Power transmission line deicing robot

Abstract

The invention discloses a power transmission line deicing robot, and relates to the technical field of power transmission line operation, the power transmission line deicing robot comprises two outer plates, the two outer plates are symmetrically arranged front and back, the left parts and the right parts of the adjacent sides of the two outer plates are fixedly provided with side plates, and the top walls of the two outer plates are provided with the same walking system; according to the power transmission line deicing robot, a stepped cutter parallel to a power transmission line is adopted in a deicing part, the robot can be suitable for ice layers of different thicknesses, and the robot can be used for deicing of the power transmission line; secondly, the cutters are parallel to the power transmission line, so that damage to the power transmission line can be reduced, the damage force to ice coating is increased, the cutters comprise the main cutter and the auxiliary cutter, the main cutter is mainly responsible for breaking ice, the auxiliary cutter is mainly responsible for removing residual ice coating, and 360-degree ice coating layer cleaning is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission line operations, and in particular to a power transmission line deicing robot. Background Art

[0002] A transmission line de-icing robot is a device specially designed to remove ice from transmission lines. It aims to improve de-icing efficiency and safety and reduce the risks and labor intensity of manual de-icing. A transmission line de-icing robot is an automated device that can operate autonomously on high-voltage transmission lines and remove accumulated ice by physical or thermal means. Compared with manual de-icing, the robot can complete de-icing tasks faster, reduce power outages, avoid the risks of high-altitude operations such as manual tower de-icing, and reduce the possibility of accidents.

[0003] The patent number CN202211453580.0 discloses a deicing device and deicing method for a ground wire deicing robot for a power transmission line, wherein the deicing device includes a frame and a traveling mechanism arranged on the frame, a knocking and cleaning deicing system, the traveling mechanism includes correspondingly arranged traveling wheels and clamping wheels, and correspondingly driving traveling wheels and clamping wheels. The knocking and cleaning deicing system includes a deicing hammer and a power mechanism for driving the deicing hammer to knock and clean and deicing, the deicing hammer is provided with a hammer head, and the deicing hammer hammer head includes a side tip part and a top brush part, the side tip part is used to knock the ice layer of the ground wire of the power transmission line from the side, and the brush part is used to clean the residual broken ice on the ground wire of the power transmission line. The deicing method of the deicing device of the present invention is mainly knocking, and rolling and cleaning are supplemented. At the same time, the residual ice debris on the ground wire of the power transmission line is cleaned, and deicing can be effectively achieved through a relatively simple structural design, while reducing the energy consumption of the deicing robot.

[0004] There are certain deficiencies in the use of the above-mentioned device: the patent de-ices mainly by knocking, and during the knocking process, the strength of the knocking cannot be judged by the thickness of the ice layer, which can easily cause damage to the transmission line, and the knocking mechanism is located under the transmission line, and 360° de-icing cannot be performed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a power transmission line deicing robot, which solves the problem that knocking ice cubes during deicing can easily cause damage to the power transmission line and that 360° all-round deicing is impossible.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a transmission line deicing robot, comprising two outer panels, the two outer panels are arranged symmetrically front and back, the left and right parts of the adjacent sides of the two outer panels are fixedly installed with side panels, the top walls of the two outer panels are installed with the same walking system, the right side wall of the walking system is installed with an ice breaking system, the adjacent sides of the two outer panels are installed with a lifting system, and the rear wall of the walking system is installed with a force unloading component;

[0007] The ice breaking system includes an upper tool seat, which is fixedly mounted on the right side wall of the walking system, a lower tool seat is rotatably mounted on the rear wall of the upper tool seat by fixing anti-loosening bolts, an upper main tool is fixedly mounted on the middle part of the right side wall of the upper tool seat, a lower main tool is fixedly mounted on the middle part of the right side wall of the lower tool seat, an upper auxiliary tool is fixedly mounted on the right side wall of the upper tool seat and located in front and behind the upper main tool, and a lower auxiliary tool is fixedly mounted on the right side wall of the lower tool seat and located in front and behind the lower main tool;

