Intelligent self-adaptive distribution network cable deicing robot and deicing method thereof

Abstract

The invention relates to the technical field of cable deicing, and discloses an intelligent self-adaptive distribution network cable deicing robot and a deicing method thereof.The intelligent self-adaptive distribution network cable deicing robot comprises a workbench and a driving mechanism, and the driving mechanism comprises hanging rings symmetrically connected to the four corners of the workbench and a driving assembly arranged on the workbench; the cleaning mechanism comprises three sets of arc-shaped plates arranged below the workbench in a linear array, connecting rods connected to the outer walls of the arc-shaped plates, a rotating assembly arranged below the workbench and a second abutting block arranged in the rotating assembly, and a scraping plate drives a scraping groove and a cutting head to synchronously rotate in a reciprocating mode; according to the deicing device for the cable, the cutting head rotates to cut ice blocks on the cable in a reciprocating mode in the rotating process, the ice blocks are cut into a plurality of small ice blocks, then the cut ice blocks are scraped through the scraping grooves, the problem that the ice blocks with too large sizes are difficult to scrape rapidly is avoided, and then the deicing efficiency of the deicing device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cable de-icing, and particularly to an intelligent adaptive distribution network cable de-icing robot and a de-icing method thereof. Background Art

[0002] Cable de-icing refers to the operation process of removing ice on overhead cables in cold weather, especially in an environment with low temperature, high humidity and accompanied by precipitation. When water vapor in the air meets a cable with a temperature below the freezing point, it will condense and freeze on the cable surface. As time goes by and the environmental conditions continue, the ice layer will continue to thicken. Subsequently, various technologies and means are adopted to remove the ice layer according to the ice formation situation on the overhead cable surface to ensure the safe and stable operation of the power transmission system.

[0003] A Chinese invention patent with the publication number of CN106099816A discloses a suspended overhead wire and cable intelligent de-icing robot, including: a redundant parallel mechanism and a de-icing device; the redundant parallel mechanism is located directly above the de-icing device, and the lower end of the redundant parallel mechanism is connected to the de-icing device. The present invention can perform automated de-icing operations on overhead wires and cables, and has obvious de-icing effect, high safety and strong stability. It solves the problem of difficult manual de-icing of overhead wires and cables after icing in low temperature environments, and ensures the stability of power transmission in harsh environments. Moreover, the redundant parallel mechanism adopts the parallel mechanism form of 2-UPS-2-RPS, which can realize movement in four degrees of freedom directions, namely moving along the X-axis and Z-axis and rotating around the X-axis and Y-axis, facilitating the movement operation and flexible operation of the present invention during the de-icing of wires and cables, and reducing the damage to the wires and cables themselves during the de-icing operation process of the present invention.

[0004] In addition, since the invention installs the vibrating rods in the "Ω"-shaped grooves at the rear end of the de-icing claws and breaks the ice by driving the de-icing claws to vibrate through vibration, in actual operation, it may be difficult to ensure the complete consistency of the coordinated vibration between multiple vibrating rods, and the situation of asynchronous vibration frequencies is likely to occur, which may weaken the overall de-icing effect and even may lead to the instability of the de-icing device itself. In addition, during the process of the de-icing claws removing the ice on the cable, due to the too large contact area between the de-icing claws and the ice, the impact force of the de-icing claws on the ice when vibrating becomes smaller, so that the ice cannot be quickly broken, and thus it is necessary to stay at the processed position on the cable for a long time, thereby affecting the de-icing efficiency of the device. Therefore, the suspended overhead wire and cable intelligent de-icing robot disclosed in Chinese invention patent CN106099816A cannot maintain its own stability during the de-icing process and cannot achieve the effect of quickly removing ice. Summary of the Invention

[0005] (1) Technical Problems to be Solved

[0006] Aiming at the deficiencies of the prior art, the present invention provides an intelligent adaptive power distribution cable deicing robot and its deicing method, which have the advantages of quickly cleaning ice and snow and ensuring the stability during the processing of the equipment, and solve the problems that the asynchronous vibration frequencies of the vibrating rods affect the equipment stability and the deicing efficiency is low.

