A live ice stripping device based on high-voltage cables

Abstract

The present invention discloses a live ice peeling device based on a high-voltage cable, which comprises a device housing, a drone docking mechanism, a walking transmission mechanism, a rotational movement mechanism and an ice peeling mechanism. The drone docking mechanism is installed on the device housing. There are two walking transmission mechanisms which are respectively installed at the front and rear ends inside the device housing. The rotational movement mechanism includes a movement fixing bracket, an annular gear, a gear fixing bracket and a driving pinion. The movement fixing bracket is fixed on the inner wall of the device housing. The annular gear is installed at the lower end of the movement fixing bracket. The gear fixing bracket is sleeved on the outer periphery of the annular gear. The driving pinion is controlled by a motor to rotate and meshes with the annular gear. The ice peeling mechanism is installed on the rear end face of the gear fixing bracket, and an ice peeling tool is arranged inside it. The structure of the present invention is compact, capable of realizing live ice peeling operation on high-voltage distribution cables, with high automation degree, simple and convenient operation, good controllability, safety and reliability, and high ice removal operation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power construction devices, and particularly relates to a live ice stripping device based on high-voltage cables. Background Art

[0002] In the distribution network system, the distribution network, as an important public infrastructure, plays an important role in ensuring power supply, supporting economic and social development, and serving to improve people's livelihood. In winter rain and snow weather, the distribution lines are extremely prone to icing. If not removed in time, it may cause faults such as short circuits and open circuits, thus interrupting the normal operation of the lines and causing serious economic losses.

[0003] Currently, the commonly used de-icing methods mainly include manual mechanical de-icing, thermal de-icing, natural de-icing, and spreading ice-melting agents. These methods have problems such as high safety hazards, low efficiency, high energy consumption costs, and environmental unfriendliness.

[0004] In manual mechanical de-icing, it is mainly divided into the manual insulated rod operation method and the cable de-icing robot operation method. The manual insulated rod operation method adopts the intermediate potential operation method, and the operator hangs directly on the electric pole to perform de-icing operations, but the efficiency is low and the operators are at risk. The de-icing robot operation method mainly relies on remote operation and automated operation to perform de-icing operations, which has the advantage of high safety and has gradually begun to be applied. However, it generally has the following problems: the operation is relatively cumbersome, the controllability is not good, and the de-icing operation efficiency is not high. Summary of the Invention

[0005] Based on the technical problems existing in the background art, the present invention proposes a live ice stripping device based on high-voltage cables.

[0006] A live ice stripping device based on high-voltage cables proposed by the present invention includes a device housing, a drone docking mechanism, a walking transmission mechanism, a rotational movement mechanism, and an ice stripping mechanism. The drone docking mechanism is installed on the top surface of the device housing. There are two walking transmission mechanisms which are respectively installed at the front and rear ends inside the device housing. The rotational movement mechanism and the ice stripping mechanism are arranged between the two walking transmission mechanisms and installed on the inner wall of the device housing. The rotational movement mechanism includes a movement fixing bracket, an annular gear, a gear fixing bracket, and a driving pinion. The upper end of the movement fixing bracket is fixed on the inner wall of the device housing. The annular gear is installed at the lower end of the movement fixing bracket. The gear fixing bracket is sleeved on the outer periphery of the annular gear. The driving pinion is installed inside the gear fixing bracket and is controlled to rotate by a motor. The driving pinion meshes with the annular gear. The ice stripping mechanism is installed on the rear end face of the gear fixing bracket, and ice stripping tools are arranged inside it.

[0007] Preferably, the device housing is a box-type structure with an open bottom end surface, and the front and rear end surfaces of the device housing are both provided with cable engaging recesses penetrating the bottom end surface.

[0008] Preferably, the travel transmission mechanism includes a travel mechanism frame, a travel wheel mounting platform and a travel V-shaped wheel, the top end of the travel mechanism frame is mounted on the front side or rear side of the top end surface inside the device shell, the travel wheel mounting platform is mounted on the front side of the travel mechanism frame, two travel V-shaped wheels are provided and symmetrically mounted on the travel wheel mounting platform, and are rotated by the control of the travel motor.

[0009] Preferably, two vertically installed limit rods are provided at the lower end of the walking mechanism frame, a limit block is provided between the two limit rods, and a limit recess is provided at the center of the lower end surface of the limit block.

[0010] Preferably, walking wheel adjustment slots are provided on both left and right sides of the walking wheel mounting platform, I-shaped sliders are installed in the walking wheel adjustment slots, and the two walking V-shaped wheels are respectively installed on the lower end surfaces of the two I-shaped sliders; a walking wheel adjustment servo is penetrated through the walking wheel mounting platform between the two walking wheel adjustment slots, and a servo swing arm is installed on the output shaft of the walking wheel adjustment servo located below the walking wheel mounting platform, and servo connecting rods are hinged at both ends of the servo swing arm, and the ends of the two servo connecting rods are respectively hinged on the two I-shaped sliders.

[0011] Preferably, the ice peeling mechanism includes an ice peeling piece slide rail, an ice peeling piece slider and two symmetrically arranged ice peeling components, the ice peeling piece slide rail is installed on the rear end face of the gear fixing frame, two ice peeling piece sliders are provided and both are installed on the ice peeling piece slide rail, and the two ice peeling components are respectively fixedly installed on the two ice peeling piece sliders; the ice peeling cutters are installed on the opposite end faces of the two ice peeling components, and the two ice peeling components are controlled by a pneumatic telescopic device to slide relative to or towards each other on the ice peeling piece slide rail.

