Unmanned aerial vehicle carrying type ice stripping robot

Abstract

The invention relates to an unmanned aerial vehicle carrying type ice stripping robot which comprises a plate hook, the plate hook is provided with a mounting plate, the mounting plate is provided with a hanging ring, the mounting plate is provided with a camera, the mounting plate is provided with a fixed pulley, the mounting plate is provided with a first electric telescopic rod, the first electric telescopic rod is fixedly provided with a connecting plate, the connecting plate is fixedly provided with a C-shaped clamp, and the C-shaped clamp is rotationally provided with a movable pulley. The deicing cover is provided with a slag leakage through groove; an extension plate is fixed on the mounting plate, the extension plate is provided with a sliding rail, the deicing cover is provided with a sliding block, a servo motor is mounted on the mounting plate, the servo motor is fixedly connected with a transmission rod and a transmission gear, the transmission gear is in transmission connection with a Y-shaped rod, and the Y-shaped rod is hinged to the deicing cover. By arranging a rubber hammer, a deicing cover, a fixed pulley, a movable pulley, an ice melting cover and a multi-stage deicing structure, the ice stripping robot can thoroughly remove an ice layer on an electric wire, and the deicing effect on the electric wire is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of ice removal for electric circuits, and particularly relates to an ice stripping robot carried by a drone. Background Art

[0002] With the continuous expansion of the global power grid, the coverage of transmission lines extends to more extensive regions; however, this development also poses severe challenges to the maintenance of the stability of the power system under extreme climate conditions; especially in cold seasons, transmission lines in specific environments such as high-altitude mountainous areas, humid southern regions, areas near large water bodies, and cold northern regions are extremely prone to serious icing problems.

[0003] Icing is extremely harmful to transmission lines; on the one hand, it significantly increases the load on the conductors, causing the distance between the conductors and surrounding objects (such as trees, buildings, etc.) to shrink, greatly increasing the risk of contact discharge, and thus triggering ground short-circuit faults; on the other hand, icing may cause the tension of the conductors to become unbalanced, and under the action of gravity, the conductors may even break, ultimately leading to power outages; therefore, it is urgent to de-ice the iced conductors in a timely manner.

[0004] Currently, common de-icing methods mainly include thermal de-icing methods, mechanical de-icing methods, and natural passive de-icing methods; among them, mechanical de-icing methods include manual knocking methods, mechanical scraping methods, and drone de-icing, etc. However, these mechanical de-icing methods can only remove relatively large ice blocks and floating snow on the outer side of the conductors, but it is difficult to completely remove the stubborn ice layers attached to the surface of the conductors, which results in unsatisfactory de-icing effects, and there will still be ice layers remaining on the surface of the conductors. For this reason, we propose an ice stripping robot carried by a drone to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is: to provide an ice stripping robot carried by a drone to solve the problems existing in the background art.

[0006] To achieve the above technical purpose, the technical solution adopted by the present invention is as follows: An ice stripping robot carried by a drone, comprising a mounting assembly, a clamping assembly, and an ice removal assembly; The mounting assembly includes two plate hooks, symmetrically arranged mounting plates are provided on the upper sides of the two plate hooks, four lifting rings are jointly provided on the upper parts of the two mounting plates, and a camera is installed on the upper part of the mounting plate; The clamping assembly includes two fixed pulleys and two movable pulleys. The two fixed pulleys are arranged at the upper end of any one of the mounting plates. A first electric telescopic rod is installed at the upper end of the other mounting plate. A connecting plate is fixed to the end of the rod body of the first electric telescopic rod. C-shaped clips are fixed to both ends of the connecting plate. The two movable pulleys are respectively rotatably arranged inside the two C-shaped clips. A driving motor is drivingly connected to any one of the fixed pulleys; The de-icing assembly includes a de-icing cover. The de-icing cover is arranged in a semi-hollow frustum shape. The inner wall surface of the de-icing cover faces downward. A number of scraping blades are evenly arranged on the inner wall of the de-icing cover. A number of slag leakage through grooves are formed on the surface of the de-icing cover. Extension plates are fixed to one ends of the two mounting plates facing the de-icing cover. Slide rails inclined from the small opening to the large opening of the de-icing cover are arranged on the upper parts of the two extension plates. The de-icing cover is provided with sliders matching the slide rails. A servo motor is installed on the upper part of the mounting plate. The output shaft of the servo motor is fixedly connected with a transmission rod and a transmission gear in sequence. The transmission gear is drivingly connected with a Y-shaped rod. The two branches of the Y-shaped rod are respectively hinged to both sides of the de-icing cover.

[0007] Further defined, the de-icing assembly further includes a first motor. The first motor is installed at the lower end of any one of the extension plates. The output end of the first motor is fixedly connected with a first rotating rod. A hinge rod is rotatably arranged at the end of the first rotating rod. A rubber hammer is hinged to the end of the hinge rod.

[0008] Further defined, the de-icing assembly further includes a de-icing melting cover. The de-icing melting cover is arranged between the two plate hooks. A cavity is formed inside the de-icing melting cover. A number of heat conducting rods are arranged inside the cavity. A storage battery and a controller are installed at the upper end of any one of the mounting plates. The storage battery and the controller are electrically connected with each other by signals. The storage battery is electrically connected with each of the heat conducting rods.