[0008] The walking system includes a main board and a sub-board, and main and sub-board supports are evenly fixedly installed on one side adjacent to the main board and the sub-board, and a plurality of hexagonal supports are evenly fixedly installed on one side adjacent to the main board and the sub-board, and a driving wheel is rotatably installed on the right part of the one side adjacent to the main board and the sub-board through a rotating shaft, and a driven wheel is rotatably installed on the left part of the one side adjacent to the main board and the sub-board through a rotating shaft, and both of the two rotating shafts pass through the sub-board through bearings and are fixedly installed with synchronous wheels, and the outer walls of the two synchronous wheels are driven and installed with the same synchronous belt, a walking motor is fixedly installed on the rear wall of the main board, a reducer is fixedly installed on the rear wall of the main board and on the right side of the walking motor, and a gear box is fixedly installed on the rear wall of the main board and on the right side of the reducer.

[0009] Furthermore, the movable connection between the upper tool seat and the lower tool seat is movably connected via a movable latch.

[0010] Furthermore, the main board and sub-board are arranged symmetrically front to back, the bottom walls of the main board and sub-board are fixed to the top wall of the lifting system by mortise and tenon structure plug-in bolts, the rear wall of the main board is fixedly connected to the force unloading assembly, the right side wall of the main and sub-board supports located on the far right is fixedly connected to the left side wall of the upper tool seat, the power shaft of the walking motor is fixedly connected to the reducer drive shaft, the reducer drive shaft is fixedly connected to the internal gear through a bearing penetrating the gear box, the rotating shaft located on the driving wheel passes through the main board and the gear box in sequence through bearings and is fixedly connected to the corresponding gears, and the outer walls of the two connecting rods located in the middle are fixedly installed with handles.

[0011] Furthermore, a middle camera is installed on the main and sub-board supporting side walls located in the middle, a main camera bracket is fixedly installed on the main and sub-board supporting side walls located on the far right, a camera sub-bracket is fixedly installed on the main and sub-board supporting top walls located on the far right, and a front camera is rotatably installed on the inner wall of the camera sub-bracket.

[0012] Furthermore, the lifting system includes two lifting plates, and the adjacent sides of the two lifting plates are connected by hexagonal supports. The two lifting plates are located between the two outer plates. Roller groove 1 is opened on the left and right sides of the bottom of the two outer plates, and clamping wheels are rotatably installed on the left and right parts of the adjacent sides of the tops of the two lifting plates, roller groove 2 is opened on the left and right parts of the adjacent sides of the two lifting plates, and guide grooves are opened on the two lifting plates and the bottom of the outer plates.

[0013] Furthermore, the same scissor arm is installed on one adjacent side of the two lifting plates, and a guide shaft is installed at the intersection of the front and rear walls of the scissor arm. The two guide shafts are slidably connected in the corresponding inner walls of the guide grooves. The four corners of the front and rear walls of the scissor arm are rotatably installed with movable wheel axles of the scissor arm, and rollers are fixedly installed on the outer walls of several movable wheel axles of the scissor arms. The outer walls of several rollers at the bottom are rollingly connected to the corresponding inner walls of the first roller groove, and the outer walls of several rollers at the top are rollingly connected to the corresponding inner walls of the second roller groove.

[0014] Furthermore, a spring groove is installed at the bottom right of the scissor arm, and force springs are installed inside the two spring grooves. An electric push rod is hingedly installed at the bottom left of the scissor arm through a connecting seat, and the movable end of the electric push rod is connected to the inner wall of the spring groove through a connecting shaft.

[0015] Furthermore, an electrical box is installed on the outer panel located at the front, and a lifting ring is fixedly installed on the side panel located on the right side.

[0016] Furthermore, the force unloading assembly includes two latch brackets, which are symmetrically arranged up and down, and the front walls of the two latch brackets are fixedly connected to the rear wall of the outer panel at the rear, and the installation positions of the two latch brackets correspond to the positions of the guide grooves at the rear outer panel, and the same spring latch is installed on the adjacent sides of the two latch brackets.