[0012] Preferably, the ice peeling assembly includes an ice peeling base and a tool base, the outer end surface of the tool base is installed on the ice peeling base, and the front end surface or the rear end surface of the ice peeling base is installed on the ice peeling piece slider by bolts; the inner end surface of the tool base is provided with an arc-shaped recess, and the ice peeling tool is provided with at least one and installed in the arc-shaped recess; a limiting pin hole is provided on the inner end surface of the tool base on one side of the arc-shaped recess, and a limiting pin is fixedly installed in the limiting pin hole of one ice peeling assembly, and the other end of the limiting pin is inserted into the limiting pin hole of another ice peeling assembly.

[0013] Preferably, a moving mechanism slide rail is provided on the upper end face inside the device housing. The upper end of the moving fixed bracket is slidably mounted on the moving mechanism slide rail through a moving mechanism slider. A gear arc bracket is installed at the lower end of the moving fixed bracket, and the circular gear is installed on the gear arc bracket. The circular gear is composed of a large ring segment gear and a small ring segment gear. The large ring segment gear and the small ring segment gear are hinged at their two ends to form a circular structure. The gear fixing frame is a ring segment plate structure with a notch, that is, a ring segment plate structure. Two mutually parallel gear fixing frames are provided and are both sleeved on the outer periphery of the circular gear. One end of the two gear fixing frames is provided with a limiting roller.

[0014] Preferably, it further includes a motion balance mechanism. The motion balance mechanism is composed of a spiral coil and a snap ring. The spiral coil is a circular tubular structure with a notch. Its rear end is fixed on the traveling transmission mechanism at the rear end inside the device housing, and its front end is suspended. The snap ring is a ring segment structure. It is arranged at the rear of the ice peeling mechanism and is fixed on the rear end face of the gear fixing frame through a support connecting rod. The spiral teeth provided on the outer wall of the spiral coil are engaged with the spiral teeth provided on the inner wall of the snap ring.

[0015] Preferably, it further includes a power supply device, which provides power for the traveling transmission mechanism, the rotary motion mechanism, and the ice peeling mechanism.

[0016] The beneficial effects of the present invention are as follows:

[0017] The live ice peeling device based on high-voltage cables of the present invention can clamp and self-walk on the power distribution cable through the clamping cooperation of the two traveling transmission mechanisms installed at the front and rear ends inside the device housing, and has a high walking efficiency. Through the mutual cooperation of the rotary motion mechanism and the ice peeling mechanism provided inside the device housing, the ice on the power distribution cable can be rotated and peeled, the operation is convenient, and the ice removal operation efficiency is high. Due to the heavy pressure caused by the thick ice on the cable, the ice peeling operation can directly remove the ice layer through a targeted method. Under extreme weather conditions, the ice peeling operation is not restricted by the ambient temperature and can be carried out at any time. Especially when facing thick ice layers, the operation flexibility is higher. The ice layer removed by ice peeling will not quickly form frost again, which helps to maintain the normal operation of the equipment and reduce the subsequent maintenance frequency. The structure of the present invention is compact, can realize the live ice peeling operation on high-voltage power distribution cables, has a high degree of automation, is simple and convenient to operate, has good controllability, saves time and effort, is safe and reliable, has a high ice removal operation efficiency, and has a low energy consumption cost and will not cause pollution to the environment. Description of the Drawings

[0018] Figure 1 : Schematic structural diagram of the present invention;

[0019] Figure 2 : Schematic structural diagram of the traveling transmission mechanism of the present invention Figure 1(Front-end top-down view);

[0020] Figure 3 : Schematic structure of the walking transmission mechanism of the present invention Figure 2 (Front-end bottom-up view);

[0021] Figure 4 : Right view of the walking transmission mechanism of the present invention;

[0022] Figure 5 : Schematic structural diagram of the rotational motion mechanism, ice peeling mechanism and motion balance mechanism of the present invention;

[0023] Figure 6 : Schematic structural diagram of the rotational motion mechanism and ice peeling mechanism of the present invention;

[0024] Figure 7 : Schematic structural diagram of the ice peeling assembly of the present invention;

[0025] Figure 8 : Schematic structural diagram of the rotational motion mechanism of the present invention;

[0026] Figure 9 : Schematic structural diagram of the UAV docking mechanism of the present invention.

[0027] The corresponding relationship between the reference numerals and component names in the figure is as follows:

[0028] 1. Device housing, 11. Cable engaging notch, 2. UAV docking mechanism, 21. Lower docking body, 211. Lower docking hole, 22. Upper docking body, 221. Upper docking hole, 222. Docking block, 23. Docking motor, 24. Locking disc, 25. Locking pin rod, 3. Walking transmission mechanism, 31. Walking mechanism frame, 32. Limiting rod, 33. Limiting block, 34. Walking wheel installation platform, 341. Walking wheel adjustment slot hole, 35. I-shaped slider, 36. Walking V-wheel, 37. Walking wheel adjustment servo, 38. Servo rotating arm, 39. Servo connecting rod, 4. Rotational motion mechanism, 41. Motion fixing bracket, 42. Gear arc bracket, 43. Ring-shaped gear, 44. Gear fixing frame, 45. Driving small gear, 46. Limiting roller, 47. Support connecting rod, 5. Ice peeling mechanism, 51. Ice peeling assembly, 511. Ice peeling bottom plate, 512. Tool base, 513. Arc notch, 514. Ice peeling tool, 515. Limiting pin hole, 516. Limiting pin, 52. Ice peeling part slide rail, 53. Ice peeling part slider, 6. Motion balance mechanism, 61. Spiral coil, 62. Snap ring. Specific implementation manner

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Embodiment 1:

[0030] Referring to Figures 1-8 , a live ice peeling device based on a high-voltage cable proposed by the present invention includes a device housing 1, a drone docking mechanism 2, a walking transmission mechanism 3, a rotary motion mechanism 4, and an ice peeling mechanism 5.

