Power transmission line deicing robot

Abstract

The invention discloses a deicing robot for a power transmission line, relates to the field of cable deicing, solves the problem that a connecting rope is easily wound on a cable in a deicing mode in the prior art, and mainly provides the deicing robot for the power transmission line. Comprising an unmanned aerial vehicle, a first mounting frame, a winding mechanism, a traction rope, a supporting pipe, a second mounting frame and a deicing claw, the first mounting frame is fixed below the unmanned aerial vehicle, the upper end of the supporting pipe is connected with the first mounting frame, and the lower end of the supporting pipe abuts against the upper end of the second mounting frame; the upper end of a traction rope is wound around the winding mechanism, the lower end of the traction rope penetrates through the supporting pipe and is fixed to the second installation frame, and the deicing claw is installed on the second installation frame. The deicing device is mainly used for solving the problem that a connecting rope is easily wound on a cable in a deicing mode in the prior art.

Description

Technical Field

[0001] The present application relates to the field of cable deicing, and in particular to a power transmission line deicing robot. Background Art

[0002] Under the combined effects of low temperature, high humidity, rain and snow, the conductors and ground wires of overhead transmission lines often experience large-scale ice. Once the transmission lines are frozen, short circuits, disconnections, tripping and other faults will occur in the power equipment, and even power outages will occur, resulting in huge economic losses. In response to the icing situation, the following measures are usually taken: Increase the frequency of maintenance: Before snow or rain, increase the frequency of maintenance of the transmission lines in advance, and clean up the snow, ice, water, etc. on the lines in time; Enhance the insulation capacity of the lines: Take measures such as adding insulation materials or adding antifreeze to insulate the transmission lines to improve the ice resistance of the lines; Install anti-icing equipment: Install anti-icing equipment on the transmission lines, such as ice throwers, vibrators, etc., to reduce ice adhesion and accumulation; Artificial deicing: In extreme cases, use high-pressure water guns and other equipment to clean the lines, and remove snow and ice through artificial deicing.

[0003] Since the method of manually using an insulating rod to knock the wires to shake off the snow is highly dangerous and time-consuming, with the development of science and technology, various power grid snow removal equipment has emerged. For example, Chinese patent CN202420533665.8 discloses a high-altitude cable snow removal insulating rod structure based on a drone, which controls the drone body to accelerate and fly to the target position of the cable, and brakes when the snow removal rod body is at a suitable position from the impact position, so that the snow removal rod body swings forward to hit the cable to remove ice and snow. The disadvantage of this solution is that when the snow removal rod hits the cable to remove snow and ice, due to weather reasons or the operator's control technology reasons, the rope connecting the snow removal rod is easy to be entangled in the wire. Once the rope is entangled in the wire, it is not easy to remove, which brings inconvenience to the de-icing operation and damages the cable. In addition, the de-icing effect is not good, especially for some ice cones, which cannot be directly removed and need to be hit against the cable multiple times to achieve removal. Summary of the invention

[0004] In order to overcome the problem that the deicing method in the prior art easily causes the connecting rope to be entangled on the cable, the present application provides a power transmission line deicing robot, which can solve the problem that the deicing method in the prior art easily causes the connecting rope to be entangled on the cable.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a power transmission line de-icing robot, comprising a UAV, a first mounting frame, a winding mechanism, a traction rope, a support tube, a second mounting frame and a de-icing claw, wherein the first mounting frame is fixed under the UAV, the upper end of the support tube is connected to the first mounting frame, the lower end of the support tube abuts against the upper end of the second mounting frame, the winding mechanism is installed on the first mounting frame, the upper end of the traction rope is wound on the winding mechanism, the lower end of the traction rope passes through the support tube and is fixed to the second mounting frame, and the de-icing claw is installed on the second mounting frame and can grab the cable.

