Power transmission line active anti-icing snakelike robot

Abstract

The invention relates to the technical field of robots, in particular to a power transmission line active anti-icing snakelike robot which comprises a head module, a tail module and a snakelike framework arranged between the head module and the tail module, pipe wheel assemblies are arranged on the head module and the tail module, one end of the snakelike framework is rotationally connected with the head module, and the other end of the snakelike framework is rotationally connected with the tail module. One end of the pipe wheel assembly is rotationally connected with the head module, and the other end of the pipe wheel assembly is rotationally connected with the tail module; according to the snake-shaped robot, the head module, the tail module and the snake-shaped framework which is arranged between the head module and the tail module and can be bent and wound are arranged, and the snake-shaped robot is driven to slide along the power transmission line through the rolling wheels arranged on the head module and the tail module; the leather bag is arranged on the surface of the trunk of the snake-shaped robot, and the interior of the leather bag is a hollow material storage cavity, so that anti-icing paint can be carried.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an active anti-icing snake-shaped robot for transmission lines. Background Art

[0002] Icing disasters are the primary cause of power grid outages, posing a severe challenge to the safe and stable operation of the power grid. How to promptly remove ice on transmission lines and reduce the threat of rain, snow, and freezing disasters is a major engineering problem faced by the power industry. Therefore, it is urgent to invent an effective anti-icing technology for transmission lines.

[0003] Through preliminary research, it is found that most current de-icing measures for transmission lines are passive de-icing treatments after icing occurs, mainly using DC de-icing or manual de-icing. With the development of technology, de-icing robots that can walk on transmission lines have also emerged. However, these methods are all passive de-icing after icing occurs, and there is a lack of effective active anti-icing prevention means in the market, that is, active defense before the transmission line freezes to prevent ice from covering the surface of the transmission line. Moreover, when the existing de-icing robots walk on the transmission line, the walking path on their surface cannot well hold the transmission line, resulting in insufficient adhesion to the transmission line and insufficient stability during walking. In view of this, we propose an active anti-icing snake-shaped robot for transmission lines that can walk on the transmission line and actively prevent icing. Summary of the Invention

[0004] The main purpose of the present invention is to provide an active anti-icing snake-shaped robot for transmission lines to solve the problem that most current de-icing measures for transmission lines are passive de-icing after icing occurs and there is a lack of effective active anti-icing prevention means in the market.

[0005] To achieve the above object, according to one aspect of the present invention, there is provided an active anti-icing snake-shaped robot for transmission lines, including a head module, a tail module, and a snake-shaped skeleton disposed between the head module and the tail module. An outer ring of the snake-shaped skeleton is fixedly provided with a leather bag portion, and the leather bag portion is provided with a storage cavity for storing anti-icing paint. Both the head module and the tail module are provided with tube wheel assemblies. When the tube wheel assemblies drive the head module and the tail module to move, the snake-shaped skeleton is driven to move along the transmission line. The tube wheel assembly includes rollers disposed on the head module and the tail module, and the rollers are provided with a clamping portion and a limiting portion for clamping the transmission line.

[0006] As a preference of the present invention, the roller further includes a roller wall, and the clamping portions are arranged on both sides of the roller wall. The clamping portions include a clamping assembly, a transmission assembly, and a groove assembly. The clamping assembly includes a plurality of clamping blocks, a plurality of grooves, and a plurality of convex columns. The transmission assembly includes a clamping block, a transmission block, and a plurality of pull rods. The groove assembly includes a vertical groove and a plurality of horizontal grooves. The vertical groove and the horizontal grooves are both arranged inside the roller wall. The clamping block is fixedly connected to the transmission block, and the whole formed by the clamping block and the transmission block is rotatably arranged in the vertical groove through a rotating pin shaft. The clamping blocks are slidably arranged in the horizontal grooves. One end of each pull rod is fixedly connected to a clamping block, and the other end is fixedly connected to the transmission block. The grooves are all arranged on the surface of the clamping block in contact with the power transmission line, and the convex columns are all located in the grooves.

[0007] As a preference of the present invention, the limiting portion includes a limiting block and two connecting ear groups. The connecting ear groups are respectively located on both sides of the limiting block. The connecting ear group includes a connecting ear, a plurality of springs, and an ear groove. The connecting ear is located in the ear groove. The springs are arranged on the upper and lower sides of the connecting ear. One end of each spring is fixedly connected to the connecting ear, and the other end is fixedly connected to the roller wall. Both ends of the limiting block are fixedly connected to the connecting ears.

