Unmanned aerial vehicle hoisted bestriding power transmission line deicing device and method

Abstract

The invention discloses an unmanned aerial vehicle hoisting bestriding power transmission line deicing device and method. The device comprises an unmanned aerial vehicle support fixed to an unmanned aerial vehicle undercarriage, an unmanned aerial vehicle hook connected to the lower portion of the unmanned aerial vehicle support and a deicing robot which is hung to the lower portion of the unmanned aerial vehicle hook and can be automatically hooked with and unhooked from the unmanned aerial vehicle hook. The deicing robot comprises a rack, a walking mechanism, a clamping mechanism and a deicing mechanism. According to the invention, automatic on-line, deicing and off-line operation of the deicing device can be realized, and the deicing device is simple in structure, small in size and good in deicing effect.

Description

Technical Field

[0001] The present invention relates to the technical field of transmission line de-icing, and particularly relates to an ice-removing device and method for straddling a transmission line lifted by a drone. Background Art

[0002] Icing on transmission lines can cause many serious hazards to the safe and stable operation of transmission lines and power systems. Therefore, if the icing on the transmission line is severe, ice-removing operations need to be carried out on it.

[0003] Currently, the methods for de-icing transmission lines mainly include manual knocking de-icing, drone de-icing, and robot de-icing. Among them, robot de-icing has the advantages of safety, high efficiency, and good de-icing effect, and is increasingly widely used in the field of transmission line de-icing.

[0004] Existing de-icing robots generally include a traveling mechanism, a clamping mechanism, and a de-icing mechanism. The traveling mechanism usually consists of a motor and traveling wheels, enabling the de-icing device to walk stably on the transmission line and perform actions such as moving forward, backward, and stopping. The clamping mechanism cooperates with the traveling mechanism to clamp the overhead transmission line, and the de-icing mechanism is used to break or peel off the ice layer on the transmission line.

[0005] Although de-icing robots have obvious advantages, how to install the de-icing robot on the transmission line is a difficult problem. Transporting the de-icing robot by a drone is one of the methods to send the de-icing robot onto the transmission line. However, since the de-icing mechanism needs to be arranged below the traveling mechanism, the clamping mechanism hinders the installation of the traveling mechanism of the de-icing machine on the transmission line.

[0006] To solve this problem, an ice-removing device for overhead transmission lines disclosed in Chinese invention patent CN119050929A includes a housing. A traveling mechanism and a clamping mechanism are arranged on the housing. When the ice-removing device is on the line, the clamping mechanism forms an angle with the vertical plane and deviates from the traveling mechanism. When de-icing, the clamping mechanism is parallel to the vertical plane and cooperates with the traveling mechanism to clamp the overhead transmission line. The clamping mechanism of this ice-removing device has a complex structure, a large volume and weight. This ice-removing device relies on an air hammer on the upper side of the transmission line for de-icing, and there may be a situation where the ice blocks on the lower side of the transmission line do not fall off. Summary of the Invention

[0007] Aiming at the defects in the prior art, the present invention provides an ice-removing device and method for straddling a transmission line lifted by a drone, so as to realize the automatic online, de-icing, and offline of the ice-removing device, and has a simple structure, a small volume, and a good de-icing effect.

[0008] On the one hand, the present invention provides a straddle-type transmission line de-icing device for unmanned aerial vehicle (UAV) hoisting, which includes a UAV bracket fixed on the landing gear of the UAV, a UAV hook connected to the lower part of the UAV bracket, and a de-icing robot hung under the UAV hook and capable of automatically hooking and unhooking with the UAV hook;

[0009] The de-icing robot includes:

[0010] A frame, with a guiding opening provided at the lower part of the frame;

[0011] A traveling mechanism, which includes two traveling wheels arranged front and back and respectively installed on the upper part of the guiding opening for pressing on the upper side of the transmission line, and a traveling power unit for driving the traveling wheels to rotate;

[0012] A clamping mechanism, which includes two groups of clamping units arranged front and back and respectively located on both sides of the frame. Each clamping unit includes a rotating clamping arm, a clamping wheel, and a clamping power unit. The first end of the rotating clamping arm is installed on the outside of the frame through a longitudinal rotating shaft, the clamping wheel is installed at the second end of the rotating clamping arm, and the clamping power unit can drive the rotating clamping arm to swing into the guiding opening to press on the lower side of the transmission line or swing outwards to avoid the guiding opening. Among them, a de-icing knife is installed on the front side of the second end of the rotating clamping arm of the front-end clamping unit;

[0013] A de-icing mechanism, which includes a de-icing hammer provided at the front end of the frame and located on the upper side of the transmission line, and a de-icing power unit for driving the de-icing hammer to rotate in the direction perpendicular to the transmission line.

