Double-self-locking anti-falling caterpillar track type cable deicing robot

Abstract

The invention relates to the technical field of cable deicing, and particularly discloses a dual-self-locking anti-falling caterpillar track type cable deicing robot which comprises a rack, a walking mechanism, a caterpillar track rolling mechanism, a hanging mechanism and a dual-self-locking mechanism. The double-self-locking mechanism comprises a first mechanical lock structure used for blocking the middle of the wire inlet and outlet groove and a second mechanical lock structure used for blocking the two sides of the extending direction of the wire inlet and outlet groove. By arranging the double self-locking mechanisms, a good anti-falling effect is achieved, the first mechanical lock structure and the second mechanical lock structure are both mechanical locking structures instead of electrical locking structures, in case of a fault, the cable cannot be locked by a spring bolt and a lock rod, the mechanical locking structures can be easily opened by utilizing a hanger of the unmanned aerial vehicle, and the safety of the unmanned aerial vehicle is improved. The caterpillar track type cable deicing robot is rescued, and people do not need to climb to the cable to take down the robot.

Description

[0001] This application is a divisional application of a patent application with the patent application number "202510037629.1", the application date of "January 10, 2025", and the title of "A Chain Track Rolling Type Cable Deicing Device and Control System". Technical Field

[0002] The present invention relates to the technical field of cable deicing, and particularly relates to a chain track type cable deicing robot with double self-locking and anti-falling functions. Background Art

[0003] Currently, various overhead power transmission conductors, ground wires, and communication cables are prone to icing on their surfaces in severe weather with freezing rain and snow. If not removed in time, the poles and towers will be overloaded and collapse, resulting in power outages and communication disruptions, and also causing huge economic losses. The traditional deicing method is for people to climb onto the overhead cables through scaffolds and knock to remove the ice, with very low work efficiency. Especially when the overhead cables have a large slope in steep mountainous areas, manual operation has great potential safety hazards.

[0004] In order to deice high-voltage overhead cables, some manufacturers have designed some deicing devices. Such deicing devices can be seen in, for example, a high-voltage overhead line deicing robot disclosed in Chinese Patent Application No. CN202410158335.X, which uses a winch mechanism to achieve the up and down hanging movement of the robot on the cable. However, in this way, not only is the operation complicated, but the winch mechanism is prone to slipping when hanging the ice-covered cable.

[0005] In addition, most deicing robots on the market usually use deicing knives for deicing. Such a structure can be referred to, for example, a cable deicing device disclosed in Chinese Patent Publication No. CN107370106A, which includes an ice cleaning mechanism, a power mechanism, and a feeding mechanism. The ice cleaning mechanism includes an ice cleaning wheel and an ice cleaning transmission mechanism. The ice cleaning wheel is an annular shape less than 360 degrees, and the annular notch of the ice cleaning wheel can accommodate the cable to pass through. Ice cleaning knives are provided on the ice cleaning wheel, and the ice cleaning transmission mechanism includes a driving wheel A. This structure has the following problems: 1. It is difficult to hang the cable by the unmanned aerial vehicle through the annular notch of the ice cleaning wheel; 2. Using the ice cleaning knife to clean the ice-covered layer has poor cleaning effect and low ice cleaning efficiency; 3. There is no locking structure, and it is easy to have a falling problem when the machine fails.

[0006] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0007] In view of the above deficiencies of the prior art, the purpose of the present invention is to provide a chain track type cable deicing robot with double self-locking and anti-falling functions to solve the above problems.

[0008] A chain-track type cable de-icing robot with double self-locking anti-falling function, comprising a frame, a traveling mechanism and a chain-track rolling mechanism. An inlet and outlet cable groove for the cable to enter and exit is provided at the lower end of the frame. The chain-track rolling mechanism includes chain belts arranged on the frame and on both radial sides of the cable, ice-breaking teeth detachably fixed on the outer sides of the chain belts, and a chain belt driving motor for driving the chain belts to rotate self. An ice-removing channel for the cable to pass through and located above the inlet and outlet cable groove is formed between the two chain belts. The chain-track type cable de-icing robot further includes:

[0009] A hanging mechanism, including a hanging and detaching hook arranged at the upper end of the frame and used for the unmanned aerial vehicle to be hung by a suspension rod;

[0010] A double self-locking mechanism, including a first mechanical lock structure and a second mechanical lock structure;

[0011] The first mechanical lock structure includes a bolt assembly for blocking the middle of the inlet and outlet cable groove and a first trigger assembly linked with the hanging and detaching hook. The first trigger assembly controls the bolt assembly to lock or unlock the middle of the inlet and outlet cable groove through mechanical linkage;

[0012] The second mechanical lock structure includes a lock rod assembly for blocking both sides in the extending direction of the inlet and outlet cable groove and a second trigger assembly linked with the hanging and detaching hook. The second trigger assembly controls the lock rod assembly to lock or unlock both sides of the inlet and outlet cable groove through mechanical linkage.

[0013] Specifically, in the first mechanical lock structure:

[0014] The bolt assembly includes a bolt seat fixed at the lower end of the frame and a spring bolt arranged on the bolt seat and capable of extending into or withdrawing from the middle of the inlet and outlet cable groove;

[0015] The first trigger assembly includes a rotating rod rotatably arranged on the hanging and detaching hook, a first pulling rope connecting the spring bolt and the rotating rod, and a first elastic body for driving the rotating rod to reset.

[0016] Specifically, in the second mechanical lock structure:

[0017] The lock rod assembly includes lock rods rotatably arranged on both sides in the traveling direction of the frame and a lock groove arranged on the frame and in plug-in fit with the lock rods;

[0018] The second trigger assembly includes a second pulling rope connecting the lock rod and the rotating rod and a second elastic body connecting the lock rod and the frame.

