Integrated power cable deicing device

Abstract

The invention relates to the technical field of cable deicing, and particularly discloses an integrated power cable deicing device which comprises a rack, a walking mechanism, a deicing mechanism and a linkage mechanism, the integrated power cable deicing device can be matched with an unmanned aerial vehicle to carry out on-line and off-line operation, and the operation mode is more flexible; the two crawler-type deicing assemblies can be adjusted to be of a splayed structure through the distance adjusting assembly to clamp an iced cable, ice on the cable is ground and broken while walking is conducted, and the ice is made to fall off from the cable rapidly through the splayed extrusion effect of one ends of the two crawler-type deicing assemblies. The walking mechanism and the deicing mechanism can share power output of the power output end of the crawler-type deicing assembly through the linkage mechanism, and the number of driving devices is reduced.

Description

[0001] This application is a divisional application of the patent application with patent application number "202510037628.7", application date "January 10, 2025", and name "A cable deicing device and deicing method based on automatic hanging and disassembly of drone". Technical Field

[0002] The present invention relates to the technical field of cable deicing, and in particular to an integrated power cable deicing device. Background Art

[0003] Cables include conductive wires, ground wires, communication cables, etc. During cold waves every year, thick and hard ice will form on the power transmission lines in freezing rain areas, causing a sharp increase in the weight of the cables, causing serious cable sag, and affecting the safe distance of the cables. What's worse, the cables may break due to being overloaded and even cause the poles and towers to collapse, endangering the safety of power transmission.

[0004] In order to de-ice high-voltage overhead cables, some manufacturers have designed some de-icers. Such de-icers can be seen in a high-voltage overhead line de-icing robot disclosed in Chinese patent application number CN202410158335.X, which uses a winch mechanism to achieve the up and down hanging action of the robot on the cable. However, this method is not only complicated to operate, but also the winch mechanism is prone to slipping when hanging on the ice-covered cable.

[0005] On the other hand, most deicing robots on the market use vibration motors to de-ice. For example, the electromagnetic vibration de-icing device disclosed in Chinese Patent Publication No. CN117913732A uses a vibration impact head to hit the cable, causing the cable to vibrate, separating the ice from the cable to achieve de-icing of the cable. This type of de-icing structure using vibration cannot de-ice while walking, and has low de-icing efficiency.

[0006] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0007] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an integrated power cable deicing device to solve the above-mentioned problems.

[0008] An integrated power cable deicing device, comprising:

[0009] A frame, wherein the upper end of the frame is provided with a hook for hanging and removing the drone through a boom, and the lower end of the frame is provided with an inlet and outlet groove for cables to enter or exit;

[0010] A walking mechanism, comprising a first rotating shaft, a second rotating shaft, a front walking wheel and a rear walking wheel, wherein the first rotating shaft is rotatably arranged on the frame, the front walking wheel is arranged on the first rotating shaft, the second rotating shaft is rotatably arranged on the frame, the rear walking wheel is arranged on the second rotating shaft, the front walking wheel walks on the ice layer of the cable, and the rear walking wheel walks on the cable;

[0011] The deicing mechanism comprises a crawler-type deicing assembly provided on the frame and located on both radial sides of the cable, and a spacing adjustment assembly used to adjust the spacing between one ends of the two crawler-type deicing assemblies, the other ends of the two crawler-type deicing assemblies are rotatably connected to the frame, a deicing channel for the cable to pass through is formed between the two crawler-type deicing assemblies, and the deicing channel is located above the inlet and outlet cable groove;

[0012] The linkage mechanism comprises a first transmission assembly and a second transmission assembly, wherein the first rotating shaft is connected to the power output end of the crawler-type deicing assembly through the first transmission assembly, and the first rotating shaft is connected to the second rotating shaft through the second transmission assembly;

[0013] Specifically, the cable deicing device further comprises a self-locking mechanism provided on the frame, wherein the self-locking mechanism comprises a mechanical locking structure for blocking the inlet and outlet cable slots and being linked with the drone suspension;

[0014] The mechanical locking structure includes a latch seat fixed to the lower end of the frame, a spring latch arranged on the latch seat and capable of extending into or out of the inlet and outlet wire slot, a pull rope connected to one end of the spring latch and used for pulling the spring latch out of the inlet and outlet wire slot, a rotating rod rotatably arranged at the lower bending position of the hanging and dismantling hook, an elastic body arranged on the hanging and dismantling hook and used for pulling the rotating rod to reset downward, and the other end of the pull rope is connected to the rotating rod.

[0015] Specifically, the cable deicing device also includes a balancing mechanism, which includes a foldable battery rack foldably connected to both sides of the lower end of the rack, a mounting frame fixed to the foldable battery rack, and a battery detachably mounted on the mounting frame.

[0016] Specifically, the frame includes hollow plates located on both sides of the de-icing mechanism, protective covers fixed to the upper ends of the two hollow plates, and an electric control box is provided on the top of the frame.

