A transmission line deicing robot

Abstract

The present application discloses a power transmission line de-icing robot, which relates to the field of cable de-icing and solves the problem that the de-icing method in the prior art easily causes the connecting rope to be entangled in the cable. The technical solution to this problem is mainly a power transmission line de-icing robot, including an unmanned aerial vehicle (UAV), a first mounting frame, a winding mechanism, a traction rope, a support tube, a second mounting frame, and a de-icing claw. The first mounting frame is fixed below the UAV, the upper end of the support tube is connected to the first mounting frame, the lower end of the support tube abuts the upper end of the second mounting frame, the winding mechanism is mounted on the first mounting frame, the upper end of the traction rope is wound around 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 mounted on the second mounting frame. The present application is mainly used to solve the problem that the de-icing method in the prior art easily causes the connecting rope to be entangled in the cable.

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 temperatures, high humidity, rain, and snow, overhead transmission line conductors and ground wires often experience widespread ice accumulation. Once ice forms on transmission lines, it can cause short circuits, disconnections, tripping, and other faults in power equipment, and even power outages, resulting in significant economic losses. To address icing, the following measures are typically taken: Increase maintenance frequency: Before snow or rain, increase the frequency of transmission line maintenance and promptly clear snow, ice, and water from the lines; Enhance line insulation: Insulate transmission lines by installing insulation materials or adding antifreeze to improve their ice resistance; Install anti-icing equipment: Install anti-icing equipment such as ice throwers and vibrators on transmission lines to reduce ice adhesion and accumulation; Artificial de-icing: In extreme cases, use high-pressure water guns and other equipment to clean the lines, removing accumulated snow and ice through manual de-icing.

[0003] Since the method of manually using an insulated pull rod to knock the wires to shake off the accumulated 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 toward the cable to the target position, 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 will damage the cable. In addition, the de-icing effect is poor, especially for some ice picks, which cannot be directly removed and need to be hit on the cable multiple times to be removed. 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 solution: a power transmission line de-icing robot, comprising a drone, 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 drone, 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 mounted on the first mounting frame, the upper end of the traction rope is wound around 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 mounted on the second mounting frame and can grab the cable.

[0006] After adopting the above technical solution, the operation method of this solution is that the drone first hovers to a certain height before taking off, adjusts the support tube on the first mounting frame to a vertical position, and then tightens the second mounting frame to the lower end of the support tube through the winding mechanism, so that the drone and the de-icing claws are relatively rigidly connected, and then the drone rises to the specified position above the cable that needs to be de-iced, and then the drone descends, so that the de-icing claws are caught on the cable, and then the drone rises, and the winding mechanism loosens the traction rope, so that the drone and the de-icing claws become a soft connection, and then the drone 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 they come into contact with obstacles such as ice cones, the de-icing claws can directly hit the ice cones. Since there is a soft connection between the drone and the de-icing claws, the impact of the de-icing claws will not affect the flight of the drone, so that the ice cones on the cable are cleared. After the removal is completed, after the drone and the cable stop moving, the de-icing claws release the cable, and the winding mechanism retracts the second mounting bracket 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 drone and the de-icing claw are connected as a relatively rigid connection, which prevents the traction rope from driving the second mounting frame to shake during the drone's launch, and prevents 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 drone and the de-icing claw are softly connected, so the impact of the de-icing claw will not affect the flight of the drone. 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 de-icing efficiency, reduces the time required for de-icing, and increases convenience. Due to the existence of the traction rope, the drone and the cable can be softly connected. When the drone drives the de-icing claw to move, the de-icing claw will have a certain hysteresis, but at the same time it can also have a large inertia to hit the ice cone without affecting the flight of the drone.

[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 arranged on both sides of the lower end of the second mounting frame by rotating through an axis; the first de-icing plate and the second de-icing plate are both S-shaped; in the 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 axis 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 axis, 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 provided between the first end of the first de-icing plate and the first end of the second de-icing plate, and in the 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 de-icing claw's gripping steps are as follows: first, the second mounting frame is lowered from directly above the cable until the lower portions of the first and second de-icing plates near the second ends contact the cable, and then the frame continues to be lowered, forcing the first and second de-icing plates to rotate around the shaft until the first and second ends of the first and second de-icing plates rotate to below the wire and intertwine, so that the connecting components between the first and second ends of the first and second de-icing plates contact and connect with each other, completing the gripping 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. By adopting the aforementioned technical solution, the first and second de-icing plates complete the flipping and gripping by contacting the cable, and gripping can be completed without carrying too many control components, making the drone's load lighter, and the operation is simple and direct, easy to operate, and reducing the difficulty of gripping.