[0009] Further defined, a transmission assembly is arranged at the lower end of the mounting plate. The transmission assembly includes two second rotating rods. A mounting box is fixedly installed at the lower end of any one of the mounting plates. The driving motor is installed at the lower end of the mounting box. The two second rotating rods are respectively rotatably arranged inside the mounting box. One end of any one of the second rotating rods passing through the lower side of the mounting box is fixedly connected with the output shaft of the driving motor. Driving gears and belt pulleys are arranged on the outer sides of the two second rotating rods. A transmission belt is wound between the two belt pulleys. One end of the wheel shafts of the two fixed pulleys penetrating into the mounting box is fixedly provided with a driven gear meshing with the driving gear.

[0010] Further defined, a placement box is fixedly arranged at the lower ends of the two plate hooks together. A switch assembly is arranged between the upper bent ends of the two plate hooks and the placement box. The switch assembly includes a second electric telescopic rod, which is fixedly installed at the right end of any one of the plate hooks. A switch plate matching the two plate hooks is hinged to the upper end of the placement box. A linkage rod is arranged between the two switch plates. A straight slot is formed on the surface of the switch plate. The rod body of the second electric telescopic rod passes through one end of the plate hook and extends into the straight slot. Two clamping blocks are fixed on the outer side of the rod body of the second electric telescopic rod, and the two clamping blocks are respectively located on the left and right sides of the switch plate.

[0011] Further defined, the clamping assembly further includes two limiting slots formed in the mounting plate. The two limiting slots correspond to the two movable pulleys. The wheel shafts of the two movable pulleys pass through one end of the limiting slots and are fixed with limiting blocks.

[0012] Further defined, a cover plate is installed at the upper ends of the two mounting plates. Four hanging rings are respectively arranged at the four corners of the upper end of the cover plate. A protective cover is installed in the middle of the upper end of the cover plate. The camera is installed inside the protective cover.

[0013] Further defined, a groove-shaped plate is fixed on the cover plate, and a sponge pad is arranged on the inner wall of the groove-shaped plate.

[0014] The beneficial effects of the present invention are as follows: 1. By rotating the rubber hammer to break the ice column at the lower end of the wire and shake off the snow at the upper end, using the scraping blade of the de-icing cover to remove the thicker ice layer, relying on the cooperation of the fixed pulley and the movable pulley to squeeze and crush the thinner ice layer, and then depending on the ice melting cover to transfer the heat of the heat conduction rod to the surface of the wire to melt the ice slag, this integrated multi-stage de-icing solution can fully meet the de-icing requirements of various icing scenarios on the wire and significantly enhance the de-icing effect.

[0015] 2. By setting the first electric telescopic rod and the transmission motor, the ice peeling robot can achieve multiple functions; when the first electric telescopic rod is started, it can drive the movable pulley to approach the fixed pulley to clamp the wire, laying a solid foundation for the stable operation of the ice peeling robot; after the transmission motor is started, it can drive the fixed pulley to rotate. During the rotation of the fixed pulley, it cooperates with the movable pulley to squeeze and crush the thin ice layer on the wire; in addition, when the transmission motor continues to operate, it can make the fixed pulley and the movable pulley cooperate with each other to push the ice peeling robot to move along the wire direction.

[0016] 3. By setting the small opening of the de-icing cover facing the mounting plate, the large opening of the de-icing cover will come into contact with the ice layer on the wire first, allowing the large opening of the de-icing cover to accommodate larger pieces of ice and enter the inner wall of the de-icing cover for cleaning; the slide rail is set to be inclined, so that under the drive of the servo motor, the de-icing cover will also move reciprocally in an inclined manner, enabling the inclined scraping blades to more easily insert into the ice layer, thereby realizing the scraping of the ice layer.

[0017] 4. By ingeniously combining the fixed pulley, movable pulley and drive motor, the ice stripping robot obtains two practical functions; on the one hand, the stable structure constructed by the fixed pulley and movable pulley can firmly clamp the wire, enabling the ice stripping robot to be stably mounted on the wire; on the other hand, the drive motor provides power for the pulley block, driving the ice stripping robot to move flexibly back and forth along the wire, greatly expanding the operation range.

[0018] 5. The sponge pad absorbs the melted water on the surface of the wire, slowing down the time of subsequent ice accretion on the wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention can be further illustrated by the non-limiting embodiments given in the drawings.

[0020] Figure 1 is a schematic structural diagram of an unmanned aerial vehicle (UAV)-carried ice stripping robot of the present invention Figure 1 ; Figure 2 is a partial cross-sectional structural schematic diagram of an unmanned aerial vehicle (UAV)-carried ice stripping robot of the present invention Figure 1 ; Figure 3 is Figure 2 the enlarged structural schematic diagram at A in Figure 4 is a partial cross-sectional structural schematic diagram of an unmanned aerial vehicle (UAV)-carried ice stripping robot of the present invention Figure 2 ; Figure 5 is Figure 4 the enlarged structural schematic diagram at B in Figure 6 is a partial cross-sectional structural schematic diagram of an unmanned aerial vehicle (UAV)-carried ice stripping robot of the present invention Figure 3 ; Figure 7 is Figure 6 the enlarged structural schematic diagram at C in Figure 8 is a partial cross-sectional structural schematic diagram of an unmanned aerial vehicle (UAV)-carried ice stripping robot of the present invention Figure 4 ; Figure 9 is Figure 8 the enlarged structural schematic diagram at D in Figure 10Structural schematic of an ice - stripping robot carried by a drone according to the present invention Figure 2 ; Figure 11 For Figure 10 The enlarged structural schematic diagram at position E in Figure 12 Partial sectional structural schematic of an ice - stripping robot carried by a drone according to the present invention Figure 2 。