[0017] Specifically, the cable deicing device also includes a visual detection module and a heating and defogger module. The visual detection module includes a first camera, a second camera, a third camera, a dual-light fusion camera, and a light source arranged on the frame. The first camera is arranged toward the front traveling wheel, the second camera is arranged toward the rear traveling wheel, and the third camera is arranged toward the hanging and disassembling hook. The dual-light fusion camera has dual channels of visible light and infrared light. The dual-light fusion camera and the light source are both arranged toward the deicing channel.

[0018] The heating and demisting module includes a heating device, an air supply device and an air supply pipe. The air supply device blows the hot air generated by the heating device toward the first camera, the second camera and the third camera through the air supply pipe.

[0019] Specifically, the hanging and dismantling hook is detachably fixed to the frame through a locking piece.

[0020] Specifically, the crawler type deicing assembly includes a first driving device fixed to the inner side of the frame, a driving shaft connected to the output end of the first driving device, a crawler driven by the driving shaft, a first pulley rotatably arranged at the other end of the crawler, and a plurality of ice crushing teeth distributed on the outer side of the crawler, wherein the first pulley is connected to a rotating shaft mounting seat, the upper end of the driving shaft is connected to a third rotating shaft, and the other end of the rotating shaft mounting seat rotates around the third rotating shaft;

[0021] The spacing adjustment assembly includes two adjustment seats that can adjust the spacing along the radial direction of the cable, and a second driving device for driving the two adjustment seats to move synchronously in opposite directions or in opposite directions. The two adjustment seats respectively drive the two shaft mounting seats to swing.

[0022] Specifically, the spacing adjustment component also includes an encoder for controlling the second driving device.

[0023] Specifically, the first transmission assembly includes a first beveled tooth connected to the upper end of the third rotating shaft, a second beveled tooth meshing with the first beveled tooth, a fourth rotating shaft coaxially driven with the second beveled tooth, a second pulley coaxially driven with the fourth rotating shaft, a third pulley coaxially driven with the first rotating shaft, and a first transmission belt connected with the second pulley and the third pulley, and the fourth rotating shaft is rotatably arranged on the frame through a shaft seat;

[0024] The second transmission assembly includes a fourth pulley connected to the first rotating shaft, a fifth pulley connected to the second rotating shaft, and a second transmission belt connected to the fourth pulley and the fifth pulley.

[0025] Specifically, the cable de-icing device also includes a guide mechanism, which includes side plates fixed at both ends of the frame in the direction of travel, and guide frames fixed at both ends of the inner side of the frame, the side plate is provided with an inclined first inclined guide surface toward one end of the inlet and outlet cable trough, and the guide frame is provided with an inclined second inclined guide surface toward one end of the inlet and outlet cable trough.

[0026] Beneficial effects of the present invention:

[0027] 1. The integrated power cable deicing device of the present invention uses drones for online and offline operations, and the operation method is more flexible;

[0028] 2. During the deicing process, the spacing adjustment component is controlled by remote control to adjust the two crawler deicing components into an eight-shaped structure to clamp the ice-covered cables. After clamping in place, a signal is sent to stop the clamping action;

[0029] 3. The crawler de-icing assembly starts to rotate, crushing the ice on the cable while moving, and the two crawler de-icing assemblies work together to squeeze the ice off the cable quickly, so the de-icing efficiency is high;

[0030] 4. A linkage mechanism is provided, so that the traveling mechanism and the deicing mechanism can share the power output of the power output end of the crawler deicing assembly, thus saving the number of driving devices and reducing the overall weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic flow chart of the cable deicing method of this embodiment;

[0032] Figure 2 A schematic diagram of the structure of using a drone to hang the cable deicing device of the present application on a cable;

[0033] Figure 3 A front view of the foldable battery rack of the cable deicing device of this embodiment after it is opened and loaded with batteries;

[0034] Figure 4 This is a front view of the foldable battery rack of the cable deicing device of this embodiment after the batteries are removed and folded;

[0035] Figure 5 The structure of the main part of the cable deicing device of this embodiment is shown in FIG. Figure 1 ;

[0036] Figure 6 for Figure 5 A magnified view of part A;

[0037] Figure 7 The structure of the main part of the cable deicing device of this embodiment is shown in FIG. Figure 2 ;

[0038] Figure 8 The structure of the main part of the cable deicing device of this embodiment is shown in FIG. Figure 3 ;

[0039] Fig. 9 This is a schematic diagram of the structure of the cable deicing device of this embodiment before deicing;

[0040] Fig.10 It is a structural schematic diagram of the deicing process of the cable deicing device of this embodiment.