[0014] Further, the traveling power unit includes two traveling motors, which are respectively installed on both sides of the frame and are respectively connected to the corresponding traveling wheels.

[0015] Further, the clamping power unit is a clamping motor installed on the outside of the frame and connected to the longitudinal rotating shaft at the second end of the rotating clamping arm.

[0016] Further, the de-icing power unit includes a de-icing motor, the de-icing motor is fixed on the frame, an installation arm is fixed at the output end of the de-icing motor, and one end of the de-icing hammer is hinged to the end of the installation arm through a longitudinal hinge shaft.

[0017] Further, ice-breaking teeth are provided on both the left and right sides of the de-icing hammer.

[0018] Further, the de-icing knife includes a rear end plate and three blades;

[0019] The rear end plate is fixed on the front side of the second end of the rotating clamping arm. The shape of the rear end plate is fan-shaped, the center of the rear end plate faces upwards, and an arc-shaped groove is provided on the side of the rear end plate close to the center;

[0020] The three cutting edges are all arranged on the front side of the rear end plate along the radial direction, two of the cutting edges are symmetrically arranged left and right along the radial direction, and one cutting edge is vertically arranged in the middle. A multi-stage step extending outward from front to back is arranged at the radial inner end of each cutting edge, and a cutting edge is arranged at the front end of each step.

[0021] Further, cameras are installed at both the front and rear ends of the upper part of the frame, battery packs are installed on the outer sides of both the left and right sides of the lower part of the frame, and a control box is installed on the top of the frame. The control box is electrically connected to the traveling power unit, the clamping power unit, the deicing power unit, the cameras, and the battery packs respectively.

[0022] Further, a hanging ring is provided on the top of the frame;

[0023] The UAV hook includes:

[0024] A winding motor, the winding motor is fixed on the UAV bracket, and a lifting rope is connected to the output end of the winding motor;

[0025] A limiting housing, the limiting housing is fixed on the lower side of the UAV bracket, an opening is provided at the lower part of the limiting housing, and guiding inclined surfaces extending outward from top to bottom are provided on the inner walls of both sides of the lower part of the limiting housing;

[0026] A connector, the connector is adapted to be inside the limiting housing, the upper end of the connector is connected to the lower end of the lifting rope, the connector can slide into or out of the opening at the lower part of the limiting housing, and a lower transverse cavity extending out from both sides and a middle vertical cavity extending upward from the lower transverse cavity are provided inside the connector;

[0027] Two symmetrically arranged swing arms, the swing arms include lower extension arms, inclined extension arms extending inwardly from the upper ends of the lower extension arms, upper extension arms extending upward from the upper ends of the inclined extension arms, and transverse extension arms extending inwardly from the upper ends of the upper extension arms. The joints of the upper extension arms and the transverse extension arms of the two swing arms are respectively hinged to both sides of the lower transverse cavity. The transverse extension arms of the two swing arms extend to the lower end of the middle vertical cavity in the middle. The inclined extension arms of the two swing arms are respectively adapted to the guiding inclined surfaces on both sides of the limiting housing. Limiting grooves are provided on the inner sides of the lower ends of the lower extension arms of the two swing arms;

[0028] A limiting rod, the limiting rod is coaxially arranged with the middle vertical cavity and is fixed in the lower transverse cavity and the middle vertical cavity. A limiting block fixed on the limiting rod and located below the transverse extension arm is provided in the lower transverse cavity. The limiting block is used to contact the lower part of the inner end of the transverse extension arm to limit the amplitude of the outward swing of the swing arm. A counterweight block sleeved outside the limiting rod and pressing on the upper part of the inner end of the transverse extension arm is slidably installed in the middle vertical cavity;

[0029] Two hanging parts are arranged opposite to each other on the left and right. The outer ends of the two hanging parts are respectively hinged to the lower ends of the corresponding side of the limiting groove, and the limiting groove can limit the downward swing angle of the hanging parts. The inner ends of the two hanging parts extend obliquely upward and cross in the middle, and a hanging position for limiting the hanging ring is formed at the crossing position.

[0030] Further, the drone bracket includes two connecting rods, and both ends of each connecting rod are respectively fixed to the middle cross bars on both sides of the drone landing gear through latches.