[0021] The main component symbols are explained as follows: Plate hook 100, mounting plate 101, lifting ring 102, camera 103, fixed pulley 104, movable pulley 105, first electric telescopic rod 106, connecting plate 107, C - shaped clamp 108, driving motor 109, ice - removing cover 200, scraping blade 201, slag through - slot 202, extension plate 203, slide rail 204, slider 205, servo motor 206, transmission rod 207, transmission gear 208, Y - shaped rod 209, first motor 300, first rotating rod 301, articulated rod 302, rubber hammer 303, ice - melting cover 304, cavity 305, heat - conducting rod 306, storage battery 307, controller 308, second rotating rod 400, mounting box 401, driving gear 402, pulley 403, transmission belt 404, driven gear 405, placement box 500, second electric telescopic rod 501, switch plate 502, linkage rod 503, straight slot 504, block 505, limit slot 600, limit block 601, cover plate 602, protective cover 603, grooved plate 604, sponge pad 605. Specific embodiments

[0022] In order to enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Embodiment 1: As Figures 1 - 11 shown, an ice - stripping robot carried by a drone includes an installation assembly, a clamping assembly and an ice - removing assembly; The installation assembly includes two plate hooks 100. On the upper sides of the two plate hooks 100, mounting plates 101 are symmetrically arranged. Four lifting rings 102 are jointly arranged on the upper parts of the two mounting plates 101. A camera 103 is installed on the upper part of the mounting plate 101; The clamping assembly includes two fixed pulleys 104 and two movable pulleys 105. The two fixed pulleys 104 are arranged at the upper end of any one mounting plate 101. A first electric telescopic rod 106 is installed at the upper end of the other mounting plate 101. The end of the rod body of the first electric telescopic rod 106 is fixed with a connecting plate 107. C - shaped clamps 108 are fixed at both ends of the connecting plate 107. The two movable pulleys 105 are respectively rotatably arranged inside the two C - shaped clamps 108. Any one fixed pulley 104 is drivingly connected to a driving motor 109; The de-icing component includes a de-icing cover 200. The de-icing cover 200 is set in the shape of a semi-hollow frustum. The inner wall surface of the de-icing cover 200 faces downward. A number of uniformly arranged scraping blades 201 are provided on the inner wall of the de-icing cover 200. A number of slag leakage through grooves 202 are opened on the surface of the de-icing cover 200. At one end of the two mounting plates 101 facing the de-icing cover 200, extension plates 203 are fixed. Slide rails 204 inclined from the small opening to the large opening of the de-icing cover 200 are provided on the upper parts of the two extension plates 203. The de-icing cover 200 is provided with sliding blocks 205 matching the slide rails 204. A servo motor 206 is installed on the upper part of the mounting plate 101. The output shaft of the servo motor 206 is fixedly connected with a transmission rod 207 and a transmission gear 208 in sequence. The transmission gear 208 is in transmission connection with a Y-shaped rod 209. The two branches of the Y-shaped rod 209 are respectively hinged to both sides of the de-icing cover 200.

[0024] The installation component can be used for the installation of the ice-scraping robot on the wire; the clamping component can enable the ice-scraping robot to clamp onto the wire, and at the same time, it can also allow the ice-scraping robot to move on the wire; the de-icing component can remove the ice covering on the wire, prevent the ice covering from accumulating on the wire, and avoid accident problems caused by the wire being overloaded due to excessive weight. The plate hook 100 is used to be hung on the wire. The upper part of the plate hook 100 is set in a hook shape, which is convenient for the plate hook 100 to be directly hung on the wire, improving the hanging efficiency of the ice-scraping robot and being the main structure for hanging; the lifting ring 102 is used to connect with the drone. By tying a pulling rope on the lifting ring 102, the hook of the drone can hook the pulling rope, thereby realizing the hoisting of the ice-scraping robot; the camera 103 remotely transmits the captured real-time image data to the ground staff. According to these data, the staff manually adjusts some functions on the ice-scraping robot, enabling the ice-scraping robot to more specifically remove the ice covering on the wire surface. Start the first electric telescopic rod 106. The first electric telescopic rod 106 drives the connecting plate 107, the two C-shaped clamps 108 and the two moving pulleys 105 to move synchronously towards the two fixed pulleys 104, thereby realizing the clamping of the wire; then start the transmission motor 109. The transmission motor 109 drives the corresponding fixed pulley 104 to rotate, and in cooperation with the corresponding moving pulley 105, the ice-scraping robot can move on the wire. Start the servo motor 206. The servo motor 206 drives the transmission rod 207 and the transmission gear 208 to rotate synchronously. The transmission gear 208 and the de-icing cover 200 rely on the crank-link structure, so that the transmission gear 208 drives the main trunk of the Y-shaped rod 209 to do circular motion, and the branches of the Y-shaped rod 209 drive the de-icing cover 200 to do reciprocating motion back and forth. In this way, the de-icing cover 200 can scrape the ice covering on the wire, thereby removing the ice covering on the wire. Further, the inner wall of the de-icing cover 200 faces downward and can cover the part of the wire that needs to be de-iced. The slider 205 on the de-icing cover 200 slides inside the slide rail 204. Therefore, a certain acute angle will be formed between the de-icing cover 200 and each scraping blade 201 and the wire, which is convenient for the scraping blade 201 to scrape the ice coating. Further, the small opening of the de-icing cover 200 faces the mounting plate 101. In this way, the large opening of the de-icing cover 200 will face the ice layer on the wire. The large opening of the de-icing cover 200 can accommodate larger pieces of ice coating to enter the inner wall of the de-icing cover 200. Since the direction of the slide rail 204 is set to be inclined, under the action of the crank-link structure of the servo motor 206, the de-icing cover 200 can reciprocate inside the slide rail 204. Also, because the scraping blade 201 is arranged to be inclined from the small opening to the large opening of the de-icing cover 200, the scraping blade 201 can better insert into the ice layer. As the scraping blade 201 repeatedly scrapes the ice coating on the wire, more ice coating can be cleared. Among them, when the resistance of the de-icing cover 200 scraping the ice layer is too large to advance, when the servo motor 206 drives the transmission gear 208 to rotate continuously, the de-icing cover 200 will abut against the ice surface. Relying on the support of the Y-shaped rod 209, the fixed pulley 104 and the movable pulley 105 will slip on the wire surface, causing the entire ice-scraping robot to move along the wire in the opposite direction of the advancing direction of the de-icing cover 200. When the de-icing cover 200 moves away from the blocking ice surface, the driving motor 109 will drive the fixed pulley 104 to rotate again, so that the fixed pulley 104 and the movable pulley 105 cooperate with each other to push the ice-scraping robot to continue to advance, and let the de-icing cover 200 reciprocally scrape in the advancing direction, thereby removing the ice coating on the wire surface. Further, the ice slags scraped by each scraping blade 201 can be discharged through each slag leakage slot 202, preventing the ice slags from accumulating on the inner wall of the de-icing cover 200 and affecting the subsequent de-icing efficiency. Further, a gear box is also provided on the upper part of the mounting plate 101. The transmission gear 208 is located inside the gear box. A follower gear meshing with the transmission gear 208 is rotatably provided inside the gear box. The gear box is provided with a groove. The main body of the Y-shaped rod 209 passes through the groove and is hinged to the edge of the gear surface of the follower gear. This can prevent the main body of the Y-shaped rod 209 from colliding with the mounting plate 101, thereby affecting the movement of the de-icing cover 200. At the same time, the gear box can also protect the transmission gear 208 and the follower gear from the outside.