[0017] Furthermore, a force-releasing pull ring is installed on the outer wall of the spring latch, and the force-releasing pull ring is fixedly connected to the corresponding guide shaft.

[0018] The present invention has the following beneficial effects:

[0019] (1) The de-icing part of the transmission line de-icing robot adopts a stepped tool parallel to the transmission line, which can be suitable for ice layers of different thicknesses. Secondly, the tool is parallel to the transmission line to reduce damage to the transmission line and increase the destructive force on the ice. The tool is divided into a main tool and an auxiliary tool. The main tool is mainly responsible for breaking ice, and the auxiliary tool is mainly responsible for removing residual ice, so as to achieve 360° cleaning of the ice layer.

[0020] (2) The lifting part of the power transmission line deicing robot adopts electric technology, which improves efficiency and avoids the need for workers to manually lift the robot after placing it on the power transmission line, thus reducing the risk factor and making it more intelligent.

[0021] (3) The transmission line deicing robot is equipped with a one-button pull-out force-releasing device, which can avoid self-locking caused by some emergencies and put the robot in a locked and suspended state while retaining the electric lifting function, thereby increasing the risk handling factor.

[0022] (4) The upper and lower walking parts of the transmission line deicing robot adopt a straddling support structure, which can ensure that the robot will not be separated from the transmission line when clamped, thereby improving the stability and safety of the system.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front view of the external structure of the present invention;

[0025] Figure 2 The internal structure of the present invention is shown in FIG. Figure 1 ;

[0026] Figure 3 The internal structure of the present invention is shown in FIG. Figure 2 ;

[0027] Figure 4 It is a rear view of the external structure of the present invention;

[0028] Figure 5 It is a rear view of the external structure of the lifting system of the present invention;

[0029] Figure 6 This is a schematic diagram of the external structure of the ice breaking system of the present invention;

[0030] Figure 7 It is a schematic diagram of an ice breaking system of the present invention.

[0031] In the figure, 1, outer plate; 2, side plate; 3, walking system; 31, main board; 32, sub-board; 33, main and sub-board support; 34, hexagonal support; 35, rotating shaft; 36, driving wheel; 37, driven wheel; 38, synchronous wheel; 39, synchronous belt; 310, walking motor; 311, reducer; 312, gear box; 313, middle camera; 314, camera main bracket; 315, camera sub-bracket; 316, front camera; 4, ice breaking system; 41, upper tool holder; 42, lower tool holder; 43, Upper main tool; 44, lower main tool; 45, upper auxiliary tool; 46, lower auxiliary tool; 47, movable latch; 5, lifting system; 51, lifting plate; 52, roller groove one; 53, clamping wheel; 54, roller groove two; 55, guide groove; 56, scissor arm; 57, guide shaft; 58, scissor arm movable wheel shaft; 59, roller; 510, spring groove; 511, electric push rod; 6, force unloading assembly; 61, latch bracket; 62, spring latch; 63, force unloading pull ring; 7, handle; 8, lifting ring; 9, electrical box. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0034] See also Figure 1-Figure 7 The embodiment of the present invention provides a technical solution: a transmission line deicing robot, comprising two outer panels 1, the two outer panels 1 are arranged symmetrically front and back, the left and right parts of the adjacent sides of the two outer panels 1 are fixedly installed with side panels 2, the top walls of the two outer panels 1 are installed with the same walking system 3, the right side wall of the walking system 3 is installed with an ice breaking system 4, the adjacent sides of the two outer panels 1 are installed with a lifting system 5, and the rear wall of the walking system 3 is installed with a force unloading component 6;

