An adaptive flying de-icing robot for power lines

Abstract

The present application relates to the technical field of power transmission line operation, and discloses a self-adaptive flying deicing robot for power transmission line, which comprises a rack, a flying assembly arranged above the rack, two inclined plates symmetrically arranged at the bottom of the rack, and a deicing mechanism arranged at the end of the rack; the self-adaptive flying deicing robot for power transmission line is characterized in that the flying assembly and the self-adaptive counterweight mechanism are integrated, which significantly improves the operation stability and safety of the deicing robot in a high-altitude strong wind environment; the flying assembly is arranged to realize the precise and autonomous deployment and recovery of the robot on the power transmission line; the L-shaped counterweight groove and the rotary driving assembly are arranged, and the mechanism that the ice blocks automatically fall into the counterweight groove during the deicing process is used, so that the weight of the robot is adaptively increased during the operation process, the gravity center of the whole machine is effectively reduced, the mass of the whole machine is greatly increased, the swing caused by the wind is significantly inhibited, and the stability and operation precision of the deicing operation platform are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line operations, in particular to a self-adaptive flying deicing robot for power transmission lines. Background Art

[0002] The power transmission line de-icing robot is a multifunctional de-icing device developed specifically for power transmission lines. It typically uses cutting, impacting, and crushing methods to remove ice, and can de-ice ice-covered ground conductors with a diameter of 50-300 square millimeters. Equipped with multiple functions, such as remote control and image transmission, this robot is capable of smoothly de-icing, ascending and descending slopes, overcoming obstacles, and braking on ice-covered ground conductors. They offer varying technical features and advantages, including the use of polyurethane elastic wheels for adaptive clamping, lightweight, compact, and fast movement, and high levels of protection for operation in harsh environments. In short, the advent of the power transmission line de-icing robot effectively solves the difficult problem of de-icing overhead ground conductors, improves de-icing efficiency, reduces the risks and labor intensity of manual de-icing, and ensures the safe and stable operation of power transmission lines.

[0003] Patent application CN119921248A discloses a transmission line de-icing robot, which relates to the technical field of transmission line operations, and includes two outer panels, which are symmetrically arranged front to back, and side panels are fixedly installed on the left and right sides of the two adjacent outer panels. The top walls of the two outer panels are both equipped with the same walking system, and the right side wall of the walking system is equipped with an ice-breaking system, and the adjacent side of the two outer panels is equipped with a lifting system, and the rear wall of the walking system is equipped with a force unloading component. The de-icing part of the transmission line de-icing robot adopts a stepped tool parallel to the transmission line, which can be suitable for ice layers of different thicknesses. Secondly, the tool is parallel to the transmission line to reduce damage to the transmission line and increase the destructive force on the ice. The tool is divided into a main tool and an auxiliary tool. The main tool is mainly responsible for breaking ice, and the auxiliary tool is mainly responsible for removing residual ice, so as to achieve 360° cleaning of the ice layer.

[0004] As shown in the above patent, the existing power transmission line de-icing robots are mainly deployed by manual assistance or drone delivery, and are placed at designated locations on overhead transmission lines. Such robots rely on autonomous moving mechanisms to move along the lines and perform ice removal tasks through integrated de-icing operation devices. However, given that power transmission lines are generally installed at high altitudes and in strong wind environments, the de-icing robots are relatively light in weight and can easily swing significantly in strong winds, causing the working platform to become unstable, seriously affecting the accuracy and efficiency of de-icing operations, and may even threaten the safety of equipment operation.

