A transmission line deicing and ice collecting robot

Abstract

The present invention belongs to the technical field of de-icing equipment for distribution networks, and in particular, designs a transmission line de-icing and ice-collecting robot. It comprises a split body, an ice-melting component, and a knocking component; the split body comprises two independent sub-bodies, with running wheels provided at the bottom; the ice-melting component comprises a heating belt with an electric heating wire provided therein, and the knocking component comprises a spring hinge, a double-arm pendulum, and a collection bag; the double-arm pendulum comprises a heavy hammer rod on the upper side and a connecting rod on the lower side; the collection bag is a rectangular soft bag. The 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 transmission lines.

Description

Technical Field

[0001] The present invention belongs to the technical field of distribution network deicing equipment, and in particular provides a transmission line deicing and ice collecting robot. Background Art

[0002] Transmission lines are a vital component of the power system, playing a crucial role in transmitting electrical energy, protecting the power system, and stabilizing voltage. They are crucial for ensuring national power supply and economic development. However, due to severe weather conditions such as ice and snow, lines can easily become covered with ice, leading to line vibration, decreased electrical performance, and mechanical damage, directly impacting railway transportation and power supply to consumers. Therefore, de-icing transmission lines is essential for inspection and maintenance, and a crucial task in ensuring the safety and stability of the power system. Various methods exist for de-icing transmission lines, including manual de-icing and high-frequency, high-voltage excitation de-icing. However, these methods are time-consuming, labor-intensive, risky, inefficient, and can disrupt normal communications. Currently, the most effective de-icing method is thermal de-icing, but this requires pre-embedded soft copper stranded wire in the line, resulting in high modification costs. Summary of the Invention

[0003] The purpose of the present invention is to provide a deicing 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 objectives, the present invention adopts the following technical solutions.

[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 central fuselage 10 and wings 11 symmetrically arranged on both sides of the fuselage; a running wheel 12 is provided at the bottom of the fuselage 10;

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

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

[0009] The double-arm pendulum comprises an upper weight rod 300 and a lower connecting rod 301. The weight rod 300 is provided with a striking hammer 302. The middle portion of the double-arm pendulum is connected to a spring hinge 30. The spring hinge 30 is in a compressed state, causing the weight rod 300 to move downward. The connecting rod 301 is a bifurcated structure, with connecting posts on both forks. One of the connecting posts is provided with an electromagnet.

[0010] The collection bag is a rectangular soft bag with hanging rings at the front and rear corners. The collection bag 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 transmission 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 provided 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] In a further improvement or preferred embodiment of the aforementioned transmission line deicing and ice collecting robot, both sides of the fuselage 10 extend vertically downward to form symmetrically arranged limit bodies 13, and rotor storage grooves 13a are provided on the outer sides of the limit bodies 13;

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

[0014] As a further improvement or preferred embodiment of the aforementioned transmission line deicing and ice collecting robot, counterweights are provided at the bottoms of the limiting bodies 13 on both sides.

[0015] A further improvement or preferred embodiment of the aforementioned transmission line deicing and ice collection robot, wherein the foldable wings include an outer foldable rotor frame 110 and rotors 111 located within 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 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 on both sides can clamp the power transmission line from the left and right sides.

[0018] As a further improvement or preferred embodiment of the aforementioned transmission line de-icing and ice-collecting robot, the double-arm pendulum is an H-shaped structure, wherein the middle cross arm passes through the axle of the 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 pendulum to swing.

[0020] As a further improvement or preferred embodiment of the aforementioned 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 deicing and ice collecting robot comprises the following steps:

[0022] Step 1: Fix the front and rear hanging loops of the collection bag to the connecting posts on the inner sides of the two sub-bodies 1, respectively, with the magnetic hanging loop 330 located on the outside. After the collection bag is folded, the bottom is limited by the iron positioning piece 331 and the magnet;

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

[0024] 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;

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

[0026] Step 5: Turn on the heating wire on the heating belt to heat it, causing the ice to melt and fall into the collection bag;

[0027] Step 6: Continue heating until most of the ice cubes melt and fall, 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 to the point where the force pulling the two-arm pendulums on both sides exceeds the pre-tightening force given to the two-arm pendulums by the spring hinge 30, the two-arm pendulums swing, 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, the two-arm pendulums lose tension, the spring hinge 30 pushes the weight rod 300 to accelerate back and strike the power transmission line to complete de-icing, or the micro motor directly drives the two-arm pendulums to swing and strike the power transmission line to complete de-icing;

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

[0029] Figure 1 This is the main view of the transmission line deicing and ice collection robot

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

[0031] Figure 3 It is a schematic diagram of the gripping 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 This is a schematic diagram of the adsorption process of the collection bag of the transmission line deicing and ice collection robot. DETAILED DESCRIPTION

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

[0035] The 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 needs of most ice-covered transmission lines.

[0036] The basic structure of a power line deicing and ice collecting robot in this 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 central fuselage 10 and wings 11 symmetrically arranged on both sides of the fuselage; a running wheel 12 is provided 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 running wheels 12; the ice melting assembly further includes a winding wheel 23 provided 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 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 provided on the outer side of the limiting body 13 . In this 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 drone and concentrating the mass of the drone directly below the transmission line. Furthermore, counterweights can be set at the bottom of the limit bodies 13 on both sides, and the counterweights can be used to further optimize the mass distribution of the drone 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 a power 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 both sides of the foldable wings 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 through electric heating. The electricity required for ice melting can be provided by configuring a power supply inside 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 which are connected to the two sub-bodies 1 respectively. A plurality of heating wires 21 are evenly arranged in the heating belt 20, and a plurality of magnets are respectively arranged on the edges of both sides of the heating belt 20;

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

[0049] The double-arm pendulum comprises an upper weight rod 300 and a lower connecting rod 301. The weight rod 300 is provided with a striking hammer 302. The middle portion of the double-arm pendulum is connected to a spring hinge 30. The spring hinge 30 is in a compressed state, causing the weight rod 300 to move downward. The connecting rod 301 is a bifurcated structure, with connecting posts on both forks. One of the connecting posts is provided with an electromagnet.