[0019] Specifically, the walking mechanism includes a first rotating shaft, a second rotating shaft, a front walking wheel and a rear walking wheel. The first rotating shaft and the second rotating shaft are both rotatably arranged on the frame, the front walking wheel is arranged on the first rotating shaft, and the rear walking wheel is arranged on the second rotating shaft.

[0020] Specifically, the chain-track cable deicing robot further includes:

[0021] The clamping mechanism comprises two adjustment seats capable of adjusting the spacing along the radial direction of the cable, and a clamping driving device for driving the two adjustment seats to move synchronously in opposite directions or in opposite directions, wherein the two adjustment seats respectively drive the two chain belts to clamp in an eight-shaped shape;

[0022] An eccentric vibration mechanism comprises an eccentric vibration motor and an eccentric shaft, wherein the output end of the eccentric vibration motor is drivingly connected to the eccentric shaft, and the eccentric shaft is used to drive one end of the chain belt to reciprocate and vibrate toward the direction of the cable;

[0023] The linkage mechanism includes a helical gear transmission assembly, a first belt transmission assembly and a second belt transmission assembly. The first rotating shaft and the eccentric shaft are connected through the matching transmission of the helical gear transmission assembly and the first belt transmission assembly, and the first rotating shaft and the second rotating shaft are connected through the second belt transmission assembly.

[0024] Specifically, the chain belt driving motor is connected to a driving shaft, the driving shaft is coaxially connected to the sprocket of the chain belt, the eccentric shaft is connected to a third rotating shaft, the chain rail rolling mechanism also includes a rotating shaft mounting seat, the upper end of the driving shaft passes through the rotating shaft mounting seat, and one end of the rotating shaft mounting seat rotates around the third rotating shaft;

[0025] The clamping drive device is a forward and reverse screw drive device, and the two adjustment seats respectively drive the two rotating shaft mounting seats to swing.

[0026] Specifically, the helical gear transmission assembly includes a first helical tooth connected to the upper end of the third rotating shaft, a second helical tooth meshing with the first helical tooth, and a fourth rotating shaft coaxially driven with the second helical tooth; the first belt transmission assembly includes 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; the fourth rotating shaft is rotatably arranged on the frame through a shaft seat;

[0027] The second belt 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.

[0028] Specifically, the tracked cable de-icing robot further includes a visual detection module and a heating and defogging module. The visual detection module includes a first camera, a second camera, a third camera, a dual-spectrum fusion camera, and a light source disposed on the frame. The first camera is oriented towards the front traveling wheels, the second camera is oriented towards the rear traveling wheels, the third camera is oriented towards the hanging and detaching hook, the dual-spectrum fusion camera has visible light and infrared light dual channels, and both the dual-spectrum fusion camera and the light source are oriented towards the cable inside the de-icing channel;

[0029] The heating and defogging module includes a heating device, a air supply device, and an air supply pipe. The air supply device blows the hot air generated by the heating device towards the first camera, the second camera, and the third camera through the air supply pipe.

[0030] Specifically, the tracked cable de-icing robot further includes a balance mechanism, which includes folding battery racks foldably connected to both sides of the lower end of the frame, mounting racks fixed to the folding battery racks, and batteries detachably mounted on the mounting racks;

[0031] The lower end of the folding battery rack has an inverted triangular support structure, and the inverted triangular support structure is rotatably connected to the lower end of the folding battery rack through a spring plate.

[0032] Specifically, the tracked cable de-icing robot further includes a guiding mechanism, which includes side plates fixed at both ends of the frame in the traveling direction, and guiding racks fixed at both ends of the inner side of the frame. The side plates are provided with inclined first guiding surfaces at one end towards the cable inlet and outlet grooves, and the guiding racks are provided with inclined second guiding surfaces at one end towards the cable inlet and outlet grooves.

[0033] Advantages of the present invention:

[0034] 1. A double self-locking anti-falling tracked cable de-icing robot of the present invention can be used for de-icing work. The clamping drive device is controlled by the main control board to drive the two chain belts to clamp in a figure-eight shape until the two chain belts are clamped in place, and the clamping drive device stops driving; then the eccentric vibration motor is controlled to start, and the other end of the chain belt reciprocates and vibrates towards the cable direction for de-icing to perform the de-icing operation at the initial position; then the chain belt drive motor is controlled by the main control board to start, and the chain belt walks along the cable while vibrating and rolling to break the ice. When the surface ice of the cable generates stress fatigue under mechanical vibration, through crushing and rolling, mechanical de-icing during the movement of the tracked cable de-icing robot can be realized, and the ice coatings such as glaze ice and mixed glaze ice with strong bonding force and thick ice layer can be effectively removed, and the de-icing efficiency is high;

[0035] 2. A double self-locking mechanism is set up, which has a good anti-falling effect. The first mechanical lock structure and the second mechanical lock structure are both mechanical locking structures, replacing the electrical locking structure. In the event of a failure, the spring latch and the lock rod will not lock the cable. The mechanical locking structure can be easily opened by hanging the drone to rescue the chain-track cable deicing robot without having to manually climb onto the cable to remove the machine;

[0036] 3. A chain rail rolling mechanism and a clamping mechanism are provided. When the cable needs to be hung, the clamping drive device of the clamping mechanism can be used to increase the distance between the two adjustment seats so that the ice-covered cable can enter the de-icing channel. After the cable is hung, the clamping drive device can be used to reduce the distance between the two adjustment seats so that the vertical projection of the de-icing channel is in an "eight" shape. When the chain belt rotates, the ice-breaking teeth are driven to gradually contract and break the ice in the shape of a crocodile mouth, so that the ice layer of the cable is crushed and broken. The structure is ingenious.