[0005] Therefore, it is necessary to provide a transmission line adaptive flying de-icing robot to solve the above technical problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an adaptive flying de-icing robot for power transmission lines. By integrating a flying component and an adaptive counterweight mechanism, the operating stability and safety of the de-icing robot in high-altitude and strong wind environments are significantly improved.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions: A transmission line adaptive flying de-icing robot, comprising a frame, a flying assembly arranged above the frame, two inclined plates symmetrically arranged on both sides of the bottom of the frame, and a de-icing mechanism arranged at the end of the frame, a battery pack is fixedly installed at the bottom of the outer walls of the two inclined plates, a walking drive mechanism is arranged on the inner side of the frame, and a counterweight mechanism is arranged at the bottom of the inner sides of the two inclined plates, the counterweight mechanism includes a counterweight slot and a rotating drive assembly for driving the counterweight slot to rotate, the side of the counterweight slot away from the rotating drive assembly is open, when the two counterweight slots are in a horizontal state, the two counterweight slots abut against each other, and when the two counterweight slots are in a vertical state, there is a gap between the two counterweight slots.

[0008] The present invention is further configured as follows: the walking drive mechanism includes multiple driving wheels and multiple third motors for driving the driving wheels to rotate, the multiple driving wheels are rotatably arranged on the inner side of the frame, the multiple driving wheels are located on the same straight line, the output end of the third motor is fixedly connected to the driving wheel, and the third motor is fixedly connected to the frame.

[0009] The present invention is further configured as follows: the walking drive mechanism also includes a second motor, a mounting frame fixedly mounted on the output end of the second motor and a driven wheel rotatably mounted on the mounting frame, the second motor is fixedly connected to the frame, and the driven wheel is located below the driving wheel.

[0010] The present invention is further configured as follows: the rotation drive assembly includes a mounting seat, a connecting shaft rotatably installed inside the mounting seat, and two connecting plates located on both sides of the mounting seat, one end of the connecting plate is fixedly connected to the connecting shaft, and the other end of the connecting plate is fixedly connected to the counterweight slot. A groove is provided in the middle of the mounting seat, and a transmission box is fixedly installed in the groove. A power assembly for driving the connecting shaft to rotate is provided in the transmission box, and the connecting shaft passes through the transmission box, and the connecting shaft and the transmission box rotate in cooperation.

[0011] The present invention is further configured as follows: the power assembly includes a worm wheel, a fourth motor, a worm, a first gear and a second gear, the worm wheel is fixedly sleeved on the connecting shaft, the worm is rotatably installed inside the transmission box, and the worm is meshed with the worm wheel, the top of the worm is fixedly sleeved with the first gear, the fourth motor is fixedly installed inside the transmission box, and the output end of the fourth motor is fixedly mounted with the second gear, and the second gear is meshed with the first gear.

[0012] The present invention is further configured as follows: an ice receiving plate is provided on one side of the counterweight groove, the ice receiving plate is inclined, a first push plate is provided on the inner side of the counterweight groove, the first push plate slides along the length direction of the counterweight groove, the top wall of the first push plate is fixedly connected to the ice receiving plate, an electric push rod is fixedly installed on the side wall of the counterweight groove close to the mounting seat, the output end of the electric push rod is fixedly connected to the ice receiving plate, and when the ice receiving plate extends from above the counterweight groove in a horizontal state, the ice receiving plate is located directly below the de-icing blade head.

[0013] The present invention is further configured as follows: a second push plate is slidably mounted on the inner side of the counterweight groove, and a transmission assembly is provided on the counterweight groove for driving the second push plate to move along the width direction of the counterweight groove.

[0014] The present invention is further configured as follows: the transmission assembly includes a telescopic rod, a rope pulley and a traction rope, the telescopic rod is installed on one side of the counterweight slot close to the inclined plate, the telescopic end of the telescopic rod is fixedly connected to the second push plate, a spring is provided inside the telescopic rod, the bottom end of the worm extends out of the transmission box, the rope pulley is fixedly sleeved on the bottom end of the worm, the traction rope is wound and installed on the rope pulley, the end of the traction rope away from the rope pulley passes through the side wall of the counterweight slot and is fixedly connected to the second push plate, when the counterweight slot is in a horizontal state, the second push plate fits against the inner wall of the counterweight slot, and when the counterweight slot is in a vertical state, the second push plate extends out from the counterweight slot.