[0031] On the other hand, the present invention provides a method for deicing a transmission line by straddling a drone hoisting, including the following steps:

[0032] Step S1, install feet at the four corners of the drone landing gear, and the drone is supported on the ground through the feet;

[0033] Step S2, fix the drone bracket equipped with the drone hook on the drone landing gear;

[0034] Step S3, hang the deicing robot on the drone hook;

[0035] Step S4, control the drone to move the deicing robot above the transmission line that needs to be deiced;

[0036] Step S5, the drone slowly descends, so that the guiding openings at the lower part of the deicing robot are stuck on both sides of the transmission line until the two walking wheels in the guiding openings land on the transmission line;

[0037] Step S6, control the two rotating clamping arms of the clamping mechanism to rotate inwards, so that the clamping wheels on the two rotating clamping arms are pressed against the lower side of the transmission line;

[0038] Step S7, control the drone hook to decouple from the deicing robot, and the drone returns;

[0039] Step S8, control the walking power unit to drive the walking wheels to walk along the transmission line, and at the same time control the deicing power unit to drive the deicing hammer to rotate to deice the transmission line;

[0040] Step S9, after deicing, the drone flies to the position of the deicing robot and controls the drone hook to hang on the deicing robot;

[0041] Step S10, control the two rotating clamping arms of the clamping mechanism to rotate outwards, so that the clamping wheels on the two rotating clamping arms rotate outside the guiding opening;

[0042] Step S11, the drone lifts the deicing robot, so that the guiding opening at its lower part exits the transmission line and returns.

[0043] The beneficial effects of the present invention are reflected in:

[0044] The present invention can achieve automatic online and offline operations by using a drone to carry an ice removal robot. When the drone carrying the ice removal robot goes online, the rotating clamping arms on both sides deflect to the outside of the guiding opening, and the power transmission line can pass through the guiding opening and contact the traveling wheels inside the guiding opening. After the traveling wheels support on the power transmission line, then control the rotating clamping arms on both sides to rotate inward, so that the clamping wheels on both sides support on the lower side of the power transmission line, and further make the traveling wheels and the clamping wheels clamp on the power transmission line. Then control the hook of the drone to unhook. When going offline, first control the hook of the drone to connect with the ice removal robot, then control the rotating clamping arms on both sides to rotate outward to the outside of the guiding opening, and then the drone can carry the ice removal robot to go offline. During the ice removal process, the traveling power unit drives the traveling wheels to rotate to drive the ice removal robot to walk along the power transmission line. At the same time, the ice removal power unit drives the ice removal hammer to rotate to break and shake off the ice on the power transmission line. The ice that is not shaken off on the lower side of the power transmission line is shoveled off by the ice removal knife. In this way, it can ensure that the ice on the power transmission line is completely removed. Compared with the prior art, the structure of this application is simpler, the volume is smaller, the ice removal effect is better, and at the same time, the weights on the left and right sides of the ice removal robot are symmetrical, and it walks more stably on the power transmission line. Description of the Drawings

[0045] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0046] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0047] Figure 2 It is a perspective view (one) of the ice removal robot in an embodiment of the present invention;

[0048] Figure 3 It is a perspective view (two) of the ice removal robot in an embodiment of the present invention;

[0049] Figure 4 It is a cross-sectional view of the ice removal robot in an embodiment of the present invention;

[0050] Figure 5 It is a schematic diagram of the structure of the front-end clamping unit in an embodiment of the present invention;

[0051] Figure 6 It is a perspective view of the drone hook in an embodiment of the present invention;

[0052] Figure 7 It is a cross-sectional view of the drone hook in an embodiment of the present invention;

[0053] Figure 8Isometric view of the drone bracket in the embodiment of the present invention;

[0054] Figure 9 Schematic diagram of the drone carrying the de-icing robot in the embodiment of the present invention.

[0055] In the drawings, 100 - drone; 110 - drone landing gear; 120 - support leg; 200 - drone bracket; 210 - connecting rod; 220 - latch; 300 - drone hook; 310 - winding motor; 311 - lifting rope; 320 - limit housing; 321 - guiding inclined plane; 330 - connecting head; 331 - lower horizontal cavity; 332 - middle vertical cavity; 340 - swing arm; 341 - lower extension arm; 342 - inclined extension arm; 343 - upper extension arm; 344 - transverse extension arm; 345 - limit groove; 350 - limit rod; 351 - limit block; 352 - counterweight; 360 - hanging member; 361 - hanging position; 400 - de-icing robot; 410 - frame; 411 - guiding opening; 412 - hanging ring; 421 - traveling wheel; 422 - traveling power unit; 431 - rotating clamping arm; 432 - clamping wheel; 433 - clamping power unit; 434 - de-icing blade; 4341 - rear end plate; 4342 - blade edge; 4343 - step; 4344 - cutting edge; 510 - de-icing hammer; 511 - ice-breaking teeth; 520 - de-icing power unit; 521 - mounting arm; 600 - camera; 700 - battery pack; 800 - control box. Detailed implementation manners

[0056] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, and thus are only examples and cannot be used to limit the protection scope of the present invention.