[0007] (II) Technical solution

[0008] To achieve the above object, the present invention provides the following technical solution: an intelligent adaptive power distribution cable deicing robot and its deicing method, including a workbench,

[0009] A driving mechanism, including suspension rings symmetrically connected to the four corners of the workbench, and a driving component arranged on the workbench;

[0010] A cleaning mechanism, including three groups of arc-shaped plates arranged in a linear array under the workbench, connecting rods connected to the outer walls of the arc-shaped plates, a rotating component arranged under the workbench, a second abutting block arranged inside the rotating component, and a cleaning component arranged inside the arc-shaped plates.

[0011] Preferably, the driving component includes a connecting plate fixedly connected to the upper surface of the workbench, a driving box fixedly connected to the upper surface of the connecting plate, a driving fan rotatably connected inside the driving box, six fixing plates symmetrically fixedly connected to the lower surface of the workbench, a first sliding plate slidably connected to the outer walls of the fixing plates, a bracket fixedly connected to the inside of each first sliding plate, six hinge blocks symmetrically fixedly connected to the lower surface of the workbench, and an elastic telescopic rod rotatably connected inside the hinge blocks.

[0012] Preferably, an identification device is installed inside the workbench, there is an electrical connection relationship between the first sliding plate and the identification device installed inside the workbench, and there is an electrical connection relationship between the driving fan and an external control device.

[0013] Preferably, the numbers of the fixing plates, the fixing plates and the hinge blocks correspond one by one.

[0014] Preferably, the rotating component includes an arc-shaped sliding groove opened inside the arc-shaped plate, an arc-shaped sliding plate slidably connected to the inside of the arc-shaped sliding groove, magnetic attraction grooves and magnetic attraction blocks symmetrically opened inside the arc-shaped sliding plate, a number of special-shaped grooves arranged in a circular array inside the arc-shaped sliding plate, circular grooves symmetrically opened inside each special-shaped groove, and a number of first abutting blocks fixedly connected to the inner wall of the arc-shaped sliding groove in a circular array.

[0015] Preferably, the magnetic attraction grooves and the magnetic attraction blocks are magnetically attracted to each other, the special-shaped groove is formed by symmetrically connecting two isosceles trapezoids and presents a shape that is wider at the top and bottom and narrower in the middle, and the size of the second abutting block is adapted to the size of the special-shaped groove.

[0016] Preferably, the cleaning component includes rotating rods symmetrically and fixedly connected to the outer wall of the second abutting block. A torsion spring is sleeved on the outer wall of the rotating rod. A second sliding plate is slidably connected inside the second abutting block. Rubber blocks are symmetrically and fixedly connected to the outer wall of the second sliding plate. One end of the second sliding plate away from the second abutting block is fixedly connected to a scraping plate. Scraping grooves are symmetrically formed at one end of the scraping plate away from the second abutting block. Cutting heads are symmetrically and fixedly connected to the outer wall of the scraping plate.

[0017] Preferably, the second abutting block rotates inside the special-shaped groove. The second abutting block meshes with the first abutting block. The arc-shaped plate is rotatably connected to the bottom end of the elastic telescopic rod.

[0018] Preferably, both ends of the torsion spring are respectively fixedly connected to the second abutting block and the circular groove. One end of the rubber block away from the second sliding plate is fixedly connected to the inner wall of the second abutting block.

[0019] An intelligent adaptive power distribution cable de-icing method includes the following steps:

[0020] Step 1: Control the unmanned aerial vehicle (UAV) to be clamped with the hanging ring on the robot, hoist the robot above the cable line, and move the robot above the cable line through the UAV to ensure that the cable is located between the two arc-shaped plates.

[0021] Step 2: Identify the position of the cable through the identification device inside the workbench. The identification device controls the first sliding plate to slide on the fixed plate, so that the two arc-shaped plates converge and close around the cable.