[0015] The present invention is further configured as follows: a de-icing blade head is fixedly mounted on a side of the mounting frame away from the driven wheel, at least three de-icing blade heads are provided, and an angle between two adjacent de-icing blade heads is 30°-50°.

[0016] The present invention is further configured as follows: the deicing mechanism includes a first motor, a driving rod fixedly mounted on the output end of the first motor, and a deicing striking block fixedly mounted on the end of the driving rod away from the first motor; the first motor is fixedly mounted on the frame, and burrs are provided on both sides of the deicing striking block.

[0017] In summary, the present invention has the following beneficial effects:

[0018] 1. This invention significantly improves the operational stability and safety of the de-icing robot in high-altitude, strong wind environments by integrating a flight assembly with an adaptive counterweight mechanism. The flight assembly enables precise, autonomous deployment and recovery of the robot on power transmission lines. The L-shaped counterweight slot and rotary drive assembly, combined with the mechanism by which ice cubes automatically fall into the counterweight slot during de-icing, enable the robot's weight to be adaptively increased during operation, effectively lowering the center of gravity and significantly increasing its mass. This significantly suppresses wind-induced oscillation, ensuring the stability and operational accuracy of the de-icing platform. Furthermore, the downward placement of the battery pack further optimizes the bottom counterweight. The horizontally abutted, closed state of the counterweight slot effectively prevents the robot from accidentally falling off the cable, enhancing operational safety.

[0019] 2. The present invention realizes reliable conversion and self-locking of the counterweight trough between horizontal and vertical states through worm gear transmission, and realizes adaptive collection and distribution of ice cubes into the counterweight trough through the arrangement of ice receiving plate, first push plate and electric push rod, thereby maximizing the utilization of de-icing products for counterweighting; in particular, through the linkage design of traction rope, rope winding wheel, telescopic rod and second push plate, adaptive extension and retraction of the second push plate when the counterweight trough state is converted is realized: it automatically extends when the counterweight trough is in vertical state, on the one hand, thoroughly removes residual ice cubes and reduces flight load, and on the other hand, touches the ground first when landing, and utilizes the buffering effect of the spring inside the telescopic rod to adaptively absorb impact and protect equipment; and it automatically retracts when the counterweight trough is in horizontal state without interfering with ice collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention when the counterweight tank is in a vertical state;

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention when the counterweight tank is in a horizontal state;

[0022] Figure 3 It is a structural schematic diagram of the travel drive mechanism of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the de-icing mechanism of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the counterweight tank of the present invention when it is in a horizontal state;

[0025] Figure 6 It is a structural schematic diagram of the counterweight tank of the present invention when it is in a vertical state;

[0026] Figure 7 is a schematic cross-sectional structural diagram of the rotary drive assembly of the present invention;

[0027] Figure 8Schematic diagram of the three-dimensional structure of the counterweight tank and the rotary drive assembly of the present invention;

[0028] Figure 9 It is a structural schematic diagram of the ice receiving plate, the first push plate and the electric push rod of the present invention;

[0029] Figure 10 It is a schematic cross-sectional structural diagram of the telescopic rod of the present invention.

