Power transmission line hammer type icebreaker

Abstract

The invention belongs to the technical field of wire icebreaking, and particularly relates to a power transmission line hammer type icebreaker which comprises an icebreaking robot. The deicing robot comprises a driving system, a visual identification system, a central control system and a deicing system. The driving system comprises a power bin; two hanging rods are mounted at the top of the power bin; the two ends, located on the opposite sides of the two hanging rods, of the power bin are open. The left side of the suspender is provided with a first wire inlet groove on the end face of one side of the power bin. Two groups of first driving assemblies are arranged in the power bin; a deicing system is mounted at an opening in one end of the power bin; the deicing system comprises a mounting bin; a second driving assembly is mounted in the mounting bin; an ice breaking assembly is arranged in the second driving assembly; the electric wire deicing device is mainly used for solving the problem that ice layers on the two sides of an electric wire can remain if the ice layers on the electric wire are thick due to the fact that the secondary knocking position in the rotating hammer is fixed, and consequently deicing is not thorough.

Description

Technical Field

[0001] The present invention belongs to the technical field of wire ice breaking, and specifically relates to a hammer-type ice breaker for transmission lines. Background Art

[0002] With the rapid development of China's economy, more and more extra-high voltage and large-capacity transmission lines are being built, and the geographical environment traversed by the line corridors is more complex, such as passing through large reservoirs, lakes and mountains, which brings many difficulties to line maintenance. Moreover, in the severe winter and early spring seasons, the transmission lines in China have suffered ice covering disasters to varying degrees up to thousands of times. Ice covering on transmission lines will lead to various accidents, bringing great inconvenience to the normal operation of the power grid and people's lives. In view of this situation, various ice removal devices have been designed in the prior art, such as the thermal ice melting method, mechanical ice removal, natural ice removal, robot ice removal method, etc.

[0003] Among them, the hammer-type ice removal robot is one of the ice removal robots. It mainly observes the ice covering situation on the wire through a visual recognition system, and then uses a remote control system to control the ice removal robot to walk on the wire. During the walking process, the rotating hammer is used to cycle and knock on the wire, so as to knock off the ice on the wire, thereby realizing ice removal from the wire.

[0004] However, when using the rotating hammer to knock on the ice on the wire, since the position of each knock in the hammer is fixed, and it always knocks on the top or bottom position of the wire. When the ice layer on the wire is relatively thick, the ice layers on both sides of the wire will remain, resulting in incomplete ice removal. At the same time, if the walking drive wheel passes through the remaining ice layer, the remaining ice layer will affect the walking process of the drive wheel. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art and solve the above technical problems, the present invention provides a hammer-type ice breaker for transmission lines. By using a C-shaped cone to drive the uniformly arranged crushing teeth to rotate, the crushing teeth will rotate around the wire, so as to comprehensively remove the ice layer on the wire, thereby avoiding the situation of ice layer residue on the wire. The specific structure of the present invention is as follows:

[0006] A hammer-type ice breaker for transmission lines, including an ice breaking robot; the ice removal robot includes a drive system, a visual recognition system, a central control system and an ice removal system.

[0007] The drive system includes a power bin; two suspension rods are installed on the top of the power bin, and the suspension rods are used to lift the ice breaking robot.

[0008] Both ends of the power bin on the opposite side of the two suspension rods are of an open design; a first wire inlet groove is opened on the end face of the power bin on the left side of the suspension rod, and the first wire inlet groove penetrates through the power bin.

[0009] There are two sets of first driving components arranged in the power bin; the first driving component includes a first driving wheel; the first driving wheel is rotatably installed at the top of the inner cavity of the power bin; the first driving wheel is driven by a first servo motor, and the first servo motor is fixedly connected to the inner wall of the power bin;

[0010] A U-shaped plate is arranged below the first driving wheel; an electric telescopic rod is fixedly connected to the bottom of the U-shaped plate, and the other end of the electric telescopic rod is fixedly installed at the bottom of the inner cavity of the power bin; a second driving wheel is rotatably installed in the U-shaped plate. When the wire enters the power bin from the first wire inlet groove, it is located between the first driving wheel and the second driving wheel;

[0011] An ice removal system is installed at the opening of one end of the power bin; the ice removal system includes an installation bin; the installation bin is fixedly installed at the opening of the power bin and is communicated with the power bin; a second wire inlet groove is opened on the installation bin, and the second wire inlet groove corresponds to the first wire inlet groove;