[0006] After adopting the above technical scheme, the operation method of this scheme is that the UAV first hovers to a certain height before taking off, the support tube on the first mounting frame is adjusted to a vertical position, and then the second mounting frame is tightened to be close to the lower end of the support tube through the winding mechanism, so that the UAV and the de-icing claws are relatively rigidly connected, and then the UAV rises to a specified position above the cable that needs to be de-iced, and then the UAV descends, so that the de-icing claws are caught on the cable, and then the UAV rises, and the winding mechanism loosens the traction rope, so that the UAV and the de-icing claws become softly connected, and then the UAV can move along The de-icing claws fly in the extension direction of the cable, and are pulled by the traction rope to perform de-icing operations along the cable. When contacting obstacles such as ice cones, the de-icing claws can directly hit the ice cones. Since there is a soft connection between the UAV and the de-icing claws, the impact of the de-icing claws will not affect the flight of the UAV, so that the ice cones on the cable are removed. After the removal is completed, when the UAV and the cable stop moving, the de-icing claws release the cable, and the winding mechanism retracts the second mounting frame and the de-icing claws to the lower end of the support tube through the traction rope, and then the de-icing operation of the next cable is carried out. The present application has the following advantages: through the winding mechanism and the traction rope, the second mounting frame can be pressed against the lower end of the support rod, and the UAV and the de-icing claw are connected as a relatively rigid connection, so as to prevent the traction rope from driving the second mounting frame to shake during the launch of the UAV, and to prevent the second mounting frame from shaking when the de-icing claw grabs the traction rope, thereby increasing the accuracy of the de-icing claw grabbing the cable, and placing the traction rope around the cable, and then the UAV and the de-icing claw are softly connected, so the impact of the de-icing claw will not affect the flight of the UAV, and the de-icing method of the de-icing claw is to directly hit the ice cone, avoiding hitting the cable and damaging the surface of the cable, and the direct impact on the ice cone improves the efficiency of de-icing, reduces the time required for de-icing, and increases convenience. Due to the existence of the traction rope, the UAV and the cable can be softly connected, and when the UAV drives the de-icing claw to move, the de-icing claw will have a certain lag, but at the same time it can also have a large inertia to hit the ice cone without affecting the flight of the UAV.

[0007] Furthermore, the de-icing claw includes a first de-icing plate and a second de-icing plate, and the first de-icing plate and the second de-icing plate are respectively rotatably arranged on both sides of the lower end of the second mounting frame through an axle; the first de-icing plate and the second de-icing plate are both S-shaped; in an initial state, the first end of the first de-icing plate and the first end of the second de-icing plate are both above the axle and are both arranged outward, the second end of the first de-icing plate and the second end of the second de-icing plate are both located below the axle, and the lower part of the first de-icing plate and the lower part of the second de-icing plate are staggered; a connecting component is arranged between the first end of the first de-icing plate and the first end of the second de-icing plate, and in a connected state, the connecting component can connect the first end of the first de-icing plate and the first end of the second de-icing plate.

[0008] The steps of grabbing the de-icing claw are: first, lower the second mounting frame from directly above the cable until the first de-icing plate and the second de-icing plate near the lower part of the second end contact the cable, and then continue to descend, forcing the first de-icing plate and the second de-icing plate to rotate around the shaft rod until the first end of the first de-icing plate and the first end of the second de-icing plate rotate to the bottom of the wire and intertwine, so that the connecting components between the first ends of the first de-icing plate and the second de-icing plate contact and connect with each other, completing the grabbing of the cable by the de-icing claw, ensuring that the de-icing claw will not detach from the cable when de-icing along the cable, thereby increasing reliability. With the aforementioned technical solution, the first de-icing plate and the second de-icing plate complete the flipping and grabbing after contacting the cable, and the grabbing can be completed without carrying too many control components, making the load of the drone lighter, and the operation is simple and direct, easy to operate, and reducing the difficulty of grabbing.

[0009] Further, the center of gravity of the first deicing plate is located between the second end thereof and the corresponding shaft rod, and the center of gravity of the second deicing plate is located between the second end thereof and the corresponding shaft rod, so that the first deicing plate and the second deicing plate are maintained in an initial state; Alternatively, a first torsion spring is provided between the first deicing plate and the second mounting frame, and a second torsion spring is provided between the second deicing plate and the second mounting frame, so as to keep the first deicing plate and the second deicing plate in an initial state.

[0010] By adopting the first technical solution mentioned above, by setting the center of gravity of the first de-icing plate and the second de-icing plate between the corresponding shaft rod and the second end, the first de-icing plate and the second de-icing plate can naturally droop to a suitable position by gravity, thereby reducing the difficulty of subsequent grabbing actions. Only a small force is required to flip the first de-icing plate and the second de-icing plate, thereby saving costs and reducing the difficulty of deicing.