[0030] In the figure: 1. Flight assembly; 2. Frame; 201. Inclined plate; 3. First motor; 4. Drive rod; 5. De-icing striking block; 6. Second motor; 7. Mounting frame; 8. Driven wheel; 9. De-icing blade head; 10. Third motor; 11. Driving wheel; 12. First camera; 13. Second camera; 14. Third camera; 15. Battery pack; 16. Mounting seat; 17. Counterweight slot; 18. Connecting plate; 19. Connecting shaft; 20. Transmission box; 21. Worm gear; 22. Fourth motor; 23. Worm; 24. First gear; 25. Second gear; 26. Ice receiving plate; 27. First push plate; 28. Electric push rod; 29. ​​Second push plate; 30. Telescopic rod; 31. Spring; 32. Rope winding wheel; 33. Traction rope; 34. Guide ring. DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0032] See also Figures 1 to 4In an embodiment of the present invention, an adaptive flying de-icing robot for power transmission lines includes a frame 2, a flying assembly 1 arranged above the frame 2, two inclined plates 201 symmetrically arranged on both sides of the bottom of the frame 2, and a de-icing mechanism arranged at the end of the frame 2. The flying assembly 1 is a four-rotor drone. The distance between the two inclined plates 201 gradually increases from top to bottom. A battery pack 15 is fixedly installed at the bottom of the outer wall of each of the two inclined plates 201. A walking drive mechanism is provided on the inner side of the frame 2. A counterweight mechanism is provided on the bottom of the inner side of each of the two inclined plates 201. The counterweight mechanism includes a counterweight slot 17 and a rotary drive assembly for driving the counterweight slot 17 to rotate. The cross-section of the counterweight slot 17 is an L-shaped structure. The side of the counterweight slot 17 away from the rotary drive assembly is open. When the two counterweight slots 17 are in a horizontal state, the two counterweight slots 17 abut against each other. When the two counterweight slots 17 are in a vertical state, there is a gap between the two counterweight slots 17. In specific use, the de-icing robot is moved to the position to be de-iced by the flying assembly 1. Above the cable, the two counterweight slots 17 are rotated to a vertical state by the rotary drive assembly, so that a gap is formed between the two counterweight slots 17. The cable is moved through the gap to between the two inclined plates 201 by the movement of the drone, so that the cable contacts the walking drive mechanism, thereby completing the deployment of the de-icing robot. After the deployment is completed, the counterweight slots 17 are driven by the rotary drive assembly to rotate to a horizontal state, so that the two counterweight slots 17 abut against each other. During de-icing, the de-icing robot is driven to move on the cable by the walking drive mechanism. While moving, the de-icing mechanism is used to de-ice, and ice cubes fall into the counterweight slots 17, thereby increasing the weight of the counterweight slots 17 to increase the overall weight of the de-icing robot, thereby improving the stability of the de-icing robot. The two battery packs 15 are arranged at the bottom of the inclined plate 201, which can also increase the counterweight at the bottom of the de-icing robot and further improve the stability. Moreover, after the two counterweight slots 17 abut, the bottom opening of the inclined plate 201 is closed, which can effectively prevent the de-icing robot from falling off the cable.

[0033] The present invention significantly improves the operational stability and safety of the de-icing robot in high-altitude and strong wind environments by integrating the flight component 1 with the adaptive counterweight mechanism. The flight component 1 is used to achieve precise and autonomous deployment and recovery of the robot on the transmission line. The L-shaped counterweight slot 17 and the rotary drive component are used, and the mechanism of ice cubes automatically falling into the counterweight slot 17 during the de-icing process is used to achieve an adaptive increase in the weight of the robot during operation, effectively lowering the center of gravity of the entire machine and greatly increasing the mass of the entire machine, significantly suppressing the swing caused by wind, and ensuring the stability and operation accuracy of the de-icing operation platform. At the same time, the lower placement of the battery pack 15 further optimizes the bottom counterweight. The horizontal abutment closed state of the counterweight slot 17 effectively prevents the robot from accidentally falling off the cable, thereby enhancing the safety of equipment operation.

[0034] In this embodiment, preferably, the walking drive mechanism includes a plurality of driving wheels 11 and a plurality of third motors 10 for driving the driving wheels 11 to rotate, the plurality of driving wheels 11 are rotatably arranged on the inner side of the frame 2, the plurality of driving wheels 11 are located on the same straight line, the output end of the third motor 10 is fixedly connected to the driving wheel 11, and the third motor 10 is fixedly connected to the frame 2; the walking drive mechanism also includes a second motor 6, a mounting frame 7 fixedly mounted on the output end of the second motor 6, and a driven wheel 8 rotatably mounted on the mounting frame 7, the second motor 6 is fixedly connected to the frame 2, the driven wheel 8 is located below the driving wheel 11, the second motor 6 can drive the mounting frame 7 to rotate so that the driven wheel 8 moves out from under the driving wheel 11, so as to facilitate the de-icing robot to move away from the cable; when the de-icing robot is deployed on the cable, the driving wheel 11 and the driven wheel 8 are in contact with the cable to limit the cable between the driving wheel 11 and the driven wheel 8, and the driving wheel 11 is driven to rotate by the third motor 10 during walking, so that the de-icing robot moves on the cable.