[0012] A baffle is fixedly installed on the side of the installation bin away from the power bin; a third wire inlet groove is opened on the baffle, and the third wire inlet groove corresponds to the first wire inlet groove;

[0013] A second driving component is installed in the installation bin; a ice-breaking component is arranged in the second driving component, and the ice-breaking component is used for removing ice from the wire;

[0014] Preferably, the second driving component includes a fixing plate; the fixing plate is fixedly installed inside the installation bin; a first circular groove is opened on the fixing plate; a fourth wire inlet groove is opened on one side of the first circular groove facing the second wire inlet groove;

[0015] Second circular grooves are opened on the fixing plate on the upper and lower sides of the first circular groove, and the second circular grooves are partially communicated with the first circular groove; a first gear is rotatably connected in each of the two second circular grooves; mounting plates are fixedly connected to the fixing plate on the side facing the power bin;

[0016] Second servo motors are fixedly connected to both of the mounting plates, and the second servo motors are used to drive the first gears;

[0017] The ice-breaking component includes a conical cylinder, and the conical cylinder is in a horn shape; a notch groove is opened on the conical cylinder, and the notch groove coincides with the third wire inlet groove and the fourth wire inlet groove in the initial state;

[0018] The conical cylinder is composed of a C-shaped conical cylinder and a C-shaped cylindrical cylinder; the C-shaped cylindrical cylinder rotates in the first circular groove; a first tooth groove is uniformly arranged on the outer circumferential surface of the C-shaped cylindrical cylinder, and the first tooth groove meshes with the first gear;

[0019] On both sides of the fixed plate, C-shaped rings are fixedly installed on the surface of the C-shaped cylinder, and the C-shaped rings are in contact with the fixed plate; the C-shaped conical cylinder passes through the baffle and is rotatably connected to the baffle; evenly arranged crushing teeth are fixedly connected to the inner circumferential surface of the C-shaped conical cylinder.

[0020] Preferably, connecting plates are evenly arranged in the circumferential direction of the C-shaped conical cylinder, and the connecting plates are fixedly connected to the baffle;

[0021] On the outer circumferential surface of the end of the C-shaped conical cylinder, evenly arranged first gear teeth are fixedly connected; at the end of the connecting plate, a rotating rod is rotatably connected to the inner wall of the connecting plate, and a part of the rotating rod extends out of the connecting plate; on the side where the rotating rod extends out of the connecting plate, a rotating hammer is fixedly connected;

[0022] A second gear is fixedly connected to the rotating rod, and the second gear rotates inside the connecting plate; a part of the second gear close to the first gear teeth extends out of the connecting plate and meshes with the first gear teeth;

[0023] Preferably, an L-shaped plate is fixedly connected to the side of the connecting plate close to the C-shaped conical cylinder, and the C-shaped conical cylinder extends into the L-shaped plate and is rotatably connected to the L-shaped plate;

[0024] Preferably, evenly arranged rolling balls are rotatably connected to the side of the L-shaped plate where it is rotatably connected to the C-shaped conical cylinder, and the rolling balls are in contact with the C-shaped conical cylinder.

[0025] Preferably, guide plates are fixedly connected to the top and bottom positions inside the power bin at the top of the first wire slot; the guide plate close to the U-shaped plate does not affect the upward movement of the U-shaped plate;

[0026] Preferably, evenly arranged second tooth grooves are formed on the outer circumferential surface of the first driving wheel close to the guide plate;

[0027] Evenly arranged second gear teeth are formed on the outer circumferential surface of the second driving wheel close to the guide plate. When the second driving wheel approaches the first driving wheel, the second gear teeth mesh with the second tooth grooves;

[0028] Preferably, chutes are formed in the inner wall of the power bin on the right sides of the first driving wheel and the second driving wheel;

[0029] A semi-circular block is slidably connected to the chute through a spring, and the semi-circular block extends between the first driving wheel and the second driving wheel. When the second driving wheel and the U-shaped plate move upward, the semi-circular block will be pushed into the chute.