[0041] The accompanying drawings are marked as follows: frame 10, hanging and disassembling hook 11, inlet and outlet groove 12, hollow plate 13, protective cover 14, electric control box 15, locking member 16, guide frame 17, first oblique guide surface 171, side plate 18, second oblique guide surface 181, drone 20, boom 21, cable 23, first rotating shaft 31, second rotating shaft 32, front running wheel 33, rear running wheel 34, crawler type deicing assembly 41, first driving device 411, driving shaft 412, crawler 413, first pulley 414, ice crushing teeth 415, rotating shaft mounting seat 416, third rotating shaft 417, spacing adjustment assembly 42, adjustment seat 421, second driving device 422, encoder 423, deicing Channel 401, first transmission assembly 51, first bevel gear 511, second bevel gear 512, fourth rotating shaft 513, second pulley 514, third pulley 515, first transmission belt 516, second transmission assembly 52, fourth pulley 521, fifth pulley 522, second transmission belt 523, tensioning adjustment assembly 53, swing arm 531, clamping wheel 532, self-locking mechanism 60, latch seat 61, spring latch 62, pull rope 63, rotating rod 64, heating and demisting module 70, first camera 81, second camera 82, third camera 83, dual-light fusion camera 84, light source 85, balancing mechanism 90, folding battery rack 91, mounting rack 92, battery 93. DETAILED DESCRIPTION

[0042] The present invention provides an integrated power cable deicing device and deicing method. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0043] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] Please refer to Figures 1 to 10 , an integrated power cable deicing device of this embodiment includes:

[0045] A frame 10, wherein the upper end of the frame 10 is provided with a hook 11 for hanging the drone 20 through a boom 21, and the lower end of the frame 10 is provided with an inlet and outlet groove 12 for the cable 23 to enter or exit;

[0046] The walking mechanism includes a first rotating shaft 31, a second rotating shaft 32, a front walking wheel 33 and a rear walking wheel 34. The first rotating shaft 31 is rotatably arranged on the frame 10, the front walking wheel 33 is arranged on the first rotating shaft 31, the second rotating shaft 32 is rotatably arranged on the frame 10, and the rear walking wheel 34 is arranged on the second rotating shaft 32. The front walking wheel 33 walks on the ice layer of the cable 23, and the rear walking wheel 34 walks on the cable 23;

[0047] The de-icing mechanism includes a tracked de-icing assembly 41 which is arranged on the frame 10 and located on both radial sides of the cable 23, and a spacing adjustment assembly 42 for adjusting the spacing at one end of the two tracked de-icing assemblies 41. The other ends of the two tracked de-icing assemblies 41 are rotatably connected to the frame 10. A de-icing channel 401 for the cable 23 to pass through is formed between the two tracked de-icing assemblies 41, and the de-icing channel 401 is located above the inlet and outlet cable trough 12.

[0048] The cable deicing device of the present embodiment can be used in conjunction with the drone 20. The operator can install the boom 21 on the arm of the drone 20 in advance. When the cable deicing device needs to be hung on the cable 23, the boom 21 is first hooked on the hanging and disassembling hook 11, the drone 20 is started, and the drone 20 is controlled to take off by the ground remote control. After the drone 20 takes off, the cable deicing device is pulled up, and the entire cable deicing device is hung above the cable by the drone 20, so that the inlet and outlet grooves 12 of the cable deicing device are aligned with the cable 23. The drone 20 controls the entire cable deicing device to descend, so that the cable 23 enters the deicing channel 401 along the inlet and outlet grooves 12. After it is in place, the drone 20 stops. The crane 21 stops descending and is unhooked and separated from the hanging and dismantling hook 11, and the boom 21 is no longer hooked on the hanging and dismantling hook 11, so that the front walking wheels 33 and the rear walking wheels 34 of the walking mechanism 30 can independently move on the upper end of the cable 23 along the length direction of the cable 23; when the cable deicing device needs to be removed from the cable 23, the drone 20 controls the boom 21 to be re-hooked on the hanging and dismantling hook 11, and then the drone 20 drives the cable deicing device to rise, so that the front walking wheels 33 and the rear walking wheels 34 of the walking mechanism 30 are separated from the cable 23, and then the height is lowered to the ground, so that the cable deicing device can be recovered; the present application uses the drone 20 for going online and offline, and the operation method is more flexible.

[0049] Please refer to Figure 5 , Figure 7 and Figure 8The cable deicing device also includes a linkage mechanism, which includes a first transmission assembly 51 and a second transmission assembly 52. ​​The first rotating shaft 31 and the power output end of the tracked deicing assembly 41 are connected by the first transmission assembly 51, and the first rotating shaft 31 and the second rotating shaft 32 are connected by the second transmission assembly 52. ​​The linkage mechanism is used to realize the linkage between the walking mechanism 30 and the deicing mechanism. The walking mechanism 30 and the deicing mechanism can share the power output of the power output end of the tracked deicing assembly 41, which saves the number of driving devices and reduces the overall weight. At the same time, since the deicing mechanism generates a forward driving force when clearing ice, the walking mechanism 30 does not need to output too strong power, and the overall structure is more compact.