[0025] The de-icing assembly further includes a first motor 300. The first motor 300 is installed at the lower end of any one of the extension plates 203. The output end of the first motor 300 is fixedly connected with a first rotating rod 301. A hinge rod 302 is rotatably provided at the end of the first rotating rod 301. A rubber hammer 303 is hinged at the end of the hinge rod 302.

[0026] Start the first motor 300. The first motor 300 drives the first rotating rod 301 to rotate. The first rotating rod 301 drives the articulated rod 302 and the rubber hammer 303 to rotate synchronously, so that the rubber hammer 303 strikes the icicle at the lower end of the wire, causing the icicle to break, thereby removing the icicle under the wire; Moreover, an installation block is fixed to the lower end of the extension plate 203. The installation block is sleeved outside the first rotating rod 301, which can make the first rotating rod 301 rotate more stably and will not cause damage to the first motor 300; Moreover, the rotating articulated rod 302 and the rubber hammer 303 will strike the wire. Therefore, the articulated rod 302 and the rubber hammer 303 are hinged. When the rubber hammer 303 touches the wire, it will bend at the hinge point between the articulated rod 302 and the rubber hammer 303, so that the rubber hammer 303 can pass over the wire, thus preparing for the next strike of the rubber hammer 303.

[0027] The de-icing assembly further includes a de-icing cover 304. The de-icing cover 304 is arranged between the two plate hooks 100. A cavity 305 is formed inside the de-icing cover 304. A number of heat conducting rods 306 are arranged inside the cavity 305. A storage battery 307 and a controller 308 are installed on the upper end of any one of the mounting plates 101. The storage battery 307 and the controller 308 are electrically connected by signals. The storage battery 307 is electrically connected to each of the heat conducting rods 306.

[0028] The controller 308 sends a signal to the storage battery 307. The storage battery 307 supplies power to each of the heat conducting rods 306 for heating. After being heated, each of the heat conducting rods 306 transfers the heat to the inner wall of the de-icing cover 304, thereby melting the ice slag on the wire; Moreover, the inner wall of the de-icing cover 304 is provided as a heat conducting layer, which can transfer the heat generated by each of the heat conducting rods 306. The outer wall of the de-icing cover 304 is provided as a heat insulating layer, which, in cooperation with the sealed connection between the de-icing cover 304 and the two mounting plates 101, prevents the heat from affecting other components on the mounting plates 101; Moreover, the cavity 305 serves as the installation position for each of the heat conducting rods 306, which can prevent each of the heat conducting rods 306 from directly contacting the surface of the wire, thereby causing damage to the wire.

[0029] A drive assembly is provided at the lower end of the mounting plate 101. The drive assembly includes two second rotating rods 400. A mounting box 401 is fixedly installed at the lower end of any one of the mounting plates 101. The drive motor 109 is installed at the lower end of the mounting box 401. Both of the two second rotating rods 400 are rotatably disposed inside the mounting box 401. One end of any one of the second rotating rods 400 passing through the lower side of the mounting box 401 is fixedly connected to the output shaft of the drive motor 109. An active gear 402 and a pulley 403 are provided on the outer sides of both of the two second rotating rods 400. A drive belt 404 is wound between the two pulleys 403. One end of the axle of each of the two fixed pulleys 104 passing into the interior of the mounting box 401 is fixedly provided with a driven gear 405 meshing with the active gear 402.