[0030] The beneficial effects of the present invention are as follows:

[0031] 1. In the hammer-type ice breaker for transmission lines of the present invention, since the crushing teeth are fixedly connected inside the C-shaped cone barrel and are evenly arranged, the rotating C-shaped cone barrel will drive the evenly arranged crushing teeth to rotate. The crushing teeth will rotate around the wire, so that the ice layer on the wire can be removed comprehensively, thus avoiding the situation of ice layer residue on the wire. At the same time, since the distance between the C-shaped cone barrel and the wire gradually decreases from the opening to the baffle, when the C-shaped cone barrel moves along the wire, the crushing teeth evenly arranged inside the C-shaped cone barrel can rotate around the wire while breaking the ice layer on the wire layer by layer, thus avoiding the crushing teeth directly breaking all the ice layers, so that the crushing teeth are subject to too much resistance and are damaged, and at the same time avoiding the existence of residual ice layer on the wire, which will affect the process of the first driving wheel and the second driving wheel walking on the wire.

[0032] 2. In the hammer-type ice breaker for transmission lines of the present invention, since the first set of teeth are fixedly connected to the outer surface of the C-shaped cone barrel and are evenly arranged, the rotating C-shaped cone barrel will drive the evenly arranged first set of teeth to rotate during the rotation process. And since the first set of teeth are meshed with the second gear, during the rotation process of the first set of teeth, the first gear will be driven to rotate. When the first gear rotates, the rotating rod will be driven to rotate. During the rotation process of the ring rod, the rotating hammer will be driven to rotate. The rotating hammer will first strike the ice layer on the wire, so that part of the ice on the wire can be knocked off first, and then the remaining ice on the wire will be removed by the rotating crushing teeth, so that the ice removal effect on the wire can be further improved, and at the same time the pressure on the crushing teeth during ice removal can be relieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The present invention will be further described below with reference to the drawings.

[0034] Figure 1 is the overall structure diagram of the present invention;

[0035] Figure 2 is the present invention Figure 1 the structure diagram from another perspective;

[0036] Figure 3 is the structure diagram of the power system in the present invention;

[0037] Figure 4 is the structure diagram of the ice removal system in the present invention;

[0038] Figure 5 is the present invention Figure 4 the partial enlarged view at A in;

[0039] Figure 6 is the present invention Figure 4 the partial enlarged view at B in;

[0040] Figure 7 is the top view of the present invention;

[0041] Figure 8 is a cross-sectional view at the C-C position in the present invention Figure 7 in the present invention;

[0042] Figure 9 is a partial enlarged view at the D position in the present invention Figure 8 in the present invention;

[0043] Figure 10 is a cross-sectional view at the E-E position in the present invention Figure 7 in the present invention;

[0044] Figure 11 is a cross-sectional view at the F-F position in the present invention Figure 7 in the present invention;

[0045] Figure 12 is a partial enlarged view at the G position in the present invention Figure 11 in the present invention;

[0046] Figure 13 is a partial enlarged view at the H position in the present invention Figure 11 in the present invention.

[0047] In the figure: 1. Power bin; 11. Suspender; 12. First wire inlet groove; 13. Electric wire; 14. Guide plate; 2. First driving wheel; 21. First servo motor; 22. U-shaped plate; 23. Electric telescopic rod; 24. Second driving wheel; 25. Second tooth groove; 26. Second set of teeth; 27. Slide groove; 28. Semi-circular block; 3. Installation bin; 31. Second wire inlet groove; 32. Baffle; 33. Third wire inlet groove; 4. Fixed plate; 41. First circular groove; 42. Fourth wire inlet groove; 43. Second circular groove; 44. First gear; 45. Installation plate; 46. Second servo motor; 5. Conical cylinder; 51. Notch groove; 52. C-shaped conical cylinder; 53. C-shaped cylinder; 54. First tooth groove; 55. C-shaped ring; 56. Crushing teeth; 57. First set of teeth; 6. Connecting plate; 61. Rotating rod; 62. Rotating hammer; 63. Second gear; 64. L-shaped plate. Specific embodiments

[0048] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0049] Embodiment 1:

[0050] As Figures 1 to 13 shown, a wire hammer type ice breaker according to the present invention includes an ice breaking robot; the ice removing robot includes a driving system, a visual recognition system, a central control system, and an ice removing system;

[0051] The drive system includes a power bin 1; two suspension rods 11 are installed on the top of the power bin 1, and the suspension rods 11 are used to lift the ice-breaking robot;