[0050] Please refer to Figure 2 and Figure 3 The cable de-icing device also includes a self-locking mechanism 60, which is arranged on the frame 10. The self-locking mechanism 60 includes a mechanical locking structure for blocking the inlet and outlet cable grooves 12 and is linked with the hanging of the drone 20. During the hanging process of the drone 20, the self-locking mechanism 60 is in an unlocked state through linkage, so that the inlet and outlet cable grooves 12 are unobstructed in the up and down directions, and the cable 23 can enter or exit the inlet and outlet cable grooves 12. When the drone 20 is lifted, the self-locking mechanism 60 is opened, and when the cable de-icing device is hung, the self-locking mechanism 60 is closed to prevent the cable de-icing device from being de-lined when the cable 23 bounces due to the load reduction after de-icing, thereby realizing anti-fall protection and having an ingenious structure.

[0051] Please refer to Figures 2 to 4 The cable deicing device of this embodiment also includes a balancing mechanism 90, which includes a foldable battery rack 91 foldably connected to both sides of the lower end of the rack 10, a mounting rack 92 fixed to the foldable battery rack 91, and a battery 93 detachably mounted on the mounting rack 92. The connection between the foldable battery rack 91 and the rack 10 is hinged by a hinge, which can facilitate the folding and storage of the foldable battery rack 91. The structure before and after folding can be referred to Figure 3 and Figure 4 As shown, after being folded, the cable deicing device occupies less space vertically and is convenient for storage.

[0052] In addition, the present application installs the battery 93 on the mounting frame 92 of the folding battery rack 91. Since the battery 93 is heavier, it is equivalent to adjusting the center of gravity of the entire device downward. This is conducive to the cable de-icing device walking on the cable 23. The stability is better during the walking process and it is not easy to overturn. It is similar to the principle of a tumbler, and it can always maintain balance on the cable 23, and the structural stability is better.

[0053] Please refer to Figure 3This embodiment adopts a structure of four batteries 93. The four batteries 93 are fixed on the mounting frame 92 by the cooperation of the slide groove and the slide rail, which is convenient for disassembly and assembly; moreover, two folding battery racks 91 are respectively installed with two batteries 93, so that the gravity on both sides of the lower end of the cable deicing device is equivalent and the balance is better. In addition, four batteries 93 are installed, two of which are working batteries and the other two are backup batteries, which prolongs the battery life of the cable deicing device.

[0054] Please refer to Figure 2 The rack 10 includes hollow plates 13 located on both sides of the de-icing mechanism and protective covers 14 fixed to the upper ends of the two hollow plates 13. The design of the hollow plates 13 can reduce the wind resistance on both sides of the rack 10 and the overall weight, and avoid excessive left-right swinging of the cable de-icing device due to excessive cross wind resistance during the line de-icing process.

[0055] Further, such as Figure 5 and Figure 7 As shown, the hollow plate 13 adopts a design of several triangular hollow holes, which can arrange the triangular hollow holes more reasonably, so that the area of ​​the hollow position is larger, while not affecting the structural strength of the hollow plate 13, and the structure is more ingenious.

[0056] Please refer to Figure 2 and Figure 5 In this embodiment, an electric control box 15 is provided on the top of the frame 10. Installing the electric control box 15 on the top of the frame 10 can also reduce the wind resistance on the side of the entire device.

[0057] Please refer to Figure 5 and Figure 8 The cable deicing device of this embodiment also includes a visual detection module, which includes a first camera 81, a second camera 82, a third camera 83, a dual-light fusion camera 84, and a light source 85 arranged on the rack 10.

[0058] Among them, the first camera 81 is set towards the front walking wheel 33. The first camera 81 can be an ordinary camera. The first camera 81 is used to capture the image in front of the cable de-icing device. The captured image is fed back to the display panel of the ground remote control in real time through wireless communication means. The user can intuitively see the ice coverage situation in front by observing the image on the display panel.

[0059] The second camera 82 is arranged toward the rear traveling wheel 34. The second camera 82 can be an ordinary camera. The second camera 82 is used to capture images of the rear of the cable de-icing device. The captured images are fed back to the display panel of the ground remote control in real time through wireless communication means. The user can intuitively see that the ice at the rear has been cleared by observing the image on the display panel.

[0060] The third camera 83 is set toward the hanging and dismantling hook 11. The third camera 83 can be an ordinary camera. The third camera 83 is used to capture images near the hanging and dismantling hook 11. The captured images are fed back to the display panel of the ground remote control in real time through wireless communication means. The user can intuitively see whether the boom 21 of the drone 20 is hooked on the hanging and dismantling hook 11 by observing the image on the display panel.

