Deicing and ice collecting robot for power transmission line

Abstract

The invention belongs to the technical field of power distribution network deicing equipment, and particularly relates to a power transmission line deicing and ice collecting robot. Comprising a split type machine body, an ice melting assembly and a knocking assembly. The split type machine body comprises two independent sub machine bodies, and walking wheels are arranged at the bottom of the split type machine body. The ice melting assembly comprises a heating belt, an electric heating wire is arranged in the heating belt, and the knocking assembly comprises a spring hinge, a double-arm swing part and a collecting bag; the double-arm swinging piece comprises a heavy hammer rod on the upper side and a connecting rod on the lower side; and the collecting bag is a rectangular soft bag body. The ice removing and collecting robot for the power transmission line has the advantages of being small in size and convenient to use, due to the unique structural design, the ice removing and collecting robot can be kept stable in the ice removing and collecting process, the robot can conveniently reach part of areas where operation is inconvenient to execute ice removing operation, and the ice removing efficiency is improved by combining the electric heating ice melting mode and the knocking ice breaking mode. And the cleaning work of most ice on the power transmission line can be met.

Description

Technical Field

[0001] The invention belongs to the technical field of deicing equipment for distribution networks, and in particular designs a deicing and ice collecting robot for transmission lines. Background Art

[0002] Transmission lines are an important part of the power system. They play an important role in transmitting electric energy, protecting the power system, and stabilizing voltage. They play a vital role in ensuring the country's power supply and economic development. However, due to the severe climate of ice and snow, it is very easy to cause ice on the line, resulting in line swaying, electrical performance degradation, mechanical performance damage, etc., which directly affects the transportation of the railway department and the power supply of users. Therefore, the de-icing of transmission lines is a necessary means for the detection and maintenance of transmission lines, and it is also an important task to ensure the safety and stability of the power system. There are many methods for de-icing transmission lines, such as manual de-icing, high-frequency and high-voltage excitation de-icing, etc. These methods have the disadvantages of being time-consuming and labor-intensive, high-risk, low-efficiency, and affecting normal communications. At present, the more efficient de-icing method is hot-melt de-icing, but it is necessary to pre-embed soft copper stranded wire in the line, and the transformation cost is high. Summary of the invention

[0003] The purpose of the present invention is to provide an ice-removing and ice-collecting device with a light structure and easy use, which can be used to realize the deicing operation of long-distance transmission lines.

[0004] To achieve the above purpose, the present invention adopts the following technical solution.

[0005] A transmission line deicing and ice collecting robot, comprising a split body, an ice melting component, and a knocking component;

[0006] The split fuselage comprises two independent sub-fuselages 1, each of which comprises a fuselage 10 in the middle and wings 11 symmetrically arranged on both sides of the fuselage; a running wheel 12 is arranged at the bottom of the fuselage 10;

[0007] The ice melting assembly includes a heating belt 20, both ends of which are connected to the two sub-bodies 1, a plurality of electric heating wires 21 are evenly arranged in the heating belt 20, and a plurality of magnets 22 are respectively arranged on the edges of both sides of the heating belt 20;

[0008] The striking assembly includes: a spring hinge 30 located at opposite sides of the two sub-bodies 1, a double-arm swing member connected to the spring hinge, and a collection bag 33 located between the two double-arm swing members;

[0009] The double-arm swing piece includes a weight rod 300 on the upper side and a connecting rod 301 on the lower side, and a striking hammer 302 is provided on the weight rod 300; the middle part of the double-arm swing piece is connected to a spring hinge 30, and the spring hinge 30 is in a compressed state and makes the weight rod 300 have a tendency to move downward; the connecting rod 301 is a forked structure, and connecting columns are provided on the two forks, and an electromagnet is provided on the connecting column on one side;

[0010] The collecting bag 33 is a rectangular soft bag with hanging rings at the front and rear corners. The collecting bag 33 is put on the connecting column on the same side through the hanging rings at both ends. The hanging ring on the outside is a magnetic hanging ring 330, which can be adsorbed to the connecting column on the opposite side by the electromagnet on the connecting column on the opposite side.