[0035] The ice breaking system 4 includes an upper tool seat 41, which is fixedly mounted on the right side wall of the walking system 3, a lower tool seat 42 is rotatably mounted on the rear wall of the upper tool seat 41 through a fixed anti-loosening bolt, an upper main tool 43 is fixedly mounted on the middle of the right side wall of the upper tool seat 41, a lower main tool 44 is fixedly mounted on the middle of the right side wall of the lower tool seat 42, an upper auxiliary tool 45 is fixedly mounted on the right side wall of the upper tool seat 41 and located in front and behind the upper main tool 43, and a lower auxiliary tool 46 is fixedly mounted on the right side wall of the lower tool seat 42 and located in front and behind the lower main tool 44;

[0036] The walking system 3 includes a main board 31 and a sub-board 32. The main and sub-board supports 33 are evenly fixedly installed on the adjacent sides of the main board 31 and the sub-board 32. Several hexagonal supports 34 are evenly fixedly installed on the adjacent sides of the main board 31 and the sub-board 32. A driving wheel 36 is rotatably installed on the right part of the side adjacent to the main board 31 and the sub-board 32 through a rotating shaft 35. A driven wheel 37 is rotatably installed on the left part of the side adjacent to the main board 31 and the sub-board 32 through a rotating shaft 35. Both rotating shafts 35 pass through the sub-board 32 through bearings and are fixedly installed with synchronous wheels 38. The outer walls of the two synchronous wheels 38 are both driven and installed with the same synchronous belt 39. A walking motor 310 is fixedly installed on the rear wall of the main board 31. A reducer 311 is fixedly installed on the rear wall of the main board 31 and on the right side of the walking motor 310. A gear box 312 is fixedly installed on the rear wall of the main board 31 and on the right side of the reducer 311.

[0037] In this embodiment, the setting of the ice breaking system 4 can break the ice condensed on the surface of the transmission line in an all-round manner of 360 degrees, and can break ice layers of different thicknesses. At the same time, the upper auxiliary tool 45 and the lower auxiliary tool 46 can clean the broken ice, so that the ice on the surface of the transmission line can be cleaned more thoroughly. The setting of the walking system 3 enables the entire robot to move on the transmission line. Through the mutual cooperation of the walking motor 310, the reducer 311 and the gear box 312, the driving wheel 36 and the driven wheel 37 are driven to move on the transmission line, and the transmission is transmitted through the synchronous wheel 38 and the synchronous belt 39.

[0038] Specifically, the movable connection between the upper tool holder 41 and the lower tool holder 42 is movably connected via a movable latch 47 .

[0039] In this embodiment, the upper tool seat 41 and the lower tool seat 42 are opened and closed by plugging and pulling out the movable latch 47 .

[0040] Specifically, the main board 31 and the sub-board 32 are arranged symmetrically front to back, the bottom walls of the main board 31 and the sub-board 32 are fixed to the top wall of the lifting system 5 by means of mortise and tenon structure plug-in bolts, the rear wall of the main board 31 is fixedly connected to the force unloading component 6, the right side wall of the main and sub-board support 33 located on the far right is fixedly connected to the left side wall of the upper tool seat 41, the power shaft of the walking motor 310 is fixedly connected to the driving shaft of the reducer 311, the driving shaft of the reducer 311 is fixedly connected to the internal gear through the gear box 312 passing through the bearing, the rotating shaft 35 located on the driving wheel 36 is fixedly connected to the corresponding gear by passing through the main board 31 and the gear box 312 in sequence through the bearing, and the outer walls of the two connecting rods located in the middle are fixedly installed with handles 7.

[0041] In this embodiment, the handle 7 can be provided to facilitate the lifting of the entire de-icing robot, and the synchronous wheel 38 and the synchronous belt 39 are driven by the cooperation of the travel motor 310, the reducer 311 and the gear box 312.

[0042] Specifically, a middle camera 313 is installed on the side wall of the main and sub-board support 33 located in the middle, a main camera bracket 314 is fixedly installed on the side wall of the main and sub-board support 33 located on the far right, a camera sub-bracket 315 is fixedly installed on the top wall of the main and sub-board support 33 located on the far right, and a front camera 316 is rotatably installed on the inner wall of the camera sub-bracket 315.