[0011] The second solution can reduce the impact of the environment on the drone when it is in the air. For example, strong winds at high altitudes can affect the rotation of the first de-icing plate and the second de-icing plate.

[0012] Both of the above solutions require setting a limiter at the initial position and the position where the gripping is completed to prevent the first deicing plate and the second deicing plate from rotating in the opposite direction or rotating too far.

[0013] Furthermore, the connecting assembly includes a sliding block, a first elastic member and an electromagnet; a first end of the first de-icing plate is provided with a first sunken groove, a first end of the second de-icing plate is provided with a second sunken groove, the sliding block is elastically slidably arranged in the first sunken groove through the first elastic member, and the electromagnet is fixedly installed in the second sunken groove; when the electromagnet and the sliding block are relative to each other, the electromagnet absorbs the sliding block, thereby connecting the first de-icing plate and the second de-icing plate.

[0014] By adopting the above-mentioned technical solution, the connection between the first de-icing plate and the second de-icing plate is realized by utilizing the cooperation of the electromagnet and the sliding block. There is no need to carry additional complex control components to control the connection and disconnection. Compared with the design that requires complex mechanical structures such as motors and connecting rods to achieve connection and unlocking, the structure of the de-icing claw is greatly simplified.

[0015] Furthermore, a battery and a remote control circuit board are provided on the second de-icing board, the battery is electrically connected to the remote control circuit board, and the electromagnet is electrically connected to the remote control circuit board.

[0016] By adopting the above-mentioned technical solution, the electromagnet is electrically connected to the remote control circuit board, so that the operator can remotely control the power on and off of the electromagnet through the remote control. During the de-icing process, the operator can send instructions through the remote control at an appropriate time according to the actual situation, so that the remote control circuit board controls the electromagnet to be energized or de-energized, thereby realizing precise control of the connection status of the first de-icing plate and the second de-icing plate.

[0017] Furthermore, a support hole is provided at the lower end of the support tube, a connecting block is fixed at the upper end of the second mounting frame, a top block adapted to the support hole is fixed on the connecting block, and when the top block is connected to the support hole, the support tube and the second mounting frame are radially fixed, and the lower end of the traction rope is fixed to the top block.

[0018] By adopting the above-mentioned technical solution, the relative fixity of the second mounting frame and the support tube can be increased through the adaptive connection between the top block and the inner wall of the support hole at the lower end of the support tube, and the abutment between the connecting block and the bottom of the support tube. Even if the winding mechanism becomes loose, the adaptive connection between the top block and the support hole can still be used to avoid shaking of the second mounting frame.

[0019] Furthermore, a pressure sensor is installed in the supporting hole, and the upper end of the top block and the bottom surface of the supporting hole clamp the pressure sensor.

[0020] By adopting the above-mentioned technical solution, a pressure sensor is set in the support hole, so that when the remote control circuit board is not subjected to pressure from the pressure sensor, the electromagnet is controlled to continue to be energized and magnetized, so that the de-icing claws can always grasp the cable and perform de-icing operations. This solution is to avoid the electromagnet being powered off due to poor signals from the operator during flight operations of the drone, so a pressure sensor is used to ensure stable power supply to the electromagnet.

[0021] Furthermore, a rotating shaft is rotatably mounted on the first mounting frame, a locking member for locking or unlocking the rotating shaft is provided between the rotating shaft and the first mounting frame, and the upper end of the support tube is fixedly connected to the rotating shaft.

[0022] By adopting the above-mentioned technical solution, a locking piece is arranged at the rotating shaft, so that the support tube can rotate relative to the first mounting frame in the unlocked state. When the drone is landing, the support tube can be folded to make the tripod of the drone land on the ground, and the support tube can be fixed relative to the first mounting frame in the locked state to prevent the high-altitude environment from affecting the shaking of the support tube.

[0023] Furthermore, the locking member includes a positioning ball and a second elastic member, a sliding groove is provided on the rotating shaft, the positioning ball and the second elastic member are arranged in the sliding groove, the first mounting frame is provided with a positioning hole, when the support tube is vertically arranged, the positioning hole is arranged corresponding to the sliding groove, and the second elastic member pushes the positioning ball part into the positioning hole.