[0061] The dual-light fusion camera 84 has dual channels of visible light and infrared light, and the dual-light fusion camera 84 is set toward the cable 23 in the de-icing channel 401; the dual channels of visible light and infrared light of the dual-light fusion camera 84 can be switched. In non-foggy weather, the dual-light fusion camera 84 switches to the visible light channel to shoot the cables 23 in the de-icing channel 401; in foggy weather, due to the obstruction of fog, it is difficult for the visible light channel to penetrate the fog to see the cables 23 clearly. At this time, the dual-light fusion camera 84 can be switched to the infrared light channel. Since infrared light has strong penetrating power, it can penetrate the fog to see the cables 23 clearly.

[0062] Furthermore, the dual-light fusion camera 84 is also equipped with an outer cover to prevent the lens at the lower end of the dual-light fusion camera 84 from directly contacting ice and affecting the line of sight.

[0063] Furthermore, by providing a light source 85 , lighting is provided in the deicing channel 401 , which facilitates the shooting of the dual-light fusion camera 84 and improves the clarity of the images shot by the dual-light fusion camera 84 .

[0064] Furthermore, the cable deicing device of the present embodiment also includes a heating and demisting module 70, which includes a heating device, an air supply device and an air supply pipe. The air supply device blows the hot air generated by the heating device to the first camera 81, the second camera 82 and the third camera 83 through the air supply pipe. The air supply device can use a fan, and the heating device can use an electric heating wire. The fan blows the hot air to the lens position of the first camera 81, the second camera 82 and the third camera 83 to prevent the camera from fogging and affecting the shooting effect.

[0065] Please refer to Figure 6 The hanging and dismantling hook 11 is detachably fixed to the frame 10 through a locking member 16. The hanging and dismantling hook 11 can be removed for easy storage. The locking member 16 can be a spring pin, a screw pin, etc., and the locking and unlocking operations are simple.

[0066] Please refer to Figures 8 to 10The crawler type deicing assembly 41 of the present embodiment includes a first driving device 411 fixed to the inner side of the frame 10, a driving shaft 412 connected to the output end of the first driving device 411, a crawler 413 driven by the driving shaft 412, a first pulley 414 rotatably arranged at the other end of the crawler 413, and a plurality of ice crushing teeth 415 distributed on the outer side of the crawler 413. The first driving device 411 can adopt a high-speed motor, and the output shaft of the high-speed motor is transmission-connected to the lower end of the driving shaft 412. The driving shaft 412 is driven to rotate at high speed, thereby driving the crawler 413 to rotate, so that the crawler 413 moves along the ice layer of the cable 23, and crushes the ice layer of the cable 23 through the ice crushing teeth 415 while moving, thereby improving the deicing efficiency.

[0067] Please refer to Figure 7 and Fig. 9 In this embodiment, the first pulley 414 is connected to a shaft mounting seat 416, the upper end of the driving shaft 412 is connected to a third shaft 417, and the other end of the shaft mounting seat 416 rotates around the third shaft 417; the spacing adjustment component 42 includes two adjustment seats 421 that can adjust the spacing along the radial direction of the cable 23, and a second driving device 422 for driving the two adjustment seats 421 to move synchronously in opposite directions or synchronously in opposite directions. The two adjustment seats 421 respectively drive the two shaft mounting seats 416 to swing; when the cable deicing device needs to hang the line The second driving device 422 can be used to drive the two adjustment seats 421 to move synchronously in the opposite direction, so that the two rotating shaft mounting seats 416 can swing around the two third rotating shafts 417 respectively, and the two crawlers 413 are respectively arranged under the two rotating shaft mounting seats 416, so that the two crawlers 413 are opened outward around the two third rotating shafts 417, so that the ice-covered cables 23 can enter the de-icing channel 401; the two adjustment seats 421 of the present application can move synchronously in opposite directions or synchronously in the opposite directions, can achieve automatic centering, and have an ingenious structure.

[0068] Furthermore, the second drive device 422 adopts a motor screw drive device with positive and negative threads, and the two adjustment seats 421 are respectively provided with internal threads corresponding to the positive and negative threads. Through the cooperation of the threads, the two adjustment seats 421 can be driven to move synchronously in opposite directions or in opposite directions. The structure is ingenious, and the thread cooperation has a self-locking effect, which can realize automatic locking of the two adjustment seats 421 to prevent displacement.

[0069] In addition, the spacing adjustment component 42 of this embodiment also includes an encoder 423 for controlling the second drive device 422. The encoder 423 is used to control parameters such as the rotation speed of the motor in the motor screw drive device, so that the spacing between the two adjustment seats 421 can be measured and adjusted, and the spacing between the two adjustment seats 421 can be adaptively adjusted according to the thickness of the ice layer.

[0070] Specifically, the first transmission assembly 51 includes a first bevel tooth 511 connected to the upper end of the third rotating shaft 417, a second bevel tooth 512 meshing with the first bevel tooth 511, a fourth rotating shaft 513 coaxially driven with the second bevel tooth 512, a second pulley 514 coaxially driven with the fourth rotating shaft 513, a third pulley 515 coaxially driven with the first rotating shaft 31, and a first transmission belt 516 connected to the second pulley 514 and the third pulley 515. The fourth rotating shaft 513 is rotatably arranged on the frame 10 through an axle seat.