[0035] In this embodiment, preferably, the de-icing mechanism includes a first motor 3, a driving rod 4 fixedly mounted on the output end of the first motor 3, and a de-icing striking block 5 fixedly mounted on the end of the driving rod 4 away from the first motor 3. The first motor 3 is fixedly mounted on the frame 2, and both sides of the de-icing striking block 5 are provided with burrs. During de-icing, the driving rod 4 is driven to rotate back and forth by the first motor 3, so that the burrs on the de-icing striking block 5 reciprocate and hit both sides of the cable, thereby breaking the frost attached to the cable.

[0036] In this embodiment, preferably, a de-icing blade head 9 is fixedly installed on the side of the mounting frame 7 away from the driven wheel 8, and at least three de-icing blade heads 9 are provided, and the angle between two adjacent de-icing blade heads 9 is 30°-50°. When the de-icing robot moves on the cable, the ice at the bottom of the cable is pushed off by the de-icing blade heads 9 in conjunction with the impact of the striking block.

[0037] See also Figures 5 to 10In this embodiment of the present invention, the rotation drive assembly includes a mounting seat 16, a connecting shaft 19 rotatably mounted inside the mounting seat 16, and two connecting plates 18 located on both sides of the mounting seat 16, one end of the connecting plate 18 is fixedly connected to the connecting shaft 19, and the other end of the connecting plate 18 is fixedly connected to the counterweight slot 17. A groove is provided in the middle of the mounting seat 16, and a transmission box 20 is fixedly mounted in the groove. A power assembly for driving the connecting shaft 19 to rotate is provided in the transmission box 20, and the connecting shaft 19 passes through the transmission box 20, and the connecting shaft 19 rotates with the transmission box 20; the power assembly includes a worm gear 21, a fourth motor 22, a worm 23, a first gear 24 and a second gear 25, the worm gear 21 is fixedly sleeved on the connecting shaft 19, and the worm 23 is rotatably mounted inside the transmission box 20 The worm 23 is meshed with the worm wheel 21, and the top of the worm 23 is fixedly sleeved with a first gear 24. The fourth motor 22 is fixedly mounted inside the transmission box 20, and the output end of the fourth motor 22 is fixedly mounted with a second gear 25, and the second gear 25 is meshed with the first gear 24; the fourth motor 22 can drive the second gear 25 to rotate, and when the second gear 25 rotates, the worm 23 is driven to rotate through the first gear 24. When the worm 23 rotates, the worm wheel 21 is driven to rotate, thereby driving the connecting shaft 19 to rotate. When the connecting shaft 19 rotates, the counterweight slot 17 is driven to rotate through the connecting plate 18, thereby realizing that the counterweight slot 17 is driven to rotate by the rotation drive assembly, and the transmission is carried out through the worm wheel 21 and worm 23. The self-locking function of the worm wheel 21 and worm 23 is utilized to keep the counterweight slot 17 in a horizontal or vertical state.