[0031] The drone docking mechanism 2 is installed on the top surface of the device housing 1. The entire electric ice peeling device can be hoisted onto the distribution cable to be ice-peeled under the action of the drone through the drone docking mechanism 2, eliminating the risks of high-altitude operation and close-range live operation for operators.

[0032] Two walking transmission mechanisms 3 are provided and are respectively installed at the front and rear ends inside the device housing 1. Through the clamping cooperation of the two walking transmission mechanisms 3 installed at the front and rear ends inside the device housing with the distribution cable, the distribution cable can be clamped and the device can walk by itself, with high walking efficiency.

[0033] The rotary motion mechanism 4 and the ice peeling mechanism 5 are arranged between the two walking transmission mechanisms 3 and are installed on the inner wall of the device housing 1. The rotary motion mechanism 4 includes a motion fixing bracket 41, an annular gear 43, a gear fixing bracket 44, and a driving pinion 45. The upper end of the motion fixing bracket 41 is fixed on the inner wall of the device housing 1, the annular gear 43 is installed at the lower end of the motion fixing bracket 41, the gear fixing bracket 44 is sleeved on the outer periphery of the annular gear 43, the driving pinion 45 is installed inside the gear fixing bracket 44 and is controlled to rotate by a motor, and the driving pinion 45 meshes with the annular gear 43; the ice peeling mechanism 5 is installed on the rear end face of the gear fixing bracket 44, and an ice peeling tool 514 is arranged inside it. By driving the rotation of the ice peeling mechanism 5 through the rotary motion mechanism 4, the ice on the distribution cable located at the axis of the annular gear 43 can be rotationally peeled by the ice peeling tool 514, which is convenient to operate and has high ice removal operation efficiency.

[0034] The structure of the present invention is compact, capable of realizing live ice peeling operation on high-voltage distribution cables, with high automation degree, simple and convenient operation, good controllability, time-saving and labor-saving, safe and reliable, high ice removal operation efficiency, low energy consumption cost, and no environmental pollution. Embodiment 2:

[0035] Referring to Figures 1-8 , a live ice peeling device based on a high-voltage cable proposed by the present invention includes a device housing 1, a drone docking mechanism 2, a walking transmission mechanism 3, a rotary motion mechanism 4, and an ice peeling mechanism 5.

[0036] The unmanned aerial vehicle docking mechanism 2 is installed on the top surface of the device housing 1. The entire electric ice peeling device can be hoisted onto the power distribution cable to be ice-peeled under the action of the unmanned aerial vehicle through the unmanned aerial vehicle docking mechanism 2, eliminating the risks of high-altitude operation and close-range live operation for operators.

[0037] There are two walking transmission mechanisms 3, which are respectively installed at the front and rear ends inside the device housing 1. Through the clamping cooperation of the two walking transmission mechanisms 3 installed at the front and rear ends inside the device housing with the power distribution cable, the power distribution cable can be clamped and the device can walk by itself, with high walking efficiency.

[0038] The rotary motion mechanism 4 and the ice peeling mechanism 5 are arranged between the two walking transmission mechanisms 3 and installed on the inner wall of the device housing 1.

[0039] The rotary motion mechanism 4 includes a motion fixing bracket 41, an annular gear 43, a gear fixing bracket 44 and a driving pinion 45. The upper end of the motion fixing bracket 41 is fixed on the inner wall of the device housing 1, and a gear arc bracket 42 is installed at the lower end of the motion fixing bracket 41. The annular gear 43 is installed on the gear arc bracket 42; the annular gear 43 is composed of a large ring section gear and a small ring section gear. The large ring section gear and the small ring section gear are hinged at their two ends to form an annular structure. The gear fixing bracket 44 is a ring plate structure with a notch, that is, a ring section plate structure. There are two parallel gear fixing brackets 44, both of which are sleeved on the outer periphery of the annular gear 43, and a limiting roller 46 is arranged at one end of the two gear fixing brackets 44; There are at least three driving pinions 45, which are evenly distributed and installed between the two gear fixing brackets 44 and rotate synchronously under the control of a motor. The driving pinions 45 are meshed with the annular gear 43.

[0040] The driving pinions 45 are rotated by motor control, and drive the two gear fixing brackets 44 to rotate on the outer periphery of the annular gear 43. The small ring section gear of the annular gear 43 is at or near the low position. When the notch of the gear fixing bracket 44 rotates to the small ring section gear of the annular gear 43 and stops, at this time, the small ring section gear rotates and falls under the action of gravity, and then the power distribution cable can be clamped into the inside of the annular gear 43 along the notch of the small ring section gear and the notch of the gear fixing bracket 44; Finally, the motor controls the driving pinions 45 to rotate, and the gear fixing brackets 44 continue to rotate. The limiting roller 46 at one end of the gear fixing brackets 44 pushes the small ring section gear of the annular gear 43 to close with the large ring section gear, and the gear fixing brackets 44 continue to rotate around the annular gear 43. Alternatively, the free hinge at both ends of the large ring section gear and the small ring section gear can also be adjusted to be rotated by a steering gear, that is, the opening and closing of the large ring section gear and the small ring section gear are controlled by the steering gear.

