Cable deicing device

Abstract

The invention discloses a cable deicing device, which belongs to the field of power construction and comprises a shell module, a driving module and a deicing module. The shell module is composed of a top plate, side plates, a lower side plate, a bottom plate, a front cover, a rear cover, front and rear line patrol wheels, a middle support, a depth camera and an image transmission camera. The driving module comprises a front-and-back double-shaft motor and a support thereof, a wheel carrier, a driving motor and a support thereof, a shaft nail, a driving wheel, a driving wheel carrier, a driven wheel, a driven wheel carrier, a wheel shaft, an upper sliding block, an upper guide rail, a side sliding block, a side guide rail, a tightening spring and a coupler. The device can clamp a cable and perform linear motion along the cable through the driving module, ice covering the cable is removed through the deicing knife of the deicing module, the deicing condition can be observed in real time through the two cameras, and the action of the deicing robot can be adjusted at any time. The cable deicing device is simple in structure and convenient to wire, a feasible scheme design is provided for the cable deicing device structure, and the cable deicing device has good deicing efficiency and application value.

Description

Technical Field

[0001] The invention relates to the technical field of electric power construction, and in particular to a cable deicing device. Background Art

[0002] During the operation of power transmission lines, due to rain, snow and cold weather, a large amount of water droplets will condense on the surface of the transmission lines, causing large-scale icing of the transmission lines. Icing of transmission lines may cause accidents such as cable breakage and tower collapse, seriously threatening the stability of the power grid and causing great losses to the power system.

[0003] Currently commonly used deicing methods include traditional manual deicing, thermal ice melting, chemical anti-icing and robotic deicing.

[0004] Manual deicing by hammering relies on human climbing, which poses safety risks and is inefficient; deicing methods such as DC ice melting and short-circuit current heating require power outages and have high energy consumption; chemical anti-icing coatings are susceptible to environmental influences such as ultraviolet rays and wind erosion, and require frequent recoating, and spray robots have high requirements for the cleanliness of the cable surface, making it difficult to operate directly on ice-covered lines; existing cable deicing robots are mostly put online by manual lifting, which is inefficient, and their size is too large and their weight is too heavy, which will significantly increase the vertical load of the transmission line and shorten the robot's endurance and operating range. Summary of the invention

[0005] The present invention is to avoid the deficiencies of the above-mentioned prior art. The present invention provides a device for removing ice from cables, which can move in a straight line along the cable, remove large pieces of ice from the cable through three de-icing blades, and simultaneously observe the de-icing status in real time through two cameras. The action of the de-icing robot can be adjusted at any time, thereby solving the problems existing in the prior art.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A cable deicing device comprises a housing module, a driving module and a deicing module.

[0008] The housing module is composed of a lower side plate, a side plate, a top plate, an image transmission camera, a depth camera, a bottom plate, a rear patrol wheel clamp, a rear patrol wheel, a rear cover, an intermediate support, a front cover, a front patrol wheel and a rear patrol wheel clamp;

[0009] The driving module is composed of a driving motor, a driving motor bracket, a driving wheel, a wheel frame, a driving wheel frame, a rear dual-axis motor, a side guide rail, a side slider, a rear dual-axis motor bracket, a wheel axle, an upper slider, an upper guide rail, a front dual-axis motor bracket, a front dual-axis motor, a coupling, an axle pin, a tightening spring, a driven wheel and a driven wheel frame;

[0010] The deicing module is composed of an upper deicing blade, two deicing blades on both sides, a deicing shell, a spring, a deicing slider, two deicing motor brackets, a deicing guide rail, an upper deicing motor, an upper deicing motor bracket and two deicing motors on both sides.

[0011] As a further technical solution of the present invention: in the shell module, the lower side plate, the side plate and the top plate are respectively connected to the front cover and the rear cover by bolts; the lower side plate, the side plate and the top plate are connected to the middle support by bolts; the image transmission camera is fixed to the top plate by bolts; the depth camera is fixed to the deicing shell by bolts; the bottom plate is connected to the lower side plate by bolts; the rear patrol wheel clamp is fixed to the rear cover by bolts; the rear patrol wheel is fixed between the two rear patrol wheel clamps by the patrol wheel shaft; the front patrol wheel is fixed between the two front patrol wheel clamps by the patrol wheel shaft; the front patrol wheel clamp is fixed to the front cover by bolts.