[0009] Furthermore, the center of gravity of the first de-icing plate is located between the second end thereof and the corresponding shaft, and the center of gravity of the second de-icing plate is located between the second end thereof and the corresponding shaft, so that the first de-icing plate and the second de-icing plate are maintained in an initial state;

[0010] Alternatively, a first torsion spring is provided between the first deicing plate and the second mounting bracket, and a second torsion spring is provided between the second deicing plate and the second mounting bracket, so as to keep the first deicing plate and the second deicing plate in an initial state.

[0011] 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 and the second end, the first de-icing plate and the second de-icing plate can naturally droop to the appropriate position due to gravity, thereby reducing the difficulty of subsequent grabbing actions. Only a very small force is needed to flip the first de-icing plate and the second de-icing plate, thereby saving costs and reducing the difficulty of de-icing.

[0012] The second solution can reduce the impact of the environment on the drone in the air. For example, strong winds at high altitudes can affect the rotation of the first and second de-icing plates.

[0013] Both of the above solutions require setting a limit portion 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 opposite directions or rotating too far.

[0014] Furthermore, the connecting assembly includes a sliding block, a first elastic member and an electromagnet; the first end of the first de-icing plate is provided with a first sunken groove, the 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 adsorbs the sliding block, thereby connecting the first de-icing plate and the second de-icing plate.

[0015] By adopting the above-mentioned technical solution, the connection between the first de-icing plate and the second de-icing plate is achieved by 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] By adopting the above-mentioned technical solution, the relative fixity of the second mounting bracket 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 shaking of the second mounting bracket can still be avoided through the adaptive connection between the top block and the support hole.

[0020] Furthermore, a pressure sensor is installed in the support hole, and the upper end of the top block and the bottom surface of the support hole clamp the pressure sensor.

[0021] By adopting the above-mentioned technical solution, a pressure sensor is set in the support hole, so that the remote control circuit board controls the electromagnet to continue to be energized and magnetized when the pressure sensor is not under pressure, 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 drone flight operations, so the pressure sensor is used to ensure stable power supply to the electromagnet.

[0022] 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.

[0023] By adopting the above-mentioned technical solution, a locking piece is set 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 allow the drone's tripod to touch 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.

[0024] 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 bracket is provided with a positioning hole, and 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.

[0025] With the aforementioned technical solution, when the support tube needs to rotate, the elastic action of the second elastic member allows the positioning ball to move within the chute, allowing the positioning ball to exit the positioning hole. This allows the shaft to rotate freely, thereby enabling the support tube to rotate relative to the first mounting bracket. When the support tube is in a vertical position, the positioning ball is partially pushed into the positioning hole by the second elastic member, achieving radial fixation between the support tube and the first mounting bracket. This prevents the support tube from shaking during high-altitude operations, even if affected by external factors such as wind, thus ensuring the stability and safety of the de-icing device.

[0026] 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.

[0027] 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 easier for the operator to control the traction rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The present application will be further described below with reference to the accompanying drawings:

[0029] Figure 1A schematic diagram of a power transmission line deicing robot for this application;

[0030] Figure 2 It is a structural schematic diagram of the first mounting frame in the present invention;

[0031] Figure 3 This is a schematic structural diagram of the first deicing plate and the second deicing plate in the present invention;

[0032] Figure 4 In the present invention Figure 3 A magnified view of part A;

[0033] Figure 5 In the present invention Figure 3 A magnified view of part B;

[0034] Figure 6 is a state diagram of the first de-icing plate and the second de-icing plate in the initial state of the present invention;

[0035] Figure 7 This is a state diagram of the first de-icing plate and the second de-icing plate in the present invention when they are above the electric wires;

[0036] Figure 8 This is a diagram showing a state in which the first de-icing plate and the second de-icing plate surround the electric wires in the present invention.

[0037] In the figure: 1. UAV; 2. First mounting frame; 3. Motor; 4. Reel; 5. Tow rope; 6. Rotating shaft; 7. Support tube; 8. Top block; 9. Connecting block; 10. Second mounting frame; 11. First de-icing plate; 12. Second de-icing plate; 13. Pressure sensor; 14. Sink; 15. Sliding block; 17. Electromagnet. DETAILED DESCRIPTION

[0038] 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 combination 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.

[0039] In the specification and claims of this application, the terms "first," "second," and so on (if any) are used to distinguish similar items, not to describe a specific order or precedence. Even if "second" is used to distinguish a technical feature, it does not necessarily imply the presence of "first." It should be understood that, in this application, "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. It should be understood that, in this application, "plurality" refers to two or more items. "And / or" simply describes an association between related items, indicating that three possible relationships exist. For example, "X and / or Y" can mean: X exists alone; X and Y exist simultaneously; or Y exists alone. The character " / " generally indicates that the related items are in an "or" relationship. "Including X, Y, and Z" means including all three of X, Y, and Z. "Including X, Y, or Z" means including any one of X, Y, and Z. "Including X, Y, and / or Z" means including any one, any two, or any three of X, Y, and Z.