[0037] 4. An eccentric vibration mechanism is set up, and the eccentric shaft is used to drive one end of the chain belt to vibrate back and forth toward the cable direction to remove ice, so as to perform de-icing operations at the initial position; then the chain belt drive motor is started, so that the chain belt and ice-breaking teeth vibrate and crush the ice while moving along the cable, thereby improving the de-icing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of using a drone to hang the chain-track cable deicing robot of the present application on a cable;

[0039] Figure 2 This is a schematic diagram of the structure of the chain track cable deicing robot of the present application;

[0040] Figure 3 This is a schematic diagram of the structure of the main part of the chain track cable deicing robot of this application Figure 1 ;

[0041] Figure 4 A bottom view of the chain track cable deicing robot of the present application;

[0042] Figure 5 This is a schematic diagram of the structure of the main part of the chain track cable deicing robot of this application Figure 2 ;

[0043] Figure 6 This is a structural schematic diagram of the deicing process of the chain-track cable deicing robot of the present application;

[0044] Figure 7 for Figure 6 A magnified view of part A;

[0045] Figure 8 It is a structural schematic diagram of the chain rail rolling mechanism and the eccentric vibration mechanism of the present application;

[0046] Figure 9 Structural schematic diagram of the traveling mechanism and the second belt drive assembly of the present application;

[0047] Figure 10 Schematic diagram of the control system of the present application.

[0048] Reference numerals in the drawings are: frame 10, hanging and disassembling hook 11, inlet and outlet wire grooves 12, deicing channel 13, hollow plate 14, protective cover 15, electric control box 16, side plate 17, first guiding surface 171, guiding frame 18, second guiding surface 181, traveling mechanism 20, first rotating shaft 21, second rotating shaft 22, front traveling wheel 23, rear traveling wheel 24, unmanned aerial vehicle 30, cable 31, suspension rod 32, sheet-shaped convex teeth 41, anti-slip teeth 42, chain belt 51, ice-breaking teeth 52, chain belt drive motor 53, adjusting seat 54, clamping drive device 55, eccentric vibration motor 56, eccentric shaft 57, drive shaft 58, third rotating shaft 59, rotating shaft mounting seat 510, helical gear transmission assembly 61, first helical gear 611, second helical gear 612, fourth rotating shaft 613, first belt drive assembly 62, second pulley 621, third pulley 622, first drive belt 623, shaft seat 624, second belt drive assembly 63, fourth pulley 631, fifth pulley 632, second drive belt 633, double self-locking mechanism 70, pin seat 71, spring pin 72, first pull rope 73, rotating rod 74, locking rod 75, locking groove 76, second pull rope 77, balance mechanism 80, folding battery holder 81, mounting bracket 82, battery 83, inverted triangular support structure 84, first camera 91, second camera 92, third camera 93, dual-light fusion camera 94, light source 95, heating and defogging module 96, main body motion control module 110, wireless communication module 120, remote control module 130, main control board 111, power module 112, actuator 113, wireless bridge 121, CAN bus 122, sensor module 114, measurement module 115, monitoring module 116, photoelectric sensor 1141, limit sensor 1142, encoder 1143, position sensor 1144, gyroscope sensor 1151, acceleration sensor 1152, ground-end remote controller 131. Detailed implementation manners

[0049] The present invention provides a chain-track type cable deicing robot with double self-locking and anti-falling. To make the purpose, technical solution and effects of the present invention clearer and more definite, the following takes examples with reference to the drawings to further elaborate on the present invention in detail. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] In the description of the present invention, it should be understood that with regard to the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0051] Please refer to Figures 1 to 10 。

[0052] This embodiment discloses a chain-track type cable de-icing robot with double self-locking and anti-falling, which includes a frame 10 and a traveling mechanism 20. At the upper end of the frame 10, there is a hanging and detaching hook 11 for the drone 30 to hang through a boom 32. At the lower end of the frame 10, there is an inlet and outlet cable groove 12 for the cable 31 to enter or exit. The traveling mechanism 20 includes a first rotating shaft 21, a second rotating shaft 22, a front traveling wheel 23 and a rear traveling wheel 24. The first rotating shaft 21 and the second rotating shaft 22 are both rotatably arranged on the frame 10. The front traveling wheel 23 is arranged on the first rotating shaft 21, and the rear traveling wheel 24 is arranged on the second rotating shaft 22.

[0053] The chain-track type cable de-icing robot of this embodiment can be used in cooperation with the drone 30. The operator can pre-install the boom 32 on the arm of the drone 30. When it is necessary to hang the chain-track type cable de-icing robot on the cable 31, first hook the boom 32 on the hanging and detaching hook 11, start the drone 30, and control the drone 30 to take off through the ground-end remote controller 131. After the drone 30 takes off, it pulls the chain-track type cable de-icing robot to rise, uses the drone 30 to hang the entire chain-track type cable de-icing robot above the cable, so that the inlet and outlet cable groove 12 is aligned with the cable 31. The drone 30 controls the entire chain-track type cable de-icing robot to descend, so that the cable 31 enters the de-icing channel 13 along the inlet and outlet cable groove 12. After reaching the position, the drone 30 stops descending and decouples and separates from the hanging and detaching hook 11, and the boom 32 no longer hooks the hanging and detaching hook 11, so that the front traveling wheel 23 and the rear traveling wheel 24 of the traveling mechanism 30 can independently walk along the length direction of the cable 31 on the upper end of the cable 31. When it is necessary to remove the chain-track type cable de-icing robot from the cable 31, control the boom 32 to hook on the hanging and detaching hook 11 again through the drone 30, then drive the chain-track type cable de-icing robot to rise through the drone 30, so that the front traveling wheel 23 and the rear traveling wheel 24 of the traveling mechanism 30 are separated from the cable 31, and then lower the height to the ground, and the chain-track type cable de-icing robot can be recovered. This application uses the drone 30 for online and offline operations, and the operation method is more flexible.