[0012] As a further technical solution of the present invention: the driving motor is fixed to the driving motor bracket by bolt connection; the driving motor bracket is fixed to the driving wheel frame by bolt connection; the driving wheel is fixed to the driving wheel frame by a wheel axle; the wheel frame is connected to the driving wheel frame and the driven wheel frame by a shaft nail; the rear dual-axis motor is fixed to the rear dual-axis motor bracket by bolt connection; the side guide rail is fixed to the top plate by bolt connection and assembled in the side slider; the side slider is fixed to the wheel frame by bolt connection; the rear dual-axis motor bracket is fixed to the top plate by bolt connection; the wheel axle is connected to the output shaft of the driving motor through a coupling; the upper slider is fixed to the wheel frame by bolt connection; the upper guide rail is fixed to the top plate by bolt connection and assembled in the upper slider; the front dual-axis motor bracket is fixed to the top plate by bolt connection; the front dual-axis motor is fixed to the front dual-axis motor bracket by bolt connection; the two ends of the tightening spring are respectively hung between the driving wheel frame and the driven wheel frame; the driven wheel is fixed to the driven wheel frame by a wheel axle.

[0013] As a further technical solution of the present invention: the upper deicing blade is connected to the upper deicing motor through a coupling; the deicing blade one on both sides and the deicing blade two on both sides are respectively connected to the deicing motors on both sides through couplings; the deicing shell is connected to the front cover through bolts; the spring is fixed between the deicing motor brackets on both sides and the deicing shell; the deicing slider is fixed to the deicing motor brackets on both sides through bolts; the deicing motor brackets on both sides are fixed with the deicing rails through the guide rail sliders; the deicing rails are fixed to the deicing shell through bolts; the upper deicing motor is fixed to the upper deicing motor bracket through bolts; the upper deicing motor bracket is fixed to the deicing shell through bolts; the deicing motors on both sides are fixed to the deicing motor brackets on both sides through bolts.

[0014] As a further technical solution of the present invention: the front double-axis motor and the rear double-axis motor output power to drive the upper slider and the side slider on the wheel frame to move along the upper guide rail and the side guide rail respectively, so that the clamping devices on the left and right sides are close to the cable. Due to the action of the tightening spring, the driving wheel and the driven wheel are close to the cable. At the same time, the driving motor outputs power, and the rotational motion of the output shaft of the driving motor is converted into the rotational motion of the driving wheel through the coupling, thereby realizing linear motion along the direction of the cable.

[0015] As a further technical solution of the present invention: the upper de-icing blade motor drives the upper de-icing blade to rotate, and the de-icing blade motors on both sides respectively drive the de-icing blade one and the de-icing blade two on both sides to rotate.

[0016] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0017] 1. The present invention can remove ice from cables of different sizes by arranging three deicing knives and cooperating the deicing knives on both sides with the guide rail sliders to remove ice, while also protecting the knives. While increasing the service life of the knives, it also ensures the success rate and efficiency of deicing.

[0018] 2. The present invention arranges two front and rear patrol wheels which are placed above the cable and are fixedly connected to the outer shell of the deicer, thus fully ensuring the safety of the deicing operation of the device.

[0019] 3. The present invention has a compact structure and a small overall size, and has little impact on cables during deicing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an axonometric diagram of the overall structure of the present invention;

[0021] Figure 2 It is an axonometric view of a part of the shell structure of the present invention;

[0022] Figure 3 It is a partial axonometric diagram of the driving module of the present invention;

[0023] Figure 4 It is a partial axonometric view of the deicing module of the present invention.

[0024] Numbers in the figure: 101-lower side plate, 102-side plate, 103-top plate, 104-image transmission camera, 105-depth camera, 106-bottom plate, 107-rear patrol wheel clamp, 108-rear patrol wheel, 109-rear cover, 110-middle support, 111-front cover, 112-front patrol wheel, 113-front patrol wheel clamp, 201-drive motor, 202-drive motor bracket, 203-driving wheel, 204-wheel frame, 205-driving wheel frame, 206-rear dual-axis motor, 207-side guide rail, 208-side slider, 209-rear dual-axis motor bracket, 210-wheel Shaft, 211-upper slider, 212-upper guide rail, 213-front dual-axis motor bracket, 214-front dual-axis motor, 215-coupling, 216-axis nail, 217-tightening spring, 218-driven wheel, 219-driven wheel frame, 301-upper deicing blade, 302-deicing blades one on both sides, 303-deicing blades two on both sides, 304-deicing shell, 305-spring, 306-deicing slider, 307-deicing motor brackets on both sides, 308-deicing guide rail, 309-upper deicing motor, 310-upper deicing motor bracket, 311-deicing motors on both sides, 4-cables. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example 1: Figure 1-Figure 4 As shown, a cable deicing device includes a housing module, a driving module and a deicing module.