[0052] Both ends of the power bin 1 on the opposite sides of the two suspension rods 11 are of an open design; on the left side of the suspension rod 11, a first wire inlet groove 12 is opened on one end face of the power bin 1, and the first wire inlet groove 12 penetrates through the power bin 1;

[0053] Two groups of first drive components are arranged in the power bin 1; the first drive component includes a first drive wheel 2; the first drive wheel 2 is rotatably installed at the top of the inner cavity of the power bin 1; the first drive wheel 2 is driven by a first servo motor 21, and the first servo motor 21 is fixedly connected to the inner wall of the power bin 1;

[0054] A U-shaped plate 22 is arranged below the first drive wheel 2; the bottom of the U-shaped plate 22 is fixedly connected with an electric telescopic rod 23, and the other end of the electric telescopic rod 23 is fixedly installed at the bottom of the inner cavity of the power bin 1; a second drive wheel 24 is rotatably installed in the U-shaped plate 22. When the wire 13 enters the interior of the power bin 1 from the first wire inlet groove 12, it is located between the first drive wheel 2 and the second drive wheel 24;

[0055] An ice removal system is installed at the opening of one end of the power bin 1; the ice removal system includes an installation bin 3; the installation bin 3 is fixedly installed at the opening of the power bin 1 and is communicated with the power bin 1; a second wire inlet groove 31 is opened on the installation bin 3, and the second wire inlet groove 31 corresponds to the first wire inlet groove 12;

[0056] A baffle 32 is fixedly installed on the side of the installation bin 3 away from the power bin 1; a third wire inlet groove 33 is opened on the baffle 32, and the third wire inlet groove 33 corresponds to the first wire inlet groove 31;

[0057] A second drive component is installed in the installation bin 3; an ice-breaking component is arranged in the second drive component, and the ice-breaking component is used for removing ice from the wire 13;

[0058] In this embodiment, the second drive component includes a fixing plate 4; the fixing plate 4 is fixedly installed inside the installation bin 3; a first circular groove 41 is opened on the fixing plate 4; a fourth wire inlet groove 42 is opened on one side of the first circular groove 41 facing the second wire inlet groove 31;

[0059] Second circular grooves 43 are opened on the fixing plate 4 on the upper and lower sides of the first circular groove 41, and the second circular grooves 43 are partially communicated with the first circular groove 41; a first gear 44 is rotatably connected in each of the two second circular grooves 43; on the side of the two second circular grooves 43 facing the power bin 1, a mounting plate 45 is fixedly connected to the fixing plate 4;

[0060] A second servo motor 46 is fixedly connected to each of the two mounting plates 45, and the second servo motor 46 is used to drive the first gear 44;

[0061] The ice-breaking assembly includes a conical cylinder 5, and the conical cylinder 5 is in a horn shape; a notch groove 51 is formed in the conical cylinder 5, and the notch groove 51 coincides with the third wire inlet groove 33 and the fourth wire inlet groove 42 in the initial state;

[0062] The conical cylinder 5 is composed of a C-shaped conical cylinder 52 and a C-shaped cylindrical cylinder 53; the C-shaped cylindrical cylinder 53 rotates in the first circular groove 41; a uniformly arranged first tooth groove 54 is formed on the outer circumferential surface of the C-shaped cylindrical cylinder 53, and the first tooth groove 54 meshes with the first gear 44;

[0063] C-shaped rings 55 are fixedly installed on the surface of the C-shaped cylindrical cylinder 53 on both sides of the fixed plate 4, and the C-shaped rings 55 are in contact with the fixed plate 4; the C-shaped conical cylinder 52 passes through the baffle 32 and is rotatably connected to the baffle 32; uniformly arranged breaking teeth 56 are fixedly connected to the inner circumferential surface of the C-shaped conical cylinder 52;

