmission line by a drone to work, and also easy to be quickly removed later; The walking unit 3 is arranged on the bearing track frame 2, and the bearing track frame 2 is used to support the walking unit 3, and the walking unit 3 is used to make the deicing robot walk on the transmission line; the walking unit 3 includes: A clamping arm 31, which is disposed on the bearing rail frame 2; A first motor 32 , which is disposed on the clamping arm 31 ; The walking wheel 33 is arranged at the output end of the first motor 32 .

[0026] When the robot is on the cable, the travel wheel 33 is tightly fitted with the cable. When the first motor 32 is driven, the first motor 32 drives the travel wheel 33 to rotate, and then the robot moves by the rotation of the travel wheel 33. The clamping arm 31 provides support for the first motor 32 and the travel wheel 33. The deicing unit 4 is arranged on the bearing track frame 2, and is used to remove ice blocks on the transmission line; the deicing unit 4 includes: A bearing seat 41, which is disposed on the bearing track frame 2; The second motor 42 is disposed on the bearing seat 41, and the bearing seat 41 is used to support the second motor 42 to ensure that the second motor 42 is stably stressed; A rotating wheel 43, which is arranged at the output end of the second motor 42; The de-icing chain 44 is arranged on the rotating wheel 43. The rotating wheel 43 is used to provide installation limit for the de-icing chain 44. The de-icing chain 44 is convenient to be assembled and disassembled on the rotating wheel 43 and is easy to maintain.

[0027] The deicing unit 4 in the device has a compact structure and is easy to operate. When deicing is required, the second motor 42 can be used to directly drive the rotating wheel 43 to rotate. When the rotating wheel 43 rotates, the deicing chain 44 is driven to rotate. The deicing chain 44 knocks the ice attached to the cable, so that the ice falls off, thereby realizing the deicing operation on the transmission line. The inspection camera box 5 is arranged on the bearing rail frame 2, and a camera 52 is arranged inside the inspection camera box 5; the internal movable card of the inspection camera box 5 is connected with a mounting frame 51, and the mounting frame 51 is used to support the camera 52; the device supports the camera 52 through the mounting frame 51, and the mounting frame 51 is easy to disassemble and assemble on the inspection camera box 5, so that the camera 52 is easy to disassemble, assemble and maintain, and the camera 52 is also protected by the inspection camera box 5, with good stability and long service life.

[0028] The cleaning and protection unit 6 is arranged on the inspection camera housing 5, and the cleaning and protection unit 6 is used to ensure that the camera 52 has a clear field of view; the cleaning and protection unit 6 includes: A limit axis 61, which is arranged on the inspection camera housing 5; A scraper strip 62, which is disposed on the limiting shaft 61; The protective glass 63 is disposed on the inspection camera housing 5 , and the scraper strip 62 is in contact with the protective glass 63 .

[0029] The cleaning and protection unit 6 has a compact structure and is easy to operate. The cleaning and protection unit 6 utilizes the rotation of the limiting shaft 61 to drive the scraper bar 62 to rotate, so that the protective glass 63 is set at the field of view of the camera 52. The scraper bar 62 rotates to continuously clean the surface of the protective glass 63, so that rain, snow and ice debris in rainy and snowy weather are not easy to adhere to the protective glass 63. This method of cleaning ice debris and rain and snow has low energy consumption and good effect. The speed of cleaning ice debris and rain and snow is fast, ensuring that the field of view of the camera 52 is good and meeting the use requirements.

[0030] The spraying unit 7 is arranged on the robot bracket 1, and is used to spray the protective liquid on the power transmission line; the spraying unit 7 includes: A sleeve 71, which is arranged on the bearing track frame 2; A spiral rod 72, which is disposed inside the sleeve 71; A delivery pipe 73, which is disposed on the sleeve 71; A spray pipe 74, which is arranged on the sleeve 71; The storage box 75 is disposed on the robot support 1 and connected to the conveying pipe 73 .

[0031] The device is designed with a spray unit 7, so that the spray unit 7 is convenient for spraying antifreeze paint or other materials on the transmission line. The spray unit 7 is arranged at the rear of the robot. After breaking the ice, it ensures that the paint is evenly attached to the cable, greatly prolonging the secondary freezing time of the cable, thereby reducing the investment of deicing robots and manpower; The spray unit 7 has a compact structure and is easy to operate. The antifreeze paint is stored in the storage box 75. The storage box 75 can also store other cable spray materials, so it is suitable for spraying materials in other situations besides deicing. For example, during daily inspections, lubricating liquid is sprayed on the cables to improve the protection of the cables. When the spray unit 7 is working, the rotation of the spiral rod 72 generates a pressure difference inside the sleeve 71, thereby generating a pressure difference between the delivery pipe 73 and the spray pipe 74. Therefore, the liquid inside the storage box 75 is transported to the inside of the sleeve 71 through the delivery pipe 73, and then transported to the position of the spray pipe 74 through the sleeve 71 to be sprayed on the cable.