[0041] The ice peeling mechanism 5 is installed on the rear end face of the gear fixing bracket 44. The ice peeling mechanism 5 includes an ice peeling part slide rail 52, an ice peeling part slider 53, and two symmetrically arranged ice peeling assemblies 51. The ice peeling part slide rail 52 is installed on the rear end face of the gear fixing bracket 44. There are two ice peeling part sliders 53, both of which are installed on the ice peeling part slide rail 52. The two ice peeling assemblies 51 are respectively fixedly installed on the two ice peeling part sliders 53. The ice peeling cutter 514 arranged inside the ice peeling mechanism 5 is installed on the opposite end faces of the two ice peeling assemblies 51. The two ice peeling assemblies 51 are controlled by a pneumatic telescopic device 54 to slide relatively or towards each other on the ice peeling part slide rail 52.

[0042] Among them, the ice peeling assembly 51 includes an ice peeling bottom plate 511 and a cutter base 512. The outer end face of the cutter base 512 is installed on the ice peeling bottom plate 511. The front end face or the rear end face of the ice peeling bottom plate 511 is installed on the ice peeling part slider 53 by bolts. An arc-shaped notch 513 is arranged on the inner end face of the cutter base 512. There is at least one ice peeling cutter 514, which is installed in the arc-shaped notch 513. A limit pin hole 515 is arranged on the inner end face of the cutter base 512 on one side of the arc-shaped notch 513. A limit pin 516 is fixedly installed in the limit pin hole 515 of one ice peeling assembly 51, and the other end of the limit pin 516 is inserted into the limit pin hole 515 of the other ice peeling assembly 51.

[0043] According to the wire diameter of the distribution wire cable and the thickness of the ice layer on its surface, the two ice peeling assemblies 51 are controlled by the pneumatic telescopic device 54 to slide relatively on the ice peeling part slide rail 52, and the contact degree between the ice peeling cutter 514 and the ice layer on the surface of the distribution wire cable is adjusted in a timely manner. Then, the rotation of the ice peeling mechanism 5 is driven by the rotation movement mechanism 4, so as to rotate and peel the ice on the wire cable located at the axis of the annular gear 43 by using the ice peeling cutter 514. The operation is convenient, the ice removal operation efficiency is high, and it can also be applicable to distribution wire cables with different wire diameters and ice layers with different thicknesses, and has a high applicability.

[0044] The structure of the present invention is compact, and it can realize the live ice peeling operation of high-voltage distribution wire cables. It has a high degree of automation, is simple and convenient to operate, has good controllability, saves time and effort, is safe and reliable, has a high ice removal operation efficiency, and has a low energy consumption cost, and will not cause pollution to the environment. Embodiment 3:

[0045] Refer to Figures 1-9 , a live ice peeling device based on a high-voltage cable proposed by the present invention includes a device housing 1, a drone docking mechanism 2, a walking transmission mechanism 3, a rotation movement mechanism 4, and an ice peeling mechanism 5.

[0046] The unmanned aerial vehicle (UAV) docking mechanism 2 is installed on the top surface of the device housing 1. The entire electric ice peeling device can be lifted to the power distribution cable to be ice-peeled under the action of the UAV through the UAV docking mechanism 2, eliminating the risks of high-altitude operation and close-range live operation for operators.

[0047] Among them, the UAV docking mechanism 2 includes a lower docking body 21, an upper docking body 22, a docking motor 23, a locking disc 24 and a locking pin rod 25. The lower docking body 21 has an open upper end structure, and its lower end is installed at the center of the upper surface of the device housing 1. At least three evenly distributed lower docking holes 211 are provided on its inner wall; the upper docking body 22 has a closed lower end and an open upper end structure, and its upper end is installed on the UAV. At least three evenly distributed upper docking holes 221 are provided on its inner wall. The number and positions of the upper docking holes 221 correspond to those of the lower docking holes 211. A docking block 222 is hingedly installed in the upper docking holes 221; the docking motor 23 is vertically and inversely installed at the center of the inner bottom of the upper docking body 22, the locking disc 24 is installed on the output shaft of the docking motor 23, and at least three evenly distributed locking pin rods 25 are installed on the locking disc 24. Both ends of the locking pin rod 25 are hinged to the docking block 222 and the locking disc 24 respectively.

[0048] The working principle of the UAV docking mechanism 2 is as follows: The docking motor 23 controls the rotation of the locking disc 24, and drives the docking block 222 to rotate and achieve expansion and contraction in the upper docking holes 221 of the upper docking body 22 through the locking pin rod 25. The expansion and contraction of the docking block 222 can be engaged with and separated from the lower docking holes 211 of the lower docking body 21, so as to realize the docking locking and unlocking separation of the upper docking body 22 installed on the UAV and the lower docking body 21 installed on the device housing 1, and thus realize the UAV hoisting of the overall electric ice peeling device of the present invention.

[0049] The device housing 1 is a boxed structure with an open bottom end surface. Cable clamping notches 11 penetrating its bottom end surface are provided on the front and rear end surfaces of the device housing 1. By using the cable clamping notches 11, it is convenient to clamp the power distribution cable with the entire electric ice peeling device, and the operation is convenient.