[0022] Step 3: Drive the second sliding plate and the scraping plate to move through the rubber block. The scraping plate contacts the ice on the outside of the cable and automatically adjusts the pressure according to the ice layer thickness.

[0023] Step 4: Reciprocally cut the ice through the scraping plate and the cutting head, cut the ice into small pieces, and the scraping grooves scrape the cut small ice pieces to ensure that there is no ice on the cable surface.

[0024] Step 5: After the identification device detects that there is no ice on the cable surface, stop the rotation and cutting operations of the cleaning mechanism, and control the UAV to evacuate the robot from the cable line to complete the de-icing operation.

[0025] Step 6: After the de-icing operation is completed, check the cleaning component, driving mechanism and identification device of the robot to ensure that the equipment is not damaged.

[0026] Beneficial effects

[0027] Compared with the prior art, the present invention provides an intelligent adaptive power distribution cable de-icing robot and its de-icing method, which have the following beneficial effects:

[0028] 1. The scraper drives the scraping groove and the cutting head to rotate reciprocally synchronously, so that the cutting head reciprocally cuts the ice on the cable during rotation, cutting the ice into multiple small pieces of ice. Subsequently, the scraping groove scrapes the cut ice, avoiding the problem that it is difficult to quickly scrape off ice blocks with too large a volume, thereby improving the ice removal efficiency of the device.

[0029] 2. The arc-shaped sliding plate drives the second abutting block and the first abutting block to abut and disengage synchronously inside the arc-shaped sliding groove, thereby ensuring the consistency of the reciprocal rotation of the second abutting block, and being able to ensure the stability of the device during movement and ice removal, avoiding the device from shaking or shifting due to vibration or external interference. Brief Description of the Drawings

[0030] Figure 1 It is a schematic diagram of the overall structure of an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0031] Figure 2 It is a schematic diagram of the partial structure of the drive assembly in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0032] Figure 3 It is a schematic diagram of the structure of the workbench and the elastic telescopic rod in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0033] Figure 4 It is a schematic diagram of the structure of the first sliding plate and the hinge block in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0034] Figure 5 It is a schematic diagram of the partial structure of the rotating assembly in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0035] Figure 6 It is a schematic diagram of the structure of the arc-shaped plate and the magnetic attraction block in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0036] Figure 7 It is a schematic diagram of the structure of the arc-shaped sliding plate and the first abutting block in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the magnetic attraction block and the circular groove in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0038] Figure 9 It is a schematic diagram of the partial structure of the cleaning assembly in an intelligent adaptive distribution network cable ice removal robot proposed by the present invention;

[0039] Figure 10Schematic diagram of the rotating rod and the second slide plate in an intelligent adaptive power distribution cable de-icing robot proposed by the present invention;

[0040] Figure 11 Schematic diagram of the torsion spring and the rubber block in an intelligent adaptive power distribution cable de-icing robot proposed by the present invention;

[0041] Figure 12 Schematic diagram of the scraping plate and the cutting head in an intelligent adaptive power distribution cable de-icing robot proposed by the present invention;

[0042] Figure 13 Flowchart of the steps of an intelligent adaptive power distribution cable de-icing method proposed by the present invention.

[0043] In the figure: 101, workbench; 200, driving mechanism; 201, suspension ring; 202, driving component; 2031, connecting plate; 2032, driving box; 2033, driving fan; 2034, fixing plate; 2035, first slide plate; 2036, bracket; 2037, hinge block; 2038, elastic telescopic rod; 300, cleaning mechanism; 301, arc plate; 302, connecting rod; 303, rotating component; 3041, arc-shaped chute; 3042, arc-shaped slide plate; 3043, magnetic attraction groove; 3044, magnetic attraction block; 3045, special-shaped groove; 3046, round groove; 3047, first abutting block; 305, second abutting block; 306, cleaning component; 3071, rotating rod; 3072, torsion spring; 3073, second slide plate; 3074, rubber block; 3075, scraping plate; 3076, scraping groove; 3077, cutting head. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] Embodiment:

[0046] Referring to the attached Figures 1 to 13 As shown, an intelligent adaptive power distribution cable de-icing robot and its de-icing method include a workbench 101,

[0047] a driving mechanism 200, including suspension rings 201 symmetrically connected to the four corners of the workbench 101, and a driving component 202 arranged on the workbench 101;

[0048] The cleaning mechanism 300 includes three groups of arc-shaped plates 301 arranged in a linear array under the workbench 101, connecting rods 302 connected to the outer walls of the arc-shaped plates 301, a rotating assembly 303 arranged under the workbench 101, a second abutting block 305 arranged inside the rotating assembly 303, and a cleaning assembly 306 arranged inside the arc-shaped plates 301.

[0049] Furthermore, the driving assembly 202 includes a connecting plate 2031 fixedly connected to the upper surface of the workbench 101. A driving box 2032 is fixedly connected to the upper surface of the connecting plate 2031. A driving fan 2033 is rotatably connected inside the driving box 2032. There is an electrical connection relationship between the driving fan 2033 and an external control device. Six fixing plates 2034 are symmetrically and fixedly connected to the lower surface of the workbench 101. Slide plates 2035 are slidably connected to the outer walls of the fixing plates 2034. An identification device is installed inside the workbench 101. There is an electrical connection relationship between the slide plates 2035 and the identification device installed inside the workbench 101. Brackets 2036 are fixedly connected to the inside of the slide plates 2035. Six hinge blocks 2037 are symmetrically and fixedly connected to the lower surface of the workbench 101. The number of the fixing plates 2034, the fixing plates 2034 and the hinge blocks 2037 corresponds one by one. An elastic telescopic rod 2038 is rotatably connected inside the hinge blocks 2037. The arc-shaped plates 301 are rotatably connected to the bottom ends of the elastic telescopic rods 2038.

[0050] Furthermore, the rotating assembly 303 includes an arc-shaped sliding groove 3041 opened inside the arc-shaped plate 301. An arc-shaped sliding plate 3042 is slidably connected inside the arc-shaped sliding groove 3041. Magnetic attraction grooves 3043 and magnetic attraction blocks 3044 are symmetrically opened inside the arc-shaped sliding plate 3042. The magnetic attraction grooves 3043 and the magnetic attraction blocks 3044 are magnetically attracted to each other. A number of special-shaped grooves 3045 are arranged in a circular array inside the arc-shaped sliding plate 3042. The size of the second abutting block 305 is adapted to the size of the special-shaped grooves 3045. The second abutting block 305 rotates inside the special-shaped grooves 3045. The special-shaped grooves 3045 are formed by symmetrically connecting two isosceles trapezoids and present a shape that is wider at the top and bottom and narrower in the middle. Circular grooves 3046 are symmetrically opened inside the special-shaped grooves 3045. A number of first abutting blocks 3047 are fixedly connected to the inner wall of the arc-shaped sliding groove 3041 in a circular array. The second abutting block 305 meshes with the first abutting blocks 3047.

[0051] It should be noted that: there is an electrical connection relationship between the arc-shaped sliding plate 3042 and the identification device arranged inside the workbench 101. When the identification device recognizes that the two arc-shaped plates 301 are closed, it controls the arc-shaped sliding plate 3042 to slide inside the arc-shaped sliding groove 3041.

[0052] Further, the cleaning component 306 includes a rotating rod 3071 symmetrically and fixedly connected to the outer wall of the second abutting block 305. A torsion spring 3072 is sleeved on the outer wall of the rotating rod 3071. Two ends of the torsion spring 3072 are respectively fixedly connected to the second abutting block 305 and the circular groove 3046. A second sliding plate 3073 is slidably connected inside the second abutting block 305. Rubber blocks 3074 are symmetrically and fixedly connected to the outer wall of the second sliding plate 3073. One end of the rubber block 3074 away from the second sliding plate 3073 is fixedly connected to the inner wall of the second abutting block 305. One end of the second sliding plate 3073 away from the second abutting block 305 is fixedly connected to a scraping plate 3075. Scraping grooves 3076 are symmetrically formed at one end of the scraping plate 3075 away from the second abutting block 305. Cutting heads 3077 are symmetrically and fixedly connected to the outer wall of the scraping plate 3075.