[0027] The housing module is composed of a lower side plate 101, a side plate 102, a top plate 103, an image transmission camera 104, a depth camera 105, a bottom plate 106, a rear patrol wheel clamp 107, a rear patrol wheel 108, a rear cover 109, an intermediate support 110, a front cover 111, a front patrol wheel 112 and a front patrol wheel clamp 113;

[0028] The driving module is composed of a driving motor 201, a driving motor bracket 202, a driving wheel 203, a wheel frame 204, a driving wheel frame 205, a rear dual-axis motor 206, a side guide rail 207, a side slider 208, a rear dual-axis motor bracket 209, an axle 210, an upper slider 211, an upper guide rail 212, a front dual-axis motor bracket 213, a front dual-axis motor 214, a coupling 215, an axle pin 216, a tightening spring 217, a driven wheel 218 and a driven wheel frame 219;

[0029] The deicing module is composed of an upper deicing blade 301, deicing blades 1 302 on both sides, deicing blades 2 303 on both sides, a deicing shell 304, a spring 305, a deicing slider 306, deicing motor brackets 307 on both sides, a deicing rail 308, an upper deicing motor 309, an upper deicing motor bracket 310 and deicing motors 311 on both sides.

[0030] Embodiment 2: On the basis of Embodiment 1, in the shell module, the lower side plate 101, the side plate 102, and the top plate 103 are respectively connected to the front cover 111 and the rear cover 109 by bolt connection; the lower side plate 101, the side plate 102, and the top plate 103 are all connected to the middle support 110 by bolt connection; the image transmission camera 104 is fixed to the top plate 103 by bolt connection; the depth camera 105 is fixed to the deicing shell 304 by bolt connection; the bottom plate 106 is connected to the lower side plate 101 by bolt connection; the rear patrol wheel clamp 107 is fixed to the rear cover 109 by bolt connection; the rear patrol wheel 108 is fixed between the two rear patrol wheel clamps 107 by the patrol wheel shaft; the front patrol wheel 112 is fixed between the two front patrol wheel clamps 113 by the patrol wheel shaft; the front patrol wheel clamp 113 is fixed to the front cover 111 by bolt connection.

[0031] Embodiment 3: On the basis of embodiment 1, the drive motor 201 is fixed to the drive motor bracket 202 by bolt connection; the drive motor bracket 202 is fixed to the driving wheel frame 205 by bolt connection; the driving wheel 203 is fixed to the driving wheel frame 205 by the wheel axle 210; the wheel frame 204 is connected to the driving wheel frame 205 and the driven wheel frame 219 by the shaft nail 216; the rear dual-axis motor 206 is fixed to the rear dual-axis motor bracket 209 by bolt connection; the side guide rail 207 is fixed to the top plate 103 by bolt connection and assembled in the side slider 208; the side slider 208 is fixed to the wheel frame 204 by bolt connection; the rear dual-axis motor The machine bracket 209 is fixed to the top plate 103 by bolt connection; the wheel axle 210 is connected to the output shaft of the driving motor 201 through the coupling 215; the upper slider 211 is fixed to the wheel frame 204 by bolt connection; the upper guide rail 212 is fixed to the top plate 103 by bolt connection and assembled in the upper slider 211; the front dual-axis motor bracket 213 is fixed to the top plate 103 by bolt connection; the front dual-axis motor 214 is fixed to the front dual-axis motor bracket 213 by bolt connection; the two ends of the tightening spring 217 are respectively hung between the driving wheel frame 205 and the driven wheel frame 219; the driven wheel 218 is fixed to the driven wheel frame 219 through the wheel axle 210.

[0032] Embodiment 4: On the basis of Embodiment 1, the upper de-icing blade 301 is connected to the upper de-icing motor 309 through a coupling; the de-icing blades 1 302 and the de-icing blades 2 303 on both sides are respectively connected to the de-icing motors 311 on both sides through couplings; the de-icing shell 304 is connected to the front cover 111 through bolts; the spring 305 is fixed between the de-icing motor brackets 307 on both sides and the de-icing shell 304; the de-icing slider 306 is fixed to the de-icing motor brackets 307 on both sides through bolts; the de-icing motor brackets 307 on both sides are fixed with the de-icing rails 308 through the guide sliders; the de-icing rails 308 are fixed to the de-icing shell 304 through bolts; the upper de-icing motor 309 is fixed to the upper de-icing motor bracket 310 through bolts; the upper de-icing motor bracket 310 is fixed to the de-icing shell 304 through bolts; the de-icing motors 311 on both sides are fixed to the de-icing motor brackets 307 on both sides through bolts.