[0040] The following specific embodiments are used to describe the technical solution of the present application in detail. 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.

[0041] like Figures 1 to 8 As shown, the present application provides a power transmission line de-icing robot, including a drone 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 under the drone 1, the upper end of the support tube 7 is connected to the first mounting frame 2, and the lower end of the support tube 7 abuts against the upper end of the second mounting frame 10, the winding mechanism is installed on the first mounting frame 2, the upper end of the traction rope 5 is wound on 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 installed on the second mounting frame 10 and can grab the cable 18.

[0042] 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, adjusts the support tube 7 on the first mounting frame 2 to a vertical position, and then tightens the second mounting frame 10 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 the specified position above the de-icing cable 18, and then the drone 1 is lowered so that the de-icing claw 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 de-icing claws fly in the extension direction of the cable 18, and are pulled by the traction rope 5 to perform de-icing operations along the cable 18. When encountering 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, which prevents the traction rope 5 from driving the second mounting frame 10 to shake during the launch of the drone 1, and prevents the second mounting frame 10 from shaking when the de-icing claws grab the traction rope 5, thereby increasing the accuracy of the de-icing claws 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 claws are softly connected, so the collision of the de-icing claws will not occur. The de-icing claws can directly hit the ice cones to avoid hitting the cable 18 and damaging the surface of the cable 18. The direct impact on the ice cones improves the efficiency of de-icing, 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 hit the ice cones without affecting the flight of the drone 1.

[0043] Preferably, the length of the pulling rope 5 is longer than twice the length of the supporting tube 7 .

[0044] Furthermore, the de-icing claw includes a first de-icing plate 11 and a second de-icing plate 12, which are respectively arranged on both sides of the lower end of the second mounting frame 10 by rotating through an axis; the first de-icing plate 11 and the second de-icing plate 12 are both S-shaped; in the 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 axis and are both set 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 axis, 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 provided between the first end of the first de-icing plate 11 and the first end of the second de-icing plate 12, and in the 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.

[0045] The de-icing claws are arranged to grip the cable 18 as follows: first, the second mounting frame 10 is lowered from directly above the cable 18 until the lower portions of the first and second de-icing plates 11, 12 near their second ends contact the cable 18. The second mounting frame 10 is then lowered further, forcing the first and second de-icing plates 11, 12 to rotate about the shaft until the first and second ends of the first and second de-icing plates 11, 12 rotate below the cable 18 and intersect, causing the connecting components between the first and second ends of the first and second de-icing plates 11, 12 to contact and connect with each other. This completes the gripping of the de-icing claws on the cable 18, ensuring that the de-icing claws do not detach from the cable 18 as they de-ice along the cable 18, thereby increasing reliability. Using the aforementioned technical solution, the first and second de-icing plates 11, 12 flip and grip the cable 18 after contacting it, eliminating the need for excessive control components. This reduces the load on the drone 1 and makes the operation simple and straightforward, making it easy to operate and reducing the difficulty of gripping.

[0046] Furthermore, the center of gravity of the first de-icing plate 11 is located between the second end thereof and the corresponding shaft, and the center of gravity of the second de-icing plate 12 is located between the second end thereof and the corresponding shaft, so that the first de-icing plate 11 and the second de-icing plate 12 are maintained in an initial state;

[0047] Alternatively, a first torsion spring is provided between the first deicing plate 11 and the second mounting bracket 10 , and a second torsion spring is provided between the second deicing plate 12 and the second mounting bracket 10 , so as to keep the first deicing plate 11 and the second deicing plate 12 in their initial states.

[0048] By adopting the first technical solution mentioned above, by setting the center of gravity of the first de-icing plate 11 and the second de-icing plate 12 between the corresponding shaft and the second end, the first de-icing plate 11 and the second de-icing plate 12 can naturally droop to the appropriate position by gravity, thereby reducing the difficulty of subsequent grabbing actions. Only a very small force is needed to flip the first de-icing plate 11 and the second de-icing plate 12, thereby saving costs and reducing the difficulty of de-icing.

[0049] 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 de-icing plate 11 and the second de-icing plate 12 .

[0050] Both of the above solutions require setting a limit portion 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.

[0051] Furthermore, the connecting assembly includes a sliding block 15, a first elastic member and an electromagnet 17; the first end of the first de-icing plate 11 is provided with a first sinking groove 14, and the first end of the second de-icing plate 12 is provided with a second sinking groove 14, the sliding block 15 is elastically slidably set 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 adsorbs the sliding block 15, thereby connecting the first de-icing plate 11 and the second de-icing plate 12.