[0054] Please refer to Figure 9, the crawler - type cable de - icing robot of this embodiment further includes an anti - slip mechanism. The anti - slip mechanism includes sheet - like convex teeth 41 which are in an arc structure and circumferentially distributed on the surface of the front traveling wheel 23, and a number of anti - slip teeth 42 which are in a V - shaped structure and circumferentially distributed on the surface of the rear traveling wheel 24. The sheet - like convex teeth 41 bite and crawl on the ice - covered layer of the cable 31. Since the thickness of the ice - covered layer at each position on the cable 31 is different, in order to improve the biting degree of the sheet - like convex teeth 41 on the ice - covered layer, the sheet - like convex teeth 41 of an arc structure are adopted in this embodiment, which can adaptively bite and crawl for ice - covered layers of different thicknesses. In addition, the surface of the sheet - like convex teeth 41 is covered with anti - slip rubber, and the anti - slip rubber has a high friction coefficient, which can improve the walking friction force on the surface of the ice - covered layer. The anti - slip teeth 42 bite and crawl on the cable 31. The anti - slip teeth 42 have a groove surface tangent to the cable 31, which can improve the friction force of the rear traveling wheel 24 walking along the cable 31 and prevent slipping.

[0055] Please refer to Figures 6 to 8 , the crawler - type cable de - icing robot of this embodiment further includes a chain - track rolling mechanism. The chain - track rolling mechanism includes chain belts 51 which are arranged on the frame 10 and located on both radial sides of the cable 31, ice - breaking teeth 52 which are detachably fixed on the outer sides of the chain belts 51, and a chain - belt driving motor 53 for driving the chain belts 51 to rotate. An ice - removing channel 13 for the cable 31 to pass through and located above the inlet - outlet cable groove 12 is formed between the two chain belts 51. After the chain - belt driving motor 53 is started, it drives the chain belts 51 and the ice - breaking teeth 52 to rotate. The self - rotation of the chain belts 51 and the ice - breaking teeth 52 enables the chain - track rolling mechanism to walk and vibrate - roll and break ice along the length direction of the cable 31.

[0056] Please refer to Figure 6 , the crawler - type cable de - icing robot of this embodiment further includes a clamping mechanism. The clamping mechanism includes two adjusting seats 54 whose spacing can be adjusted radially along the cable 31, and a clamping driving device 55 for driving the two adjusting seats 54 to move synchronously towards each other or synchronously in the opposite direction. The two adjusting seats 54 respectively drive the two chain belts 51 to clamp the cable 31 in a V - shape. When hanging the cable, the clamping driving device 55 can be used to increase the spacing between the two adjusting seats 54, so that the vertical projection of the ice - removing channel 13 is in a parallel - channel structure. Since the spacing at one end of the chain belts 51 is increased, and the spacing at one end of the two chain belts 51 is greater than the diameter of the ice - covered cable 31, when the unmanned aerial vehicle 30 drops the crawler - type cable de - icing robot, the ice - covered cable 31 can enter the ice - removing channel 13, and the traveling mechanism 30 can be hung on the ice - covered cable 31.

[0057] After hanging the cable, the clamping driving device 55 can be used to reduce the spacing between the two adjusting seats 54. The adjusted effect is as shown in Figure 6As shown, the vertical projection of the de-icing channel 13 is in an "eight" shape structure. Since the distance between the two adjusting seats 54 is reduced, and the distance between one ends of the two chain belts 51 can be adjusted to be slightly larger than the diameter of the bare wire of the cable 31. At this time, when the chain belt 51 rotates, it drives the ice-breaking teeth 52 to gradually contract and break the ice in the shape of an alligator's mouth, so that the ice-covered layer of the cable 31 is crushed by rolling. The structure is ingenious.

[0058] Please refer to Figure 7 and Figure 8 , the track-type cable de-icing robot of this embodiment further includes an eccentric vibration mechanism. The eccentric vibration mechanism includes an eccentric vibration motor 56 and an eccentric shaft 57. The output end of the eccentric vibration motor 56 is drivingly connected to the eccentric shaft 57. The eccentric shaft 57 is used to drive the other end of the chain belt 51 to reciprocate and vibrate towards the direction of the cable 31. After hanging the wire, the eccentric vibration motor 56 can be started, and the eccentric shaft 57 is used to drive the other end of the chain belt 51 to reciprocate and vibrate towards the direction of the cable 31 for de-icing to perform the de-icing operation at the initial position. Then, the chain belt drive motor 53 is started to make the chain belt 51 and the ice-breaking teeth 52 vibrate and roll to break the ice while walking along the cable 31.

[0059] Please refer to Figures 5 to 9 , the track-type cable de-icing robot of this embodiment further includes a linkage mechanism. The linkage mechanism includes a helical gear transmission component 61, a first belt transmission component 62 and a second belt transmission component 63. The first rotating shaft 21 and the eccentric shaft 57 are drivingly connected through the cooperation of the helical gear transmission component 61 and the first belt transmission component 62. The first rotating shaft 21 and the second rotating shaft 22 are drivingly connected through the second belt transmission component 63. Through the linkage mechanism, the linkage between the traveling mechanism 30 and the eccentric vibration mechanism is realized. The traveling mechanism 30 and the eccentric vibration mechanism can share the power output of the eccentric vibration motor 56, saving the number of driving devices, reducing the overall weight, and making the overall structure more compact.