[0043] In this embodiment, with the cooperation of the middle camera 313 and the front camera 316, the staff can observe the deicing process and working status in real time during deicing.

[0044] Specifically, the lifting system 5 includes two lifting plates 51, and the adjacent sides of the two lifting plates 51 are connected by a hexagonal support 34. The two lifting plates 51 are located between the two outer plates 1. Roller grooves 52 are provided on the left and right sides of the bottom of the two outer plates 1. Clamping wheels 53 are rotatably installed on the left and right sides of the adjacent sides of the tops of the two lifting plates 51. Roller grooves 2 54 are provided on the left and right sides of the adjacent sides of the two lifting plates 51. Guide grooves 55 are provided on the two lifting plates 51 and the bottoms of the outer plates 1.

[0045] In this embodiment, the clamping wheel 53 and the driving wheel 36 and the driven wheel 37 clamp the transmission line to increase the friction force, so that the robot can move on the transmission line with a larger slope.

[0046] Specifically, the same scissor arm 56 is installed on the adjacent side of the two lifting plates 51, and a guide shaft 57 is installed at the intersection of the front and rear walls of the scissor arm 56. The two guide shafts 57 are located in the corresponding inner walls of the guide grooves 55 for sliding connection. The four corners of the front and rear walls of the scissor arm 56 are rotatably installed with scissor arm movable wheel axles 58. The outer walls of several scissor arm movable wheel axles 58 are fixedly installed with rollers 59. The outer walls of several rollers 59 located at the bottom are located in the corresponding inner walls of the roller groove 1 52 for rolling connection, and the outer walls of several rollers 59 located at the top are located in the corresponding inner walls of the roller groove 2 54 for rolling connection.

[0047] In this embodiment, the roller 59 is driven to roll in the inner walls of roller groove 1 52 and roller groove 2 54 through the extension and retraction of the scissor arm 56, and then the guide shaft 57 is driven to slide in the inner wall of the guide groove 55, which has a good accurate lifting and lowering limit effect.

[0048] Specifically, a spring groove 510 is installed at the bottom of the right side of the scissor arm 56, and force springs are installed inside the two spring grooves 510. An electric push rod 511 is hingedly installed at the bottom of the left side of the scissor arm 56 through a connecting seat, and the movable end of the electric push rod 511 is connected to the inner wall of the spring groove 510 through a connecting shaft.

[0049] In this embodiment, a force spring with relatively large bearing capacity is installed in the spring groove 510. When the machine collides with ice, the machine receives a reaction force, and the rebound of the force spring reduces the impact of the reaction force on the whole machine, thereby increasing the service life of the machine.

[0050] Specifically, an electrical box 9 is installed on the outer panel 1 located at the front, and a lifting ring 8 is fixedly installed on the side panel 2 located at the right side.

[0051] In this embodiment, the electrical box 9 is mainly used to electrically connect the electrical devices inside the robot.

[0052] Specifically, the force unloading assembly 6 includes two latch brackets 61, which are symmetrically arranged up and down, and the front walls of the two latch brackets 61 are fixedly connected to the rear wall of the outer panel 1 at the rear, and the installation positions of the two latch brackets 61 correspond to the positions of the guide grooves 55 located at the rear outer panel 1, and the same spring latch 62 is installed on the adjacent sides of the two latch brackets 61.

[0053] In this embodiment, when the travel motor 310 and the electric push rod 511 are powered off or fail due to some emergencies and various uncertain factors, the spring latch 62 is pulled out and the force-releasing pull ring 63 is pulled, so that the lifting plate 51 can be lowered a certain distance without falling rapidly. The force-releasing pull ring 63 can release the clamping state of the travel motor 310, thereby increasing the response to emergencies.

[0054] Specifically, a force-releasing pull ring 63 is installed on the outer wall of the spring latch 62. The force-releasing pull ring 63 is movable with the corresponding guide shaft 57, and the clamping state can be released in an emergency situation.