[0030] Start the drive motor 109. The drive motor 109 drives the corresponding second rotating rod 400 to rotate, and at the same time also drives the active gear 402 and the pulley 403 on the second rotating rod 400 to rotate. Since the drive belt 404 connects the two pulleys 403 together, the other second rotating rod 400 and the active gear 402 will also rotate synchronously. The two active gears 402 drive the two driven gears 405 to rotate, so that the two fixed pulleys 104 rotate synchronously, thereby improving the power for the ice peeling robot to move on the wire. Further, a number of pressing strips are provided inside the groove of each of the two fixed pulleys 104 and the two movable pulleys 105. Under the rotational extrusion of the fixed pulleys 104 and the movable pulleys 105, the relatively thin ice layer on the surface of the wire can be crushed. Further, the mounting box 401 can protect the drive assembly and prevent the external harsh environment from damaging the drive assembly and affecting the operation of the drive assembly. Further, the mounting box 401 is provided with a box door. The staff can open the box door to maintain and repair the components inside the mounting box 401.

[0031] A placement box 500 is fixedly installed at the lower ends of the two plate hooks 100. A switch assembly is provided between the upper bent ends of the two plate hooks 100 and the placement box 500. The switch assembly includes a second electric telescopic rod 501. The second electric telescopic rod 501 is fixedly installed at the right end of any one of the plate hooks 100. A switch plate 502 matching the two plate hooks 100 is hinged to the upper end of the placement box 500. A linkage rod 503 is provided between the two switch plates 502. A straight slot 504 is formed on the surface of the switch plate 502. One end of the rod body of the second electric telescopic rod 501 passes through the plate hook 100 and extends into the straight slot 504. Two clamping blocks 505 are fixedly installed on the outer side of the rod body of the second electric telescopic rod 501, and the two clamping blocks 505 are respectively located on the left and right sides of the switch plate 502.

[0032] The storage box 500 is located at the bottom of the ice peeling robot. When the ice peeling robot is on the ground, the storage box 500 serves as a support for the ice peeling robot. A double-opening box door is provided at the upper end of the storage box 500. By opening the double-opening box door, other components such as a battery pack and a counterweight can be placed inside the storage box 500, so that when the support of the ice peeling robot is on the wire, the balance of the ice peeling robot can be maintained. Furthermore, a partition is provided inside the placement box 500, which divides the internal space of the placement box 500 into two left and right spaces. When other components are placed inside the two spaces, it can prevent other components from shaking inside the placement box 200, thereby affecting the balance of the ice peeling robot after being mounted. The switch plate 502 is driven to rotate by the extension and retraction of the second electric telescopic rod 501, so as to realize the opening and closing of the gap between the plate hook 100 and the switch plate, so as to mount and detach the ice peeling robot on the electric wire; Furthermore, the second electric telescopic rod 501 in the retracted state will drive the two blocks 505 to retract synchronously. During the retraction process, the two blocks 505 will indirectly drive the switch plate 502 to rotate. Since the rod body of the second electric telescopic rod 501 is inside the straight slot 504, it will not affect the rotation of the switch plate 502. When the upper end of the switch plate 502 abuts against the inner side of the plate hook 100, the switch plate 502 forms an inclined surface compared to the inner side of the plate hook 100, which can facilitate the wires to slide in or out of the plate hook 100 along the switch plate 502, making the mounting and detachment of the ice-peeling robot more convenient and quick.

[0033] The clamping assembly also includes a mounting plate 101 with two limiting grooves 600 , the two limiting grooves 600 correspond to the two movable pulleys 105 , and the axles of the two movable pulleys 105 pass through one end of the limiting grooves 600 and are fixed with limiting blocks 601 .

[0034] The limiting groove 600 and the limiting block 601 can limit the movement of the movable pulley 105. When the movable pulley 105 is away from the fixed pulley 104, the distance between the movable pulley 105 and the fixed pulley 104 increases, which makes it convenient for the wire to be between the movable pulley 105 and the fixed pulley 104. When the movable pulley 105 is close to the fixed pulley 104, the movable pulley 105 can cooperate with the fixed pulley 104 to clamp the wire.

[0035] A cover plate 602 is installed on the upper ends of the two mounting plates 101 , four lifting rings 102 are respectively arranged at the four corners of the upper ends of the cover plate 602 , a protective cover 603 is installed in the middle of the upper end of the cover plate 602 , and the camera 103 is installed inside the protective cover 603 .

[0036] Two mounting plates 101 cooperate with the cover plate 602 to form the entire external frame of the ice peeling robot. The cover plate 602 and the protective cover 603 can protect the components and the camera 103 mounted on the upper end of the mounting plate 101, so that these components and the camera 103 are not affected by the external environment, thus preventing damage to the components and affecting the normal operation of the ice peeling robot; Furthermore, when the UAV lifts the ice peeling robot, the lifting rings 102 at the four corners of the cover plate 602 can make the ice peeling robot more stable when lifted, without significant shaking, which may affect the hanging of the ice peeling robot on the wire.

[0037] The cover plate 602 is fixed with a channel-shaped plate 604, and a sponge pad 605 is provided on the inner wall of the channel-shaped plate 604.

[0038] When the ice peeling robot is hung, the wire will also be stuck inside the channel-shaped plate 604. As the ice on the surface of the wire melts, the sponge pad 605 can absorb the water after the ice on the surface of the wire melts, keeping the surface of the wire dry and slowing down the subsequent icing of the wire.