[0060] Please refer to Figures 1 to 3 , the track-type cable de-icing robot of this embodiment further includes a double self-locking mechanism 70, including a first mechanical lock structure and a second mechanical lock structure; wherein:

[0061] The first mechanical lock structure includes a bolt seat 71 fixed to the lower end of the frame 10, a spring bolt 72 disposed in the bolt seat 71 and capable of extending into or retracting from the middle of the cable inlet and outlet groove 12, a first pull rope 73 connected to one end of the spring bolt 72 and used to pull the spring bolt 72 out of the cable inlet and outlet groove 12, a rotating rod 74 rotatably disposed on the hanging and detaching hook 11, and a first elastic body disposed on the hanging and detaching hook 11 and used to pull the rotating rod 74 to reset downward. The other end of the first pull rope 73 is connected to the rotating rod 74. After the suspension rod 32 at the lower end of the unmanned aerial vehicle 30 hangs on the hanging and detaching hook 11, the suspension rod 32 drives one end of the rotating rod 74 to tilt up. The tilted end of the rotating rod 74 is connected with the first pull rope 73, so that the first pull rope 73 can pull the spring bolt 72 out of the cable inlet and outlet groove 12 to realize automatic unlocking. When the suspension rod 32 at the lower end of the unmanned aerial vehicle 30 is no longer hanging, under the pulling force of the first elastic body, the rotating rod 74 rotates downward to reset. At the same time, the spring bolt 72 automatically resets under the elastic force of its internal spring. One end of the spring bolt 72 extends into the middle of the cable inlet and outlet groove 12 to lock the lower part of the cable inlet and outlet groove 12, achieving the anti-falling effect.

[0062] The second mechanical lock structure includes a lock rod 75 rotatably disposed on both sides of the frame 10 in the traveling direction and used to lock the cable inlet and outlet groove 12, a lock groove 76 disposed on the frame 10 and in plug-in fit with the lock rod 75, a second elastic body connected between the lock rod 75 and the frame 10, and a second pull rope 77 connected to one end of the lock rod 75 and used to pull the lock rod 75 out of the lock groove 76. The other end of the second pull rope 77 is connected to the rotating rod 74. After the suspension rod 32 at the lower end of the unmanned aerial vehicle 30 hangs on the hanging and detaching hook 11, the suspension rod 32 drives one end of the rotating rod 74 to tilt up. The tilted end of the rotating rod 74 is also connected with the second pull rope 77, so that the second pull rope 77 can pull the lock rod 75 to swing upward, making there be no obstruction on both sides at the lower end of the cable inlet and outlet groove 12 to realize automatic unlocking, and enabling the cable 31 to enter the deicing channel 13 along the cable inlet and outlet groove 12. When the suspension rod 32 at the lower end of the unmanned aerial vehicle 30 is no longer hanging, under the pulling force of the second elastic body, one end of the lock rod 75 rotates downward and inserts into the lock groove 76 to complete the locking, achieving the anti-falling effect.

[0063] The double self-locking mechanism 70 of this embodiment has a double self-locking function and has a good anti-falling effect. Moreover, both the first mechanical lock structure and the second mechanical lock structure are mechanical locking structures, replacing the electrical locking structure. In case of a failure, the spring bolt 72 and the lock rod 75 will not lock the cable 31. By using the hanging of the unmanned aerial vehicle 30, the mechanical locking structure can be easily opened to implement the rescue of the track-type cable deicing robot, without the need for manual climbing onto the cable 31 to remove the machine. At the same time, during the deicing process, when the cable 31 has a bouncing phenomenon, the mechanical locking structure provides anti-falling protection for the track-type cable deicing robot, with higher practicability.

[0064] As Figure 2As shown in the figure, the crawler - type cable de - icing robot further includes a balance mechanism 80, which includes folding battery racks 81 foldably connected to both sides of the lower end of the frame 10, a mounting frame 82 fixed to the folding battery racks 81, and batteries 83 detachably mounted on the mounting frame 82. The connection between the folding battery racks 81 and the frame 10 is hinged by hinges, which can facilitate the folding and storage of the folding battery racks 81. After folding, the crawler - type cable de - icing robot occupies less space in the vertical direction and is convenient for storage.

[0065] As Figure 2 shown, the lower end of the folding battery rack 81 in this embodiment has an inverted - triangle support structure 84. By setting the inverted - triangle support structure 84, wire jamming can be avoided. Moreover, the inverted - triangle support structure 84 is rotatably connected to the lower end of the folding battery rack 81 through a spring plate. When the crawler - type cable de - icing robot lands, the inverted - triangle support structure 84 can be folded upward through the spring plate, so that the cross - bar of the folding battery rack 81 contacts the ground and the robot can be prevented from tipping over.

[0066] In addition, in this application, the battery 83 is installed on the mounting frame 82 of the folding battery rack 81. Since the battery 83 is heavy, it is equivalent to adjusting the center of gravity of the whole device downward. This is beneficial for the crawler - type cable de - icing robot to walk on the cable 23, and it has better stability during the walking process and is not easy to overturn. Similar to the principle of a tumbler, it can always maintain balance on the cable 31, and the structural stability is better.

[0067] Please refer to Figure 2 , this embodiment adopts a structure with four batteries 83. The four batteries 83 are all fixed to the mounting frame 82 through the cooperation of chutes and sliding rails, which is convenient for disassembly and assembly. Moreover, two folding battery racks 81 are respectively installed with two batteries 83, making the gravity on both sides of the lower end of the crawler - type cable de - icing robot equivalent, and the balance is better. And by installing four batteries 83, two are working batteries and the other two are backup batteries, which extends the battery life of the crawler - type cable de - icing robot.

[0068] Please refer to Figure 3 , the frame 10 includes hollowed - out plates 14 located on both sides of the chain - track rolling mechanism and a protective cover 15 fixed to the upper ends of the two hollowed - out plates 14. By adopting the design of the hollowed - out plates 14, the wind resistance on both sides of the frame 10 and the overall weight can be reduced, and it can be avoided that the crawler - type cable de - icing robot sways too much from side to side due to too large cross - wind resistance during the process of wire hanging and de - icing.

