Telescopic device, deicing device based on unmanned aerial vehicle and power transmission line deicing method

Abstract

The invention relates to the technical field of unmanned aerial vehicle line inspection, in particular to a telescopic device, a deicing device based on an unmanned aerial vehicle and a power transmission line deicing method. The telescopic device comprises a telescopic rod and an air pump; the telescopic rod comprises a plurality of telescopic pipes which are nested layer by layer, so that the plurality of telescopic pipes can retract or extend to form a rod shape; the exhaust end of the air pump is connected to the telescopic pipe so that the air pump can inflate air into the telescopic pipe. The device further comprises a retraction mechanism arranged in the telescopic pipe. The retraction mechanism comprises a take-up motor and a stay wire; the take-up motor is arranged at the tail end of the telescopic pipe on the outermost layer. One end of the stay wire is connected to a take-up wheel of the take-up motor, and the other end of the stay wire is connected to the telescopic pipe on the innermost layer. The telescopic rod can stretch out and draw back, and the length of the telescopic rod can be adjusted only through the structure of the telescopic pipe and the pull wire. Compared with a telescopic rod with the same effect in the prior art, the telescopic rod is simpler in structure, lighter in weight and more suitable for being carried by the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of drone line inspection, and in particular to a telescopic device, a drone-based deicing device, and a transmission line deicing method. Background Art

[0002] As a key component of the power system, the safe and stable operation of transmission lines is directly related to the reliability of power supply. With the rapid development of drone technology, transmission line inspection drones have become a vital tool in power operations and maintenance. Equipped with sensors such as high-definition visible light cameras, infrared thermal imagers, and ultraviolet imagers, this technology can rapidly detect defects such as broken conductors, damaged insulators, and loose hardware on transmission lines. It can also identify hidden dangers such as tree barriers and illegal construction within line corridors. Its advantages are significant. Not only can it significantly improve inspection efficiency—a single drone can cover an average daily inspection distance of more than 10 times that of a manual inspection—it can also adapt to complex terrain such as mountains, canyons, and river crossings, avoiding the safety risks associated with manual altitude work. Furthermore, the data collected through multi-sensor fusion is more accurate, providing a quantitative basis for equipment status assessment. Currently, non-contact inspections are widely used in power transmission line inspections, but contact inspections are relatively rare. This is primarily due to the limited payload capacity of drones, which places extremely strict weight requirements on payloads. Furthermore, drones flying too close to power lines can pose safety risks such as electric shock and collisions, limiting the use of contact inspections. Furthermore, high-voltage transmission lines contain a large number of closely spaced cables, making existing drone de-icing systems unable to bypass external cables and approach internal ones for de-icing. To achieve contact inspection operations, drone-based telescopic devices have appeared in the prior art, such as the patent "CN201921514006.5, a power inspection drone with electrical testing, zero value detection and foreign object removal device", which uses an insulating rod to carry a foreign object removal device to contact the line and complete the corresponding operation. However, the insulating rod in this type of device is not easy to retract, resulting in poor flexibility and inconvenience in operation when the drone carries a long insulating rod, affecting work efficiency. In addition, the current telescopic rod has a complex structure and is heavy, which further increases the carrying burden of the drone and is not convenient for actual carrying and application. There are various existing de-icing methods for power transmission lines, but all have limitations. Drone de-icing typically involves using drones equipped with de-icing devices, such as mechanical impact devices and air jets. These devices are often complex, and the distance between the de-icing device and the drone is fixed and close, making it difficult to maneuver the drone near the line. These devices also lack flexibility and are difficult to adapt to varying icing conditions and line environments. In summary, in the existing contact inspection and de-icing technology for transmission lines, the relevant devices have problems such as complex structure, heavy weight, inconvenient portability, and poor flexibility, which are difficult to meet actual operational needs. Therefore, a new type of drone-mounted device is urgently needed to solve the above technical problems. Summary of the Invention

[0003] The object of the present invention is to provide a telescopic device, a deicing device based on a drone, and a deicing method for power transmission lines, which can facilitate the deicing of power transmission lines by drones.

[0004] The embodiments of the present invention are achieved through the following technical solutions: A telescopic device comprises a telescopic rod and an air pump; the telescopic rod comprises a plurality of telescopic tubes nested in layers, so that the plurality of telescopic tubes can be retracted or extended into a rod shape; the exhaust end of the air pump is connected to the telescopic tubes, so that the air pump can fill the telescopic tubes with gas; It also includes a retraction mechanism arranged in the telescopic tube; the retraction mechanism includes a take-up motor and a pull wire; the take-up motor is arranged at the end of the outermost telescopic tube; one end of the pull wire is connected to the take-up wheel of the take-up motor, and the other end is connected to the innermost telescopic tube.

[0005] A deicing device based on a drone, comprising the above-mentioned telescopic device and a deicing mechanism connected to the end of the telescopic device; the outermost telescopic tube is connected to the drone via a connecting plate; the deicing mechanism comprises a frame, a rotating ring, a driving mechanism and a plurality of pressure wheels; the frame is connected to the end of the innermost telescopic tube; the rotating ring and the frame are both C-shaped; the rotating ring is rotatably connected to the frame so that the openings of the rotating ring and the frame overlap or separate; the driving mechanism is transmission-connected to the rotating ring; a plurality of pressure wheels are connected to the rotating ring and are evenly distributed along the circumference of the rotating ring.