[0050] Two traveling transmission mechanisms 3 are provided and are respectively installed at the front and rear ends inside the device housing 1. The traveling transmission mechanism 3 includes a traveling mechanism frame 31, a traveling wheel installation platform 34 and traveling V-shaped wheels 36. The top end of the traveling mechanism frame 31 is installed on the front side or the rear side of the inner top surface of the device housing 1. The traveling wheel installation platform 34 is installed on the front side of the traveling mechanism frame 31. Two traveling V-shaped wheels 36 are provided and symmetrically installed on the traveling wheel installation platform 34, and are controlled to rotate by a traveling motor 361.

[0051] Among them, walking wheel adjusting slot holes 341 are provided on both the left and right sides of the walking wheel installation platform 34. I-shaped sliders 35 are installed in the walking wheel adjusting slot holes 341, and two walking V-shaped wheels 36 are respectively installed on the lower end surfaces of the two I-shaped sliders 35. A walking wheel adjusting servo 37 is penetrated and arranged on the walking wheel installation platform 34 between the two walking wheel adjusting slot holes 341. A servo arm 38 is installed on the output shaft of the walking wheel adjusting servo 37 located below the walking wheel installation platform 34. Both ends of the servo arm 38 are hinged with servo connecting rods 39, and the ends of the two servo connecting rods 39 are respectively hinged on the two I-shaped sliders 35.

[0052] The walking wheel adjusting servo 37 works to control the rotation of the servo arm 38, and then drives the two walking V-shaped wheels 36 and the I-shaped sliders 35 to slide in the walking wheel adjusting slot holes 341 through the two servo connecting rods 39, so as to realize the clamping adjustment of the two walking V-shaped wheels 36 on the distribution cable. By controlling the rotation of the walking V-shaped wheels 36 through the walking motor 361, the entire electric ice peeling device can walk on its own on the distribution cable, with good controllability and high walking efficiency.

[0053] Two vertically installed limiting rods 32 are provided at the lower end of the walking mechanism frame 31. A limiting block 33 is arranged between the two limiting rods 32, and a limiting notch is provided at the center of the lower end surface of the limiting block 33. Through the arrangement of the two limiting rods 32 and the limiting notch of the limiting block 33, it is convenient for the distribution cable to be clamped between the two walking V-shaped wheels 36.

[0054] The rotary motion mechanism 4 and the ice peeling mechanism 5 are arranged between the two walking transmission mechanisms 3 and installed on the inner wall of the device housing 1.

[0055] The rotary motion mechanism 4 includes a motion fixing bracket 41, an annular gear 43, a gear fixing bracket 44 and a driving pinion 45. The upper end of the motion fixing bracket 41 is fixed on the inner wall of the device housing 1, and a gear arc bracket 42 is installed at the lower end of the motion fixing bracket 41. The annular gear 43 is installed on the gear arc bracket 42. The annular gear 43 is composed of a large ring segment gear and a small ring segment gear. The large ring segment gear and the small ring segment gear are hinged at their two ends to form an annular structure. The gear fixing bracket 44 is a ring plate structure with a notch, that is, a ring segment plate structure. Two mutually parallel gear fixing brackets 44 are provided and both are sleeved on the outer periphery of the annular gear 43. One end of the two gear fixing brackets 44 is provided with a limiting roller 46. At least three driving pinions 45 are provided and are evenly distributed and installed between the two gear fixing brackets 44 and are controlled to rotate synchronously by a motor. The driving pinions 45 are meshed with the annular gear 43.

[0056] The driving pinion 45 rotates under motor control and drives the two-gear holder 44 to rotate on the outer periphery of the annular gear 43. The small-ring gear of the annular gear 43 is located at or near the low position. When the notch of the gear holder 44 rotates to the position of the small-ring gear of the annular gear 43, it stops. At this time, the small-ring gear rotates and drops under the action of gravity. Then, the power distribution cable can be snapped into the inside of the annular gear 43 along the notch of the small-ring gear and the notch of the gear holder 44. Finally, the motor controls the driving pinion 45 to rotate, and the gear holder 44 starts to rotate again. The limit roller 46 at one end of the gear holder 44 pushes the small-ring gear of the annular gear 43 to close with the large-ring gear, and the gear holder 44 continues to rotate around the annular gear 43. Alternatively, the free hinges at both ends of the large-ring gear and the small-ring gear can also be adjusted to be rotated by a servo motor, that is, the opening and closing of the large-ring gear and the small-ring gear are controlled by the servo motor.

[0057] The ice peeling mechanism 5 is installed on the rear end face of the gear holder 44. The ice peeling mechanism 5 includes an ice peeling part slide rail 52, an ice peeling part slider 53, and two symmetrically arranged ice peeling components 51. The ice peeling part slide rail 52 is installed on the rear end face of the gear holder 44. There are two ice peeling part sliders 53, both of which are installed on the ice peeling part slide rail 52. The two ice peeling components 51 are respectively fixedly installed on the two ice peeling part sliders 53. The ice peeling cutter 514 arranged inside the ice peeling mechanism 5 is installed on the opposite end faces of the two ice peeling components 51. The two ice peeling components 51 are controlled by a pneumatic telescopic device 54 to slide relatively or towards each other on the ice peeling part slide rail 52.