[0038] The ice receiving plate 26 is arranged on one side of the counterweight groove 17, and the ice receiving plate 26 is arranged to be inclined. A first push plate 27 is arranged on the inner side of the counterweight groove 17, and the first push plate 27 slides along the length direction of the counterweight groove 17, and the top wall of the first push plate 27 is fixedly connected to the ice receiving plate 26. The counterweight groove 17 is fixedly installed with an electric push rod 28 on the side wall near the mounting seat 16, and the output end of the electric push rod 28 is fixedly connected to the ice receiving plate 26. When the ice receiving plate 26 is extended from the top of the counterweight groove 17 in the horizontal state, the ice receiving plate 26 is located directly under the de-icing blade head 9; through the setting of the movable ice receiving plate 26, when it is necessary to add ice to the counterweight groove 17, the output end of the electric push rod 28 is controlled to extend, thereby driving the first push plate 27 and the ice receiving plate 26 to move, so that the ice receiving plate 26 moves to the center of the de-icing blade head 9 When the ice cubes are accumulated on the edge of the first push plate 27, the output end of the electric push rod 28 is controlled to be retracted, thereby driving the first push plate 27 to move, so that the first push plate 27 pushes the ice cubes toward the counterweight groove 17 and away from the ice receiving plate 26. This is repeated many times until the counterweight groove 17 is filled with more ice cubes, and then the output end of the electric push rod 28 is controlled to be retracted so that the ice receiving plate 26 moves back to the top of the counterweight groove 17 to stop receiving ice. After de-icing is completed, the counterweight groove 17 is rotated to a vertical state by rotating the drive assembly, so that the ice cubes in the counterweight groove 17 slide downward, thereby reducing the weight of the drone during flight to avoid the heavy load affecting the flight stability of the drone.

[0039] In this embodiment, preferably, a second push plate 29 is slidably installed on the inner side of the counterweight groove 17. When the first push plate 27 and the second push plate 29 are in the initial state, the first push plate 27 and the second push plate 29 do not contact each other, so that the movement of the first push plate 27 and the second push plate 29 will not interfere with each other. A transmission component for driving the second push plate 29 to move along the width direction of the counterweight groove 17 is provided on the counterweight groove 17; the transmission component includes a telescopic rod 30, a rope wheel 32 and a traction rope 33, and the telescopic rod 30 is installed on the side of the counterweight groove 17 close to the inclined plate 201. The extension of the telescopic rod 30 The retracted end is fixedly connected to the second push plate 29, a spring 31 is provided inside the telescopic rod 30, and the telescopic rod 30 is provided with multiple sections. The two ends of the spring 31 are respectively fixedly connected to the innermost and outermost sections. The bottom end of the worm 23 extends out of the transmission box 20, and the rope wheel 32 is fixedly sleeved on the bottom end of the worm 23. The traction rope 33 is wound and installed on the rope wheel 32. The end of the traction rope 33 away from the rope wheel 32 passes through the side wall of the counterweight groove 17 and is fixedly connected to the second push plate 29. When the counterweight groove 17 is in a horizontal state, the second push plate 29 fits against the inner wall of the counterweight groove 17. When the counterweight When the slot 17 is in a vertical state, the second push plate 29 extends from the counterweight slot 17; when the counterweight slot 17 rotates from the vertical state to the horizontal state, as the worm 23 rotates, the worm 23 drives the rope pulley 32 to rotate, thereby winding the traction rope 33, so that the traction rope 33 pulls the second push plate 29 toward the inside of the counterweight slot 17, so that when the counterweight slot 17 is in a horizontal state, the second push plate 29 fits against the inner wall of the counterweight slot 17, thereby not interfering with the reception of ice cubes, and when the counterweight slot 17 rotates from the horizontal state to the vertical state, as the worm 23 rotates in the opposite direction, the traction rope 33 It is gradually released from the rope pulley 32, so that the second push plate 29 moves in the direction away from the counterweight groove 17 under the elastic action of the telescopic rod 30, and extends from the inner side of the counterweight groove 17, thereby pushing the ice cubes in the counterweight groove 17 down, which can effectively prevent the ice cubes from remaining in the counterweight groove 17. In addition, the second push plate 29 extends out of the counterweight groove 17 and is located at the bottom of the de-icing robot. When the de-icing robot lands on the ground, the second push plate 29 first contacts the ground and is buffered under the action of the spring 31 inside the telescopic rod 30, which can reduce the impact force of the de-icing robot when it lands and play a buffering role.