[0055] In this embodiment, the unloading pull ring 63 drives the guide shaft 57 and the scissor arm 56 to descend.

[0056] During operation, the main board 31 is connected to the sub-board 32 through the main and sub-board supports 33 and the hexagonal supports 34, and is connected at the front, middle and rear respectively through the main and sub-board supports 33 to increase the overall strength of the machine. A driving wheel 36 and a driven wheel 37 are installed between the main board 31 and the sub-board 32. A front camera 316 and a middle camera 313 are installed on the front and middle of the main board 31 respectively. The front camera 316 observes the front of the line, and the middle camera 313 observes the clamping condition of the line. The handle 7 is installed in the middle position between the main board 31 and the sub-board 32 for easy robot transportation. A side panel 2 is installed at the lower front of the main board 31. The two side panels 2 are connected to the outer panel 1. The lifting ring 8 is installed on the side panel 2. The side panel 2 is plugged into the main board 31 and the outer panel 1 through a mortise and tenon structure and fixed by bolts to increase the strength. The ice breaking system 4 is connected through the main and auxiliary plate supports 33, and mainly consists of an upper main cutter 43, an upper auxiliary cutter 45, a lower main cutter 44 and a lower auxiliary cutter 46 parallel to the transmission line for de-icing. The upper main cutter 43 and the lower main cutter 44 adopt a stepped structure to adapt to the de-icing of different ice layers. The upper auxiliary cutter 45 and the lower auxiliary cutter 46 can clean up small ice cubes to prevent the machine motor from being blocked due to the ice layer not being cleaned up. A lifting plate 51 is installed between the main board 31 and the outer plate 1, and the inner and outer sides of the lifting plate 51 are connected through a hexagonal support 34. Roller grooves 52 are provided on the left and right sides of the bottom of the two outer plates 1, and roller grooves 54 are provided on the left and right parts of the middle of the two lifting plates 51. The outer walls of the plurality of rollers 59 at the bottom are all located at the corresponding rollers. The inner wall of groove 1 52 is rollingly connected, and the outer walls of several rollers 59 located at the top are all rollingly connected with the inner wall of corresponding roller groove 2 54. The electric push rod 511 provides power to make the roller 59 move in roller groove 1 52 and roller groove 2 54. At the same time, the guide shaft 57 moves in the guide groove 55 to achieve accurate lifting and limiting. A force spring with relatively large bearing capacity is installed in the spring groove 510. When the machine collides with ice, the machine is subjected to a reaction force. The rebound of the force spring reduces the impact of the reaction force on the whole machine, thereby increasing the service life of the machine. The unloading pull ring 63 is connected to the guide shaft 57 and is limited by the spring latch 62 on the outer side of the outer plate 1. The spring latch 62 is fixed on the latch bracket 61. When the lifting plate 51 rises to the working position, due to When some emergencies and various uncertain factors cause the motor and electric push rod 511 to lose power or fail, the spring latch 62 is pulled out and the unloading ring 63 is manually pulled, so that the lifting plate 51 can be lowered for a distance without falling rapidly. The unloading ring 63 can release the clamping state of the walking motor 310 to increase the emergency response. The controller controls the electric push rod 511 to be in an extended state. At this time, the lifting part is at the lowest point. At this time, the active latch 47 of the ice breaking system 4 is manually pulled out to put the ice breaking system 4 in an open and closed state. At this time, the robot is placed on the transmission line, the robot is mounted on the transmission line, the ice breaking system 4 is manually closed and the active latch 47 is inserted into the latch hole. Since the driving wheel 36 and the driven wheel 37 are in an X shape, after the transmission line is stuck,The transmission line automatically slides into the center position of the driving wheel 36 and the driven wheel 37, the controller controls the electric push rod 511 to retract and drive the scissor arm 56 to start rising, the scissor arm movable wheel shaft 58 drives the roller 59 to roll in the roller groove 1 52 and the roller groove 2 54, so that the lifting system 5 is lifted and lowered, when the clamping wheel 53 contacts with the transmission line during the lifting process, the clamping state is judged manually or by the front camera 316, the front camera 316, when clamping, the electrical box 9 cuts off the power to the electric push rod 511, the lifting system 5 is self-locking, the driving wheel 36 and the driven wheel 37 and the clamping wheel 53 clamp the transmission line, at this time, the clamping state can be judged again by the middle camera 313 to complete the robot's clamping of the line, avoiding The robot falls from the line, and the friction between the driving wheel 36 and the driven wheel 37 on the line is increased to facilitate climbing. After the robot clamps the transmission line, the controller controls the robot to start working. The robot makes a collision movement along the ice on the transmission line. When the robot motor is not blocked, the robot moves along the ice. When the robot cannot move forward due to the thick ice layer, the robot retreats and hits the ice again with acceleration. After the de-icing is completed, the robot is manually controlled to return to the starting point. At this time, the electric push rod 511 is controlled to extend, the lifting mechanism descends, and the movable pin 47 of the ice breaking system 4 is manually pulled out to open the ice breaking system 4 and remove the robot from the transmission line.