[0057] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present invention belongs.

[0058] As Figures 1-9 shown, the embodiment of the present invention provides a cross-riding transmission line de-icing device for drone hoisting, including a drone bracket 200 fixed on the drone landing gear 110, a drone hook 300 connected below the drone bracket 200, and a de-icing robot 400 hung under the drone hook 300 and capable of automatically hooking and unhooking with the drone hook 300.

[0059] Referring to Figures 2-5 , the de-icing robot 400 includes a frame 410, a traveling mechanism, a clamping mechanism, and a de-icing mechanism.

[0060] A guiding opening 411 is provided at the lower part of the frame 410. Specifically referring to Figure 2, the upper part of the frame 410 is an inverted U-shaped frame structure, and the lower part of the frame 410 is two outwardly splayed plates. A guiding opening 411 that is narrow at the top and wide at the bottom is formed between the two outwardly splayed plates.

[0061] Referring to Figure 2 , Figure 3 and Figure 4 , the traveling mechanism includes two traveling wheels 421 that are arranged front and back and are respectively installed on the upper part of the guiding opening 411 for pressing on the upper side of the transmission line, and a traveling power unit 422 for driving the two traveling wheels 421 to rotate.

[0062] Optionally, the traveling power unit 422 specifically includes two traveling motors, which are respectively installed on both sides of the frame 410 and are respectively connected to the corresponding traveling wheels 421.

[0063] It can be understood that the traveling power unit 422 can also be such that one traveling motor drives one traveling wheel 421 to rotate, the other traveling wheel 421 has no power, or the two traveling wheels 42 are driven by a transmission structure such as a belt or a chain.

[0064] Continuing to refer to Figure 2 , Figure 3 and Figure 4 , the clamping mechanism includes two groups of clamping units that are arranged front and back and are respectively located on both sides of the frame 410. The clamping unit includes a rotating clamping arm 431, a clamping wheel 432, and a clamping power unit 433. The first end of the rotating clamping arm 431 is installed on the outside of the frame 410 through a longitudinal rotating shaft, the clamping wheel 432 is installed at the second end of the rotating clamping arm 431, and the clamping power unit 433 can drive the rotating clamping arm 431 to swing into the guiding opening 411 to press on the lower side of the transmission line or swing outwards to avoid the guiding opening 411. A deicing knife 434 is installed on the front side of the second end of the rotating clamping arm 431 of the front clamping unit.

[0065] Optionally, referring to Figure 5 , the clamping power unit 433 is a clamping motor installed on the outside of the frame 410 and connected to the longitudinal rotating shaft at the second end of the rotating clamping arm 431.

[0066] Optionally, referring to Figure 5 , the deicing knife 434 includes a rear end plate 4341 and three cutting edges 4342.

[0067] The rear end plate 4341 is fixed to the front side of the second end of the rotating clamping arm 431. The shape of the rear end plate 4341 is fan-shaped, the center of the rear end plate 4341 faces upwards, and an arc-shaped groove is provided on the side of the rear end plate 4341 close to the center.

[0068] The three cutting blades 4342 are all arranged radially on the front side of the rear end plate 4341. Two of the cutting blades 4342 are arranged symmetrically left and right in the radial direction, and one cutting blade 4342 is vertically arranged in the middle. At the radial inner end of each cutting blade 4342, there are multiple levels of steps 4343 extending outward from front to back, and a cutting edge 4344 is provided at the front end of each step 4343.

[0069] During the process of the de-icing robot 400 walking along the transmission line for de-icing, the ice below the transmission line can be shoveled off by the de-icing knife 434. The de-icing knife 434 adopts a structure with three cutting blades 4342, and the ice-shoveling range is larger. The three cutting blades 4342 are arranged radially, and a space that is narrow at the top and wide at the bottom is formed between the cutting blades 4342, which can effectively prevent the shoveled ice from getting stuck between the cutting blades 4342. The cutting blade 4342 adopts a stepped cutting edge 4344 design. The front cutting edge 4344 can shovel the ice farther away from the transmission line, and the rear cutting edge 4344 can shovel the ice closer to the transmission line. In this way, the ice on the transmission line can be shoveled off more easily.