[0040] The application realizes reliable conversion and self-locking of the counterweight groove 17 between horizontal and vertical states through the worm gear 21 and the worm 23 transmission, and realizes self-adaptive collection and distribution of ice blocks into the counterweight groove 17 through the ice receiving plate 26, the first push plate 27 and the electric push rod 28, so as to maximize the utilization of deicing products for counterweighting. In particular, through the linkage design of the traction rope 33, the winding rope wheel 32, the telescopic rod 30 and the second push plate 29, the second push plate 29 is automatically extended when the counterweight groove 17 is in the vertical state, which on the one hand completely removes the residual ice blocks to reduce the flying weight, and on the other hand, the second push plate 29 is preferentially in contact with the ground when landing, and the telescopic rod 30 is used to adaptively absorb the impact of the spring 31 inside the telescopic rod 30, so as to protect the equipment. When the counterweight groove 17 is in the horizontal state, the second push plate 29 is automatically retracted and does not interfere with ice receiving.

[0041] In the embodiment, preferably, the bottom wall of the transmission box 20 is fixedly installed with a guide ring 34, and the traction rope 33 penetrates through the guide ring 34, so as to guide the movement of the traction rope 33.

[0042] In the embodiment, preferably, the front and rear ends of the rack 2 are both installed with a first camera 12, the two inclined plates 201 are both installed with a second camera 13, and the inner sides of the two inclined plates 201 are both provided with a third camera 14. The first camera 12 can monitor the flight of the flight assembly 1 to guide the flight of the flight assembly 1, the second camera 13 can monitor the work of the deicing mechanism to control the impact force according to the ice layer thickness and judge the deicing effect, and the third camera 14 can monitor the ice load on the counterweight groove 17 to control the movement of the first push plate 27 at a suitable time. The rack 2 is provided with a control module and a communication module to remotely control the work of each electrical element. The specific control method is prior art and will not be described in detail here.

[0043] The above is only a preferred embodiment of the application, so equivalent changes or modifications made according to the structure, features and principles described in the patent application range of the application are included in the patent application range of the application.

Claims

1. A power transmission line adaptive flying deicing robot, comprising a frame (2), a flying assembly (1) arranged above the frame (2), two inclined plates (201) symmetrically arranged on both sides of the bottom of the frame (2), and a deicing mechanism arranged at the end of the frame (2), characterized in that: A battery pack (15) is fixedly mounted on the bottom of the outer side walls of the two inclined plates (201), a travel drive mechanism is provided on the inner side of the frame (2), and a counterweight mechanism is provided on the bottom of the inner side of the two inclined plates (201), wherein the counterweight mechanism comprises a counterweight slot (17) and a rotation drive assembly for driving the counterweight slot (17) to rotate, and a side of the counterweight slot (17) away from the rotation drive assembly is open. When the two counterweight slots (17) are in a horizontal state, the two counterweight slots (17) are in contact with each other, and when the two counterweight slots (17) are in a vertical state, a gap is provided between the two counterweight slots (17).

2. The power transmission line adaptive flying de-icing robot according to claim 1, characterized in that: The travel drive mechanism comprises a plurality of driving wheels (11) and a plurality of third motors (10) for driving the driving wheels (11) to rotate. The plurality of driving wheels (11) are all rotatably arranged on the inner side of the frame (2). The plurality of driving wheels (11) are located on the same straight line. The output end of the third motor (10) is fixedly connected to the driving wheel (11), and the third motor (10) is fixedly connected to the frame (2).

3. The power transmission line adaptive flying de-icing robot according to claim 2, characterized in that: The travel drive mechanism further comprises a second motor (6), a mounting frame (7) fixedly mounted on the output end of the second motor (6), and a driven wheel (8) rotatably mounted on the mounting frame (7), wherein the second motor (6) is fixedly connected to the frame (2), and the driven wheel (8) is located below the driving wheel (11).