[0008] As a preference of the present invention, the head module further includes a snake head. A micro wide-angle camera is fixedly arranged on the snake head. There is a groove on the snake head, and the pipe wheel assembly is arranged in the groove.

[0009] As a preference of the present invention, the tail module further includes a snake tail. A 4G / 5G communication module is fixedly installed on the snake tail. There is a groove on the snake tail, and the pipe wheel assembly is arranged in the groove.

[0010] As a preference of the present invention, the snake-shaped skeleton is composed of a plurality of joint modules. Adjacent two joint modules are all hinged. Protective shells are fixedly arranged on the outer circles of the joint modules. The joint module includes a disc, a first connection group, and a second connection group. The second connection group includes a second connection block and a second rotating shaft. The first connection group includes a rotating group and a combining group. The rotating group includes a connecting rod, a U-shaped frame, a connecting column, and a pin. The combining group includes a first connection block, a plurality of connection grooves, and a first rotating shaft. One end of the second connection block is rotatably provided with a second rotating shaft, and the other end is rotatably provided with a disc. A connecting column is arranged on the other side of the disc, and the connecting column is arranged in the U-shaped frame. One end of the connecting rod is fixedly connected to the connecting column, and the other end is fixedly connected to the U-shaped frame. The first connection block is fixedly arranged at the end of the U-shaped frame. The first rotating shaft is rotatably arranged on the first connection block, and the connection grooves are all arranged at the top of the first connection block.

[0011] As a preference of the present invention, the leather bag portion further includes a plug block group and a leather bag group. The plug block group includes a front plug block and a rear plug block. The leather bag group includes an outer leather bag and an inner leather bag.

[0012] Preferably, in the present invention, the front plug is located on one side of the head module, and is fixedly connected to both the front ends of the outer skin and the inner skin. The rear plug is located on one side of the tail module, and is fixedly connected to both the rear ends of the outer skin and the inner skin. The outer skin, the inner skin, the front plug, and the rear plug enclose a storage cavity.

[0013] Preferably, in the present invention, the pipe wheel assembly further includes a bearing and a connecting shaft. The connecting shaft passes through the bearing and is fixedly connected to the snake head or the snake tail.

[0014] Preferably, in the present invention, the bearing includes an outer ring, an inner ring, a plurality of rolling balls, and a plurality of tooth grooves. The rolling balls are all rotatably arranged between the outer ring and the inner ring. The tooth grooves are all arranged on the inner surface of the inner ring. The outer ring is fixedly connected to the roller, and the inner ring is fixedly connected to the connecting shaft. The connecting shaft includes a shaft body and a plurality of convex teeth. The convex teeth are all fixedly arranged on the outer circle of the shaft body, and the convex teeth are located in the tooth grooves.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The active anti-icing snake-shaped robot for transmission lines of the present invention is provided with a head module, a tail module, and a bendable and winding snake-shaped skeleton arranged between the head module and the tail module. The snake-shaped robot is driven to slide along the transmission line through the rollers arranged on the head module and the tail module. A skin is provided on the surface of the torso of the snake-shaped robot, and the inside of the skin is a hollow storage cavity, which can carry anti-icing paint. The present invention also sets a clamping part and a limiting part on the roller, which can prompt the roller to better clamp the transmission line and increase the elastic fitting force with the transmission line, so that the snake-shaped robot can elastically wind and contact the surface of the cable, and further can realize the more stable walking of the snake-shaped robot on the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is an overall schematic diagram of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 2 is a schematic diagram of the initial form of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 3 is an internal structure schematic diagram of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 4 is a schematic diagram of the head winding of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 5 is a schematic diagram of the tail winding of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 6 is a schematic diagram of the curled state of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 7Schematic structural diagram of the joint module of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 8 Overall schematic diagram of the pipe wheel assembly of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 9 Schematic structural diagram of the rotating part of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 10 Cross-sectional view of the pipe wheel assembly of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 11 Schematic structural diagram of the clamping part of the active anti-icing snake-shaped robot for transmission lines of the present invention; Figure 12 Schematic structural diagram of the clamping block of the active anti-icing snake-shaped robot for transmission lines of the present invention.