[0071] After the first driving device 411 is started, it drives the driving shaft 412 to rotate, and the driving shaft 412 drives the first bevel gear 511 to rotate. Since the first bevel gear 511 is meshed with the second bevel gear 512, the second bevel gear 512 is driven to rotate, and the second bevel gear 512 drives the fourth shaft 513 and the second pulley 514 to rotate. Then, the first transmission belt 516 is used to drive the third pulley 515 and the first shaft 31 to rotate, and the front walking wheel 33 is arranged on the first shaft 31, so that the front walking wheel 33 can walk autonomously along the ice layer; through such a linkage setting, the driving shaft 412 drives the crawler track 413 to rotate, and also transmits power to the front walking wheel 33, and the two mechanisms share the power output of the first driving device 411.

[0072] The second transmission assembly 52 includes a fourth pulley 521 connected to the first rotating shaft 31, a fifth pulley 522 connected to the second rotating shaft 32, and a second transmission belt 523 connected to the fourth pulley 521 and the fifth pulley 522. The second transmission belt 523 is used to drive the fifth pulley 522 and the second rotating shaft 32 to rotate, and the rear walking wheel 34 is arranged on the second rotating shaft 32, so that the rear walking wheel 34 can move autonomously along the cable 23.

[0073] As a preferred implementation, please refer to Figure 7 In this embodiment, a tensioning adjustment component 53 is further provided. The tensioning adjustment component 53 includes a swing arm 531 rotatably arranged on the shaft seat and a clamping wheel 532 rotatably arranged at the other end of the swing arm 531. The clamping wheel 532 is used to press the first transmission belt 516 to ensure that the first transmission belt 516 is always in the tensioning device to prevent slipping during the transmission process.

[0074] Please refer to Figure 7 The cable deicing device of this embodiment also includes a guiding mechanism, which includes side plates 18 fixed at both ends of the frame 10 in the walking direction, and guide frames 17 fixed at both ends of the inner side of the frame 10. The side plate 18 is provided with an inclined first inclined guide surface 181 at one end facing the inlet and outlet groove 12, and the guide frame 17 is provided with an inclined second inclined guide surface 171 at one end facing the inlet and outlet groove 12. By setting the inclined first inclined guide surface 181 and the second inclined guide surface 171, the cable 23 can be guided into the inlet and outlet groove 12 during the line entry process, and the structure is ingenious.

[0075] Please refer to Figure 2 and Figure 3 The mechanical locking structure of this embodiment includes a latch seat 61 fixed to the lower end of the frame 10, a spring latch 62 arranged on the latch seat 61 and capable of extending into or out of the in-and-out wire slot 12, a pull rope 63 connected to one end of the spring latch 62 and used to pull the spring latch 62 out of the in-and-out wire slot 12, a rotating rod 64 rotatably arranged at the lower bending position of the hanging and dismantling hook 11, and an elastic body arranged on the hanging and dismantling hook 11 and used to pull the rotating rod 64 downward to reset. The elastic body can be a tension spring. The other end of the pull rope 63 is connected to the rotating rod 64. When the hanging rod at the lower end of the drone 20 is After the hanging and disassembling hook 11 is hung on 21, the hanging rod 21 drives one end of the rotating rod 64 to tilt up, and the tilted end of the rotating rod 64 is connected to the pull rope 63, so that the pull rope 63 can pull the spring latch 62 out of the in-and-out line groove 12 to achieve automatic unlocking. When the hanging rod 21 at the lower end of the drone 20 is no longer hung, under the tension of the elastic body, the rotating rod 64 rotates downward to reset, and at the same time, the spring latch 62 automatically resets under the elastic force of its internal spring, and one end of the spring latch 62 extends into the middle part of the in-and-out line groove 12 to lock the lower part of the in-and-out line groove 12 to achieve an anti-fall effect.

[0076] The present application adopts a mechanical locking structure instead of an electrical locking structure. In the event of a malfunction, the spring latch 62 will not lock the cable 23. The mechanical locking structure can be easily opened by hanging the drone 20 to rescue the cable de-icing device. There is no need to manually climb onto the cable 23 to remove the machine. At the same time, during the de-icing process, when the cable 23 bounces, the mechanical locking structure can protect the cable de-icing device from falling, which is more practical.