[0050] As a preferred structural design, the double-arm pendulum 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, with the hammer 302 disposed between the two weight rods 300. In order to realize the function of active de-icing by hammering, a micro motor is also provided in this embodiment to drive the double-arm pendulum to swing.

[0051] like Figure 4 As shown, the collection bag is a rectangular soft bag with hanging rings at the front and rear end corners. The collection bag 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 provided on both sides of the center of the collecting bag, and a limiting magnet is provided on the lower inner wall 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 obstructing the docking process between the robot and the power transmission line.

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

[0055] Step 1: Fix the front and rear hanging loops of the collection bag to the connecting posts on the inner sides of the two sub-bodies 1, respectively, with the magnetic hanging loop 330 located on the outside. After the collection bag is folded, the bottom is limited by the iron positioning piece 331 and the magnet;

[0056] Step 2: unfold the foldable wings of the drone, fly the drone to the top of the power line by remote control, and land the drone by inserting the power line into the running wheels 12 and folding 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 to make the deicing and ice collecting robot reach the preset deicing position, control the distance between the two sub-bodies, and open the collection bag;

[0059] Step 5: Turn on the heating wire on the heating belt to heat it, causing the ice to melt and fall into the collection bag;

[0060] Step 6: Continue heating until most of the ice cubes melt and fall, 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 component force pulling the double-arm pendulums on both sides exceeds the pre-tightening force given to the double-arm pendulums by the spring hinge 30, the double-arm pendulums swing, 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, the double-arm pendulums lose tension, the spring hinge 30 pushes the weight rod 300 to accelerate back and strike the power transmission line to complete de-icing, or the micro motor directly drives the double-arm pendulums to swing and strike the power transmission line to complete de-icing;

[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 solutions 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 solutions of the present invention may be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A transmission line deicing and ice collecting robot, characterized in that: Including split body, ice melting component, and knocking component; The split fuselage comprises two independent sub-fuselages (1), wherein the sub-fuselage (1) comprises a central fuselage (10) and wings (11) symmetrically arranged on both sides of the fuselage; the bottom of the fuselage (10) is provided with running wheels (12); The ice melting assembly includes a heating belt (20), both ends of the heating belt (20) are connected to the two sub-bodies (1), a plurality of 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 on opposite sides of the two sub-bodies (1), a double-arm pendulum connected to the spring hinge, and a collection bag (33) located between the two double-arm pendulums; The double-arm pendulum comprises an upper weight rod (300) and a lower connecting rod (301), wherein the weight rod (300) is provided with a striking hammer (302); the middle portion of the double-arm pendulum is connected to a spring hinge (30), which is in a compressed state and causes the weight rod (300) to have a tendency to move downward; the connecting rod (301) is a bifurcated structure, wherein two bifurcated rods are provided with connecting columns, and an electromagnet is provided on the connecting column on one side; The collecting bag (33) is a rectangular soft bag body, and is provided 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 located on the outside is a magnetic hanging ring (330), and the magnetic hanging ring can be attracted to the connecting column on the opposite side by the electromagnet on the connecting column on the opposite side.

2. The power line deicing and ice collecting robot according to claim 1, characterized in that: Each sub-body (1) is provided with two front and rear running wheels (12); the ice melting assembly further comprises a reeling wheel (23) provided between the two running wheels (12), and both ends of the heating belt (20) are wound on the reeling wheels (23) on the two sub-bodies (1).

3. The power line deicing and ice collecting robot 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 after being folded, the wing (11) is accommodated in the rotor storage groove (13a).

4. The power line deicing and ice collecting robot according to claim 3, characterized in that: Counterweight blocks are provided at the bottoms of the limiting bodies (13) on both sides.

5. The power line deicing and ice collecting robot according to claim 4, characterized in that: The foldable wing comprises an outer foldable rotor frame (110) and a rotor (111) located within 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 slot (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 on both sides can clamp the power transmission line from the left and right sides.

6. The power line deicing and ice collecting robot 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 heavy hammer rods (300), and the striking hammer (302) is arranged between the two heavy hammer rods (300).

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

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

9. The deicing method for the power line deicing and ice collecting robot 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 the iron positioning piece and the limiting magnet after it is folded; Step 2: unfold the foldable wings of the deicing and ice collecting robot, remotely control the deicing and ice collecting robot to fly above the power transmission line, land the deicing and ice collecting robot so that the power transmission line is stuck on the running wheel (12), and fold the foldable wings; 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; Step 4: Control the walking 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; Step 5: Turn on the heating wire on the heating belt to heat it, causing the ice to melt and fall into the collection bag; Step 6: Continue heating until most of the ice cubes melt and fall off, until the mass of the collection bag and its contents increases to the point where the force pulling the two-arm pendulums on both sides exceeds the pre-tightening force given to the two-arm pendulums by the spring hinge (30), the two-arm pendulums swing, 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 two-arm pendulums lose tension, the spring hinge (30) pushes the weight rod (300) to accelerate back and knock on the transmission line to complete deicing, or the micro motor directly drives the two-arm pendulums to swing and knock on the transmission line to complete deicing; Step 7: Recover the de-icer's ice collector and collection bag.

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