[0017] Illustration description: 1. Snake head; 2. Snake tail; 3. Front plug block; 4. Rear plug block; 5. Outer skin bag; 6. Inner skin bag; 7. Material storage cavity; 8. Snake-shaped skeleton; 9. Roller; 10. Bearing; 11. Connecting shaft; 13. Protective shell; 14. Joint module; 91. Roller wall; 93. Clamping part; 94. Limiting part; 941. Limiting block; 942. Connecting ear; 943. Spring; 944. Ear groove; 931. Clamping block; 932. Driving block; 933. Rotating pin shaft; 934. Vertical groove; 935. Pull rod; 936. Horizontal groove; 937. Clamping block; 938. Groove; 939. Convex column; 101. Outer ring; 102. Inner ring; 103. Ball; 104. Tooth groove; 111. Shaft body; 112. Convex tooth; 141. Disc; 142. U-shaped frame; 143. First connecting block; 144. Connecting column; 145. Pin; 146. Connecting groove; 147. Second connecting block; 148. Second rotating shaft; 149. First rotating shaft; 140. Connecting rod. Detailed implementation manners

[0018] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and their effects of the present invention as follows.

[0019] Please refer to Figures 1 to 12 , this embodiment provides an active anti-icing snake-shaped robot for transmission lines, including a head module, a tail module, and a snake-shaped skeleton 8 disposed between the head module and the tail module. An outer skin part is fixedly arranged on the outer circle of the snake-shaped skeleton 8, and a material storage cavity 7 is arranged in the outer skin part for storing anti-icing coating; The head module and the tail module are both provided with pipe wheel assemblies. When the pipe wheel assemblies drive the head module and the tail module to move, the snake-shaped framework 8 is driven to move along the transmission line. The pipe wheel assembly includes rollers 9 provided on the head module and the tail module. The rollers 9 are provided with a clamping portion 93 and a limiting portion 94 for clamping the transmission line.

[0020] The head module further includes a snake head 1. A micro wide-angle camera is fixedly provided on the snake head 1 for observing the condition of the transmission line, so as to determine the walking route and walking speed of the snake-shaped robot. A groove is provided on the snake head 1, and the pipe wheel assembly is provided in the groove.

[0021] The tail module further includes a snake tail 2. A 4G / 5G communication module is fixedly installed on the snake tail 2, and the snake-shaped robot can be remotely controlled through the 4G / 5G communication module. A groove is provided on the snake tail 2, and the pipe wheel assembly is provided in the groove.

[0022] The snake-shaped framework 8 is composed of a plurality of joint modules 14. Adjacent two joint modules 14 are hinged. Protective shells 13 are fixedly provided on the outer circles of the joint modules 14 to protect the joint modules 14 from being damaged; The joint module 14 includes a disc 141, a first connection group and a second connection group. The second connection group includes a second connection block 147 and a second rotating shaft 148. The first connection group includes a rotating group and a combining group. The rotating group includes a connecting rod 140, a U-shaped frame 142, a connecting column 144 and a pin 145. The combining group includes a first connection block 143, a plurality of connecting grooves 146 and a first rotating shaft 149. One end of the second connection block 147 is rotatably provided with the second rotating shaft 148, and the other end is rotatably provided with the disc 141. A connecting column 144 is provided on the other side of the disc 141. The connecting column 144 is arranged in the U-shaped frame 142. The pin 145 penetrates through the U-shaped frame 142, the connecting column 144 and the hinge seats provided at both ends of the connecting column 144 at the same time. One end of the connecting rod 140 is fixedly connected to the connecting column 144, and the other end is fixedly connected to the U-shaped frame 142 to strengthen the firmness of the connection between the connecting column 144 and the U-shaped frame 142 and prevent deformation; The first connection block 143 and the connecting column 144 can rotate left and right around the pin 145 at the same time; The first connection block 143 is fixedly provided at the end of the U-shaped frame 142. The first rotating shaft 149 is rotatably provided at the end of the first connection block 143. The connecting grooves 146 are all provided at the top of the first connection block 143. The joint module further includes a battery, a control board, a motor and a transmission member. The battery, the control board, the motor and the transmission member are all fixedly provided on the U-shaped frame 142 or other suitable positions without limitation. The control board is used to control the motors on each joint. The battery provides electric energy for the motors. The motors drive the transmission members to move, so that the snake-shaped robot moves forward, backward or laterally on the transmission line.