[0053] It should be noted that: a scraping block is provided at one end of the scraping plate 3075 away from the second sliding plate 3073. The scraping block is composed of an isosceles trapezoid and an isosceles triangle. The rubber block 3074 is made of rubber material that is prone to deformation. Through the rubber material, the scraping groove 3076 can always be in contact with the ice and snow on the cable.

[0054] An intelligent adaptive power distribution cable de-icing method includes the following steps:

[0055] Step 1: Control the drone to be clamped with the hanging ring 201 on the robot, hoist the robot above the cable line, and move the robot above the cable line through the drone to ensure that the cable is located between the two arc-shaped plates 301.

[0056] Step 2: Identify the position of the cable through the identification device inside the workbench 101. The identification device controls the first sliding plate 2035 to slide on the fixed plate 2034, so that the two arc-shaped plates 301 converge and close around the cable.

[0057] Step 3: Drive the second sliding plate 3073 and the scraping plate 3075 to move through the rubber block 3074. The scraping plate 3075 contacts the ice on the outside of the cable and automatically adjusts the pressure according to the ice layer thickness.

[0058] Step 4: Reciprocally cut the ice through the scraping plate 3075 and the cutting heads 3077 to cut the ice into small pieces. The scraping grooves 3076 scrape the cut small ice pieces to ensure that the surface of the cable is ice-free.

[0059] Step 5: After the identification device detects that the surface of the cable is ice-free, stop the rotation and cutting operations of the cleaning mechanism 300, and control the drone to evacuate the robot from the cable line to complete the de-icing operation.

[0060] Step 6: After the de-icing operation is completed, check the cleaning component 306, the driving mechanism 200 and the identification device of the robot to ensure that the equipment is not damaged.

[0061] The working process and principle of the above embodiments are as follows:

[0062] The initial state is as follows: The elastic telescopic rod 2038 is in an unextended state, the torsion spring 3072 is in a relaxed state, and the rubber block 3074 is in a state without deformation.

[0063] The working steps are as follows:

[0064] The operator controls the drone to be clamped with the hanging ring 201, and makes the device move above the cable under the hoisting of the drone. Subsequently, the cable is placed between the two arc-shaped plates 301 by the drone. At this time, the identification device installed inside the workbench 101 controls the slide plate one 2035 to move away from the hinge block 2037 on the fixed plate 2034, so that the slide plate one 2035 drives the bracket 2036 to move synchronously, so that the bracket 2036 drives the arc-shaped plate 301 to move synchronously, so that the elastic telescopic rod 2038 extends and rotates under the drive of the arc-shaped plate 301 until the two arc-shaped plates 301 converge. When the two arc-shaped plates 301 converge, the arc-shaped plate 301 drives the two arc-shaped slide plates 3042 to converge through the arc-shaped chute 3041, so that the magnetic attraction block 3044 enters the inside of the magnetic attraction groove 3043 and magnetically attracts each other.

[0065] During the process of the two arc-shaped slide plates 3042 converging, the arc-shaped slide plates 3042 drive the torsion spring 3072 and the rotating rod 3071 to move synchronously through the special-shaped groove 3045 and the circular groove 3046. Furthermore, the rotating rod 3071 drives the contact block two 305 and the rubber block 3074 to move synchronously, so that the rubber block 3074 drives the slide plate two 3073 to move towards the cable side, so that the slide plate two 3073 drives the scraping plate 3075 and the cutting head 3077 to move synchronously, so that the scraping plate 3075 resists the ice on the outside of the cable, and according to the size of the ice attached to the outer wall of the cable, the slide plate two 3073 compresses the rubber block 3074 correspondingly. When the identification device installed inside the workbench 101 identifies that the two arc-shaped slide plates 3042 have converged, the identification device controls the two arc-shaped slide plates 3042 to rotate inside the arc-shaped chute 3041 under the action of the magnetic attraction between the magnetic attraction groove 3043 and the magnetic attraction block 3044. The arc-shaped slide plate 3042 drives the contact block two 305 to contact and disengage from the contact block one 3047 synchronously inside the arc-shaped chute 3041, which can ensure the consistency of the reciprocating rotation of the contact block two 305, and can ensure the stability of the device during movement and deicing, and avoid the device shaking or shifting due to vibration or external interference.