[0069] Furthermore, the hollowed - out plates 14 adopt a design with a number of triangular hollowed - out holes. The triangular hollowed - out holes can be arranged more reasonably, making the area of the hollowed - out position larger, while not affecting the structural strength of the hollowed - out plates 14, and the structure is more ingenious.

[0070] Please refer to Figure 3, on the top of the frame 10 of this embodiment, there is an electric control box 16. Installing the electric control box 16 on the top of the frame 10 can also reduce the wind resistance on the side of the whole device.

[0071] Please refer to Figure 3 and Figure 4 , the track-type cable de-icing robot of this embodiment further includes a visual detection module and a heating and defogging module 96. The visual detection module includes a first camera 91, a second camera 92, a third camera 93, a dual-light fusion camera 94, and a light source 95 installed on the frame 10.

[0072] Among them, the first camera 91 is arranged facing the front traveling wheel 23. The first camera 91 can be an ordinary camera. The first camera 91 is used to capture the image in front of the track-type cable de-icing robot. The captured image is fed back to the display panel of the ground-end remote controller 131 in real time through wireless communication means. By observing the image on the display panel, the user can intuitively see the icing condition in the front.

[0073] The second camera 92 is arranged facing the rear traveling wheel 24. The second camera 92 can be an ordinary camera. The second camera 92 is used to capture the image behind the track-type cable de-icing robot. The captured image is fed back to the display panel of the ground-end remote controller 131 in real time through wireless communication means. By observing the image on the display panel, the user can intuitively see the situation where the icing behind has been removed.

[0074] The third camera 93 is arranged facing the hook 11 for hanging and detaching. The third camera 93 can be an ordinary camera. The third camera 93 is used to capture the image near the hook 11 for hanging and detaching. The captured image is fed back to the display panel of the ground-end remote controller 131 in real time through wireless communication means. By observing the image on the display panel, the user can intuitively see whether the hanging rod 32 of the unmanned aerial vehicle 30 is hooked on the hook 11 for hanging and detaching.

[0075] The dual-light fusion camera 94 has a visible light and an infrared light dual channel. The dual-light fusion camera 94 is arranged facing the cable 31 in the de-icing channel 13; the visible light and infrared light dual channels of the dual-light fusion camera 94 can be switched. In the case of non-foggy days, the dual-light fusion camera 94 switches to the visible light channel to work and captures the cable 23 in the de-icing channel 13; in the case of heavy fog, due to the obstruction of the fog, it is difficult for the visible light channel to see through the fog to clearly see the cable 31. At this time, the dual-light fusion camera 94 can be switched to the infrared light channel to work. Since the infrared light has strong penetration ability, it can penetrate the fog to clearly see the cable 31.

[0076] Furthermore, an outer cover is also installed on the dual-light fusion camera 94 to prevent the lens at the lower end of the dual-light fusion camera 94 from directly contacting the ice covering and affecting the line of sight.

[0077] Further, by providing a light source 95, illumination is provided inside the de-icing channel 13, facilitating the shooting of the dual-spectrum fusion camera 94 and improving the clarity of the images captured by the dual-spectrum fusion camera 94.

[0078] Further, the tracked cable de-icing robot of this embodiment further includes a heating and defogging module 96. The heating and defogging module 96 includes a heating device, a blowing device, and an air duct. The blowing device blows the hot air generated by the heating device through the air duct towards the first camera 91, the second camera 92, and the third camera 93. The blowing device can adopt a blower, and the heating device can adopt an electric heating wire. The hot air is blown to the lens positions of the first camera 91, the second camera 92, and the third camera 93 by the blower to prevent the cameras from fogging and affecting the imaging effect.

[0079] As Figure 5 and Figure 8 shown, the chain belt drive motor 53 is connected with a drive shaft 58. The drive shaft 58 is coaxially connected with the sprocket of the chain belt 51. A third rotating shaft 59 is connected to the eccentric shaft 57. The chain track rolling mechanism further includes a rotating shaft mounting seat 510. The upper end of the drive shaft 58 passes through the rotating shaft mounting seat 510. One end of the rotating shaft mounting seat 510 rotates around the third rotating shaft 59. By providing the rotating shaft mounting seat 510, the structural stability is improved.

[0080] As Figure 6 shown, the clamping drive device 55 is a positive and reverse screw drive device. The two adjusting seats 54 drive the two rotating shaft mounting seats 510 to swing respectively. The two adjusting seats 54 are respectively provided with internal threads corresponding to the positive and reverse threads. Through the action of thread fitting, the two adjusting seats 54 can be driven to move synchronously towards each other or synchronously in the reverse direction. The structure is ingenious, and the thread fitting has a self-locking effect, which can realize the automatic locking of the two adjusting seats 54 to prevent deviation.

[0081] As Figure 5As shown in the figure, the helical gear transmission assembly 61 includes a first helical gear 611 connected to the upper end of the third rotating shaft 59, a second helical gear 612 meshing with the first helical gear 611, and a fourth rotating shaft 613 coaxially driven by the second helical gear 612. The first belt transmission assembly 62 includes a second pulley 621 coaxially driven by the fourth rotating shaft 613, a third pulley 622 coaxially driven by the first rotating shaft 21, and a first transmission belt 623 connecting the second pulley 621 and the third pulley 622. The fourth rotating shaft 613 is rotatably arranged on the frame 10 through a shaft seat 624. After the eccentric vibration motor 56 is started, it drives the third rotating shaft 59 to rotate, and the third rotating shaft 59 drives the first helical gear 611 to rotate. Since the first helical gear 611 meshes with the second helical gear 612, the second helical gear 612 is driven to rotate. The second helical gear 612 drives the fourth rotating shaft 613 and the second pulley 621 to rotate, and then the first transmission belt 623 is used to drive the third pulley 622 and the first rotating shaft 21 to rotate. The front walking wheel 23 is arranged on the first rotating shaft 21, so the front walking wheel 23 can walk autonomously along the ice-covered layer. Through such a linkage setting, while the eccentric vibration motor 56 drives the crawler 413 to vibrate, the power is also transmitted to the front walking wheel 23, and the power output of the common eccentric vibration motor 56 of the two mechanisms is utilized.