[0023] A driving member for driving the second connection block 147 to rotate (the rotation direction is as Figure 7a first motor (or disposed at other suitable positions) as shown in the figure), a second motor is fixedly provided inside the second connecting block 147 (or disposed at other suitable positions), a gear is fixedly provided at the end of the output shaft of the second motor, and a ring of teeth is fixedly provided on the outer circumference of the second rotating shaft 148 located inside the second connecting block 147. The teeth are engaged with the gear. When the second motor is started, the second rotating shaft 148 is driven to rotate through the teeth (the rotation direction is as Figure 7 shown in the figure).

[0024] The first rotating shaft 149 and the second rotating shaft 148 of two adjacent joint modules 14 are fixedly connected. The snake head 1 is rotatably connected to the joint module 14 located at the head, and the snake tail 2 is rotatably connected to the joint module 14 located at the tail, and then a complete snake-shaped robot can be connected. In the initial state, the snake-shaped robot is linearly located on the transmission line. A plurality of joint modules 14 from the head to the tail are sequentially named the first joint, the second joint... the Nth joint; The first motor of the first joint drives the corresponding second connecting block 147 to rotate, so that the first connecting block 143 of the second joint is perpendicular to the second connecting block 147 of the first joint. The second motor of the first joint drives the corresponding second rotating shaft 148 to rotate, so that the second joint forms a certain angle with the first joint. At this time, the snake body deviates from the transmission line. The first motor of the second joint drives the corresponding second connecting block 147 to rotate, so that the first connecting block 143 of the third joint is perpendicular to the second connecting block 147 of the second joint. The second motor of the second joint drives the corresponding second rotating shaft 148 to rotate, so that the third joint forms a certain angle with the second joint. At this time, the snake body is downward along the side of the transmission line. The first motor of the third joint drives the corresponding second connecting block 147 to rotate in the reverse direction, so that the first connecting block 143 of the fourth joint is perpendicular to the second connecting block 147 of the third joint. The second motor of the third joint drives the corresponding second rotating shaft 148 to rotate, so that the fourth joint forms a certain angle with the third joint. At this time, the snake body is located below the transmission line. Operate the fourth joint in the opposite direction of the second joint to make the snake body go up along the other side of the transmission line. Operate the fifth joint in the opposite direction of the first joint to make the snake body return above the transmission line again. In this way, the snake body is wound around the transmission line. At the same time, since the adjacent joint axes are arranged in a skew orthogonal manner, the rotation axes of the adjacent joints of the snake-shaped robot are in different directions, so the bending and winding actions in the three-dimensional space can be realized; when the joints with the same axis orientation rotate simultaneously, the snake-shaped robot can realize the bending action in the two-dimensional plane, that is, there are several different motion modes. And each joint is provided with a rotation angle and torque sensor to better control the rotation angle and winding torque. The bladder part further includes a plug block group and a bladder group. The plug block group includes a front plug block 3 and a rear plug block 4, and the bladder group includes an outer bladder 5 and an inner bladder 6.

[0025] The inner leather bag 6 is fixedly arranged on the outer ring of the serpentine skeleton 8, and the outer leather bag 5 is arranged on the outer ring of the inner leather bag 6. Both the outer leather bag 5 and the inner leather bag 6 are elastic by themselves, which can prompt the snake-shaped robot to better adhere to and wind around the line.

[0026] It should be noted that the inner leather bag 6 and the serpentine skeleton 8 are fixed by available methods such as hot melting, strong industrial glue, and buckles.

[0027] The front plug 3 is located on one side of the head module. The front plug 3 is fixedly connected to the front ends of both the outer leather bag 5 and the inner leather bag 6. The rear plug 4 is located on one side of the tail module. The rear plug 4 is fixedly connected to the rear ends of both the outer leather bag 5 and the inner leather bag 6. The outer leather bag 5, the inner leather bag 6, the front plug 3, and the rear plug 4 enclose a storage cavity 7.