[0039] The ice peeling robot of the present invention is hoisted by a UAV to the wire that needs to be de-iced. The ground staff controls the UAV to move the wire to the gap between the wire switch board 502 and the plate hook 100, and then remotely controls the second electric telescopic rod 501 to extend to close the gap, thereby realizing the hanging of the ice peeling robot; the above remote switch control technology is prior art. For example, the overhead ground wire de-icing robot used by State Grid Sichuan Ultra High Voltage Company has a remote control function and can perform actions such as de-icing, climbing slopes, and crossing obstacles on the overhead ground wire through remote operation on the ground, which will not be described in detail here.

[0040] After the ice peeling robot is hung on the wire, remotely control the first electric telescopic rod 106 to push the two movable pulleys 105 close to the two fixed pulleys 104, so that the movable pulleys 105 and the fixed pulleys 104 clamp the wire. The above remote clamping technology is prior art. For example, a clamping mechanism based on motor drive can remotely clamp the wire by remotely controlling the motor, and has the characteristics of simple structure and convenient use, which will not be described in detail here.

[0041] When starting the ice peeling robot, the transmission motor 109, the servo motor 206, the first motor 300 and the controller 308 are started with one key; the transmission motor 109 moves the ice peeling robot on the wire; the servo motor 206 and the first motor 300 drive the de-icing cover 200 and the rubber hammer 303 to remove the ice on the wire; the controller 308 controls the battery 307 to supply power to the heat conducting rod 306, so that the ice melting cover 304 wraps the wire for heating to melt the ice; After turning off the ice peeling robot, the drive motor 109, the servo motor 206, the first motor 300 and the controller 308 are turned off with one key; The above multi-thread synchronization technology or parallel control technology is prior art. For example, the ice removal robot developed by students of Hubei University of Technology can be started by pressing "one-key ice removal" remotely, and then it will perform automatic operations. Its internal control program and circuit design can achieve synchronous startup of various components, including the walking mechanism, the ice removal mechanism, the detection mechanism, etc., enabling the robot to work collaboratively according to the preset program, which will not be elaborated here.

[0042] Such as Figure 12 As shown: A method for using an unmanned aerial vehicle (UAV) - carried ice peeling robot: S1: Loading the ice peeling robot: Ground staff connect the ice peeling robot to the UAV through the hanging ring 102, and then start the UAV. The UAV will then drive the ice peeling robot to take off and fly towards the high - altitude target wire. During this process, the staff need to pay close attention to ensure that the wire is in a suitable position under the mounting plate 101 of the ice peeling robot, making preparations for the ice peeling robot to be successfully mounted on the wire; S2: Mounting the ice peeling robot: Ground staff control the second electric telescopic rod 501 to start. When the rod body of the second electric telescopic rod 501 contracts, it drives the two clamping blocks 505 to move towards the second electric telescopic rod 501 synchronously; since the rod body of the telescopic rod is in the straight notch 504 and the clamping blocks 505 are respectively restricted on both sides of the switch plate 502, the contraction of the second electric telescopic rod 501 will drive the switch plate 502 to rotate around the hinge axis; and because the linkage rod 503 connects the two switch plates 502, the two switch plates will move synchronously, causing the gap between the switch plate 502 and the plate hook 100 to open; At the same time, ground staff control the UAV to drive the ice peeling robot to move, so that the wire can enter between the two plate hooks 100 through the gap opened by the switch plate 502; then, the UAV drives the ice peeling robot to move downward, and then the staff start the second electric telescopic rod 501 again; the rod body of the second electric telescopic rod 501 extends, driving the switch plate 502 to rotate in the reverse direction, closing the gap between the switch plate 502 and the plate hook 100, thus completing the mounting of the ice peeling robot on the wire; Start the first electric telescopic rod 106, and the first electric telescopic rod 106 drives the connecting plate 107, the C - shaped clamp 108 and the two moving pulleys 105 to approach the fixed pulley 104, so that the wire can be clamped on both sides by the moving pulley 105 and the fixed pulley 104.

[0043] S3: The ice peeling robot runs for ice removal: Ground staff start the ice peeling robot to start ice removal; Processing the icicles condensed at the lower end of the wire and the snow accumulated at the upper end: The first motor 300 is started. After the first motor 300 operates, it drives the first rotating rod 301 to rotate. The first rotating rod 301 then drives the articulated rod 302 and the rubber hammer 303 connected thereto to rotate synchronously. During the rotation process, the rubber hammer 303 repeatedly strikes the icicles and ice layers under the wire, breaking them. This can not only ensure that the ice peeling robot can be stably mounted on the wire, but also remove these ice obstacles in advance; Processing the relatively thick ice layer attached to the wire surface: The servo motor 206 is started. When the servo motor 206 operates, it drives the transmission rod 207 and the transmission gear 208 to rotate synchronously. Since the slide rail 204 restricts the slider 205, when the transmission gear 208 operates, it drives the ice removal cover 200 through the Y-shaped rod 209, causing it to move reciprocally under the restraint of the slide rail 204. At the same time, the scraping blade 201 installed on the inner wall of the ice removal cover 200 moves synchronously with the ice removal cover, and reciprocally scrapes the ice layer on the wire, effectively thinning and cleaning the relatively thick ice layer; Processing the relatively thin ice layer attached to the wire surface: The ground staff starts the transmission motor 109. After the transmission motor 109 operates, it drives the corresponding fixed pulley 104 to rotate. The rotating fixed pulley 104 cooperates with the corresponding movable pulley 105, and the two generate a continuous squeezing force on the wire surface during the operation process, thereby squeezing and processing the relatively thin ice layer on the wire. At the same time, it also makes the ice peeling robot move on the wire; Processing the ice slag attached to the wire surface: The ground staff manually sends a signal to the controller 308. After the controller 308 receives the instruction, it prompts the battery 307 to supply power to each heat conducting rod 306. After the heat conducting rod 306 is energized, it starts to heat up, and transfers the heat to the wire surface through the ice melting cover 304. Under the action of the heat, the ice slag on the wire surface gradually melts, achieving the purpose of ice melting; Processing the melted ice water on the wire surface: The trough-shaped plate 604 is wrapped outside the wire, and the sponge pad 605 is in close contact with the surface of the wire, so that the melted ice water can be absorbed into the sponge pad 605, thereby ensuring that the surface of the wire is drier after ice removal and slowing down the subsequent icing situation on the wire surface.