[0077] like Figure 1 As shown, this embodiment also discloses a cable deicing method, using the above cable deicing device, comprising the following steps:

[0078] S1 preparation before hanging up, including:

[0079] S11 opens and fixes the foldable battery rack 91, installs the battery 93 on the foldable battery rack 91, and energizes the battery 93 and the cable deicing device;

[0080] S12 initializes the crawler deicing assembly 41 so that the two crawler deicing assemblies 41 are fully opened until one end has a maximum distance and remains parallel;

[0081] S2 hanging line, including:

[0082] S21: hang the boom 21 of the drone 20 on the hanging and removing hook 11, and hang the entire cable deicing device after the drone 20 takes off;

[0083] S22 The hanging process makes the self-locking mechanism 60 in an unlocked state through linkage, and there is no obstruction in the up and down directions of the inlet and outlet wire slot 12;

[0084] S23 uses the drone 20 to hang the entire cable deicing device above the cable so that the inlet and outlet grooves 12 of the cable deicing device are aligned with the cable 23;

[0085] S24 The drone 20 controls the entire cable deicing device to descend, so that the cable 23 enters the deicing channel 401 along the inlet and outlet groove 12;

[0086] After S25 is in place, the drone 20 stops descending and is unhooked and separated from the hook 11;

[0087] S26 The self-locking mechanism 60 automatically resets and blocks the inlet and outlet wire slot 12;

[0088] S3 De-icing, including:

[0089] S31 remotely controls the spacing adjustment component 42 to adjust the two crawler deicing components 41 to form an eight-shaped structure to clamp the ice-covered cables 23, and sends a signal to stop the clamping action after clamping in place;

[0090] S32 The crawler deicing assembly 41 starts to rotate, and the walking mechanism walks along the cable 23. During the walking process, the crawler deicing assembly 41 rotates to crush the ice on the cable 23, and the ice is quickly removed from the cable 23 by squeezing one end of the two crawler deicing assemblies 41;

[0091] S4 offline, including:

[0092] S41: After all ice on the cable 23 is removed, the two crawler deicing assemblies 41 are controlled to be fully opened until one end has a maximum distance and remains parallel;

[0093] S42 remotely controls the drone 20 to raise or lower, so that the boom 21 is re-hook onto the hook 11;

[0094] S43 After the drone 20 is hung, the self-locking mechanism 60 is in an unlocked state, and the drone 20 recycles the cable deicing device.

[0095] The present application utilizes the drone 20 for going online and offline, and the operation method is more flexible. During the hanging process, the self-locking mechanism 60 is in an unlocked state through the linkage of the boom 21 of the drone 20, and the inlet and outlet cable trough 12 is unobstructed in the up and down directions. After the boom 21 of the drone 20 is unhooked and separated from the hanging and disassembly hook 11, the self-locking mechanism 60 automatically resets and blocks the inlet and outlet cable trough 12 to achieve an anti-fall effect; during the de-icing process, the spacing adjustment component 42 is controlled by remote control to adjust the two crawler de-icing components 41 into an eight-shaped structure to clamp the ice-covered cable 23, and a signal is sent to stop the clamping action after clamping in place; the crawler de-icing component 41 starts to rotate, and the walking mechanism walks along the cable 23. During the walking process, the crawler de-icing component 41 rotates by itself to crush the ice on the cable 23, and cooperates with the squeezing of one end of the two crawler de-icing components 41 to make the ice quickly fall off the cable 23, and the de-icing efficiency is high.

[0096] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. An integrated power cable deicing device, characterized in that: include: A frame (10), wherein the upper end of the frame (10) is provided with a hanging and detaching hook (11) for hanging the drone (20) through a hanging rod (21), and the lower end of the frame (10) is provided with an inlet and outlet groove (12) for allowing cables (23) to enter or exit; A walking mechanism, comprising a first rotating shaft (31), a second rotating shaft (32), a front walking wheel (33) and a rear walking wheel (34), wherein the first rotating shaft (31) is rotatably arranged on the frame (10), the front walking wheel (33) is arranged on the first rotating shaft (31), the second rotating shaft (32) is rotatably arranged on the frame (10), the rear walking wheel (34) is arranged on the second rotating shaft (32), the front walking wheel (33) walks on the ice layer of the cable (23), and the rear walking wheel (34) walks on the cable (23); The deicing mechanism comprises a crawler-type deicing assembly (41) provided on the frame (10) and located on both radial sides of the cable (23), and a spacing adjustment assembly (42) used for adjusting the spacing between one ends of the two crawler-type deicing assemblies (41), the other ends of the two crawler-type deicing assemblies (41) being rotatably connected to the frame (10), a deicing channel (401) for the cable (23) to pass through is formed between the two crawler-type deicing assemblies (41), and the deicing channel (401) is located above the inlet and outlet cable groove (12); The linkage mechanism comprises a first transmission assembly (51) and a second transmission assembly (52); the first rotating shaft (31) and the power output end of the crawler-type deicing assembly (41) are transmission-connected via the first transmission assembly (51); and the first rotating shaft (31) and the second rotating shaft (32) are transmission-connected via the second transmission assembly (52).