[0033] Example 5: On the basis of Example 1, the front dual-axis motor 214 and the rear dual-axis motor 206 output power to drive the upper slider 211 and the side slider 208 on the wheel frame 204 to move along the upper guide rail 212 and the side guide rail 207 respectively, so that the left and right clamping devices are close to the cable 4. Due to the action of the tightening spring 217, the driving wheel 203 and the driven wheel 218 are close to the cable 4. At the same time, the driving motor 201 outputs power, and the rotational motion of the output shaft of the driving motor 201 is converted into the rotational motion of the driving wheel 203 through the coupling 215, thereby realizing linear motion along the direction of the cable 4.

[0034] The upper de-icing blade motor 309 drives the upper de-icing blade 301 to rotate, and the two side de-icing blade motors 311 respectively drive the two side de-icing blades 1 302 and the two side de-icing blades 303 to rotate.

[0035] Here’s how it works:

[0036] See also Figure 1 , Figure 2 For the shell module, when there is a cable deicing task, the cable deicer is placed above the cable, and the cable 4 slides into the cable deicer through the arc opening under the deicing shell 304 and the bottom plate 106, and is limited by the front patrol wheel 112 and the rear patrol wheel 108 to keep the cable 4 in the optimal deicing position.

[0037] See also Figure 2 , Figure 3, for the driving module, after the device is installed on the cable 4, the front double-axis motor 214 and the rear double-axis motor 206 start to work, so that the side sliders 208 and the upper sliders 211 on the wheel frames 204 on both sides move inward along the side guide rails 207 and the upper guide rails 212 respectively, until the driving wheel 203 and the driven wheel 218 contact the cable 4. After contact, the front double-axis motor 214 and the rear double-axis motor 206 continue to operate, so that the driving wheel 203 and the driven wheel 218 tightly clamp the cable 4 through the elastic force of the tightening spring 217, completing the clamping action. After completing the clamping action, each driving motor 201 starts to work, and the rotational motion of the output shaft of each driving motor 201 is converted into the rotational motion of each driving wheel 203 through the coupling 215, so that the entire deicing device moves along the cable in a straight line through the action of friction.

[0038] See also Figure 4 For the de-icing module, when the driving motor starts to operate, the upper de-icing motor 309 drives the upper de-icing blade 301 to rotate, and the two-side de-icing motors 311 drive the two-side de-icing blades 1 302 and the two-side de-icing blades 303 to rotate respectively, so as to complete the ice removal work in the front direction of the travel direction. The springs 305 arranged on the two-side de-icing motor brackets 307 can realize that when encountering large pieces of ice, the two-side de-icing blades 1 302 and the two-side de-icing blades 303 can move left and right through the de-icing sliders 306 fixed on the two-side de-icing motor brackets 307 sliding on the de-icing guide rails 308, so as to complete the removal of ice of different sizes.

[0039] After a single cable deicing operation is completed, all motors stop working, and the front dual-axis motor 214 and the rear dual-axis motor 206 start working, driving each wheel frame 204 to move away from the cable 4 through the cooperation of the guide rail slider until the driving wheel 203 and the driven wheel 218 are no longer in contact with the cable 4. At this time, the deicer is removed along the arc opening direction below the deicing shell 304 and the bottom plate 106, and the cable deicing task is completed.

[0040] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0041] In addition, it should be understood that although this specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment have also been appropriately combined to form other implementation modes that are easy for those skilled in the art to understand.

Claims

1. A cable deicing device, comprising a housing module, a driving module and a deicing module, characterized in that: The housing module is composed of a lower side plate (101), a side plate (102), a top plate (103), an image transmission camera (104), a depth camera (105), a bottom plate (106), a rear patrol wheel clamp (107), a rear patrol wheel (108), a rear cover (109), an intermediate support (110), a front cover (111), a front patrol wheel (112) and a front patrol wheel clamp (113); The driving module is composed of a driving motor (201), a driving motor bracket (202), a driving wheel (203), a wheel frame (204), a driving wheel frame (205), a rear dual-axis motor (206), a side guide rail (207), a side slider (208), a rear dual-axis motor bracket (209), a wheel axle (210), an upper slider (211), an upper guide rail (212), a front dual-axis motor bracket (213), a front dual-axis motor (214), a coupling (215), an axle pin (216), a tightening spring (217), a driven wheel (218) and a driven wheel frame (219); The deicing module is composed of an upper deicing blade (301), a first deicing blade (302) on both sides, a second deicing blade (303) on both sides, a deicing shell (304), a spring (305), a deicing slider (306), deicing motor brackets (307) on both sides, a deicing guide rail (308), an upper deicing motor (309), an upper deicing motor bracket (310) and deicing motors (311) on both sides.