[0052] By adopting the above-mentioned technical solution, the connection between the first de-icing plate 11 and the second de-icing plate 12 is achieved by utilizing the cooperation of the electromagnet 17 and the sliding block 15. 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 the motor 3 and the connecting rod to achieve connection and unlocking, the structure of the de-icing claw is greatly simplified.

[0053] 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.

[0054] Furthermore, a battery and a remote control circuit board are provided on the second de-icing 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.

[0055] 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.

[0056] Furthermore, a support hole is provided at the lower end of the support tube 7, and a connecting block 9 is fixed to the upper end of the second mounting frame 10. A top block 8 adapted to the support hole is fixed on the connecting 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.

[0057] The support hole is adapted to 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 .

[0058] 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.

[0059] Furthermore, a pressure sensor 13 is installed in the support hole, and the upper end of the top block 8 and the bottom surface of the support hole clamp the pressure sensor 13.

[0060] 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 the flight operation of the drone 1, so the pressure sensor 13 is used to ensure stable power supply to the electromagnet 17.

[0061] 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 .

[0062] By adopting the above-mentioned technical solution, a locking member is provided at the rotating shaft 6, so that the support tube 7 can rotate relative to the first mounting frame 2 in the unlocked state. When the drone 1 lands, the support tube 7 can be folded to allow the tripod of the drone 1 to land on the ground, 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.

[0063] 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.

[0064] With the aforementioned technical solution, when support tube 7 needs to rotate, the elastic action of the second elastic member allows the positioning ball to be manually controlled to move within the slide slot, allowing the positioning ball to exit the positioning hole. This allows shaft 6 to rotate freely, thereby enabling support tube 7 to rotate relative to first mounting bracket 2. When support tube 7 is in a vertical position, the positioning ball is partially pushed into the positioning hole by the second elastic member, achieving radial fixation between support tube 7 and first mounting bracket 2. This prevents support tube 7 from shaking during high-altitude operations, even when affected by external factors such as wind, thereby ensuring the stability and safety of the de-icing device.

[0065] 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. An electric control operation such as a motor can also be used to rotate the support tube 7.

[0066] 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.

[0067] 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.

[0068] In addition to the above-mentioned preferred embodiments, the present application also has other implementation methods. 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 trolley assembly comprises a first mounting bracket, a winding mechanism, a traction rope, a support tube, a second mounting bracket and a de-icing claw, wherein the first mounting bracket is fixed under the drone, the upper end of the support tube is connected to the first mounting bracket, the lower end of the support tube abuts against the upper end of the second mounting bracket, the winding mechanism is installed on the first mounting bracket, the upper end of the traction rope is wound around the winding mechanism, the lower end of the traction rope passes through the support tube and is fixed to the second mounting bracket, the de-icing claw is installed on the second mounting bracket and can grip the cable, the de-icing claw comprises a first de-icing plate and a second de-icing plate, the first de-icing plate and the second de-icing plate are respectively arranged on both sides of the lower end of the second mounting bracket by rotating through an axis rod; the first de-icing plate and the second de-icing plate are both S-shaped; in the 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 axis rod. And they 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 shaft, 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 provided 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, and the connecting component includes a sliding block, a first elastic member and an electromagnet; the first end of the first de-icing plate is provided with a first sinking groove, and the first end of the second de-icing plate is provided with a second sinking groove, the sliding block is elastically slidably arranged in the first sinking groove by the first elastic member, and the electromagnet is fixedly installed in the second sinking groove; when the electromagnet and the sliding block are relative, the electromagnet adsorbs the sliding block, thereby connecting the first de-icing plate and the second de-icing plate.

2. The power transmission line deicing robot according to claim 1, characterized in that: The center of gravity of the first de-icing plate is located between the second end thereof and the corresponding shaft, and the center of gravity of the second de-icing plate is located between the second end thereof and the corresponding shaft, so that the first de-icing plate and the second de-icing plate are maintained in an initial state; Alternatively, a first torsion spring is provided between the first deicing plate and the second mounting bracket, and a second torsion spring is provided between the second deicing plate and the second mounting bracket, so as to keep the first deicing plate and the second deicing plate in an initial state.

3. The power transmission line deicing robot according to claim 1, characterized in that: 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.

4. 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, 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, 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.

5. The power transmission line deicing robot according to claim 4, characterized in that: A pressure sensor is installed in the supporting hole, and the upper end of the top block and the upper end surface of the bottom surface of the supporting hole clamp the pressure sensor.

6. The power transmission line deicing robot according to claim 1, characterized in that: The winding mechanism includes a motor and a winding wheel. The winding wheel is rotatably connected to the first mounting frame. The motor is installed on the first mounting frame and is transmission-connected to the winding wheel. The upper end of the traction rope is wound around the winding wheel.

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