2. The integrated power cable deicing device according to claim 1, characterized in that: The cable deicing device further comprises a self-locking mechanism (60) arranged on the frame (10), wherein the self-locking mechanism (60) comprises a mechanical locking structure for blocking the inlet and outlet cable duct (12) and being linked to the hanging of the drone (20); The mechanical locking structure comprises a latch seat (61) fixed to the lower end of the frame (10), a spring latch (62) arranged on the latch seat (61) and capable of extending into or out of the inlet and outlet slot (12), a pull rope (63) connected to one end of the spring latch (62) and used for pulling the spring latch (62) out of the inlet and outlet slot (12), a rotating rod (64) rotatably arranged at a lower bending position of the hanging and dismantling hook (11), and an elastic body arranged on the hanging and dismantling hook (11) and used for pulling the rotating rod (64) to reset downward, and the other end of the pull rope (63) is connected to the rotating rod (64).

3. The integrated power cable deicing device according to claim 1, characterized in that: The cable deicing device further comprises a balancing mechanism (90), wherein the balancing mechanism (90) comprises a foldable battery rack (91) foldably connected to both sides of the lower end of the rack (10), a mounting rack (92) fixed to the foldable battery rack (91), and a battery (93) detachably mounted on the mounting rack (92).

4. The integrated power cable deicing device according to claim 1, characterized in that: The frame (10) comprises hollow plates (13) located on both sides of the deicing mechanism, and a protective cover (14) fixed to the upper ends of the two hollow plates (13). An electric control box (15) is provided on the top of the frame (10).

5. The integrated power cable deicing device according to claim 1, characterized in that: The cable deicing device also includes a visual detection module and a heating and defogging module (70), wherein the visual detection module includes a first camera (81), a second camera (82), a third camera (83), a dual-light fusion camera (84), and a light source (85) arranged on the frame (10), wherein the first camera (81) is arranged toward the front running wheel (33), the second camera (82) is arranged toward the rear running wheel (34), the third camera (83) is arranged toward the hanging and dismantling hook (11), and the dual-light fusion camera (84) and the light source (85) are both arranged toward the deicing channel (401); The heating and demisting module (70) comprises a heating device, an air supply device and an air supply pipe, wherein the air supply device blows the hot air generated by the heating device toward the first camera (81), the second camera (82) and the third camera (83) through the air supply pipe.

6. The integrated power cable deicing device according to claim 1, characterized in that: The hanging and dismantling hook (11) is detachably fixed to the frame (10) via a locking piece (16).

7. The integrated power cable deicing device according to claim 1, characterized in that: The crawler type deicing assembly (41) comprises a first driving device (411) fixed to the inner side of the frame (10), a driving shaft (412) connected to the output end of the first driving device (411), a crawler (413) driven by the driving shaft (412), a first pulley (414) rotatably arranged at the other end of the crawler (413), and a plurality of ice crushing teeth (415) distributed on the outer side of the crawler (413), wherein the first pulley (414) is connected to a rotating shaft mounting seat (416), the upper end of the driving shaft (412) is connected to a third rotating shaft (417), and the other end of the rotating shaft mounting seat (416) rotates around the third rotating shaft (417); The spacing adjustment component (42) comprises two adjustment seats (421) capable of adjusting the spacing along the radial direction of the cable (23), and a second driving device (422) for driving the two adjustment seats (421) to move synchronously in opposite directions or synchronously in opposite directions, and the two adjustment seats (421) respectively drive the two rotating shaft mounting seats (416) to swing.

8. The integrated power cable deicing device according to claim 7, characterized in that: The spacing adjustment component (42) also includes an encoder (423) for controlling the second driving device (422).

9. The integrated power cable deicing device according to claim 7, characterized in that: The first transmission assembly (51) comprises a first bevel tooth (511) connected to the upper end of the third rotating shaft (417), a second bevel tooth (512) meshing with the first bevel tooth (511), a fourth rotating shaft (513) coaxially driven with the second bevel tooth (512), a second belt pulley (514) coaxially driven with the fourth rotating shaft (513), a third belt pulley (515) coaxially driven with the first rotating shaft (31), and a first transmission belt (516) connected with the second belt pulley (514) and the third belt pulley (515); the fourth rotating shaft (513) is rotatably arranged on the frame (10) through a shaft seat; The second transmission assembly (52) comprises a fourth pulley (521) connected to the first rotating shaft (31), a fifth pulley (522) connected to the second rotating shaft (32), and a second transmission belt (523) connected to the fourth pulley (521) and the fifth pulley (522).

10. The integrated power cable deicing device according to claim 1, characterized in that: The cable deicing device further comprises a guide mechanism, the guide mechanism comprising side plates (18) fixed to two ends of the frame (10) in a traveling direction, and guide frames (17) fixed to two ends of an inner side of the frame (10), the side plates (18) being provided with an inclined first oblique guide surface (181) at one end facing the inlet and outlet cable trough (12), and the guide frames (17) being provided with an inclined second oblique guide surface (171) at one end facing the inlet and outlet cable trough (12).

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