[0066] During the rotation of the arc-shaped slide plate 3042, the arc-shaped slide plate 3042 drives the torsion spring 3072 and the rotating rod 3071 to rotate synchronously through the special-shaped groove 3045 and the circular groove 3046, so that the rotating rod 3071 drives the second contact block 305 to rotate synchronously. Furthermore, during the rotation, the second contact block 305 will contact the first contact block 3047, causing the second contact block 305 to start rotating inside the special-shaped groove 3045 under the contact action of the first contact block 3047. The second contact block 305 drives the rotating rod 3071 to rotate synchronously inside the circular groove 3046, and then the torsion spring 3072 starts to twist synchronously inside the circular groove 3046. Furthermore, the second contact block 305 drives the second slide plate 3073 to rotate synchronously through the rubber block 3074, and the second slide plate 3073 drives the scraper 3075 and the scraping groove 3076 to rotate synchronously. Furthermore, the scraper 3075 drives the cutting head 3077 to rotate synchronously. When the second contact block 305 moves to no longer contact the first contact block 3047, at this time, the second contact block 305 starts to rotate reciprocally inside the special-shaped groove 3045 under the action of the torsion spring 3072, causing the second contact block 305 to drive the second slide plate 3073 to rotate reciprocally synchronously. The second slide plate 3073 drives the scraping groove 3076 and the cutting head 3077 to rotate reciprocally synchronously through the scraper 3075, so that the cutting head 3077 reciprocally cuts the ice on the cable during rotation, cutting the ice into multiple small pieces of ice. Subsequently, the scraping groove 3076 scrapes the cut ice, avoiding the problem that it is difficult to quickly scrape off ice blocks with too large a volume, and thus improving the ice removal efficiency of the device.

[0067] It should be noted that the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0068] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent adaptive distribution network cable deicing robot, comprising a workbench (101), characterized in that: A driving mechanism (200) comprises hanging rings (201) symmetrically connected to four corners of the workbench (101), and a driving assembly (202) arranged on the workbench (101); The cleaning mechanism (300) comprises three groups of arc-shaped plates (301) arranged in a linear array below the workbench (101), a connecting rod (302) connected to the outer wall of the arc-shaped plates (301), a rotating assembly (303) arranged below the workbench (101), a second abutment block (305) arranged inside the rotating assembly (303), and a cleaning assembly (306) arranged inside the arc-shaped plates (301).

2. The intelligent adaptive distribution network cable deicing robot according to claim 1, characterized in that: The driving assembly (202) comprises a connecting plate (2031) fixedly connected to the upper surface of the workbench (101), the upper surface of the connecting plate (2031) is fixedly connected to a driving box (2032), the interior of the driving box (2032) is rotatably connected to a driving fan (2033), the lower surface of the workbench (101) is symmetrically fixedly connected to six fixing plates (2034), the outer walls of the fixing plates (2034) are slidably connected to a slide plate 1 (2035), the interior of the slide plate 1 (2035) is fixedly connected to a bracket (2036), and the lower surface of the workbench (101) is symmetrically fixedly connected to six hinge blocks (2037), and the interior of the hinge blocks (2037) is rotatably connected to an elastic telescopic rod (2038).

3. The intelligent adaptive distribution network cable deicing robot according to claim 2, characterized in that: An identification device is installed inside the workbench (101), there is an electrical connection between the slide plate 1 (2035) and the identification device installed inside the workbench (101), and there is an electrical connection between the drive fan (2033) and an external control device.