[0064] Specifically, when de-icing the wire 13, first use a hook to hang on the hanging rod 11, and then use the drone to pull the hook upward, so that the entire ice-breaking robot can be lifted. Then transfer the ice-breaking robot to the position of the wire 13 and align the first wire inlet groove 12, the second wire inlet groove 31, and the third wire inlet groove with the wire 13. When the first wire inlet groove 12, the second wire inlet groove 31, and the third wire inlet groove are aligned with the wire 13, at this time, control the ice-breaking robot to move towards the wire 13. At this time, the wire 13 will pass through the first wire inlet groove 12, the second wire inlet groove 31, and the third wire inlet groove and enter the power bin 1 and the installation bin 3. When the wire 13 enters the power box, the wire 13 is located between the first driving wheel 2 and the second driving wheel 24. When the wire 13 enters the installation bin 3, the wire 13 will first pass through the fourth wire inlet groove 42, and then enter the conical cylinder 5 through the notch groove 51 formed on the conical cylinder 5. Then the drone controls the ice-breaking robot to move downward. When the ice-breaking robot moves downward, the wire 13 will gradually contact the first driving wheel 2 and gradually be stuck in the first driving wheel 2. At this time, the ice-breaking robot is hung on the wire 13. At this time, the wire 13 will pass through the conical cylinder 5. Then control the drone to continue to move downward. After the drone moves downward, at this time, the hook will disengage from the hanging rod 11. When the hook disengages from the hanging rod 11, then withdraw the drone, and then the ice-breaking robot can be controlled to remove the ice layer on the wire 13;

[0065] More specifically, after the ice-breaking robot is hung on the wire 13, the electric telescopic rod 23 is gradually extended through the central control system, so as to push the U-shaped plate 22 to gradually move upward. At the same time, the U-shaped plate 22 will drive the second driving wheel 24 to move upward. When the second driving wheel 24 contacts the bottom of the wire 13, at this time, the wire 13 is stuck between the first driving wheel 2 and the second driving wheel 24. Subsequently, the first servo motor 21 can be controlled to rotate. During the rotation of the first servo motor 21, the first driving wheel 2 will be driven to rotate. Since the wire 13 is limited between the first driving wheel 2 and the second driving wheel 24, the first driving wheel 2 will drive the ice-breaking robot to walk on the wire 13;

[0066] Further, when controlling the first rotation, two second servo motors 46 are simultaneously controlled to rotate in the same rotation direction. The second servo motor 46 will drive the first gear 44 to rotate. Since the first tooth groove 54 formed on the C-shaped cylinder 53 meshes with the first gear 44, the C-shaped cylinder 53 will be driven to rotate in the first circular groove 41. At the same time, the C-shaped cylinder 53 will drive the C-shaped ring 55 to fit and rotate along the fixed plate 4. At the same time, the C-shaped cylinder 53 will drive the C-shaped conical cylinder 52 to rotate around the wire 13 in a cycle. Since the crushing teeth 56 are uniformly arranged and fixedly connected inside the C-shaped conical cylinder 52, the rotating C-shaped conical cylinder 52 will drive the uniformly arranged crushing teeth 56 to rotate. The crushing teeth 56 will rotate around the wire 13, so that the ice layer on the wire 13 can be removed comprehensively, thus avoiding the situation of ice layer residue on the wire 13. At the same time, since the distance between the C-shaped conical cylinder 52 and the wire 13 gradually decreases from the opening to the baffle 32, when the C-shaped conical cylinder 52 moves along the wire 13, the uniformly arranged crushing teeth 56 inside the C-shaped conical cylinder 52 can rotate around the wire 13 while breaking the ice layer on the wire 13 layer by layer, thus avoiding the crushing teeth 56 directly crushing all the ice layers, so that the crushing teeth 56 are subjected to too much resistance and are damaged, and at the same time avoiding the existence of residual ice layer on the wire 13, which will affect the process of the first driving wheel 2 and the second driving wheel 24 walking on the wire 13.

[0067] Embodiment 2:

[0068] The C-shaped conical cylinder 52 is provided with uniformly arranged connecting plates 6 in the circumferential direction, and the connecting plates 6 are fixedly connected to the baffle 32;

[0069] The outer circumferential surface of the end of the C-shaped conical cylinder 52 is fixedly connected with uniformly arranged first gear teeth 57; a rotating rod 61 is rotatably connected to the inner wall of the connecting plate 6 at the end of the connecting plate 6, and a part of the rotating rod 61 extends out of the connecting plate 6; a rotating hammer 62 is fixedly connected to one side of the rotating rod 61 extending out of the connecting plate 6;

[0070] A second gear 63 is fixedly connected to the rotating rod 61, and the second gear 63 rotates within the connecting plate 6; a portion of the second gear 63 near one side of the first set of teeth 57 extends out of the connecting plate 6 and meshes with the first set of teeth 57;