[0024] With the above technical solution, when the support tube needs to rotate, due to the elastic effect of the second elastic member, the positioning ball can move in the slide groove, so that the positioning ball leaves the positioning hole. At this time, the shaft can rotate freely, thereby realizing the rotation of the support tube relative to the first mounting frame. When the support tube is in a vertical state, the positioning ball is partially pushed into the positioning hole under the action of the second elastic member, realizing the radial fixation of the support tube and the first mounting frame. In this way, during high-altitude operations, even if affected by external factors such as wind, the support tube will not shake at will, ensuring the stability and safety of the deicing device.

[0025] Furthermore, the winding mechanism includes a motor and a winding wheel, the winding wheel is rotatably connected to the first mounting frame, the motor is mounted on the first mounting frame and is transmission-connected to the winding wheel, and the upper end of the traction rope is wound around the winding wheel.

[0026] By adopting the above-mentioned technical solution, the rotation of the winding wheel can be conveniently controlled by the motor to wind the traction rope around the winding wheel, making it convenient for the operator to control the traction rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present application is further described below with reference to the accompanying drawings: Figure 1 A schematic diagram of a power transmission line deicing robot for this application; Figure 2 is a schematic structural diagram of the first mounting frame in the present invention; Figure 3 It is a schematic diagram of the structure of the first deicing plate and the second deicing plate in the present invention; Figure 4 The present invention Figure 3 A magnified view of part A; Figure 5 The present invention Figure 3 A magnified view of part B; Figure 6 is a state diagram of the first deicing plate and the second deicing plate in the initial state of the present invention; Figure 7 is a state diagram when the first deicing plate and the second deicing plate are located above the electric wires in the present invention; Figure 8 This is a diagram showing a state in which the first deicing plate and the second deicing plate surround the electric wires in the present invention.

[0028] In the figure: 1. UAV; 2. first mounting frame; 3. motor; 4. winding wheel; 5. traction rope; 6. rotating shaft; 7. support tube; 8. top block; 9. connecting block; 10. second mounting frame; 11. first deicing plate; 12. second deicing plate; 13. pressure sensor; 14. sinking trough; 15. sliding block; 17. electromagnet. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0030] The terms "first", "second", etc. (if any) in the specification and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. Even if "second" is used to distinguish before a certain technical feature, it does not necessarily indicate that it has "first". It should be understood that in this application, "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. It should be understood that in this application, "multiple" refers to two or more. "And / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, X and / or Y can represent: X exists alone, X and Y exist at the same time, and Y exists alone. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "Contains X, Y and Z" "Contains X, Y, Z" means that X, Y, and Z are all included, "Contains X, Y or Z" means that one of X, Y, and Z is included, and "Contains X, Y and / or Z" means that any one, any two, or three of X, Y, and Z are included.

[0031] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined or replaced with each other according to actual conditions, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0032] like Figures 1 to 8 As shown, the present application provides a power transmission line de-icing robot, including a UAV 1, a first mounting frame 2, a winding mechanism, a traction rope 5, a support tube 7, a second mounting frame 10 and a de-icing claw, wherein the first mounting frame 2 is fixed below the UAV 1, the upper end of the support tube 7 is connected to the first mounting frame 2, the lower end of the support tube 7 abuts against the upper end of the second mounting frame 10, the winding mechanism is mounted on the first mounting frame 2, the upper end of the traction rope 5 is wound around the winding mechanism, the lower end of the traction rope 5 passes through the support tube 7 and is fixed to the second mounting frame 10, and the de-icing claw is mounted on the second mounting frame 10 and can grab the cable 18.