[0044] S4: Recycling the ice peeling robot: The ground staff manually controls the second electric telescopic rod 501 to start, so that the gap between the switch board 502 and the board hook 100 is opened. Immediately afterwards, the staff operates the drone to lift the ice peeling robot with the hook of the drone. During this process, the wire will slide out of the inside of the board hook 100 along the inclined switch board 502, so that the ice peeling robot is separated from the wire, and then the recovery of the ice peeling robot is realized.

[0045] When there is ice covering on the wire that affects the mounting of the ice peeling robot: First, start the first motor 300. The first motor 300 drives the first rotating rod 301, the articulated rod 302 and the rubber hammer 303 to rotate synchronously. The rotating rubber hammer 303 strikes the lower end of the wire, thereby shaking off and breaking up the accumulated snow and the lower ice layer, and then leaving a thicker ice covering on the wire for subsequent processing; Next, start the servo motor 206. The servo motor 206 drives the deicing cover 200 to reciprocate along the slide rail 204. At the same time, the deicing cover 200 drives each scraper 201 to repeatedly scrape the upper thick ice layer on the wire, thereby thinning the thick ice layer, and then leaving a thinner ice covering on the wire for subsequent processing; Then, start the first electric telescopic rod 106. The first electric telescopic rod 106 drives the movable pulley 105 to approach the fixed pulley 104, so that the movable pulley 105 and the fixed pulley 104 clamp on both sides of the wire, ensuring the overall stability of the ice peeling robot. At the same time, the transmission motor 109 drives the fixed pulley 104 to rotate, in cooperation with the rotation of the movable pulley 105, not only squeezes the thin ice layer on the wire surface and crushes it into ice slag, but also enables the ice peeling robot to reciprocate on the wire, fully squeezing the thin ice on the wire and squeezing the thin ice into ice slag for subsequent processing; Finally, by operating the controller 308, a signal is sent to the storage battery 307 to supply power to the heat conduction rod 306 for heating. The heat conduction rod 306 indirectly conducts the heat to the wire surface through the ice melting cover 304, quickly melts the ice slag, and makes the board hook 100 fit with the wire surface, thus completing the mounting of the ice peeling robot.

[0046] In this embodiment, by setting the rubber hammer 303, the deicing cover 200, the fixed pulley 104, the movable pulley 105 and the ice melting cover 304, a multi-stage deicing structure is adopted, so that the ice peeling robot can thoroughly remove the ice layer on the wire and improve the ice removal effect on the wire.

[0047] The above embodiments are only used to exemplarily illustrate the principles and effects of the present invention, rather than to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An ice-breaking robot carried by a drone, characterized in that, It includes an installation component, a clamping component and a de-icing component; The installation component includes two plate hooks (100). On the upper sides of the two plate hooks (100), mounting plates (101) are symmetrically arranged. Four lifting rings (102) are jointly arranged on the upper parts of the two mounting plates (101). A camera (103) is installed on the upper part of the mounting plate (101); The clamping component includes two fixed pulleys (104) and two movable pulleys (105). The two fixed pulleys (104) are arranged at the upper end of any one of the mounting plates (101). A first electric telescopic rod (106) is installed at the upper end of the other mounting plate (101). A connecting plate (107) is fixed to the end of the rod body of the first electric telescopic rod (106). C-shaped clamps (108) are fixed to both ends of the connecting plate (107). The two movable pulleys (105) are respectively rotatably arranged inside the two C-shaped clamps (108). A transmission motor (109) is drivingly connected to any one of the fixed pulleys (104); The de-icing component includes a de-icing cover (200). The de-icing cover (200) is in the shape of a semi-hollow frustum with the inner wall facing downward. A number of scraping blades (201) are evenly arranged on the inner wall of the de-icing cover (200). A number of slag leakage through grooves (202) are formed on the surface of the de-icing cover (200). Extension plates (203) are fixed to the ends of the two mounting plates (101) facing the de-icing cover (200). Slide rails (204) inclined from the small opening to the large opening of the de-icing cover (200) are arranged on the upper parts of the two extension plates (203). The de-icing cover (200) is provided with sliders (205) matching the slide rails (204). A servo motor (206) is installed on the upper part of the mounting plate (101). The output shaft of the servo motor (206) is sequentially fixedly connected with a transmission rod (207) and a transmission gear (208). The transmission gear (208) is drivingly connected to a Y-shaped rod (209). The two branches of the Y-shaped rod (209) are respectively hinged to both sides of the de-icing cover (200).

2. The ice-breaking robot carried by a drone according to claim 1, wherein: The de-icing component further includes a first motor (300). The first motor (300) is installed at the lower end of any one of the extension plates (203). The output end of the first motor (300) is fixedly connected with a first rotating rod (301). A hinge rod (302) is rotatably arranged at the end of the first rotating rod (301). A rubber hammer (303) is hinged to the end of the hinge rod (302).