[0028] The roller 9 includes a roller wall 91. A motor is arranged inside the roller 9 for driving the roller 9 to rotate. The roller wall 91 is U-shaped. Clamping parts 93 are arranged on both sides of the roller wall 91. The clamping part 93 includes a clamping component, a transmission component, and a groove component. The clamping component includes a plurality of clamping blocks 937, a plurality of grooves 938, and a plurality of convex columns 939. The transmission component includes a clamping block 931, a transmission block 932, and a plurality of pull rods 935. The groove component includes a vertical groove 934 and a plurality of horizontal grooves 936. The vertical groove 934 and the horizontal grooves 936 are both arranged inside the roller wall 91. The clamping block 931 is fixedly connected to the transmission block 932. The whole formed by the clamping block 931 and the transmission block 932 is rotatably arranged in the vertical groove 934 through a rotating pin shaft 933. A torsion spring is arranged outside the rotating pin shaft 933. During the rotation of the rotating pin shaft 933, the torsion spring exerts an elastic force on the clamping block 931 towards the power transmission line, prompting it to automatically reset and fit on the power transmission line when the pressure of the power transmission line on the clamping block 931 decreases. The clamping block 937 slides in the horizontal groove 936. The front end of the clamping block 937 is arc-shaped and fits the surface of the power transmission line, increasing the contact area between the two and improving the clamping effect of the clamping block 937. One end of the pull rod 935 is fixedly connected to the clamping block 937, and the other end is fixedly connected to the transmission block 932. The grooves 938 are arranged on the surface of the clamping block 937 in contact with the power transmission line. The convex columns 939 are all located in the grooves 938. The grooves 938 and the convex columns 939 increase the friction between the clamping block 937 and the power transmission line; during the process of the clamping block 937 fitting on the surface of the power transmission line, it can also scrape the thin ice on the surface of the power transmission line.

[0029] The limiting part 94 includes a limiting block 941 and two connecting ear groups. The connecting ear groups are respectively located on both sides of the limiting block 941. The connecting ear group includes a connecting ear 942, a plurality of springs 943, and an ear groove 944. The connecting ear 942 is located in the ear groove 944. The springs 943 are arranged on the upper and lower sides of the connecting ear 942. One end of the spring 943 is fixedly connected to the connecting ear 942, and the other end is fixedly connected to the roller wall 91. Both ends of the limiting block 941 are fixedly connected to the connecting ear 942. The contact surface between the limiting block 941 and the connecting ear 942 is an inclined surface; When there is a tendency for the power transmission line and the roller to move away from each other, the power transmission line will contact and press the clamping block 931, causing it to rotate outward. The clamping block 931 drives the transmission block 932 to rotate inward, and through the pull rod 935, the clamping block 937 is pushed out of the transverse groove 936, so that the clamping block 937 abuts against the power transmission line. At the same time, part of the clamping block 937 presses the limiting block 941. Since the two side surfaces of the limiting block 941 are inclined surfaces, the pressing of the clamping block 937 will cause the limiting block 941 to move downward, pressing on the power transmission line and making it closely adhere to the inner side of the roller wall 91. Overall, the limiting block 941, the clamping block 937, and the clamping block 931 hold the power transmission line, increasing the friction between the power transmission line and the roller, enabling the roller to walk more stably and avoiding slipping. When there is a tendency for the power transmission line and the roller to approach and contact each other, the pressing force of the power transmission line on the end of the clamping block 931 decreases. Due to the existence of the torsion spring, the torsion spring will push the end of the clamping block 931 to swing towards the power transmission line. The transmission block 932 pulls the clamping block 937 into the transverse groove 936 through the pull rod 935, reducing the friction generated with the power transmission line. Part of the clamping block 937 releases the pressing on the limiting block 941, and the limiting block 941 automatically resets and moves upward under the restoring force of the spring 943, not fitting against the power transmission line, which is beneficial for the high-speed movement of the snake-shaped robot.

[0030] The pipe wheel assembly further includes two bearings 10 and two connecting shafts 11. One end of the two connecting shafts 11 is rotatably arranged on both sides of the roller 9 through the bearings 10, and the other end is fixedly connected to the snake head 1 or the snake tail 2. The bearing 10 includes an outer ring 101, an inner ring 102, a number of rolling balls 103, and a number of tooth grooves 104. The rolling balls 103 are all rotatably arranged between the outer ring 101 and the inner ring 102, and the tooth grooves 104 are all arranged on the inner surface of the inner ring 102. The outer ring 101 is fixedly connected to the roller 9, and the inner ring 102 is fixedly connected to the connecting shaft 11. The connecting shaft 11 includes a shaft body 111 and a number of convex teeth 112. The convex teeth 112 are all fixedly arranged on the outer circle of the shaft body 111, and the convex teeth 112 are located in the tooth grooves 104, increasing the contact surface between the inner ring 102 and the shaft body 111 and preventing relative rotation between the two, which may cause the snake-shaped robot to be unable to walk normally.