[0033] After adopting the above technical solution, the operation method of this solution is that the drone 1 first hovers to a certain height before taking off, the support tube 7 on the first mounting frame 2 is adjusted to a vertical position, and then the second mounting frame 10 is tightened to be close to the lower end of the support tube 7 through the winding mechanism, so that the drone 1 and the de-icing claw are relatively rigidly connected, and then the drone 1 is raised to a specified position above the de-icing cable 18, and then the drone 1 is lowered, so that the de-icing claw sleeve is caught on the cable 18, and then the drone 1 is raised, and at the same time the winding mechanism loosens the traction rope 5, so that the drone 1 and the de-icing claw become a soft connection, and then the drone 1 can move along The cable 18 flies in the extension direction, and the de-icing claws are pulled by the traction rope 5 to perform de-icing operations along the cable 18. When contacting obstacles such as ice cones, the de-icing claws can directly hit the ice cones. Since the drone 1 and the de-icing claws are softly connected, the impact of the de-icing claws will not affect the flight of the drone 1, so that the ice cones on the cable 18 are cleared. After the removal is completed, after the drone 1 and the cable 18 stop moving, the de-icing claws release the cable 18, and the winding mechanism retracts the second mounting frame 10 and the de-icing claws to the lower end of the support tube 7 through the traction rope 5, and then the de-icing operation of the next cable 18 is carried out. The present application has the following advantages: through the winding mechanism and the traction rope 5, the second mounting frame 10 can be pressed against the lower end of the support rod, and the drone 1 and the de-icing claw are connected as a relatively rigid connection, so that the traction rope 5 can prevent the second mounting frame 10 from shaking when the drone 1 is launched, and the second mounting frame 10 can be prevented from shaking when the de-icing claw grabs the traction rope 5, thereby increasing the accuracy of the de-icing claw grabbing the cable 18 and preventing the traction rope 5 from being entangled in the cable 18. Then, the drone 1 and the de-icing claw are softly connected, so the collision of the de-icing claw will not occur. The de-icing claws can directly impact the ice cones to avoid impacting the cable 18 and damaging the surface of the cable 18, and the direct impact on the ice cones improves the de-icing efficiency, reduces the time required for de-icing, and increases convenience. Due to the presence of the traction rope 5, the drone 1 and the cable 18 can be softly connected. When the drone 1 drives the de-icing claws to move, the de-icing claws will have a certain lag, but at the same time they can also have a large inertia to impact the ice cones without affecting the flight of the drone 1.

[0034] Preferably, the length of the traction rope 5 is longer than twice the length of the support tube 7 .

[0035] Furthermore, the de-icing claw includes a first de-icing plate 11 and a second de-icing plate 12, and the first de-icing plate 11 and the second de-icing plate 12 are respectively rotatably arranged on both sides of the lower end of the second mounting frame 10 through an axle; the first de-icing plate 11 and the second de-icing plate 12 are both S-shaped; in an initial state, the first end of the first de-icing plate 11 and the first end of the second de-icing plate 12 are both above the axle and are both arranged outward, the second end of the first de-icing plate 11 and the second end of the second de-icing plate 12 are both located below the axle, and the lower part of the first de-icing plate 11 and the lower part of the second de-icing plate 12 are staggered; a connecting component is arranged between the first end of the first de-icing plate 11 and the first end of the second de-icing plate 12, and in a connected state, the connecting component can connect the first end of the first de-icing plate 11 and the first end of the second de-icing plate 12.

[0036] The steps of grabbing the de-icing claw are as follows: first, the second mounting frame 10 is lowered from directly above the cable 18 until the first de-icing plate 11 and the second de-icing plate 12 contact the cable 18 near the lower part of the second end, and then the second mounting frame 10 is further lowered, forcing the first de-icing plate 11 and the second de-icing plate 12 to rotate around the shaft until the first end of the first de-icing plate 11 and the first end of the second de-icing plate 12 rotate to the bottom of the wire 18 and intertwine, so that the connecting components between the first ends of the first de-icing plate 11 and the second de-icing plate 12 contact and connect with each other, and the de-icing claw grabs the cable 18, ensuring that the de-icing claw will not be separated from the cable 18 when de-icing along the cable 18, thereby increasing reliability. By adopting the above-mentioned technical solution, the first de-icing plate 11 and the second de-icing plate 12 are turned over and grabbed after contacting the cable 18, and the grabbing can be completed without carrying too many control components, making the load of the drone 1 lighter, and the operation is simple and direct, easy to operate, and reducing the difficulty of grabbing.