[0082] As Figure 9 shown, the second belt transmission assembly 63 includes a fourth pulley 631 connected to the first rotating shaft 21, a fifth pulley 632 connected to the second rotating shaft 22, and a second transmission belt 633 connecting the fourth pulley 631 and the fifth pulley 632. The second transmission belt 633 is used to drive the fifth pulley 632 and the second rotating shaft 22 to rotate. The rear walking wheel 24 is arranged on the second rotating shaft 22, so the rear walking wheel 24 can walk autonomously along the cable 31.

[0083] As Figure 3 shown, the chain-track type cable de-icing robot further includes a guiding mechanism. The guiding mechanism includes side plates 17 fixed at both ends of the frame 10 in the walking direction, and guiding frames 18 fixed at both ends inside the frame 10. One end of the side plate 17 facing the inlet and outlet cable groove 12 is provided with an inclined first guiding surface 171, and one end of the guiding frame 18 facing the inlet and outlet cable groove 12 is provided with an inclined second guiding surface 181. By setting the inclined first guiding surface 171 and the second guiding surface 181, during the cable inlet process, the cable 31 can be guided into the inlet and outlet cable groove 12, and the structure is ingenious.

[0084] As Figure 10 shown, this embodiment also discloses a control system for controlling a chain-track type cable de-icing robot with double self-locking anti-falling for de-icing work, including: a main body motion control module 110, a wireless communication module 120, and a remote control module 130.

[0085] The main body motion control module 110 is communicatively connected to the remote control module 130 through the wireless communication module 120.

[0086] The main body motion control module 110 includes a main control board 111, a power supply module 112 and an actuator 113 that are electrically connected to the main control board 111 respectively. The power supply module 112 is used to supply power to the main control board 111, and the actuator 113 is used to receive instructions sent by the main control board 111 and perform corresponding actions according to the instructions to carry out de-icing work; the actuator 113 includes a chain belt drive motor 53, a clamping drive device 55 and an eccentric vibration motor 56.

[0087] The wireless communication module 120 includes a wireless bridge 121 and a CAN bus 122. The wireless bridge 121 is used for communication transmission between the main control board 111 and the remote control module 130. The communication transmission of the wireless bridge 121 includes image transmission and data transmission. The CAN bus 122 is used for communication between the main control board 111 and the actuator 113.

[0088] The main body motion control module 110 further includes a sensor module 114, a measurement module 115 and a monitoring module 116 that are electrically connected to the main control board 111 respectively.

[0089] The sensor module 114 includes a photoelectric sensor 1141 for detecting whether the traveling mechanism 20 is in place with a wire, a limit sensor 1142 for detecting whether the double self-locking mechanism 70 is fully unlocked, an encoder 1143 for measuring the opening and closing range of the clamping mechanism, and a position sensor 1144 for detecting the position of the track-type cable de-icing robot; the sensor module 114 feeds back the detection information to the main control board 111 and then transmits it to the remote control module 130 through the wireless communication module 120 to view the detection information.

[0090] The measurement module 115 includes a gyroscope sensor 1151 and an acceleration sensor 1152. The gyroscope sensor 1151 is used to detect the attitude of the track-type cable de-icing robot, and the acceleration sensor 1152 is used to monitor the moving speed of the track-type cable de-icing robot. When the inclination of the track-type cable de-icing robot in a certain direction is greater than a set value, the track-type cable de-icing robot stops moving to prevent it from falling.

[0091] The monitoring module 116 is used to observe the surrounding environment and action conditions of the track-type cable de-icing robot, and transmits them to the remote control module 130 through the wireless communication module 120 to view the real-time monitoring screen, and remotely monitors the traveling situation and de-icing effect of the track-type cable de-icing robot.

[0092] The remote control module 130 includes a ground-end remote controller 131, which has a control interface for controlling the actions of the track-type cable de-icing robot and displaying the machine status and signal connection information.

[0093] The control system of this embodiment can be used to control the track-type cable de-icing robot to perform de-icing work. When the main control board 111 receives an automatic de-icing signal, the main control board 111 controls the clamping drive device 55 to drive the two chain belts 51 to clamp in a V shape until the two chain belts 51 are clamped in place, and then the clamping drive device 55 stops driving; the main control board 111 controls the eccentric vibration motor 56 to start, and the other end of the chain belt 51 reciprocates and vibrates towards the cable 31 for de-icing to perform the de-icing operation at the initial position; the main control board 111 controls the chain belt drive motor 53 to start, and the chain belt 51 walks and vibrates and rolls to break the ice along the cable 31. When the ice covering on the surface of the cable 31 generates stress fatigue due to mechanical vibration, through clamping and rolling, mechanical de-icing during the movement of the track-type cable de-icing robot can be realized, and the ice covering with strong bonding force such as glaze and mixed glaze and thick ice layer can be effectively removed, with high de-icing efficiency and good de-icing effect.

[0094] This application can realize using the unmanned aerial vehicle 30 to assist the track-type cable de-icing robot to complete the up-and-down line of the cable 31, so that the track-type cable de-icing robot walks and de-ices along the cable 31, and realizes ground manual operation through the remote control system. This process is simple, efficient and safe.