2. A cable deicing device according to claim 1, characterized in that: In the housing module, the lower side plate (101), the side plate (102), and the top plate (103) are respectively connected to the front cover (111) and the rear cover (109) by bolt connection; the lower side plate (101), the side plate (102), and the top plate (103) are connected to the middle support (110) by bolt connection; the image transmission camera (104) is fixed to the top plate (103) by bolt connection; the depth camera (105) is fixed to the deicing shell (111) by bolt connection. 304); the bottom plate (106) is connected to the lower side plate (101) by bolt connection; the rear patrol wheel clamp (107) is fixed to the rear cover (109) by bolt connection; the rear patrol wheel (108) is fixed between the two rear patrol wheel clamps (107) by a patrol wheel shaft; the front patrol wheel (112) is fixed between the two front patrol wheel clamps (113) by a patrol wheel shaft; the front patrol wheel clamp (113) is fixed to the front cover (111) by bolt connection.

3. A cable deicing device according to claim 1, characterized in that: The driving motor (201) is fixed to the driving motor bracket (202) by bolt connection; the driving motor bracket (202) is fixed to the driving wheel frame (205) by bolt connection; the driving wheel (203) is fixed to the driving wheel frame (205) by a wheel axle (210); the wheel frame (204) is connected to the driving wheel frame (205) and the driven wheel frame (219) by a shaft nail (216); the rear double-axis motor (206) is fixed to the rear double-axis motor bracket (209) by bolt connection; the side guide rail (207) is fixed to the top plate (103) by bolt connection and assembled in the side slider (208); the side slider (208) is fixed to the wheel frame (204) by bolt connection; the rear double-axis motor bracket (209) The wheel shaft (210) is connected to the output shaft of the driving motor (201) through a coupling (215); the upper slider (211) is fixed to the wheel frame (204) through a bolt connection; the upper guide rail (212) is fixed to the top plate (103) through a bolt connection and assembled in the upper slider (211); the front double-axis motor bracket (213) is fixed to the top plate (103) through a bolt connection; the front double-axis motor (214) is fixed to the front double-axis motor bracket (213) through a bolt connection; the two ends of the tightening spring (217) are respectively hung between the driving wheel frame (205) and the driven wheel frame (219); the driven wheel (218) is fixed to the driven wheel frame (219) through the wheel shaft (210).

4. A cable deicing device according to claim 1, characterized in that: The upper deicing blade (301) is connected to the upper deicing motor (309) via a coupling; the deicing blades (302) on both sides and the deicing blades (303) on both sides are respectively connected to the deicing motors (311) on both sides via couplings; the deicing shell (304) is connected to the front cover (111) via bolts; the spring (305) is fixed between the deicing motor brackets (307) on both sides and the deicing shell (304); the deicing slider (306) is fixed to the deicing motor brackets (307) on both sides via bolts. The deicing motor brackets (307) on both sides are fixed in cooperation with the deicing rails (308) through guide rail sliders; the deicing rails (308) are fixed to the deicing housing (304) through bolt connection; the upper deicing motor (309) is fixed to the upper deicing motor bracket (310) through bolt connection; the upper deicing motor bracket (310) is fixed to the deicing housing (304) through bolt connection; the deicing motors (311) on both sides are fixed to the deicing motor brackets (307) on both sides through bolt connection.

5. A cable deicing device according to claim 1, characterized in that: The front double-axis motor (214) and the rear double-axis motor (206) output power to drive the upper slider (211) and the side slider (208) on the wheel frame (204) to move along the upper guide rail (212) and the side guide rail (207) respectively, so that the clamping devices on the left and right sides are close to the cable (4). Under the action of the tightening spring (217), the driving wheel (203) and the driven wheel (218) are closely attached to the cable (4). At the same time, the driving motor (201) outputs power to convert the rotational motion of the output shaft of the driving motor (201) into the rotational motion of the driving wheel (203) through the coupling (215), thereby realizing linear motion along the direction of the cable (4).

6. A cable deicing device according to claim 1, characterized in that: The upper de-icing blade motor (309) drives the upper de-icing blade (301) to rotate, and the two side de-icing blade motors (311) respectively drive the two side de-icing blades (302) and (303) to rotate.

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