[0011] A further improvement or preferred embodiment of the aforementioned power line de-icing and ice-collecting robot is that each sub-body 1 is provided with two front and rear shaped running wheels 12; the ice melting assembly also includes a winding wheel 23 arranged between the two running wheels 12, and both ends of the heating belt 20 are wound on the winding wheels 23 on the two sub-bodies 1.

[0012] A further improvement or preferred embodiment of the above-mentioned power transmission line deicing and ice collecting robot is that the two sides of the fuselage 10 extend vertically downward to form symmetrically arranged limit bodies 13, and the outer side of the limit bodies 13 is provided with a rotor storage groove 13a;

[0013] The wing 11 is a foldable wing, and the wing 11 is received in the rotor storage slot 13a after being folded.

[0014] As a further improvement or preferred embodiment of the above-mentioned power transmission line deicing and ice collecting robot, counterweight blocks are provided at the bottom of the limiting bodies 13 on both sides.

[0015] A further improvement or preferred embodiment of the above-mentioned power transmission line deicing and ice collecting robot, wherein the foldable wing comprises an outer foldable rotor frame 110 and a rotor 111 located inside the foldable rotor frame 110;

[0016] The bottom of the foldable rotor frame 110 is provided with a clamping claw 112 that can be used to clamp the power transmission line, and the bottom of the rotor storage slot 13a is provided with a through hole for the clamping claw 112 to pass through;

[0017] After the foldable wings are folded, the clamping claws 112 on the foldable wings at both sides can clamp the power transmission line from the left and right sides.

[0018] A further improvement or preferred embodiment of the aforementioned transmission line de-icing and ice-collecting robot, the double-arm swing member is an H-shaped structure, wherein the middle cross arm passes through the axle of the H-shaped running wheel 12, and the top two arms are weight rods 300, and the striking hammer 302 is arranged between the two weight rods 300.

[0019] A further improvement or preferred embodiment of the aforementioned transmission line deicing and ice collecting robot is characterized in that it also includes a micro motor for driving the double-arm swing member to swing.

[0020] As a further improvement or preferred embodiment of the above-mentioned power transmission line deicing and ice collecting robot, iron positioning pieces 331 are provided on both sides of the center of the collection bag, and limiting magnets are provided on the lower inner wall of the limiting body 13.

[0021] A deicing method for a transmission line automatic deicing and ice collecting robot comprises the following steps:

[0022] Step 1: fix the hanging rings on the front and rear sides of the collection bag to the connecting columns on the inner sides of the two sub-bodies 1 respectively, wherein the magnetic hanging ring 330 is located on the outer side, and the bottom of the collection bag is limited by the iron positioning piece 331 and the magnet after being folded;

[0023] Step 2: unfold the foldable wings of the drone, remotely control the drone to fly above the power line, and land the drone by inserting the power line into the running wheels 12, and fold the foldable wings;

[0024] Step 3: Start the electromagnet on the connecting column of the double-arm swing piece to move the magnetic hanging ring 330 to the connecting column on the opposite side;

[0025] Step 4: Control the running wheels on the two sub-bodies 1 respectively, so that the deicing and ice collecting robot reaches the preset deicing position, and control the distance between the two sub-bodies to open the collection bag;

[0026] Step 5: Turn on the heating wire on the heating belt to generate heat, so that the ice cubes melt and fall into the collection bag;

[0027] Step 6: Continue heating until most of the ice cubes melt and fall off, until a sufficient mass of ice cubes and ice water is collected in the collection bag, until the mass of the collection bag and its contents increases until the force of pulling the double-arm swing pieces on both sides exceeds the pre-tightening force given to the double-arm swing pieces by the spring hinge 30, the double-arm swing arm swings, the weight rod 300 swings upward, and at the same time the hanging ring is separated from the connecting column, the collection bag and its contents fall off, the double-arm swing arm loses tension, the spring hinge 30 pushes the weight rod 300 to accelerate back and knock on the transmission line to complete deicing, or the servo motor directly drives the double-arm swing arm to swing and knock on the transmission line to complete deicing;

[0028] Step 7. Recover the de-icing robot and collection bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is the front view of the power line deicing and ice collecting robot

[0030] Figure 2 It is a schematic diagram of the sub-machine structure;

[0031] Figure 3It is a schematic diagram of the clamping method of the clamping jaws used to clamp the power transmission line;

[0032] Figure 4 is a schematic diagram of the structure of the collection bag;

[0033] Figure 5 It is a schematic diagram of the adsorption process of the collection bag of the transmission line deicing and ice collecting robot. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with specific embodiments.