[0070] To facilitate the replacement of the de-icing knife 434, an installation plane is provided on the front side of the second end of the rotating clamp arm 431, and the rear end plate 4341 of the de-icing knife 434 is fixed to the installation plane by screws.

[0071] Referring to Figure 2 and Figure 3 , the de-icing mechanism includes a de-icing hammer 510 provided at the front end of the frame 410 and located above the transmission line, and a de-icing power unit 520 for driving the de-icing hammer 510 to rotate in the direction perpendicular to the transmission line. During the process of the de-icing robot 400 walking along the transmission line, the de-icing power unit 520 can drive the de-icing hammer 510 to rotate to break and shake off the ice above the transmission line.

[0072] Optionally, ice-breaking teeth 511 are provided on the left and right sides of the de-icing hammer 510, so that the ice on the transmission line can be more easily broken by the de-icing hammer 510.

[0073] Optionally, the de-icing power unit 520 includes a de-icing motor. The de-icing motor is fixed on the frame 410, and an installation arm 521 is fixed to the output end of the de-icing motor. One end of the de-icing hammer 510 is hinged to the end of the installation arm 521 through a longitudinal hinge shaft.

[0074] Continuing to refer to Figures 2-4 , cameras 600 are installed at both the front and rear ends of the upper part of the frame 410, battery packs 700 are installed on the outside of both the left and right sides of the lower part of the frame 410, and a control box 800 is installed on the top of the frame 410. The control box 800 is electrically connected to the walking power unit 422, the clamping power unit 433, the de-icing power unit 520, the camera 600, and the battery pack 700 respectively.

[0075] The camera 600 is used to take pictures of the position of the de-icing operation. The images of the de-icing operation can be remotely transmitted to a display device for display, facilitating the monitoring of the de-icing operation by the staff. The battery pack 700 can supply power to the control box 800 of the de-icing robot 400, the walking power unit 422, the clamping power unit 433, the de-icing power unit 520, the camera 600, etc. The battery pack 700 is clamped on both sides of the frame 410, facilitating the removal of the battery pack 700 for charging.

[0076] Refer to Figure 1 、 Figure 6 and Figure 7 ,a hanging ring 412 is provided at the top of the frame 410.

[0077] The UAV hook 300 includes a winding motor 310, a limit housing 320, a connector 330, two swing arms 340 symmetrically arranged left and right, a limit rod 350, and two hanging parts 360 arranged opposite to each other left and right.

[0078] The winding motor 310 is fixed on the UAV bracket 200. The output end of the winding motor 310 is connected with a lifting rope 311. The winding motor 310 can be powered by the power supply of the UAV 100.

[0079] The limit housing 320 is fixed on the lower side of the UAV bracket 200. An opening is provided at the lower part of the limit housing 320. Guide inclined surfaces 321 extending outward from top to bottom are provided on the inner walls on both sides of the lower part of the limit housing 320.

[0080] The connector 330 is adapted to be inside the limit housing 320. The upper end of the connector 330 is connected to the lower end of the lifting rope 311. The connector 330 can slide into or out of the opening at the lower part of the limit housing 320. A lower horizontal cavity 331 extending from both sides and a middle vertical cavity 332 extending upward from the lower horizontal cavity 331 are provided inside the connector 330.

[0081] The swing arm 340 includes a lower extension arm 341, an inclined extension arm 342 extending inwardly from the upper end of the lower extension arm 341, an upper extension arm 343 extending upward from the upper end of the inclined extension arm 342, and a transverse extension arm 344 extending inwardly from the upper end of the upper extension arm 344. The joints of the upper extension arms 343 and the transverse extension arms 344 of the two swing arms 340 are respectively hinged to both sides of the lower horizontal cavity 331. The transverse extension arms 344 of the two swing arms 340 extend to the lower end of the middle vertical cavity 332 in the middle. The inclined extension arms 342 of the two swing arms 340 are respectively adapted to the guide inclined surfaces 321 on both sides of the limit housing 320. Limit grooves 345 are provided on the inner sides of the lower ends of the lower extension arms 341 of the two swing arms 340.