[0071] In this embodiment, an L-shaped plate 64 is fixedly connected to one side of the connecting plate 6 close to the C-shaped cone 52, and the C-shaped cone 52 extends into the L-shaped plate 64 and is rotatably connected to the L-shaped plate 64;

[0072] In this embodiment, a uniformly arranged set of balls is rotatably connected to one side of the L-shaped plate 64 where it is rotatably connected to the C-shaped cone 52, and the balls are in contact with the C-shaped cone 52;

[0073] Specifically, since a uniformly arranged first set of teeth 57 is fixedly connected to the outer circumferential surface of the C-shaped cone 52, during the rotation of the C-shaped cone 52, the uniformly arranged first set of teeth 57 will be driven to rotate. Also, since the first set of teeth 57 meshes with the second gear 63, during the rotation of the first set of teeth 57, the first gear 44 will be driven to rotate. When the first gear 44 rotates, the rotating rod 61 will be driven to rotate. During the rotation of the ring rod, the rotating hammer 62 will be driven to rotate. The rotating hammer 62 will first strike the ice layer on the wire 13, so that part of the ice on the wire 13 can be knocked off first. Subsequently, the remaining ice on the wire 13 will be removed by the rotating breaking teeth 56, thereby further improving the ice removal effect on the wire 13 and simultaneously relieving the pressure on the breaking teeth 56 during ice removal;

[0074] More specifically, since the C-shaped cone 52 rotates within the L-shaped plate 64, during the rotation of the C-shaped cone 52, the L-shaped plate 64 can limit the C-shaped cone 52, thereby preventing the C-shaped cone 52 from jumping during rotation. Since a uniformly arranged set of balls is rotatably connected to one side of the L-shaped plate 64 where it is rotatably connected to the C-shaped cone 52, during the rotation of the C-shaped cone 52, the frictional force between the C-shaped cone 52 and the L-shaped plate 64 can be reduced.

[0075] Embodiment Three:

[0076] Guide plates 14 are fixedly connected to both the top and bottom positions inside the power bin 1 at the top of the first wire inlet groove 12; the guide plate 14 close to the U-shaped plate 22 will not affect the upward movement of the U-shaped plate 22;

[0077] In this embodiment, uniformly arranged second tooth grooves 25 are formed on the outer circumferential surface of one side of the first driving wheel 2 close to the guide plate 14;

[0078] Uniformly arranged second sets of teeth 26 are formed on the outer circumferential surface of one side of the second driving wheel 24 close to the guide plate 14. When the second driving wheel 24 approaches the first driving wheel 2, the second sets of teeth 26 mesh with the second tooth grooves 25;

[0079] In this embodiment, a chute 27 is provided in the inner wall of the power bin 1 on the right side of the first driving wheel 2 and the second driving wheel 24;

[0080] A semi-circular block 28 is slidably connected in the chute 27 through a spring, and the semi-circular block 28 extends between the first driving wheel 2 and the second driving wheel 24. When the second driving wheel 24 and the U-shaped plate 22 move upward, the semi-circular block 28 will be pushed into the chute 27;

[0081] Specifically, since guide plates 14 are fixedly connected to both the top and bottom positions of the first wire slot 12 inside the power bin 1, when the wire 13 enters the first wire slot 12, under the guidance of the guide plates 14, the wire 13 will slide between the first driving wheel 2 and the second driving wheel 24. At the same time, since the semi-circular block 28 extends between the first driving wheel 2 and the second driving wheel 24, due to the presence of the semi-circular block 28, the semi-circular block 28 can prevent the wire 13 from continuing to move, thereby limiting the wire 13 between the first driving wheel 2 and the second driving wheel 24. During this process, it is possible to prevent the position of the wire 13 from being misaligned with the first driving wheel 2 and the second driving wheel 24, resulting in the wire 13 not being limited between the first driving wheel 2 and the second driving wheel 24;

[0082] More specifically, when the U-shaped plate 22 drives the second driving wheel 24 to move upward, the second driving wheel 24 will squeeze the semi-circular block 28. When the semi-circular block 28 is squeezed, it will gradually slide into the chute 27. As the U-shaped plate 22 gradually moves upward, the U-shaped plate 22 will gradually contact the semi-circular block 28 and squeeze the semi-circular block 28 into the chute 27. When the second driving wheel 24 is in contact with the wire 13, at this time, the U-shaped plate 22 squeezes the semi-circular block 28 into the chute 27. At this time, the semi-circular block 28 no longer contacts the first driving wheel 2 and the second driving wheel 24, thus not affecting the rotation of the first driving wheel 2 and the second driving wheel 24;