[0035] The power transmission line de-icing and ice-collecting robot of the present application has the characteristics of small size and easy use. Its unique structural design enables it to remain stable during the de-icing and ice-collecting process, and can easily reach some areas that are inconvenient to operate to perform de-icing operations. It combines electric heating to melt ice and knocking to crush ice to meet the cleaning work of most ice-covered power transmission lines.

[0036] The basic structure of a transmission line deicing and ice collecting robot of the present application is as follows: Figure 1 As shown, it mainly includes a split body, an ice melting component, and a knocking component;

[0037] The split fuselage includes two independent sub-fuselages 1, each of which includes a fuselage 10 in the middle and wings 11 symmetrically arranged on both sides of the fuselage; a running wheel 12 is arranged at the bottom of the fuselage 10;

[0038] like Figure 2 As shown, in this embodiment, each sub-body 1 is provided with two front and rear shaped running wheels 12; the ice melting assembly also includes a winding wheel 23 arranged between the two running wheels 12, wherein both ends of the heating belt 20 are wound on the winding wheels 23 on the two sub-bodies 1.

[0039] In order to lower the height of the center of gravity of the robot so that it is concentrated directly below the power transmission line and enhance its stability while walking on the line, in this embodiment, both sides of the body 10 extend vertically downward to form symmetrically arranged limit bodies 13.

[0040] A rotor receiving groove 13 a is disposed on the outer side of the limiting body 13 . In the present embodiment, the wing 11 is a foldable wing, and the wing 11 is received in the rotor receiving groove 13 a after being folded.

[0041] In this way, during the de-icing process, the wings can be lowered and folded inward, lowering the center position of the UAV and concentrating the mass of the UAV directly below the transmission line. Furthermore, counterweight blocks can be set at the bottom of the limit bodies 13 on both sides, and the counterweight blocks can be used to further optimize the mass distribution of the UAV and improve the stability of online walking.

[0042] The foldable wing includes an outer foldable rotor frame 110 and a rotor 111 located inside the foldable rotor frame 110;

[0043] like Figure 3 As shown, in this embodiment, a clamping claw 112 for clamping the power transmission line is provided at the bottom of the foldable rotor frame 110, wherein a through hole for the clamping claw 112 to pass through is provided at the bottom of the rotor storage slot 13a;

[0044] After the foldable wings are folded, the clamping claws 112 on the foldable wings at both sides can clamp the power transmission line from the left and right sides.

[0045] Based on the above structure, the de-icing and ice-collecting robot of the present application has the characteristics of smaller operating space requirements and more stable online walking ability during operation, and is suitable for de-icing operations on various types of complex lines.

[0046] The ice melting component is used to melt ice by electric heating, and the electric energy required for ice melting can be provided by configuring a power supply in the drone, or by installing a mutual inductance power supply device on the drone to obtain power online. The above-mentioned power supply or power supply device has been widely used in various types of drone equipment.

[0047] The ice melting assembly mainly includes a heating belt 20, the two ends of the heating belt 20 are respectively connected to the two sub-bodies 1, a plurality of electric heating wires 21 are evenly arranged in the heating belt 20, and a plurality of magnets 22 are respectively arranged on the edges of both sides of the heating belt 20;

[0048] The striking assembly includes: a spring hinge 30 located at opposite sides of the two sub-bodies 1, a double-arm swing member connected to the spring hinge, and a collection bag 33 located between the two double-arm swing members;

[0049] The double-arm swing piece includes a weight rod 300 on the upper side and a connecting rod 301 on the lower side, and a striking hammer 302 is provided on the weight rod 300; the middle part of the double-arm swing piece is connected to a spring hinge 30, and the spring hinge 30 is in a compressed state and makes the weight rod 300 have a tendency to move downward; the connecting rod 301 is a forked structure, and connecting columns are provided on the two forks, and an electromagnet is provided on the connecting column on one side;

[0050] As a preferred structural design, the double-arm swing in this embodiment is an H-shaped structure, wherein the middle cross arm passes through the axle of the H-shaped running wheel 12, and the top two arms are weight rods 300, and the knocking hammer 302 is arranged between the two weight rods 300. In order to realize the function of active knocking deicing, in this embodiment, a micro motor is also provided for driving the double-arm swing to swing.