[0082] The limiting rod 350 is coaxially arranged with the middle vertical cavity 332 and fixed in the lower horizontal cavity 331 and the middle vertical cavity 332. A limiting block 351 is arranged in the lower horizontal cavity 331, fixed on the limiting rod 350 and located below the lateral extension arm 344. The limiting block 351 is used to contact the lower part of the inner end of the lateral extension arm 344 to limit the amplitude of the outward swing of the swing arm 340. A counterweight block 352 is slidably installed in the middle vertical cavity 332, sleeved outside the limiting rod 350 and pressing on the upper part of the inner end of the lateral extension arm 344.

[0083] The outer ends of the two hanging parts 360 are respectively hinged to the lower ends of the corresponding limiting grooves 345, and the limiting grooves 345 can limit the downward swing angle of the hanging parts 360. The inner ends of the two hanging parts 360 extend obliquely upward and cross in the middle, and a hanging position 361 for limiting the hanging ring 412 is formed at the crossing position.

[0084] As Figure 6 and Figure 7 shown, when the winding motor 310 pulls the connector 330 into the limiting housing 320 through the lifting rope 311, the swing arms 340 on both sides of the connector 330 swing towards the middle under the extrusion of the limiting housing 320. At this time, a hanging position 361 is formed at the crossing of the two hanging parts 360. When hanging the de-icing robot 400, the hanging ring 412 on the de-icing robot 400 pushes the two hanging parts 360 upward, causing the two hanging parts 360 to rotate upward. After the hanging ring 412 on the de-icing robot 400 passes over the two hanging parts 360, the two hanging parts 360 rotate downward and reset under the action of their own weights, and then pull the drone hook 300 upward, so that the hanging ring 412 on the de-icing robot 400 can be hung into the hanging position 361 on the drone hook 300, realizing automatic hooking. When the winding motor 310 lowers the connector 330 through the lifting rope 311, the connector 330 slides out of the limiting housing 320 downward. The swing arms 340 on both sides lose the restraint of the limiting housing 320 and swing outward under the push of the gravity of the counterweight block 352, driving the two hanging parts 360 on both sides to open, so that the hanging ring 412 on the de-icing robot 400 can exit between the two opened hanging parts 360, realizing automatic unhooking.

[0085] Referring to Figure 8 , the drone bracket 200 includes two connecting rods 210. The two ends of each connecting rod 210 are respectively fixed to the middle cross bars on both sides of the drone landing gear 110 through buckles 220, which is convenient for fixing the drone bracket 200 on the drone landing gear 110.

[0086] The embodiment of the present invention also provides a method for de-icing a catenary by straddling a drone during hoisting, including the following steps:

[0087] Step S1, as Figure 9As shown, feet 120 are installed at the four corners of the landing gear 110 of the drone, and the drone 100 is supported on the ground by the feet 120;

[0088] Step S2: Fix the drone bracket 200 equipped with the drone hook 300 on the landing gear 110 of the drone;

[0089] Step S3: Hang the de-icing robot 400 on the drone hook 300;

[0090] Step S4: Control the drone 100 to move the de-icing robot 400 above the power transmission line that needs to be de-iced;

[0091] Step S5: The drone 100 descends slowly so that the guiding openings 411 at the lower part of the de-icing robot 400 are caught on both sides of the power transmission line until the two traveling wheels 421 in the guiding openings 411 land on the power transmission line;

[0092] Step S6: Control the two rotating clamping arms 431 of the clamping mechanism to rotate inwards so that the clamping wheels 432 on the two rotating clamping arms 431 press against the lower side of the power transmission line;

[0093] Step S7: Control the drone hook 300 to decouple from the de-icing robot 400, and the drone 100 returns;

[0094] Step S8: Control the traveling power unit 422 to drive the traveling wheels 421 to travel along the power transmission line, and at the same time control the de-icing power unit to drive the de-icing hammer 510 to rotate to de-ice the power transmission line;

[0095] Step S9: After de-icing, the drone 100 flies to the position of the de-icing robot 400 and controls the drone hook 300 to hang on the de-icing robot 400;

[0096] Step S10: Control the two rotating clamping arms 431 of the clamping mechanism to rotate outwards so that the clamping wheels 432 on the two rotating clamping arms 431 rotate outside the guiding opening 411;

[0097] Step S11: The drone 100 lifts the de-icing robot 400 so that the guiding opening 411 at its lower part exits the power transmission line and returns;