[0095] The above has specifically described the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art can also make various equivalent variations or substitutions without departing from the spirit of the present invention, and these equivalent variations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A double self-locking anti-fall chain track cable deicing robot, comprising a frame, a walking mechanism and a chain track rolling mechanism, wherein the lower end of the frame is provided with an inlet and outlet groove for cables to enter and exit, and the chain track rolling mechanism comprises a chain belt arranged on the frame and located on both sides of the radial direction of the cable, an ice-breaking tooth detachably fixed to the outer side of the chain belt, and a chain belt driving motor for driving the chain belt to rotate; a deicing channel for the cable to pass through and located above the inlet and outlet groove is formed between the two chain belts, characterized in that The chain-track cable deicing robot also includes: A hanging mechanism, comprising a hanging hook provided at the upper end of the frame and used for hanging the UAV through a hanging rod; A double self-locking mechanism, comprising a first mechanical lock structure and a second mechanical lock structure; The first mechanical lock structure includes a latch assembly for blocking the middle of the inlet and outlet wire duct and a first trigger assembly linked with the hanging and removing hook; the first trigger assembly controls the latch assembly through mechanical linkage to lock or unlock the middle of the inlet and outlet wire duct; The second mechanical lock structure includes a locking rod assembly for blocking both sides of the extension direction of the inlet and outlet wire trough, and a second trigger assembly linked with the hanging and disassembly hook; the second trigger assembly controls the locking rod assembly through mechanical linkage to lock or unlock both sides of the inlet and outlet wire trough.

2. A double self-locking anti-falling chain track cable deicing robot according to claim 1, characterized in that: In the first mechanical lock structure: The latch assembly comprises a latch seat fixed to the lower end of the frame, and a spring latch arranged on the latch seat and capable of extending into or out of the middle of the inlet and outlet slot; The first trigger assembly includes a rotating rod rotatably arranged on the hanging and dismantling hook, a first pull rope connecting the spring latch and the rotating rod, and a first elastic body for driving the rotating rod to reset.

3. A double self-locking anti-falling chain track cable deicing robot according to claim 2, characterized in that: In the second mechanical lock structure: The locking rod assembly comprises locking rods rotatably arranged on both sides of the frame in the travel direction and locking grooves arranged on the frame and plugged with the locking rods; The second trigger assembly includes a second pull rope connecting the locking rod and the rotating rod, and a second elastic body connecting the locking rod and the frame.

4. The double self-locking anti-falling chain track cable deicing robot according to claim 1, characterized in that: The walking mechanism comprises a first rotating shaft, a second rotating shaft, a front walking wheel and a rear walking wheel. The first rotating shaft and the second rotating shaft are both rotatably arranged on the frame. The front walking wheel is arranged on the first rotating shaft, and the rear walking wheel is arranged on the second rotating shaft.

5. A double self-locking anti-falling chain track cable deicing robot according to claim 4, characterized in that: The chain-track cable deicing robot also includes: The clamping mechanism comprises two adjustment seats capable of adjusting the spacing along the radial direction of the cable, and a clamping driving device for driving the two adjustment seats to move synchronously in opposite directions or in opposite directions, wherein the two adjustment seats respectively drive the two chain belts to clamp in an eight-shaped shape; An eccentric vibration mechanism comprises an eccentric vibration motor and an eccentric shaft, wherein the output end of the eccentric vibration motor is drivingly connected to the eccentric shaft, and the eccentric shaft is used to drive one end of the chain belt to reciprocate and vibrate toward the direction of the cable; The linkage mechanism includes a helical gear transmission assembly, a first belt transmission assembly and a second belt transmission assembly. The first rotating shaft and the eccentric shaft are connected through the matching transmission of the helical gear transmission assembly and the first belt transmission assembly, and the first rotating shaft and the second rotating shaft are connected through the second belt transmission assembly.

6. A double self-locking anti-falling chain track cable deicing robot according to claim 5, characterized in that: The chain belt driving motor is connected to a driving shaft, the driving shaft is coaxially connected to the sprocket of the chain belt, the eccentric shaft is connected to a third rotating shaft, the chain rail rolling mechanism also includes a rotating shaft mounting seat, the upper end of the driving shaft passes through the rotating shaft mounting seat, and one end of the rotating shaft mounting seat rotates around the third rotating shaft; The clamping drive device is a forward and reverse screw drive device, and the two adjustment seats respectively drive the two rotating shaft mounting seats to swing.

7. A double self-locking anti-falling chain track cable deicing robot according to claim 6, characterized in that: The helical gear transmission assembly includes a first helical tooth connected to the upper end of the third rotating shaft, a second helical tooth meshing with the first helical tooth, and a fourth rotating shaft coaxially driven with the second helical tooth; the first belt transmission assembly includes 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; the fourth rotating shaft is rotatably arranged on the frame through a shaft seat; The second belt 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.

8. The double self-locking anti-falling chain track cable deicing robot according to claim 4, characterized in that: The chain-track cable deicing robot 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 walking wheel, the second camera is arranged toward the rear walking 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 cables in the deicing channel. 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.

9. The double self-locking anti-falling chain track cable deicing robot according to claim 1, characterized in that: The chain-track cable deicing robot also includes a balancing mechanism, including a folding battery rack foldably connected to both sides of the lower end of the rack, a mounting rack fixed to the folding battery rack, and a battery detachably mounted on the mounting rack; The lower end of the foldable battery rack has an inverted triangle support structure, and the inverted triangle support structure is rotatably connected to the lower end of the foldable battery rack through a spring sheet.

10. The double self-locking anti-falling chain track type cable deicing robot according to claim 1, characterized in that: The chain-track cable deicing robot also includes a guide mechanism, which includes side panels fixed at both ends of the frame in the walking direction and guide frames fixed at both ends of the inner side of the frame, the side panel is provided with an inclined first guide surface toward one end of the inlet and outlet cable trough, and the guide frame is provided with an inclined second guide surface toward one end of the inlet and outlet cable trough.

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