[0051] like Figure 4 As shown, the collecting bag 33 is a rectangular soft bag body with hanging rings at the front and rear end corners. The collecting bag 33 is put on the connecting column on the same side through the hanging rings at both ends. The hanging ring on the outside is a magnetic hanging ring 330, wherein the magnetic hanging ring can be adsorbed to the connecting column on the opposite side by the electromagnet on the connecting column on the opposite side.

[0052] Iron positioning pieces 331 are arranged on both sides of the center of the collecting bag, and limiting magnets are arranged on the inner wall of the lower side of the limiting body 13.

[0053] The iron positioning piece 331 and the limiting magnet can ensure that the position of the collection bag is relatively stable before adsorption, so as to prevent the collection bag from hindering the docking process between the robot and the transmission line.

[0054] The following is a method for using the automatic deicing and ice collecting robot for power transmission lines of the present application, which specifically includes the following steps:

[0055] Step 1: fix the hanging rings on the front and rear sides of the collection bag to the connecting columns on the inner sides of the two sub-bodies 1 respectively, wherein the magnetic hanging ring 330 is located on the outer side, and the bottom of the collection bag is limited by the iron positioning piece 331 and the magnet after being folded;

[0056] Step 2: unfold the foldable wings of the drone, remotely control the drone to fly above the power line, and land the drone by inserting the power line into the running wheels 12, and fold the foldable wings;

[0057] Step 3: Start the electromagnet on the connecting column of the double-arm pendulum to move the magnetic hanging ring 330 to the connecting column on the opposite side. Figure 5 As shown;

[0058] Step 4: Control the running wheels on the two sub-bodies 1 respectively, so that the deicing and ice collecting robot reaches the preset deicing position, and control the distance between the two sub-bodies to open the collection bag;

[0059] Step 5: Turn on the heating wire on the heating belt to generate heat, so that the ice cubes melt and fall into the collection bag;

[0060] Step 6: Continue heating until most of the ice cubes melt and fall off, until a sufficient mass of ice cubes and ice water is collected in the collection bag, until the mass of the collection bag and its contents increases until the force of pulling the double-arm swing pieces on both sides exceeds the pre-tightening force given to the double-arm swing pieces by the spring hinge 30, the double-arm swing arm swings, the weight rod 300 swings upward, and at the same time the hanging ring is separated from the connecting column, the collection bag and its contents fall off, the double-arm swing arm loses tension, the spring hinge 30 pushes the weight rod 300 to accelerate back and knock on the transmission line to complete deicing, or the servo motor directly drives the double-arm swing arm to swing and knock on the transmission line to complete deicing;

[0061] Step 7. Recover the de-icing robot and collection bag.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A transmission line deicing and ice collecting robot, characterized in that: It includes a split body, an ice melting component, and a knocking component; The split body comprises two independent sub-bodies (1), wherein the sub-bodies (1) comprise a central body (10) and wings (11) symmetrically arranged on both sides of the body; the bottom of the body (10) is provided with running wheels (12); The ice melting assembly comprises a heating belt (20), the two ends of the heating belt (20) are respectively connected to the two sub-bodies (1), a plurality of electric heating wires (21) are evenly arranged in the heating belt (20), and a plurality of magnets (22) are respectively arranged on the edges of both sides of the heating belt (20); The striking assembly comprises: a spring hinge (30) located at opposite sides of the two sub-bodies (1), a double-arm swing piece connected to the spring hinge, and a collection bag (33) located between the two double-arm swing pieces; The double-arm swing piece comprises a weight rod (300) on the upper side and a connecting rod (301) on the lower side, wherein the weight rod (300) is provided with a striking hammer (302); the middle part of the double-arm swing piece is connected to a spring hinge (30), the spring hinge (30) is in a compressed state and makes the weight rod (300) have a tendency to move downward; the connecting rod (301) is a bifurcated structure, and connecting columns are provided on the two bifurcations, and an electromagnet is provided on the connecting column; The collecting bag (33) is a rectangular soft bag body, and is provided with hanging rings at the front and rear corners. The collecting bag (33) is mounted on the connecting column on the same side through the hanging rings at both ends. The hanging ring located on the outside is a magnetic hanging ring (330), and the magnetic hanging ring can be adsorbed to the connecting column on the opposite side by the electromagnet on the connecting column on the opposite side.