[0032] The transmission unit 8 is arranged on the bearing track frame 2, and the transmission unit 8 is used to drive the cleaning and protection unit 6 and the spraying unit 7 to work by using the power end of the deicing unit 4; the transmission unit 8 includes: A main shaft 81 is disposed on the bearing rail frame 2, and the main shaft 81 is connected to the screw rod 72 and is coaxial with the screw rod 72; The first transmission component is disposed between the output shaft of the second motor 42 and the main shaft 81. The first transmission component is used to transmit power between the output shaft of the second motor 42 and the main shaft 81. The first transmission component includes: A first pulley 82, which is disposed on the main shaft 81; A second pulley 83, which is disposed at the output end of the second motor 42; A first belt 84, which is sleeved on the first pulley 82 and the second pulley 83; The second transmission component is arranged between the limiting shaft 61 and the main shaft 81, and is used to transmit power between the limiting shaft 61 and the main shaft 81; the second transmission component includes: A third pulley 85, which is disposed on the main shaft 81; A fourth pulley 86, which is disposed on the limiting shaft 61; The second belt 87 is mounted on the third pulley 85 and the fourth pulley 86 .

[0033] The transmission unit 8 has a compact structure, which realizes the linkage of the deicing unit 4, the cleaning and protection unit 6 and the spraying unit 7, ensuring that the cleaning and protection unit 6 and the spraying unit 7 work synchronously when the deicing unit 4 works, thereby improving the stability of the system; The principle of the transmission unit 8 is that when the de-icing unit 4 is working, the second motor 42 drives the rotating wheel 43 to rotate, and at the same time, the second motor 42 also drives the second pulley 83 to rotate, the second pulley 83 drives the first belt 84 to rotate, the first belt 84 drives the first pulley 82 to rotate, and the first pulley 82 drives the main shaft 81 to rotate; On one hand, the main shaft 81 drives the third pulley 85 to rotate, the third pulley 85 drives the second belt 87 to rotate, the second belt 87 drives the fourth pulley 86 to rotate, and the fourth pulley 86 drives the limiting shaft 61 to rotate, thereby driving the cleaning and protection unit 6 to work; The main shaft 81 drives the screw rod 72 to rotate, thereby driving the spray unit 7 to work; When the rotating wheel 43 is disassembled, the robot is not in the ice-breaking operation state, and the second motor 42 can still drive the cleaning and protection unit 6 and the spraying unit 7 to operate, so that the spraying unit 7 is suitable for spraying other types of coatings, making the inspection ice-breaking robot more functional.

[0034] A support plate 11 is movably connected to the robot bracket 1, and the support plate 11 is used to support the power module 111, the controller 112 and the storage box 75. The design of the support plate 11 ensures that the power module 111, the controller 112 and the storage box 75 are stably stressed.

[0035] The embodiment of the present invention discloses a deicing robot for power transmission line inspection. Figure 1-13 As shown, including: A robot support 1, on which a power module 111 and a controller 112 for providing power to the robot and controlling operations are respectively provided; A bearing track frame 2, which is arranged on the robot support 1; A walking unit 3, which is arranged on the bearing track frame 2, and is used to enable the deicing robot to walk on the transmission line; A deicing unit 4, which is arranged on the bearing track frame 2, and is used to remove ice blocks on the transmission line; The inspection camera box 5 is arranged on the bearing track frame 2, and a camera 52 is arranged inside the inspection camera box 5; A cleaning and protection unit 6 is provided on the inspection camera housing 5, and is used to ensure that the camera 52 has a clear field of view; A spraying unit 7, which is arranged on the robot bracket 1, and is used to spray a protective liquid on the power transmission line; The transmission unit 8 is arranged on the bearing track frame 2, and is used for utilizing the power end of the deicing unit 4 to drive the cleaning and protection unit 6 and the spraying unit 7 to work.

[0036] The spraying unit 7 comprises: A sleeve 71, which is arranged on the bearing track frame 2; A spiral rod 72, which is disposed inside the sleeve 71; A delivery pipe 73, which is disposed on the sleeve 71; A spray pipe 74, which is arranged on the sleeve 71; The storage box 75 is disposed on the robot support 1 and connected to the conveying pipe 73 .