4. The power transmission line adaptive flying de-icing robot according to claim 1, characterized in that: The rotary drive assembly comprises a mounting seat (16), a connecting shaft (19) rotatably mounted inside the mounting seat (16), and two connecting plates (18) located on both sides of the mounting seat (16), one end of the connecting plate (18) is fixedly connected to the connecting shaft (19), and the other end of the connecting plate (18) is fixedly connected to the counterweight groove (17). A groove is provided in the middle of the mounting seat (16), a transmission box (20) is fixedly mounted in the groove, a power assembly for driving the connecting shaft (19) to rotate is provided in the transmission box (20), the connecting shaft (19) passes through the transmission box (20), and the connecting shaft (19) and the transmission box (20) are rotationally matched.

5. The power transmission line adaptive flying de-icing robot according to claim 4, characterized in that: The power assembly comprises a worm wheel (21), a fourth motor (22), a worm (23), a first gear (24) and a second gear (25), wherein the worm wheel (21) is fixedly sleeved on the connecting shaft (19), the worm (23) is rotatably mounted inside the transmission box (20), and the worm (23) is meshed with the worm wheel (21), the top of the worm (23) is fixedly sleeved with the first gear (24), the fourth motor (22) is fixedly mounted inside the transmission box (20), and the output end of the fourth motor (22) is fixedly mounted with the second gear (25), and the second gear (25) is meshed with the first gear (24).

6. The power transmission line adaptive flying de-icing robot according to claim 5, characterized in that: An ice receiving plate (26) is provided on one side of the counterweight groove (17), and the ice receiving plate (26) is inclined. A first push plate (27) is provided on the inner side of the counterweight groove (17), and the first push plate (27) slides along the length direction of the counterweight groove (17). The top wall of the first push plate (27) is fixedly connected to the ice receiving plate (26). An electric push rod (28) is fixedly installed on the side wall of the counterweight groove (17) close to the mounting seat (16). The output end of the electric push rod (28) is fixedly connected to the ice receiving plate (26). When the ice receiving plate (26) extends from above the counterweight groove (17) in a horizontal state, the ice receiving plate (26) is located directly below the de-icing blade head (9).

7. The power transmission line adaptive flying de-icing robot according to claim 6, characterized in that: A second push plate (29) is slidably mounted on the inner side of the counterweight groove (17), and a transmission assembly for driving the second push plate (29) to move along the width direction of the counterweight groove (17) is provided on the counterweight groove (17).

8. The power transmission line adaptive flying de-icing robot according to claim 7, characterized in that: The transmission assembly includes a telescopic rod (30), a rope wheel (32) and a traction rope (33), wherein the telescopic rod (30) is installed on a side of the counterweight groove (17) close to the inclined plate (201), the telescopic end of the telescopic rod (30) is fixedly connected to the second push plate (29), a spring (31) is provided inside the telescopic rod (30), the bottom end of the worm (23) extends out of the transmission box (20), and the rope wheel (32) is fixedly sleeved on the worm (23). The bottom end of the traction rope (33) is wound and installed on the rope winding wheel (32), and the end of the traction rope (33) away from the rope winding wheel (32) passes through the side wall of the counterweight groove (17) and is fixedly connected to the second push plate (29). When the counterweight groove (17) is in a horizontal state, the second push plate (29) fits the inner side wall of the counterweight groove (17). When the counterweight groove (17) is in a vertical state, the second push plate (29) extends from the counterweight groove (17).

9. The power transmission line adaptive flying de-icing robot according to claim 3, characterized in that: A de-icing blade head (9) is fixedly mounted on a side of the mounting frame (7) away from the driven wheel (8), and at least three de-icing blade heads (9) are provided, with the angle between two adjacent de-icing blade heads (9) being 30°-50°.

10. The power transmission line adaptive flying de-icing robot according to claim 1, characterized in that: The deicing mechanism comprises a first motor (3), a driving rod (4) fixedly mounted on the output end of the first motor (3), and a deicing striking block (5) fixedly mounted on an end of the driving rod (4) away from the first motor (3); the first motor (3) is fixedly mounted on the frame (2); and burrs are provided on both sides of the deicing striking block (5).

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