[0058] Among them, the ice peeling component 51 includes an ice peeling bottom plate 511 and a cutter base 512. The outer end face of the cutter base 512 is installed on the ice peeling bottom plate 511. The front end face or the rear end face of the ice peeling bottom plate 511 is installed on the ice peeling part slider 53 by bolts. An arc-shaped notch 513 is arranged on the inner end face of the cutter base 512. There is at least one ice peeling cutter 514, which is installed in the arc-shaped notch 513. A limit pin hole 515 is arranged on the inner end face of the cutter base 512 on one side of the arc-shaped notch 513. A limit pin 516 is fixedly installed in the limit pin hole 515 of one ice peeling component 51, and the other end of the limit pin 516 is inserted into the limit pin hole 515 of the other ice peeling component 51.

[0059] According to the wire diameter of the distribution wire cable and the thickness of the ice layer on its surface, the pneumatic telescopic device 54 is used to control the relative sliding of the two ice peeling components 51 on the ice peeling part slide rail 52, timely adjust the contact degree between the ice peeling tool 514 and the ice layer on the surface of the distribution wire cable, and then drive the rotation of the ice peeling mechanism 5 through the rotary motion mechanism 4, so as to use the ice peeling tool 514 to rotate and peel the ice on the distribution wire cable located at the axis of the annular gear 43. The operation is convenient, the ice removal operation efficiency is high, and it can also be applied to distribution wire cables with different wire diameters and ice layers with different thicknesses, and the applicability is high.

[0060] At the same time, a motion mechanism slide rail is arranged on the upper end surface inside the device housing 1, and the upper end of the motion fixing bracket 41 is installed on the motion mechanism slide rail through a motion mechanism slider and slides thereon. A motion balance mechanism 6 is arranged at the rear side of the ice peeling mechanism 5. The motion balance mechanism 6 is composed of a spiral coil 61 and a snap ring 62. The spiral coil 61 is a circular tubular structure with a notch. Its rear end is fixed on the traveling transmission mechanism 3 at the rear end inside the device housing 1, and its front end is suspended; the snap ring 62 is a ring segment structure, which is arranged at the rear side of the ice peeling mechanism 5 and is fixed on the rear end surface of the gear fixing bracket 44 through a support connecting rod 47; the spiral teeth arranged on the outer wall of the spiral coil 61 are meshed with the spiral teeth arranged on the inner wall of the snap ring 62. After the two traveling transmission mechanisms 3 clamp the distribution wire cable, the device housing 1, the UAV docking mechanism 2 and the traveling transmission mechanism 3 are relatively stationary with respect to the distribution wire cable; then, the rotary motion mechanism 4 and the ice peeling mechanism 5 are controlled to perform a rotary ice peeling operation on the ice layer on the distribution wire cable. At this time, the rotary motion mechanism 4 and the ice peeling mechanism 5 as a whole slide on the motion mechanism slide rail through the motion fixing bracket 41 to realize the backward movement relative to the distribution wire cable. At the same time, the snap ring 62 of the motion balance mechanism 6 also rotates and moves backward relatively outside the spiral coil 61, and the stability of the rotary motion mechanism 4 and the ice peeling mechanism 5 can be effectively improved through the motion balance mechanism 6.

[0061] In a live ice peeling device based on a high-voltage cable of the present invention, a power supply device and a camera assembly are also provided and are both installed inside the device housing 1. The power supply device can provide motion power for the traveling transmission mechanism 3, the rotary motion mechanism 4 and the ice peeling mechanism 5, and the camera assembly can monitor the traveling state of the traveling transmission mechanism 3 and the live ice peeling operation condition of the distribution wire cable in real time to improve the convenience and effect of the operation.

[0062] The working principle of a live ice peeling device based on a high-voltage cable of the present invention is as follows:

[0063] (1) The drone docks with the device housing 1 through the drone docking mechanism 2 and, under the action of the drone, realizes the hoisting of the entire live ice peeling device based on the high-voltage cable. At the same time, the walking drive mechanism 3, the rotary motion mechanism 4, the ice peeling mechanism 5 and the motion balance mechanism 6 make preparations for the clamping of the distribution cable, including: the two walking V-shaped wheels 36 of the walking drive mechanism 3 move away from each other and open under the control of the walking wheel adjusting servo 37; the small ring segment gear of the annular gear 43 of the rotary motion mechanism 4 rotates to a low position or near the low position, and the notch of the small ring segment gear and the notch of the gear fixing bracket 44 are opened; the two symmetrically arranged ice peeling assemblies 51 of the ice peeling mechanism 5 are in the left and right positions and move away from each other and open under the rotation of the rotary motion mechanism 4; the notch of the snap ring 62 of the motion balance mechanism 6 coincides with the notch of the spiral coil 61.

[0064] (2) After the drone hoists the entire live ice peeling device based on the high-voltage cable above the distribution cable and then gradually descends, the distribution cable is clamped into the cable clamping notch 11 of the device housing 1. At the same time, the distribution cable is also clamped into the limiting notches of the two limiting rods 32 and the limiting block 33 of the walking drive mechanism 3; it is also clamped into the inside of the annular gear 43 of the rotary motion mechanism 4, the inside of the snap ring 62 and the spiral coil 61 of the motion balance mechanism 6, and between the arc-shaped notches 513 of the two symmetric ice peeling assemblies 51 of the ice peeling mechanism 5.