[0037] Further, the center of gravity of the first deicing plate 11 is located between the second end thereof and the corresponding shaft rod, and the center of gravity of the second deicing plate 12 is located between the second end thereof and the corresponding shaft rod, so that the first deicing plate 11 and the second deicing plate 12 are kept in an initial state; Alternatively, a first torsion spring is provided between the first deicing plate 11 and the second mounting frame 10, and a second torsion spring is provided between the second deicing plate 12 and the second mounting frame 10, so as to keep the first deicing plate 11 and the second deicing plate 12 in an initial state.

[0038] By adopting the aforementioned first technical solution, by setting the center of gravity of the first de-icing plate 11 and the second de-icing plate 12 between the corresponding shaft rod and the second end, the first de-icing plate 11 and the second de-icing plate 12 can naturally droop to a suitable position by gravity, thereby reducing the difficulty of subsequent grabbing actions. Only a small force is required to flip the first de-icing plate 11 and the second de-icing plate 12, thereby saving costs and reducing the difficulty of deicing.

[0039] The second solution can reduce the impact of the environment on the drone 1 when it is in the air. For example, strong winds at high altitudes can affect the rotation of the first deicing plate 11 and the second deicing plate 12 .

[0040] Both of the above solutions require setting a limiter at the initial position and the position where the gripping is completed to prevent the first deicing plate 11 and the second deicing plate 12 from rotating in the opposite direction or rotating too far.

[0041] Furthermore, the connecting assembly includes a sliding block 15, a first elastic member and an electromagnet 17; a first end of the first de-icing plate 11 is provided with a first sinking groove 14, a first end of the second de-icing plate 12 is provided with a second sinking groove 14, the sliding block 15 is elastically slidably arranged in the first sinking groove 14 through the first elastic member, and the electromagnet 17 is fixedly installed in the second sinking groove 14; when the electromagnet 17 and the sliding block 15 are relative to each other, the electromagnet 17 absorbs the sliding block 15, thereby connecting the first de-icing plate 11 and the second de-icing plate 12.

[0042] By adopting the above-mentioned technical solution, the electromagnet 17 and the sliding block 15 are used to cooperate to realize the connection between the first de-icing plate 11 and the second de-icing plate 12. There is no need to carry additional complex control components to control the connection and disconnection. Compared with the design that requires complex mechanical structures such as motors 3 and connecting rods to achieve connection and unlocking, the structure of the de-icing claws is greatly simplified.

[0043] Preferably, when the electromagnet 17 adsorbs the sliding block 15 , the sliding block 15 is clamped between the first sinking groove 14 and the second sinking groove 14 , which can effectively prevent the first deicing plate 11 and the second deicing plate 12 from being separated after being connected.

[0044] Furthermore, a battery and a remote control circuit board are provided on the second deicing plate 12, the battery is electrically connected to the remote control circuit board, and the electromagnet 17 is electrically connected to the remote control circuit board.

[0045] By adopting the above-mentioned technical solution, the electromagnet 17 is electrically connected to the remote control circuit board, so that the operator can remotely control the power on and off of the electromagnet 17 through the remote control. During the de-icing process, the operator can send instructions through the remote control at an appropriate time according to the actual situation, so that the remote control circuit board controls the electromagnet 17 to be energized or de-energized, thereby realizing precise control of the connection status of the first de-icing plate 11 and the second de-icing plate 12.

[0046] Furthermore, a supporting hole is provided at the lower end of the supporting tube 7, a connecting block 9 is fixed at the upper end of the second mounting frame 10, a top block 8 adapted to the supporting hole is fixed on the connecting block 9, and when the top block 8 is connected to the supporting hole, the supporting tube 7 and the second mounting frame 10 are radially fixed, and the lower end of the traction rope 5 is fixed to the top block 8.

[0047] The support hole is matched with the top block 8 , and the radial fixation of the support tube 7 and the second mounting frame 10 is along the diameter direction of the traction rope 5 .

[0048] By adopting the above-mentioned technical solution, the relative fixity of the second mounting frame 10 and the support tube 7 can be increased through the adaptive connection between the top block 8 and the inner wall of the support hole at the lower end of the support tube 7, and the abutment between the connecting block 9 and the bottom of the support tube 7. Even if the winding mechanism becomes loose, the shaking of the second mounting frame 10 can still be avoided through the adaptive connection between the top block 8 and the support hole.