[0057] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0058] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A power line deicing robot, comprising two outer panels (1), characterized in that: The two outer panels (1) are arranged symmetrically front to back, the left and right parts of the adjacent sides of the two outer panels (1) are fixedly mounted with side panels (2), the top walls of the two outer panels (1) are mounted with the same walking system (3), the right side wall of the walking system (3) is mounted with an ice breaking system (4), the adjacent sides of the two outer panels (1) are mounted with a lifting system (5), and the rear wall of the walking system (3) is mounted with a force unloading assembly (6); The ice breaking system (4) comprises an upper tool seat (41), wherein the upper tool seat (41) is fixedly mounted on the right side wall of the walking system (3); a lower tool seat (42) is rotatably mounted on the rear wall of the upper tool seat (41) by fixing anti-loosening bolts; an upper main tool (43) is fixedly mounted on the middle part of the right side wall of the upper tool seat (41); a lower main tool (44) is fixedly mounted on the middle part of the right side wall of the lower tool seat (42); an upper auxiliary tool (45) is fixedly mounted on the right side wall of the upper tool seat (41) and located in front and behind the upper main tool (43); and a lower auxiliary tool (46) is fixedly mounted on the right side wall of the lower tool seat (42) and located in front and behind the lower main tool (44); The walking system (3) comprises a main board (31) and a sub-board (32); a main and sub-board support (33) is evenly fixedly installed on one side adjacent to the main board (31) and the sub-board (32); a plurality of hexagonal supports (34) are evenly fixedly installed on one side adjacent to the main board (31) and the sub-board (32); a driving wheel (36) is rotatably installed on the right part of the side adjacent to the main board (31) and the sub-board (32) via a rotating shaft (35); and a driving wheel (36) is rotatably installed on the left part of the side adjacent to the main board (31) and the sub-board (32) via a rotating shaft (35). A driven wheel (37) is installed, the two rotating shafts (35) are both fixedly installed with synchronous wheels (38) through bearings passing through the auxiliary plate (32), the outer walls of the two synchronous wheels (38) are both driven and installed with the same synchronous belt (39), a travel motor (310) is fixedly installed on the rear wall of the main plate (31), a reducer (311) is fixedly installed on the rear wall of the main plate (31) and located on the right side of the travel motor (310), and a gear box (312) is fixedly installed on the rear wall of the main plate (31) and located on the right side of the reducer (311).

2. A power line deicing robot according to claim 1, characterized in that: The movable connection between the upper tool seat (41) and the lower tool seat (42) is movably connected via a movable latch (47).