[0037] The walking unit 3 includes: A clamping arm 31, which is disposed on the bearing rail frame 2; A first motor 32 , which is disposed on the clamping arm 31 ; The walking wheel 33 is arranged at the output end of the first motor 32 .

[0038] The carrier track frame 2 is provided with a clamping unit 9 for driving the clamping arm 31 to move. The clamping unit 9 includes: A slider 91, which is disposed on the clamping arm 31 and slidably connected to the bearing rail frame 2; A screw rod 92 is rotatably connected to the interior of the bearing track frame 2, and the screw rod 92 is threadedly connected to the slider 91; A worm gear 93, which is disposed on the screw rod 92; A guide shaft 94, which is rotatably connected to the interior of the bearing track frame 2; a worm 95 disposed on the guide shaft 94 and meshing with the worm wheel 93; A first gear 96 disposed on the guide shaft 94; A third motor 97, which is disposed on the bearing track frame 2; The second gear 98 is disposed at the output end of the third motor 97 and meshes with the first gear 96 .

[0039] The device uses the design of the clamping unit 9 to enable multiple groups of walking units 3 on the bearing track frame 2 to be adjusted synchronously, thereby ensuring stable contact between the walking unit 3 and the power transmission line and ensuring stable walking of the robot; When the distance adjustment of the walking unit 3 is driven by the clamping unit 9, the power is provided by the third motor 97, the third motor 97 drives the second gear 98 to rotate, the second gear 98 drives the first gear 96 to rotate, the first gear 96 drives the guide shaft 94 to rotate, the guide shaft 94 drives the worm 95 to rotate, the worm 95 drives the worm wheel 93 to rotate, the worm wheel 93 drives the lead screw 92 to rotate, and the lead screw 92 drives the slider 91 to move along the bearing track frame 2. Therefore, the clamping arm 31 is driven to move by the slider 91, and the clamping arm 31 is used to drive the first motor 32 and the walking wheel 33 to move, so that the transmission line is clamped between multiple sets of walking wheels 33, ensuring that the robot is stably stressed on the transmission line and the walking process is stable.

[0040] A nozzle 741 is fixedly connected to the spray pipe 74. The nozzle 741 is in an arc shape. A plurality of spray holes 742 are arranged at the arc mouth of the nozzle 741. The output position of the spray pipe 74 is improved. The design of the nozzle 741 and the spray hole 742 makes the nozzle 741 fit the shape of the cable more closely, ensuring that the antifreeze coating is sprayed more evenly and improving the antifreeze effect of the cable. A connecting rod 743 is fixedly connected to the clamping arm 31. The connecting rod 743 is used to support the nozzle 741. The device uses the design of the connecting rod 743 to the nozzle 741, so that during the adjustment process of the clamping arm 31, the connecting rod 743 and the nozzle 741 are synchronously driven to move, and then the connecting rod 743 and the nozzle 741 are automatically aligned with the side of the cable to open and close, so that the nozzle 741 stably surrounds the cable to ensure that the sprayed paint covers it evenly.

[0041] A first protective cover 12 is provided on the robot bracket 1, and a second protective cover 22 and a third protective cover 23 are provided on the bearing rail frame 2. The device is designed through the first protective cover 12 to provide protection for the power module 111, the controller 112 and the storage box 75. The second protective cover 22 is located directly above the bearing rail frame 2, thereby providing protection for the clamping unit 9. The third protective cover 23 is set on the bearing seat 41, thereby providing protection for the position of the second motor 42.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0043] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A deicing robot for power transmission line inspection, characterized in that: include: A robot support (1), wherein the robot support (1) is provided with a power module (111) and a controller (112) for providing power to the robot and controlling operations; A bearing track frame (2), which is arranged on the robot support (1); A walking unit (3) arranged on the bearing track frame (2), the walking unit (3) being used to enable the deicing robot to walk on the transmission line; A deicing unit (4) arranged on the bearing rail frame (2), the deicing unit (4) being used to remove ice blocks on the transmission line; An inspection camera box (5) is arranged on the bearing rail frame (2), and a camera (52) is arranged inside the inspection camera box (5); A cleaning and protection unit (6) disposed on the inspection camera housing (5), the cleaning and protection unit (6) being used to ensure a clear field of view of the camera (52); A spraying unit (7) disposed on the robot support (1), the spraying unit (7) being used to spray a protective liquid on the power transmission line; A transmission unit (8) is arranged on the bearing track frame (2), and the transmission unit (8) is used to utilize the power end of the deicing unit (4) to drive the cleaning and protection unit (6) and the spraying unit (7) to work.