[0065] (3) The walking drive mechanism 3 starts the walking wheel adjusting servo 37 to work, drives the two walking V-shaped wheels 36 to move relative to each other and clamp the distribution cable; at this time, the distribution cable is located at the axis of the annular gear 43, the snap ring 62, the spiral coil 61 and the center of the arc-shaped notches 513 of the two ice peeling assemblies 51. Then, the drone stops working, or controls the drone to disconnect from the entire live ice peeling device based on the high-voltage cable, thereby realizing the hoisting operation of the drone for the entire live ice peeling device based on the high-voltage cable.

[0066] (4) The driving pinion 45 of the rotary motion mechanism 4 rotates forward under the control of the motor, drives the gear fixing bracket 44 to continuously rotate forward around the annular gear 43. At this time, the snap ring 62 also rotates with the gear fixing bracket 44 and performs a screw-in motion on the spiral coil 61, thereby driving the entire rotary motion mechanism 4 to slide forward on the motion mechanism slide rail provided on the upper end face inside the device housing 1.

[0067] (5) During the continuous forward rotation of the gear fixing bracket 44 of the rotary motion mechanism 4 around the annular gear 43, the ice peeling mechanism 5 mounted on the rear end face of the gear fixing bracket 44 also rotates forward continuously; at the same time, the two ice peeling components 51 of the ice peeling mechanism 5 are controlled by the pneumatic telescopic device 54 to slide relatively on the ice peeling part slide rail 52 and finally bring the ice peeling knives 514 installed in the ice peeling components 51 into contact with the ice attached to the power distribution cable; during the continuous rotation and forward movement of the ice peeling mechanism 5, the ice attached to the power distribution cable is peeled off by the ice peeling knives 514, thereby realizing the ice peeling operation for a certain distance on the power distribution cable.

[0068] (6) After the rotary motion mechanism 4 and the ice peeling mechanism 5 are advanced to the maximum distance, the two ice peeling components 51 of the ice peeling mechanism 5 are controlled by the pneumatic telescopic device 54 to slide away from each other on the ice peeling part slide rail 52 and move the ice peeling knives 514 away from the power distribution cable; the driving pinion 45 of the rotary motion mechanism 4 rotates reversely under the control of the motor, driving the gear fixing bracket 44 to continuously rotate reversely around the annular gear 43. At this time, the snap ring 62 also rotates reversely with the gear fixing bracket 44 and retracts on the spiral coil 61, thereby driving the entire rotary motion mechanism 4 to slide on the motion mechanism slide rail provided on the upper end face of the device housing 1 and return to the initial position.

[0069] (7) The walking motor 361 controls the rotation of the walking V-shaped wheels 361, and the entire electric ice peeling device can move forward on the power distribution cable by itself. After the entire live ice peeling device based on the high-voltage cable travels to the next ice peeling target area on the power distribution cable, repeat steps (4)-(6) to realize the ice peeling operation for the ice peeling target area of this section of the power distribution cable.

[0070] (8) Similarly, after all the ice peeling operations on the power distribution cable are completed, control the walking transmission mechanism 3, the rotary motion mechanism 4, the ice peeling mechanism 5 and the motion balance mechanism 6 to disengage from the power distribution cable, and then use a drone to lift the entire live ice peeling device based on the high-voltage cable.

[0071] A live ice stripping device based on a high-voltage cable according to the present invention can clamp and self-walk on a power distribution cable through the clamping cooperation of two walking transmission mechanisms 3 installed at the front and rear ends inside the device housing 1, with high walking efficiency; through the mutual cooperation of a rotary motion mechanism 4 and an ice stripping mechanism 5 arranged inside the device housing 1, it can perform rotary ice stripping on the ice on the power distribution cable, with convenient operation and high ice removal operation efficiency; due to the heavy pressure caused by thick ice on the cable, the ice stripping operation can directly remove the ice layer through a targeted method; under extreme weather conditions, the ice stripping operation is not limited by the environmental temperature and can be carried out at any time. Especially when facing thick ice layers, the operation flexibility is higher; the ice layer removed by ice stripping will not quickly form frost again, which helps to maintain the normal operation of the equipment and reduce the subsequent maintenance frequency.

[0072] The structure of the present invention is compact, capable of realizing the live ice stripping operation on high-voltage power distribution cables, with high automation, simple and convenient operation, good controllability, time-saving and labor-saving, safe and reliable, high ice removal operation efficiency, low energy consumption cost, and no pollution to the environment.

[0073] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An electric ice stripping device based on a high voltage cable, characterized in that: The invention comprises a device housing (1), a drone docking mechanism (2), a travel transmission mechanism (3), a rotary motion mechanism (4) and an ice peeling mechanism (5), wherein the drone docking mechanism (2) is mounted on the top surface of the device housing (1), two travel transmission mechanisms (3) are provided and are respectively mounted at the front and rear ends of the device housing (1), and the rotary motion mechanism (4) and the ice peeling mechanism (5) are arranged between the two travel transmission mechanisms (3) and are mounted on the inner wall of the device housing (1); the rotary motion mechanism (4) comprises a motion fixing bracket (41), an annular gear (43), a gear fixing bracket (44), and a gear fixing bracket (45). The moving fixed bracket (41) is provided with a driving pinion (45), wherein the upper end of the moving fixed bracket (41) is fixed on the inner wall of the device housing (1), the annular gear (43) is mounted on the lower end of the moving fixed bracket (41), the gear fixing bracket (44) is sleeved on the outer circumference of the annular gear (43), the driving pinion (45) is mounted in the gear fixing bracket (44) and is controlled to rotate by a motor, and the driving pinion (45) is meshed with the annular gear (43); the ice peeling mechanism (5) is mounted on the rear end surface of the gear fixing bracket (44), and an ice peeling tool (514) is arranged inside the gear fixing bracket (44); The upper end surface of the device housing (1) is provided with a motion mechanism slide rail, and the upper end of the motion fixing bracket (41) is mounted on the motion mechanism slide rail through a motion mechanism slider to slide; the lower end of the motion fixing bracket (41) is provided with a gear arc bracket (42), and the annular gear (43) is mounted on the gear arc bracket (42), the annular gear (43) is composed of a large ring segment gear and a small ring segment gear, and the large ring segment gear and the small ring segment gear are hinged at their two ends to form an annular structure, the gear fixing frame (44) is an annular plate structure with a notch, and the gear fixing frame (44) is provided with two mutually parallel gears and are both sleeved on the outer circumference of the annular gear (43), and one end of the two gear fixing frames (44) is provided with a limited position roller (46).