3. The power transmission line deicing robot according to claim 1, characterized in that: The main plate (31) and the auxiliary plate (32) are arranged symmetrically in front and back, and the bottom walls of the main plate (31) and the auxiliary plate (32) are fixed to the top wall of the lifting system (5) by means of mortise and tenon structure plug-in bolts. The rear wall of the main plate (31) is fixedly connected to the unloading assembly (6). The right side wall of the main and auxiliary plate support (33) located on the far right is fixedly connected to the left side wall of the upper tool seat (41). The power shaft of the travel motor (310) is fixedly connected to the drive shaft of the reducer (311). The drive shaft of the reducer (311) is fixedly connected to the internal gear through the bearing penetrating the gear box (312). The rotating shaft (35) located on the driving wheel (36) passes through the main plate (31) and the gear box (312) in sequence through the bearing and is fixedly connected to the corresponding gear. The outer walls of the two connecting rods located in the middle are fixedly mounted with handles (7).

4. The power transmission line deicing robot according to claim 1, characterized in that: A middle camera (313) is installed on the side wall of the main and auxiliary board supports (33) located in the middle, a main camera bracket (314) is fixedly installed on the side wall of the main and auxiliary board supports (33) located on the far right, a camera auxiliary bracket (315) is fixedly installed on the top wall of the main and auxiliary board supports (33) located on the far right, and a front camera (316) is rotatably installed on the inner wall of the camera auxiliary bracket (315).

5. The power transmission line deicing robot according to claim 1, characterized in that: The lifting system (5) comprises two lifting plates (51), the adjacent sides of the two lifting plates (51) are connected by a hexagonal support (34), the two lifting plates (51) are located between the two outer plates (1), the left and right sides of the bottom of the two outer plates (1) are provided with a roller groove 1 (52), the left and right sides of the adjacent sides of the tops of the two lifting plates (51) are rotatably mounted with clamping wheels (53), the left and right sides of the adjacent sides of the two lifting plates (51) are provided with a roller groove 2 (54), and the bottoms of the two lifting plates (51) and the outer plates (1) are provided with guide grooves (55).

6. A power line deicing robot according to claim 5, characterized in that: The adjacent sides of the two lifting plates (51) are both equipped with the same scissor arm (56), and the intersection position of the front and rear walls of the scissor arm (56) is equipped with a guide shaft (57), and the two guide shafts (57) are both located in the inner wall of the corresponding guide groove (55) for sliding connection, and the four corners of the front and rear walls of the scissor arm (56) are rotatably equipped with a scissor arm movable wheel shaft (58), and the outer walls of several scissor arm movable wheel shafts (58) are fixedly equipped with rollers (59), and the outer walls of several rollers (59) located at the bottom are all located in the inner wall of the corresponding roller groove 1 (52) for rolling connection, and the outer walls of several rollers (59) located at the top are all located in the inner wall of the corresponding roller groove 2 (54) for rolling connection.

7. A power line deicing robot according to claim 6, characterized in that: The right bottom of the scissor arms (56) are both provided with spring grooves (510), and force springs are installed inside the two spring grooves (510). The left bottom of the scissor arms (56) is hingedly provided with an electric push rod (511) via a connecting seat, and the movable end of the electric push rod (511) is connected to the inner wall of the spring groove (510) via a connecting shaft.

8. The power transmission line deicing robot according to claim 1, characterized in that: The outer plate (1) located at the front is installed with an electrical box (9), and the side plate (2) located at the right is fixedly installed with a lifting ring (8).

9. The power transmission line deicing robot according to claim 1, characterized in that: The force unloading assembly (6) comprises two latch brackets (61), the two latch brackets (61) are symmetrically arranged up and down, the front walls of the two latch brackets (61) are fixedly connected to the rear wall of the outer panel (1) at the rear, the installation positions of the two latch brackets (61) correspond to the positions of the guide grooves (55) at the rear outer panel (1), and the same spring latch (62) is installed on the adjacent sides of the two latch brackets (61).

10. A power line deicing robot according to claim 9, characterized in that: A force-releasing pull ring (63) is installed on the outer wall of the spring latch (62), and the force-releasing pull ring (63) is fixedly connected to the corresponding guide shaft (57).

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