[0098] The present invention can achieve automatic online and offline operations by using a drone 100 carrying a de-icing robot 400. When the drone 100 carrying the de-icing robot 400 goes online, the rotating clamping arms 431 on both sides deflect to the outside of the guiding port 411. Then, the transmission line can pass through the guiding port 411 and contact the traveling wheels 421 inside the guiding port 411. After the traveling wheels 421 support on the transmission line, control the rotating clamping arms 431 on both sides to rotate inward, so that the clamping wheels 432 on both sides support on the lower side of the transmission line, and further make the traveling wheels 421 and the clamping wheels 432 clamp on the transmission line. Then, control the drone hook 300 to unhook. When going offline, first control the drone hook 300 to connect with the de-icing robot 400, then control the rotating clamping arms 431 on both sides to rotate outward to the outside of the guiding port 411, and then the drone 100 can carry the de-icing robot 400 to go offline. During the de-icing process, the traveling power unit 422 drives the traveling wheels 421 to rotate to drive the de-icing robot 400 to move along the transmission line. At the same time, the de-icing power unit 520 drives the de-icing hammer 510 to rotate to break and shake off the ice blocks on the transmission line. The ice blocks that are not shaken off on the lower side of the transmission line are shoveled off by the de-icing knife 434. This can ensure that the ice blocks on the transmission line are completely removed. Compared with the prior art, the structure of this application is simpler, the volume is smaller, the de-icing effect is better, and at the same time, the weight of the de-icing robot 400 is symmetric left and right, and it moves more stably on the transmission line.

[0099] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A deicing device for straddling a transmission line hoisted by an unmanned aerial vehicle, characterized in that: It includes a drone bracket fixed on the drone landing gear, a drone hook connected to the bottom of the drone bracket, and a deicing robot mounted under the drone hook and capable of automatically hooking and unhooking with the drone hook; The deicing robot comprises: A frame, wherein a guide opening is provided at the lower portion of the frame; A walking mechanism, the walking mechanism comprising two walking wheels arranged front and rear and respectively mounted on the upper part of the guide opening for pressing on the upper side of the transmission line, and a walking power unit for driving the walking wheels to rotate; A clamping mechanism, wherein the clamping mechanism comprises two groups of clamping units arranged front and back and respectively located on both sides of the frame, the clamping unit comprises a rotating clamping arm, a clamping wheel and a clamping power unit, the first end of the rotating clamping arm is installed on the outer side of the frame through a longitudinal rotating shaft, the clamping wheel is installed on the second end of the rotating clamping arm, the clamping power unit can drive the rotating clamping arm to swing into the guide opening to press on the lower side of the power transmission line or to swing outward to avoid the guide opening, wherein a de-icing blade is installed on the front side of the second end of the rotating clamping arm of the front clamping unit; The deicing mechanism includes a deicing hammer arranged at the front end of the frame and located on the upper side of the power transmission line, and a deicing power unit for driving the deicing hammer to rotate in a direction perpendicular to the power transmission line.

2. The deicing device for straddling power lines hoisted by an unmanned aerial vehicle according to claim 1 is characterized in that: The travel power unit comprises two travel motors, which are respectively mounted on both sides of the frame and connected to corresponding travel wheels.

3. The deicing device for straddling a transmission line mounted by an unmanned aerial vehicle according to claim 1, characterized in that: The clamping power unit is a clamping motor installed on the outside of the frame and connected to the longitudinal rotating shaft at the second end of the rotating clamping arm.

4. The deicing device for straddling a transmission line mounted by an unmanned aerial vehicle according to claim 1, characterized in that: The deicing power unit comprises a deicing motor which is fixed on a frame. A mounting arm is fixed to the output end of the deicing motor. One end of the deicing hammer is hinged to the end of the mounting arm through a longitudinal hinge shaft.

5. The deicing device for straddling power lines hoisted by an unmanned aerial vehicle according to claim 4 is characterized in that: Ice crushing teeth are arranged on the left and right sides of the deicing hammer.

6. The deicing device for straddling power lines hoisted by an unmanned aerial vehicle according to claim 1, characterized in that: The de-icing blade comprises a rear end plate and three blades; The rear end plate is fixed to the front side of the second end of the rotating clamp arm, the rear end plate is fan-shaped, the center of the rear end plate faces upward, and an arc groove is provided on the side of the rear end plate close to the center of the circle; The three blades are radially arranged on the front side of the rear end plate, two of which are radially symmetrically arranged left and right, and one blade is vertically arranged in the middle. The radial inner end of each blade is provided with multiple steps extending outward from front to back, and the front end of each step is provided with a cutting edge.