2. The live ice stripping device based on a high voltage cable according to claim 1 is characterized in that: The device housing (1) is a box-shaped structure with an open bottom end surface, and the front and rear end surfaces of the device housing (1) are both provided with cable engaging recesses (11) penetrating the bottom end surface.

3. The live ice stripping device based on a high voltage cable according to claim 1 is characterized in that: The travel transmission mechanism (3) comprises a travel mechanism frame (31), a travel wheel mounting platform (34) and a travel V-shaped wheel (36); the top end of the travel mechanism frame (31) is mounted on the front side or the rear side of the top end surface of the device housing (1); the travel wheel mounting platform (34) is mounted on the front side of the travel mechanism frame (31); two travel V-shaped wheels (36) are provided and symmetrically mounted on the travel wheel mounting platform (34), and are controlled to rotate by a travel motor (361).

4. The live ice stripping device based on a high voltage cable according to claim 3 is characterized in that: Two vertically installed limit rods (32) are arranged at the lower end of the walking mechanism frame (31), a limit block (33) is arranged between the two limit rods (32), and a limit recess is arranged at the center of the lower end surface of the limit block (33).

5. The live ice stripping device based on a high voltage cable according to claim 3 is characterized in that: The left and right sides of the walking wheel installation platform (34) are both provided with walking wheel adjustment slots (341), and an I-shaped slider (35) is installed in each of the walking wheel adjustment slots (341). The two walking V-shaped wheels (36) are respectively installed on the lower end surfaces of the two I-shaped sliders (35). The walking wheel installation platform (34) between the two walking wheel adjustment slots (341) is provided with a walking wheel adjustment steering gear (37) penetrating therethrough, and a steering gear rotating arm (38) is installed on the output shaft of the walking wheel adjustment steering gear (37) located below the walking wheel installation platform (34), and steering gear connecting rods (39) are hinged at both ends of the steering gear rotating arm (38), and the ends of the two steering gear connecting rods (39) are respectively hinged on the two I-shaped sliders (35).

6. The live ice stripping device based on a high voltage cable according to claim 1 is characterized in that: The ice peeling mechanism (5) comprises an ice peeling member slide rail (52), an ice peeling member slider (53) and two symmetrically arranged ice peeling assemblies (51); the ice peeling member slide rail (52) is mounted on the rear end surface of the gear fixing frame (44); two ice peeling member sliders (53) are provided and both are mounted on the ice peeling member slide rail (52); the two ice peeling assemblies (51) are respectively fixedly mounted on the two ice peeling member sliders (53); the ice peeling cutters (514) are mounted on the opposite end surfaces of the two ice peeling assemblies (51); the two ice peeling assemblies (51) are controlled by a pneumatic telescopic device (54) to slide relative to or towards each other on the ice peeling member slide rail (52).

7. The live ice stripping device based on a high voltage cable according to claim 6 is characterized in that: The ice peeling assembly (51) comprises an ice peeling base plate (511) and a tool base (512); the outer end surface of the tool base (512) is mounted on the ice peeling base plate (511); the front end surface or the rear end surface of the ice peeling base plate (511) is mounted on the ice peeling piece slider (53) through bolts; the inner end surface of the tool base (512) is provided with an arc-shaped recess (513); at least one ice peeling tool (514) is provided and mounted in the arc-shaped recess (513); a limiting pin hole (515) is provided on the inner end surface of the tool base (512) on one side of the arc-shaped recess (513); a limiting pin (516) is fixedly mounted in the limiting pin hole (515) of one ice peeling assembly (51); the other end of the limiting pin (516) is inserted into the limiting pin hole (515) of another ice peeling assembly (51).

8. The live ice stripping device based on a high voltage cable according to claim 1 is characterized in that: The device also includes a motion balancing mechanism (6), the motion balancing mechanism (6) consisting of a spiral ring (61) and a snap ring (62); the spiral ring (61) is a circular tubular structure with a notch, the rear end of which is fixed to the travel transmission mechanism (3) at the rear end of the device housing (1), and the front end of which is suspended in the air; the snap ring (62) is a ring segment structure, which is arranged at the rear side of the ice peeling mechanism (5) and is fixed to the rear end surface of the gear fixing frame (44) through a supporting connecting rod (47); the spiral teeth arranged on the outer wall of the spiral ring (61) mesh with the spiral teeth arranged on the inner wall of the snap ring (62).

9. The live ice stripping device based on a high voltage cable according to claim 1, characterized in that: It also includes a power supply device, and provides power for the travel transmission mechanism (3), the rotary motion mechanism (4) and the ice peeling mechanism (5).

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