[0049] Furthermore, a pressure sensor 13 is installed in the supporting hole, and the upper end of the top block 8 and the bottom surface of the supporting hole clamp the pressure sensor 13.

[0050] By adopting the above-mentioned technical solution, a pressure sensor 13 is set in the support hole, so that when the remote control circuit board is not subjected to pressure from the pressure sensor 13, the electromagnet 17 is controlled to be continuously energized and magnetized, so that the de-icing claw can always grasp the cable 18 to perform de-icing operations. This solution is to avoid the electromagnet 17 from being powered off due to poor signals from the operator during flight operations of the drone 1, and therefore the pressure sensor 13 is used to ensure stable power supply to the electromagnet 17.

[0051] Furthermore, a rotating shaft 6 is rotatably mounted on the first mounting frame 2 , a locking member for locking or unlocking the rotating shaft 6 is provided between the rotating shaft 6 and the first mounting frame 2 , and the upper end of the support tube 7 is fixedly connected to the rotating shaft 6 .

[0052] By adopting the above-mentioned technical solution, a locking piece is set at the rotating shaft 6, so that the support tube 7 can rotate relative to the first mounting frame 2 in the unlocked state, and can cooperate with the drone 1 to fold the support tube 7 to make the tripod of the drone 1 land when landing, and the support tube 7 can be fixed relative to the first mounting frame 2 in the locked state to prevent the high-altitude environment from affecting the shaking of the support tube 7.

[0053] Furthermore, the locking member includes a positioning ball and a second elastic member, a slide groove is provided on the rotating shaft 6, the positioning ball and the second elastic member are arranged in the slide groove, the first mounting frame 2 is provided with a positioning hole, and when the support tube 7 is vertically arranged, the positioning hole is arranged corresponding to the slide groove, and the second elastic member pushes the positioning ball part into the positioning hole.

[0054] By adopting the above technical solution, when the support tube 7 needs to rotate, due to the elastic effect of the second elastic member, the positioning ball can be manually controlled to move in the slide groove, so that the positioning ball leaves the positioning hole. At this time, the rotating shaft 6 can rotate freely, thereby realizing the rotation of the support tube 7 relative to the first mounting frame 2. When the support tube 7 is in a vertical state, the positioning ball is partially pushed into the positioning hole under the action of the second elastic member, realizing the radial fixation of the support tube 7 and the first mounting frame 2. In this way, during high-altitude operations, even if affected by external factors such as wind, the support tube 7 will not shake at will, ensuring the stability and safety of the deicing device.

[0055] It is understandable that the locking member can also be locked by tightening a bolt, clamping a block, etc. Such manual unlocking and locking solutions require manual operation after the drone 1 is at a certain height from the ground. The support tube 7 can also be rotated by electronic control such as a motor.

[0056] Furthermore, the winding mechanism includes a motor 3 and a winding wheel 4, the winding wheel 4 is rotatably connected to the first mounting frame 2, the motor 3 is installed on the first mounting frame 2 and is transmission-connected to the winding wheel 4, and the upper end of the traction rope 5 is wound around the winding wheel 4.

[0057] By adopting the above-mentioned technical solution, the rotation of the winding wheel 4 can be conveniently controlled by the motor 3 to wind the traction rope 5 around the winding wheel 4, making it convenient for the operator to control the traction rope 5.

[0058] In addition to the above-mentioned preferred embodiments, the present application also has other implementation modes. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection requested by the present application.

Claims

1. A power transmission line deicing robot, characterized in that: The invention comprises an unmanned aerial vehicle (1), a first mounting frame (2), a winding mechanism, a traction rope (5), a support tube (7), a second mounting frame (10) and an ice removal claw, wherein the first mounting frame (2) is fixed below the unmanned aerial vehicle (1), the upper end of the support tube (7) is connected to the first mounting frame (2), the lower end of the support tube (7) abuts against the upper end of the second mounting frame (10), the winding mechanism is mounted on the first mounting frame (2), the upper end of the traction rope (5) is wound around the winding mechanism, the lower end of the traction rope (5) passes through the support tube (7) and is fixed to the second mounting frame (10), and the ice removal claw is mounted on the second mounting frame (10) and can wrap around and grasp a cable (18).