7. The deicing device for straddling a transmission line mounted by an unmanned aerial vehicle according to claim 1, characterized in that: Cameras are installed at the front and rear ends of the upper part of the frame, battery packs are installed on the outside of the left and right sides of the lower part of the frame, and a control box is installed on the top of the frame. The control box is electrically connected to the travel power unit, the clamping power unit, the deicing power unit, the camera and the battery pack respectively.

8. The deicing device for straddling power lines hoisted by an unmanned aerial vehicle according to claim 1, characterized in that: A hanging ring is provided on the top of the frame; The drone hook includes: A winding motor, wherein the winding motor is fixed to the drone bracket, and an output end of the winding motor is connected to a suspension rope; A limit shell, wherein the limit shell is fixed to the lower side of the drone bracket, an opening is provided at the lower part of the limit shell, and guide slopes extending from top to bottom to the outside are provided on the inner walls on both sides of the lower part of the limit shell; A connector, the connector is adapted to fit in the limiting shell, the upper end of the connector is connected to the lower end of the suspension rope, the connector can slide in or out from the opening at the lower part of the limiting shell, and the connector is provided with a lower horizontal cavity extending from both sides and a middle vertical cavity extending upward from the lower horizontal cavity; Two swing arms symmetrically arranged on the left and right, the swing arms comprising a lower extension arm, an inclined extension arm extending obliquely inwardly from the upper end of the lower extension arm, an upper extension arm extending upwardly from the upper end of the inclined extension arm, and a transverse extension arm extending inwardly from the upper end of the upper extension arm, the connection parts of the upper extension arms and the transverse extension arms of the two swing arms are respectively hinged to the two sides of the lower transverse cavity, the transverse extension arms of the two swing arms extend toward the middle to the lower end of the middle vertical cavity, the inclined extension arms of the two swing arms are respectively adapted to the guiding inclined surfaces on both sides of the limiting shell, and the inner sides of the lower ends of the lower extension arms of the two swing arms are provided with limiting grooves; A limit rod, the limit rod is coaxially arranged with the middle vertical cavity and fixed in the lower horizontal cavity and the middle vertical cavity, the lower horizontal cavity is provided with a limit block fixed on the limit rod and located below the transverse extension arm, the limit block is used to contact with the lower part of the inner end of the transverse extension arm to limit the amplitude of the swing arm swinging outward, and a counterweight block is slidably installed in the middle vertical cavity, which is sleeved outside the limit rod and pressed on the upper part of the inner end of the transverse extension arm; Two hanging parts are arranged opposite to each other on the left and right, and the outer ends of the two hanging parts are respectively hinged to the lower ends of the limiting grooves on the corresponding sides, and the limiting grooves can limit the downward swinging angle of the hanging parts. The inner ends of the two hanging parts extend obliquely upward and form a cross in the middle, and a hanging position for limiting the hanging ring is formed at the intersection.

9. The deicing device for straddling a transmission line mounted by an unmanned aerial vehicle according to claim 1, characterized in that: The UAV bracket comprises two connecting rods, and the two ends of each connecting rod are respectively fixed to the middle cross bars on both sides of the UAV landing gear through locks.

10. A method for deicing a transmission line by straddling a drone, characterized in that: The steps include: Step S1, installing legs at four corners of the landing gear of the drone, and the drone is supported on the ground by the legs; Step S2, fixing the drone bracket equipped with the drone hook on the drone landing gear; Step S3, hanging the deicing robot on the drone hook; Step S4, controlling the drone to move the deicing robot to above the transmission line that needs deicing; Step S5, the drone slowly descends so that the guide opening at the bottom of the de-icing robot is inserted into the two sides of the power transmission line until the two running wheels in the guide opening fall on the power transmission line; Step S6, controlling the two rotating clamping arms of the clamping mechanism to rotate inwards so that the clamping wheels on the two rotating clamping arms are pressed against the lower side of the transmission line; Step S7, controlling the drone to hook and unhook from the de-icing robot, and the drone returns; Step S8, controlling the travel power unit to drive the travel wheels to travel along the transmission line, and controlling the deicing power unit to drive the deicing hammer to rotate, so as to de-ice the transmission line; Step S9, after deicing is completed, the drone flies to the position of the deicing robot and controls the drone to hook onto the deicing robot; Step S10, controlling the two rotating clamping arms of the clamping mechanism to rotate outwards, so that the clamping wheels on the two rotating clamping arms rotate out of the guide opening; Step S11, the drone lifts the de-icing robot so that the guide port at its lower portion exits the power transmission line and returns.

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