[0083] Furthermore, when the second driving wheel 24 contacts the wire 13, at this time, the second gear teeth 26 on the second driving wheel 24 will mesh with the second tooth grooves 25 on the first driving wheel 2. Therefore, during the rotation of the first driving wheel 2, the second driving wheel 24 will be driven to rotate, so that the first driving wheel 2 and the second driving wheel 24 can better drive the ice-breaking robot to walk on the wire 13;

[0084] Further, after the ice-breaking robot finishes ice-breaking for a wire 13, first control the first servo motor 21 to stop rotating. At this time, the first driving wheel 2 stops rotating. At the same time, control the second servo motor 46 to stop rotating and control the second servo motor 46 to drive the conical cylinder 5 to return to the initial state. When the conical cylinder 5 returns to the initial state, the notch groove 51 formed in the conical cylinder 5 coincides with the third wire inlet groove 33 and the fourth wire inlet groove 42. Subsequently, control the electric telescopic rod 23 to drive the U-shaped plate 22 to move downward, thereby driving the second driving wheel 24 to move downward and no longer limiting the wire 13. Then, control the unmanned aerial vehicle carrying the hook to fly to the upper position of the suspension rod 11, and by controlling the position of the unmanned aerial vehicle, make the hook hang on the suspension rod 11. Subsequently, the unmanned aerial vehicle drives the ice-breaking robot to move upward by a certain distance, and after the wire 13 is aligned with the first wire inlet groove 12, the first wire inlet groove 31, the third wire inlet groove 33, and the fourth wire inlet groove 42, then control the unmanned aerial vehicle to move horizontally to the side away from the wire 13. At this time, the wire 13 disengages from the ice-breaking robot, and then the ice-breaking robot can be recovered.

[0085] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and all these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A power transmission line hammer ice breaker, comprising an ice breaking robot; the ice breaking robot comprises a driving system, a visual recognition system, a central control system and an ice breaking system; It is characterized by: The driving system comprises a power compartment (1); two suspension rods (11) are installed on the top of the power compartment (1), and the suspension rods (11) are used to lift the ice-breaking robot; The two ends of the power bin (1) located on the opposite sides of the two suspension rods (11) are of open design; a first wire inlet groove (12) is provided on the end surface of one side of the power bin (1) on the left side of the suspension rod (11), and the first wire inlet groove (12) runs through the power bin (1); Two groups of first drive components are arranged in the power bin (1); the first drive component comprises a first drive wheel (2); the first drive wheel (2) is rotatably mounted at the top of the inner cavity of the power bin (1); the first drive wheel (2) is driven by a first servo motor (21), and the first servo motor (21) is fixedly connected to the inner wall of the power bin (1); A U-shaped plate (22) is provided below the first driving wheel (2); an electric telescopic rod (23) is fixedly connected to the bottom of the U-shaped plate (22), and the other end of the electric telescopic rod (23) is fixedly installed at the bottom of the inner cavity of the power bin (1); a second driving wheel (24) is rotatably installed in the U-shaped plate (22), and when the electric wire (13) enters the inside of the power bin (1) from the first wire inlet groove (12), it is located between the first driving wheel (2) and the second driving wheel (24); A deicing system is installed at an opening at one end of the power bin (1); the deicing system comprises an installation bin (3); the installation bin (3) is fixedly installed at the opening of the power bin (1) and is in communication with the power bin (1); a second wire inlet groove (31) is provided on the installation bin (3), and the second wire inlet groove (31) corresponds to the first wire inlet groove (12); A baffle (32) is fixedly installed on one side of the installation compartment (3) away from the power compartment (1); a third wire inlet groove (33) is provided on the baffle (32), and the third wire inlet groove (33) corresponds to the first wire inlet groove (31); A second drive assembly is installed in the installation compartment (3); an ice-breaking assembly is provided in the second drive assembly, and the ice-breaking assembly is used to de-ice the electric wires (13).