2. A power transmission line deicing robot according to claim 1, characterized in that: The de-icing claw comprises a first de-icing plate (11) and a second de-icing plate (12), wherein the first de-icing plate (11) and the second de-icing plate (12) are respectively arranged on both sides of the lower end of the second mounting frame (10) by rotating through an axle; the first de-icing plate (11) and the second de-icing plate (12) are both S-shaped; in an initial state, the first end of the first de-icing plate (11) and the first end of the second de-icing plate (12) are both located above the axle and are both arranged outward, the second end of the first de-icing plate (11) and the second end of the second de-icing plate (12) are both located below the axle, and the lower part of the first de-icing plate (11) and the lower part of the second de-icing plate (12) are arranged alternately; a connecting component is arranged between the first end of the first de-icing plate (11) and the first end of the second de-icing plate (12), and in a connected state, the connecting component can connect the first end of the first de-icing plate (11) and the first end of the second de-icing plate (12).

3. A power transmission line deicing robot according to claim 2, characterized in that: The center of gravity of the first deicing plate (11) is located between its second end and the corresponding shaft rod, and the center of gravity of the second deicing plate (12) is located between its second end and the corresponding shaft rod, so that the first deicing plate (11) and the second deicing plate (12) are maintained in an initial state; Alternatively, a first torsion spring is provided between the first deicing plate (11) and the second mounting frame (10), and a second torsion spring is provided between the second deicing plate (12) and the second mounting frame (10), so that the first deicing plate (11) and the second deicing plate (12) are maintained in an initial state.

4. A power transmission line deicing robot according to claim 2, characterized in that: The connection assembly comprises a sliding block (15), a first elastic member and an electromagnet (17); a first end of the first deicing plate (11) is provided with a first sinking groove (14), a first end of the second deicing plate (12) is provided with a second sinking groove (14), the sliding block (15) is elastically slidably arranged in the first sinking groove (14) through the first elastic member, and the electromagnet (17) is fixedly installed in the second sinking groove (14); when the electromagnet (17) and the sliding block (15) are opposite to each other, the electromagnet (17) absorbs the sliding block (15), thereby connecting the first deicing plate (11) and the second deicing plate (12).

5. A power transmission line deicing robot according to claim 4, characterized in that: The second deicing plate (12) is provided with a battery and a remote control circuit board, the battery is electrically connected to the remote control circuit board, and the electromagnet (17) is electrically connected to the remote control circuit board.

6. The power transmission line deicing robot according to claim 1, characterized in that: A support hole is provided at the lower end of the support tube (7); a connection block (9) is fixed at the upper end of the second mounting frame (10); a top block (8) adapted to the support hole is fixed on the connection block (9); when the top block (8) is connected to the support hole, the support tube (7) and the second mounting frame (10) are radially fixed, and the lower end of the traction rope (5) is fixed to the top block (8).

7. A power transmission line deicing robot according to claim 6, characterized in that: A pressure sensor (13) is installed in the support hole, and the upper end of the top block (8) and the upper end surface of the bottom surface of the support hole clamp the pressure sensor (13).

8. The power transmission line deicing robot according to claim 1, characterized in that: A rotating shaft (6) is rotatably mounted on the first mounting frame (2), a locking member for locking or unlocking the rotating shaft (6) is provided between the rotating shaft (6) and the first mounting frame (2), and the upper end of the support tube (7) is fixedly connected to the rotating shaft (6).

9. A power transmission line deicing robot according to claim 8, characterized in that: The locking member comprises a positioning ball and a second elastic member, the rotating shaft (6) is provided with a slide groove, the positioning ball and the second elastic member are arranged in the slide groove, the first mounting frame (2) is provided with a positioning hole, the UAV (1) is in a normal posture when the support tube (7) is arranged vertically, the positioning hole is arranged corresponding to the slide groove, and the second elastic member pushes the positioning ball part into the positioning hole.

10. The power transmission line deicing robot according to claim 1, characterized in that: The winding mechanism comprises a motor (3) and a winding wheel (4); the winding wheel (4) is rotatably connected to the first mounting frame (2); the motor (3) is mounted on the first mounting frame (2) and is transmission-connected to the winding wheel (4); and the upper end of the traction rope (5) is wound around the winding wheel (4).

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