2. The deicing robot for power transmission line inspection according to claim 1, characterized in that: The deicing unit (4) comprises: A bearing seat (41) arranged on the bearing track frame (2); a second motor (42) disposed on the bearing seat (41); A rotating wheel (43) arranged at an output end of the second motor (42); A de-icing chain (44) is arranged on the rotating wheel (43).

3. The deicing robot for power transmission line inspection according to claim 2, characterized in that: The cleaning and protection unit (6) comprises: A limiting shaft (61) disposed on the inspection camera housing (5); A scraper strip (62) disposed on the limiting shaft (61); A protective glass (63) is arranged on the inspection camera housing (5), and the scraper strip (62) is in contact with the protective glass (63).

4. The deicing robot for power transmission line inspection according to claim 3, characterized in that: The spraying unit (7) comprises: A sleeve (71) disposed on the bearing track frame (2); A spiral rod (72) disposed inside the sleeve (71); A delivery pipe (73) disposed on the sleeve (71); A spray pipe (74) disposed on the sleeve (71); A storage box (75) is arranged on the robot support (1) and connected to the conveying pipe (73).

5. The deicing robot for power transmission line inspection according to claim 4, characterized in that: The transmission unit (8) comprises: A main shaft (81) is arranged on the bearing track frame (2), and the main shaft (81) is connected to and coaxial with the spiral rod (72); a first transmission component, which is arranged between the output shaft of the second motor (42) and the main shaft (81), and the first transmission component is used to transmit power between the output shaft of the second motor (42) and the main shaft (81); A second transmission component is arranged between the limiting shaft (61) and the main shaft (81), and the second transmission component is used to transmit power between the limiting shaft (61) and the main shaft (81).

6. The deicing robot for power transmission line inspection according to claim 5, characterized in that: The first transmission component comprises: A first pulley (82) disposed on the main shaft (81); A second pulley (83) disposed at an output end of the second motor (42); A first belt (84) sleeved on the first pulley (82) and the second pulley (83); The second transmission component comprises: a third pulley (85) disposed on the main shaft (81); a fourth pulley (86) disposed on the limiting shaft (61); The second belt (87) is sleeved on the third pulley (85) and the fourth pulley (86).

7. The deicing robot for power transmission line inspection according to claim 4, characterized in that: The spray pipe (74) is fixedly connected to a nozzle (741), the nozzle (741) is in an arc shape, and a plurality of groups of spray holes (742) are provided at the arc opening of the nozzle (741); The walking unit (3) comprises: A clamping arm (31) disposed on the bearing rail frame (2); a first motor (32) disposed on the clamping arm (31); A walking wheel (33) is arranged at the output end of the first motor (32).

8. The deicing robot for power transmission line inspection according to claim 7, characterized in that: The clamping arm (31) is fixedly connected to a connecting rod (743), and the connecting rod (743) is used to support the nozzle (741); The bearing track frame (2) is provided with a clamping unit (9) for driving the clamping arm (31) to move, and the clamping unit (9) comprises: A slider (91) which is arranged on the clamping arm (31) and is slidably connected to the bearing rail frame (2); A screw rod (92) which is rotatably connected to the interior of the bearing rail frame (2), and the screw rod (92) is threadedly connected to the slider (91); A worm wheel (93) disposed on the screw rod (92); A guide shaft (94) rotatably connected to the interior of the bearing track frame (2); a worm (95) disposed on the guide shaft (94) and meshing with the worm wheel (93); a first gear (96) disposed on the guide shaft (94); a third motor (97) disposed on the bearing track frame (2); A second gear (98) is arranged at the output end of the third motor (97) and meshes with the first gear (96).

9. The deicing robot for power transmission line inspection according to claim 4, characterized in that: A bearing plate (11) is movably connected to the robot support (1), and the bearing plate (11) is used to support the power module (111), the controller (112) and the storage box (75); The load-bearing track frame (2) is provided with a drone hanger (21); The inspection camera housing (5) is movably connected to a mounting frame (51) inside, and the mounting frame (51) is used to support the camera head (52).

10. The deicing robot for power transmission line inspection according to claim 9, characterized in that: The robot support (1) is provided with a first protective cover (12), and the bearing track frame (2) is provided with a second protective cover (22) and a third protective cover (23).

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