[0031] Use two multi-rotor UAVs to suspend the head and tail of the snake-shaped robot. After flying above the transmission line, place the snake-shaped robot horizontally on the transmission line. At this time, the two rollers 9 are placed on the transmission line, and the UAV moves down to press the rollers 9. Since the end cross-section of the clamping block 931 is curved, during the process of pressing down the rollers 9, it can cause the transmission line to contact and squeeze the curved end of the clamping block 931, thereby promoting the clamping block 931 to swing slightly to both sides until the transmission line is squeezed into the area between the clamping blocks 931. The two clamping blocks 931 can then clamp onto the transmission line. At this time, the entire snake-shaped robot hook can be hung on the transmission line. After the multi-rotor UAV flies away, the snake-shaped robot starts to move. The snake-shaped robot is remotely controlled on the ground through the 4G / 5G communication module on the snake tail 2 to make it complete corresponding actions. First, the snake-shaped robot curls up its whole body on the transmission line to achieve stable balance. Then, the snake tail 2 winds around the transmission line as a support, and the snake head 1 extends along the transmission line. Next, the snake head 1 winds around the transmission line as a support, and the snake tail 2 extends along the transmission line. At this time, the snake-shaped robot moves forward once. By repeating this cycle, it can climb on the transmission line, can bypass the spacer dampers on the transmission line, and using the traction force generated by winding, the climbing angle of the snake-shaped robot can reach about 45°. When the snake head 1 of the snake-shaped robot winds around the transmission line as a support, the snake tail 2 can move horizontally and wind around another transmission line as a support. The snake head 1 releases and moves towards the transmission line where the snake tail 2 is located to achieve crossing between different transmission lines. This snake-shaped robot can climb up and down on a single transmission line, can also cross different transmission lines, can use multiple snake-shaped robots to work in parallel, or one snake-shaped robot can climb across the transmission line for operation; start the motor at the rollers 9 to drive the rollers 9 to roll, so that the snake-shaped robot slides rapidly along the transmission line, with adjustable speed, and can move forward or backward to quickly maneuver, inspect, or defrost the transmission line. The shape of the snake-shaped robot can be: the length of the snake-shaped robot can be made about 1 m, the diameter is 50 mm, there are 12 - 15 segments, the self-weight is 10 kg, the crawling speed is 0.5 m / s, the load is 2 - 3 kg, and the diameter of the snake-shaped robot after being filled with liquid is 120 mm. It can carry about 1 - 2 kg of paint, and whether the paint is injected or not does not affect the climbing movement on the line. Of course, according to the actual situation, the shape of the snake-shaped robot can be adjusted appropriately. The above is only a preferred embodiment of the present invention, and it is not a limitation to the present invention in any form. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make some changes or modifications to the above-disclosed technical content to obtain equivalent embodiments with equivalent changes. However, as long as it does not depart from the content of the technical solution of the present invention, any brief modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An active anti-icing snake-shaped robot for transmission lines, comprising a head module, a tail module, and a snake-shaped skeleton (8) disposed between the head module and the tail module, characterized in that: The outer ring of the serpentine frame (8) is fixedly provided with a leather bag part, and the leather bag part is provided with a material storage cavity (7) for storing anti-icing paint. Pipe wheel assemblies are provided on both the head module and the tail module. When the pipe wheel assemblies drive the head module and the tail module to move, the serpentine frame (8) is driven to move along the transmission line. The pipe wheel assembly includes rollers (9) provided on the head module and the tail module. The rollers (9) are provided with a clamping part (93) and a limiting part (94) for clamping the transmission line.

2. The active anti-icing snake-shaped robot for transmission lines according to claim 1, characterized in that The roller (9) further includes a roller wall (91). The clamping part (93) is provided on both sides of the roller wall (91). The clamping part (93) includes a clamping component, a transmission component, and a groove component. The clamping component includes a number of clamping blocks (937), a number of grooves (938), and a number of convex columns (939). The transmission component includes a clamping block (931), a transmission block (932), and a number of pull rods (935). The groove component includes a vertical groove (934) and a number of horizontal grooves (936).