2. A power transmission line hammer ice breaker according to claim 1, characterized in that: The second driving assembly comprises a fixing plate (4); the fixing plate (4) is fixedly mounted inside the mounting bin (3); a first circular groove (41) is formed on the fixing plate (4); a fourth wire inlet groove (42) is formed on a side of the first circular groove (41) facing the second wire inlet groove (31); Second circular grooves (43) are provided on the fixing plate (4) at the upper and lower sides of the first circular groove (41), and the second circular grooves (43) are partially connected to the first circular groove (41); first gears (44) are rotatably connected in the two second circular grooves (43); a mounting plate (45) is fixedly connected to the fixing plate (4) on the side of the two second circular grooves (43) facing the power compartment (1); The two mounting plates (45) are both fixedly connected with a second servo motor (46), and the second servo motor (46) is used to drive the first gear (44); The ice-breaking assembly comprises a conical cylinder (5), and the conical cylinder (5) is trumpet-shaped; a notch groove (51) is provided on the conical cylinder (5), and the notch groove (51) overlaps with the third wire inlet groove (33) and the fourth wire inlet groove (42) in an initial state; The conical cylinder (5) comprises a C-shaped conical cylinder (52) and a C-shaped cylinder (53); the C-shaped cylinder (53) rotates in the first circular groove (41); the outer surface of the C-shaped cylinder (53) is provided with uniformly arranged first tooth grooves (54), and the first tooth grooves (54) are meshed with the first gear (44); C-shaped rings (55) are fixedly installed on the surfaces of the C-shaped cylinder (53) on both sides of the fixed plate (4), and the C-shaped rings (55) are in close contact with the fixed plate (4); the C-shaped cone cylinder (52) passes through the baffle plate (32) and is rotatably connected to the baffle plate (32); and evenly arranged crushing teeth (56) are fixedly connected to the inner ring surface of the C-shaped cone cylinder (52).

3. A power transmission line hammer ice breaker according to claim 2, characterized in that: The C-shaped cone (52) is provided with connection plates (6) evenly arranged in the circumferential direction, and the connection plates (6) are all fixedly connected to the baffle (32); The outer ring surface of the end of the C-shaped cone (52) is fixedly connected with uniformly arranged first gear teeth (57); the end of the connecting plate (6) is located in the inner wall of the connecting plate (6) and is rotatably connected with a rotating rod (61), and the rotating rod (61) partially extends out of the connecting plate (6); the side of the rotating rod (61) extending out of the connecting plate (6) is fixedly connected with a rotating hammer (62); The rotating rod (61) is fixedly connected with a second gear (63), and the second gear (63) rotates in the connecting plate (6); a side portion of the second gear (63) close to the first gear teeth (57) extends out from the connecting plate (6) and meshes with the first gear teeth (57).

4. A power transmission line hammer ice breaker according to claim 3, characterized in that: An L-shaped plate (64) is fixedly connected to one side of the connecting plate (6) close to the C-shaped cone cylinder (52), and the C-shaped cone cylinder (52) extends into the L-shaped plate (64) and is rotatably connected to the L-shaped plate (64).

5. A power transmission line hammer ice breaker according to claim 4, characterized in that: One side of the L-shaped plate (64) rotatably connected to the C-shaped cone (52) is rotatably connected to evenly arranged balls, and the balls are in contact with the C-shaped cone (52).

6. A power transmission line hammer ice breaker according to claim 5, characterized in that: Guide plates (14) are fixedly connected to the top and bottom of the first wire inlet groove (12) inside the power compartment (1); the guide plates (14) close to the U-shaped plate (22) will not affect the upward movement of the U-shaped plate (22).

7. A power transmission line hammer ice breaker according to claim 6, characterized in that: The first driving wheel (2) has an outer circumferential surface on a side close to the guide plate (14) provided with evenly arranged second tooth grooves (25); The outer circumferential surface of the second driving wheel (24) close to the guide plate (14) is provided with evenly arranged second gear teeth (26); when the second driving wheel (24) is close to the first driving wheel (2), the second gear teeth (26) mesh with the second tooth grooves (25).

8. The power transmission line hammer ice breaker according to claim 7, characterized in that: A slide groove (27) is provided in the inner wall of the power bin (1) on the right side of the first driving wheel (2) and the second driving wheel (24); A semicircular block (28) is slidably connected to the slide groove (27) via a spring, and the semicircular block (28) extends between the first drive wheel (2) and the second drive wheel (24). When the second drive wheel (24) and the U-shaped plate (22) move upward, the semicircular block (28) is pushed to slide into the slide groove (27).

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