4. The intelligent adaptive distribution network cable deicing robot according to claim 3, characterized in that: The number of the fixing plates (2034), the fixing plates (2034) and the hinge blocks (2037) corresponds one to one.

5. The intelligent adaptive distribution network cable deicing robot according to claim 2, characterized in that: The rotating assembly (303) comprises an arc-shaped slide groove (3041) provided inside the arc-shaped plate (301); an arc-shaped slide plate (3042) is slidably connected inside the arc-shaped slide groove (3041); magnetic suction grooves (3043) and magnetic suction blocks (3044) are symmetrically provided inside the arc-shaped slide plate (3042); a plurality of special-shaped grooves (3045) are arranged in a circular array inside the arc-shaped slide plate (3042); circular grooves (3046) are symmetrically provided inside the special-shaped grooves (3045); and a plurality of abutment blocks (3047) are fixedly connected and arranged in a circular array on the inner wall of the arc-shaped slide groove (3041).

6. The intelligent adaptive distribution network cable deicing robot according to claim 5, characterized in that: The magnetic attraction groove (3043) and the magnetic attraction block (3044) are magnetically attracted to each other, the special-shaped groove (3045) is formed by two isosceles trapezoids connected symmetrically, and is wide at the top and bottom and narrow in the middle. The size of the second abutment block (305) is compatible with the size of the special-shaped groove (3045).

7. The intelligent adaptive distribution network cable deicing robot according to claim 5, characterized in that: The cleaning assembly (306) comprises a rotating rod (3071) symmetrically fixedly connected to the outer wall of the second contact block (305); a torsion spring (3072) is sleeved on the outer wall of the rotating rod (3071); a slide plate (3073) is slidably connected inside the second contact block (305); a rubber block (3074) is symmetrically fixedly connected to the outer wall of the second slide plate (3073); a scraper (3075) is fixedly connected to one end of the second slide plate (3073) away from the second contact block (305); a scraping groove (3076) is symmetrically provided on one end of the scraper (3075) away from the second contact block (305); and a cutting head (3077) is symmetrically fixedly connected to the outer wall of the scraper (3075).

8. The intelligent adaptive distribution network cable deicing robot according to claim 7, characterized in that: The second abutment block (305) rotates inside the special-shaped groove (3045), the second abutment block (305) meshes with the first abutment block (3047), and the arc-shaped plate (301) is rotatably connected to the bottom end of the elastic telescopic rod (2038).

9. The intelligent adaptive distribution network cable deicing robot according to claim 8, characterized in that: The two ends of the torsion spring (3072) are fixedly connected to the second abutment block (305) and the circular groove (3046) respectively, and the end of the rubber block (3074) away from the second slide plate (3073) is fixedly connected to the inner wall of the second abutment block (305).

10. An intelligent adaptive distribution network cable deicing method, comprising the following steps: Step 1: Control the drone to engage with the lifting ring (201) on the robot, lift the robot above the cable line, and use the drone to move the robot above the cable line to ensure that the cable is located between the two arc plates (301). Step 2: The position of the cable is identified by an identification device inside the workbench (101), and the identification device controls the slide plate 1 (2035) to slide on the fixed plate (2034), so that the two arc-shaped plates (301) converge and close around the cable. Step 3: The second slide plate (3073) and the scraper (3075) are driven to move by the rubber block (3074), and the scraper (3075) contacts the ice outside the cable and automatically adjusts the pressure according to the thickness of the ice layer. Step 4: The scraper (3075) and the cutting head (3077) are used to reciprocate and cut the ice into small pieces, and the scraper groove (3076) scrapes off the cut small ice pieces to ensure that there is no ice on the cable surface. Step 5: After the recognition device detects that there is no ice on the cable surface, the rotation and cutting operation of the cleaning mechanism (300) is stopped, and the drone is controlled to evacuate the robot from the cable line to complete the deicing operation. Step 6: After the de-icing operation is completed, the cleaning component (306), the driving mechanism (200) and the identification device of the robot are inspected to ensure that the equipment is not damaged.

Images