3. The active anti-icing snake-shaped robot for transmission lines according to claim 2, characterized in that, The vertical groove (934) and the horizontal grooves (936) are both provided inside the roller wall (91). The clamping block (931) is fixedly connected to the transmission block (932). The whole formed by the clamping block (931) and the transmission block (932) is rotatably arranged in the vertical groove (934) through a rotating pin shaft (933). The clamping blocks (937) are slidably arranged in the horizontal grooves (936). One end of the pull rod (935) is fixedly connected to the clamping block (937), and the other end is fixedly connected to the transmission block (932). The grooves (938) are all provided on the surface of the clamping block (937) in contact with the transmission line, and the convex columns (939) are all located in the grooves (938).

4. The active anti-icing snake-shaped robot for transmission lines according to claim 3, characterized in that, The limiting part (94) includes a limiting block (941) and two connecting ear groups. The connecting ear groups are respectively located on both sides of the limiting block (941). The connecting ear group includes a connecting ear (942), a number of springs (943), and an ear groove (944). The connecting ear (942) is located in the ear groove (944). The springs (943) are provided on the upper and lower sides of the connecting ear (942). One end of the spring (943) is fixedly connected to the connecting ear (942), and the other end is fixedly connected to the roller wall (91). Both ends of the limiting block (941) are fixedly connected to the connecting ear (942).

5. The active anti-icing snake-shaped robot for transmission lines according to claim 1, characterized in that, The head module further includes a snake head (1). A micro wide-angle camera is fixedly provided on the snake head (1). A groove is provided on the snake head (1), and the pipe wheel assembly is arranged in the groove. The tail module further includes a snake tail (2). A 4G / 5G communication module is fixedly installed on the snake tail (2). A groove is provided on the snake tail (2), and the pipe wheel assembly is arranged in the groove.

6. The active anti-icing snake-shaped robot for transmission lines according to claim 1, characterized in that, The serpentine skeleton (8) is composed of a number of joint modules (14), and two adjacent joint modules (14) are hinged; the joint module (14) includes a disc (141), a first connection group and a second connection group; the first connection group includes a rotation group and a combination group, the rotation group includes a connecting rod (140), a U-shaped frame (142), a connecting column (144) and a pin (145), the combination group includes a first connection block (143), a number of connecting grooves (146) and a first rotating shaft (149), one end of the connecting rod (140) is fixedly connected to the connecting column (144), and the other end is fixedly connected to the U-shaped frame (142); the first connection block (143) is fixedly arranged at the end of the U-shaped frame (142), the first rotating shaft (149) is rotatably arranged on the first connection block (143), and the connecting grooves (146) are all arranged at the top of the first connection block (143); the second connection group includes a second connection block (147) and a second rotating shaft (148), one end of the second connection block (147) is rotatably provided with the second rotating shaft (148), and the other end is rotatably provided with the disc (141).

7. The active anti-icing snake-shaped robot for transmission lines according to claim 1, wherein The bladder part further includes a plug block group and a bladder group, the plug block group includes a front plug block (3) and a rear plug block (4), and the bladder group includes an outer bladder (5) and an inner bladder (6).

8. The active anti-icing snake-shaped robot for transmission lines according to claim 7, characterized in that, The front plug block (3) is located on one side of the head module, the front plug block (3) is fixedly connected to both the front ends of the outer bladder (5) and the inner bladder (6), the rear plug block (4) is located on one side of the tail module, the rear plug block (4) is fixedly connected to both the rear ends of the outer bladder (5) and the inner bladder (6), and the outer bladder (5), the inner bladder (6), the front plug block (3) and the rear plug block (4) enclose a storage cavity (7).

9. The active anti-icing snake-shaped robot for transmission lines according to claim 1, wherein The pipe wheel assembly further includes a bearing (10) and a connecting shaft (11), the connecting shaft (11) passes through the bearing (10) and is fixedly connected to the snake head (1) or the snake tail (2).

10. The active anti-icing serpentine robot for transmission lines according to claim 9, characterized in that, The bearing (10) includes an outer ring (101), an inner ring (102), a number of rolling balls (103) and a number of tooth grooves (104), the rolling balls (103) are all rotatably arranged between the outer ring (101) and the inner ring (102), the tooth grooves (104) are all arranged on the inner surface of the inner ring (102), the outer ring (101) is fixedly connected to the roller (9), the inner ring (102) is fixedly connected to the connecting shaft (11), the connecting shaft (11) includes a shaft body (111) and a number of convex teeth (112), the convex teeth (112) are all fixedly arranged on the outer circle of the shaft body (111), and the convex teeth (112) are located in the tooth grooves (104).

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