2. The automatic deicing and ice collecting robot for power transmission lines according to claim 1, characterized in that: Each sub-machine body (1) is provided with two front and rear shaped running wheels (12); the ice melting assembly also includes a winding wheel (23) arranged between the two running wheels (12), and the two ends of the heating belt (20) are wound on the winding wheels (23) on the two sub-machine bodies (1).

3. The automatic deicing and ice collecting robot for power transmission lines according to claim 2, characterized in that: Both sides of the fuselage (10) extend vertically downward to form symmetrically arranged limiting bodies (13), and rotor storage grooves (13a) are provided on the outer sides of the limiting bodies (13); The wing (11) is a foldable wing, and the wing (11) is received in the rotor storage groove (13a) after being folded.

4. The automatic deicing and ice collecting robot for power transmission lines according to claim 3, characterized in that: Counterweight blocks are arranged at the bottom of the limiting bodies (13) on both sides.

5. The automatic deicing and ice collecting robot for power transmission lines according to claim 4, characterized in that: The foldable wing comprises an outer foldable rotor frame (110) and a rotor (111) located inside the foldable rotor frame (110); The bottom of the foldable rotor frame (110) is provided with a clamping claw (112) that can be used to clamp the power transmission line, and the bottom of the rotor storage groove (13a) is provided with a through hole for the clamping claw (112) to pass through; After the foldable wings are folded, the clamping claws (112) on the foldable wings at both sides can clamp the power transmission line from the left and right sides.

6. The automatic deicing and ice collecting robot for power transmission lines according to claim 5, characterized in that: The double-arm swing piece is an H-shaped structure, wherein the middle cross arm passes through the wheel axle of the H-shaped running wheel (12), and the top two arms are weight rods (300), and the striking hammer (302) is arranged between the two weight rods (300).

7. The automatic deicing and ice collecting robot for power transmission lines according to claim 6, characterized in that: It also includes a micro motor for driving the double-arm pendulum to swing.

8. The automatic deicing and ice collecting robot for power transmission lines according to claim 7, characterized in that: Iron positioning pieces are arranged on both sides of the center of the collecting bag, and a limiting magnet is arranged on the inner wall of the lower side of the limiting body (13).

9. A deicing method for the automatic deicing and ice collecting robot for power transmission lines according to claim 8, characterized in that: The steps include: Step 1: fix the hanging rings on the front and rear sides of the collection bag to the connecting columns on the inner sides of the two sub-bodies (1) respectively, wherein the magnetic hanging ring (330) is located on the outer side, and the bottom of the collection bag is limited by an iron positioning piece and a magnet after being folded; Step 2: unfold the foldable wings of the drone, remotely control the drone to fly above the power line, and land the drone by inserting the power line into the running wheels (12), and fold the foldable wings; Step 3: Start the electromagnet on the connecting column of the double-arm swing piece to move the magnetic hanging ring (330) to the connecting column on the opposite side; Step 4: Control the running wheels on the two sub-bodies (1) respectively, so that the deicing and ice collecting robot reaches a preset deicing position, and control the distance between the two sub-bodies so that the collection bag opens; Step 5: Turn on the heating wire on the heating belt to generate heat, so that the ice cubes melt and fall into the collection bag; Step 6: Continue heating until most of the ice cubes melt and fall off, until a sufficient mass of ice cubes and ice water is collected in the collection bag, until the mass of the collection bag and its contents increases until the force component pulling the double-arm swing pieces on both sides exceeds the pre-tightening force given to the double-arm swing pieces by the spring hinge (30), the double-arm swing rod swings, the weight rod (300) swings upward, and at the same time the hanging ring is separated from the connecting column, the collection bag and its contents fall off, the double-arm swing rod loses its pulling force, the spring hinge (30) pushes the weight rod (300) to accelerate back and knock on the transmission line to complete deicing, or the servo motor directly drives the double-arm swing rod to swing and knock on the transmission line to complete deicing; Step 7. Recover the de-icing robot and collection bag.

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