3. The ice-breaking robot carried by the unmanned aerial vehicle according to claim 1, wherein: The de-icing component further includes a de-icing melting cover (304). The de-icing melting cover (304) is arranged between the two plate hooks (100). A cavity (305) is formed inside the de-icing melting cover (304). A number of heat conducting rods (306) are arranged inside the cavity (305). A storage battery (307) and a controller (308) are installed at the upper end of any one of the mounting plates (101). An electrical signal connection is established between the storage battery (307) and the controller (308). An electrical connection is established between the storage battery (307) and each of the heat conducting rods (306).

4. The ice-scraping robot carried by a drone according to claim 1, characterized in that: A transmission component is provided at the lower end of the mounting plate (101). The transmission component includes two second rotating rods (400). A mounting box (401) is fixedly installed at the lower end of any one of the mounting plates (101). The transmission motor (109) is installed at the lower end of the mounting box (401). Both of the two second rotating rods (400) are rotatably arranged inside the mounting box (401). One end of any one of the second rotating rods (400) passing through the lower side of the mounting box (401) is fixedly connected to the output shaft of the transmission motor (109). Active gears (402) and belt pulleys (403) are arranged on the outer sides of both of the two second rotating rods (400). A transmission belt (404) is wound between the two belt pulleys (403). One end of the axle of each of the two fixed pulleys (104) penetrating into the interior of the mounting box (401) is fixedly provided with a driven gear (405) meshing with the active gear (402).

5. The ice-scraping robot carried by a drone according to claim 1, wherein: A placement box (500) is fixedly connected to the lower ends of both of the two plate hooks (100). A switch component is arranged between the upper bent ends of the two plate hooks (100) and the placement box (500). The switch component includes a second electric telescopic rod (501). The second electric telescopic rod (501) is fixedly installed at the right end of any one of the plate hooks (100). A switch plate (502) matching the two plate hooks (100) is hinged to the upper end of the placement box (500). A linkage rod (503) is arranged between the two switch plates (502). A straight slot (504) is formed on the surface of the switch plate (502). One end of the rod body of the second electric telescopic rod (501) passing through the plate hook (100) extends into the interior of the straight slot (504). Two clamping blocks (505) are fixedly arranged on the outer side of the rod body of the second electric telescopic rod (501), and the two clamping blocks (505) are respectively located on the left and right sides of the switch plate (502).

6. The ice-scraping robot carried by a drone according to claim 1, wherein: The clamping component further includes two limiting grooves (600) formed in the mounting plate (101). The two limiting grooves (600) correspond to the two movable pulleys (105). One end of the axle of each of the two movable pulleys (105) passing through the limiting groove (600) is fixedly provided with a limiting block (601).

7. The ice-breaking robot carried by a drone according to claim 1, characterized in that: A cover plate (602) is installed at the upper ends of the two mounting plates (101). Four lifting rings (102) are respectively arranged at the four corners of the upper end of the cover plate (602). A protective cover (603) is installed in the middle of the upper end of the cover plate (602). The camera (103) is installed inside the protective cover (603).

8. The ice stripping robot carried by a drone according to claim 1, wherein: The cover plate (602) is fixedly provided with a channel-shaped plate (604), and a sponge pad (605) is arranged on the inner wall of the channel-shaped plate (604).

9. A method for using an ice-breaking robot carried by a drone, which is applied to the ice-breaking robot carried by a drone according to claims 1-8, and is characterized in that: S1: Carry the ice-breaking robot: Connect the drone to the ice peeling robot through the sling (102). The drone drives the ice peeling robot to take off and carry it to the high-altitude target wire, and ensure that the wire is at a suitable position below the mounting plate (101) to facilitate the subsequent ice peeling robot to complete the hanging; S2: Hang the ice peeling robot: Start the second electric telescopic rod (501), open the gap between the plate hook (100) and the switch plate (502) to allow the wire to enter, and then start the second electric telescopic rod (501) to make the switch plate (502) snap; at the same time, start the first electric telescopic rod (106) to make the movable pulley (105) approach the fixed pulley (104) to clamp the wire; S3: The ice peeling robot runs for deicing: Deal with the icicles condensed at the lower end of the wire and the snow accumulated at the upper end: Start the first motor (300) to drive the rubber hammer (303) to strike the lower end of the wire, thereby breaking the icicles and shaking off the snow; Deal with the relatively thick ice layer attached to the wire surface: Start the servo motor (206) to make the deicing cover (200) move back and forth along the slide rail (204), and use the scraping blade (201) to scrape the ice layer to thin the ice layer; Deal with the relatively thin ice layer attached to the wire surface: Start the transmission motor (109) to drive the fixed pulley (104) to rotate, and then rotate the fixed pulley (104) and the movable pulley (105) to squeeze the ice layer on the wire surface, and squeeze the thin ice layer into ice slag; Deal with the ice slag attached to the wire surface: By controlling the controller (308), let the battery (307) supply power to the heat conduction rod (306) for heating, thereby melting the ice slag on the wire surface; Deal with the melted ice water on the wire surface: Absorb the water melted from the ice through the sponge pad (605) in the trough-shaped plate (604); S4: Recover the ice peeling robot: After the ice peeling robot completes deicing, start the second electric telescopic rod (501) to open the gap, and the drone hoists the ice peeling robot to lift, so that the wire slides out of the inside of the plate hook (100) to realize the recovery of the ice peeling robot.

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