[0006] Furthermore, a connecting head is provided at the end of the innermost telescopic tube; a screw hole is provided at one end of the frame to cooperate with the connecting head, so that the connecting head is threadedly connected to the inside of the screw hole; a sealing plate and a sealing spring are provided inside the connecting head; the two ends of the sealing spring are respectively connected to the connecting head and the sealing plate, so that the sealing spring pushes the sealing plate tightly against the air hole at the end of the connecting head; a push pin is provided inside the screw hole to cooperate with the air hole, so that when the connecting head is connected to the screw hole, the push pin pushes the sealing plate away from the air hole; the frame is provided with a connecting port connected to the inside of the screw hole; the driving mechanism is a pneumatic motor and is connected to the connecting port.

[0007] Furthermore, the pressure wheel is provided with a tightening member; the tightening member includes a cylinder body and a push rod; the push rod is telescopically connected to the inside of the cylinder body; one end of the push rod is provided with a piston in cooperation with the cylinder body, and the other end is rotatably connected to the pressure wheel; the cylinder body is connected to the connecting port through an air pipe.

[0008] Furthermore, a return spring is provided inside the cylinder body to enable the push rod to retract into the cylinder body.

[0009] Furthermore, the connection port is provided with a sealing ring and an air pressure valve; the air pressure valve includes a valve core and a closing spring; the closing spring is connected to the valve core so that the closing spring presses the valve core against the sealing ring.

[0010] The transmission gear of the present invention is a gear which is connected to the gear of the driven gear to form a gearbox and a gearbox which is connected to the gear train of the driven gear and the gearbox which is connected the gear train and the gear train is connected.

[0011] Furthermore, both sides of the teeth of the driving gear and the driven gear are beveled.

[0012] Furthermore, the outermost telescopic tube is hinged to the connecting plate; the connecting plate is further provided with a swing motor; the rotating shaft of the swing motor is connected to the rotating shaft of the outermost telescopic tube.

[0013] A method for deicing a power transmission line adopts the above-mentioned drone-based deicing device, controls a swing motor, adjusts the angle of a telescopic rod according to the position of the transmission line, so that the telescopic rod does not touch surrounding transmission lines when extending toward the transmission line; an air pump outputs a first air pressure, so that the telescopic rod extends to an appropriate length and moves the drone so that the transmission line enters the interior of a rotating ring; the air pump outputs a second air pressure, so that a pressure wheel presses the transmission line, and the rotating ring drives the pressure wheel to rotate and break ice; and the drone moves along the extension direction of the transmission line to de-ice the entire transmission line.

[0014] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects: The telescopic rod of the present invention can be extended and retracted and its length can be adjusted, and this can be achieved by only using a telescopic tube and a pull wire structure. Compared with the telescopic rod structure of the prior art with the same effect, it is simpler in structure, lighter in weight, and more suitable for carrying by drones. By carrying the de-icing device via a retractable telescopic rod, the de-icing device can be moved to a distance of 2 to 3 meters or even longer from the drone, so that when the de-icing device contacts the power line, the drone is still at a long distance from the power line, avoiding damage to the drone due to contact with the power line during the de-icing process. The drive of the de-icing device and the drive of the pressure wheel are both driven by air pressure, which makes the structure simpler and more convenient for carrying by drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Schematic diagram of the telescopic rod installed horizontally under the drone.

[0016] Figure 2 for Figure 1 Enlarged view of point a in the middle.

[0017] Figure 3 Schematic diagram of the telescopic rod being installed obliquely under the drone.

[0018] Figure 4 Schematic diagram of the structure of the telescopic rod.

[0019] Figure 5 for Figure 4 Enlarged view of point b in the middle.

[0020] Figure 6 Schematic diagram of the de-icing device.

[0021] Figure 7 A cross-sectional view of the de-icing device.

[0022] Figure 8 for Figure 7 Enlarged view of point c in the middle.

[0023] Figure 9 for Figure 7 Enlarged view of point d in the middle.

[0024] Figure 10 A schematic diagram of the rack.

[0025] Figure 11 It is a schematic diagram of the cooperation between the pressure wheel and the tightening piece.

[0026] Figure 12 This is a schematic diagram showing the rotating cylinder located on one side of the guide hole.

[0027] Figure 13 This is a schematic diagram of the rotating cylinder located in the middle of the guide hole.

[0028] Figure 14 This is a schematic diagram showing that the rotating cylinder is located on the other side of the guide hole.

[0029] Figure 15 Schematic diagram of the matching between the driving gear and the driven gear.

[0030] Figure markings: 1-telescopic tube, 2-air pump, 3-take-up motor, 4-pull wire, 5-take-up wheel, 6-connecting plate, 7-UAV, 8-frame, 9-rotating ring, 10-driving mechanism, 11-pressure wheel, 12-connector, 13-screw hole, 14-sealing plate, 15-sealing spring, 16-air hole, 17-thimble, 18-cylinder body, 19-thrust rod, 20-return spring, 21-sealing ring, 22-valve core, 23-closing spring, 24-rotating cylinder, 25-driving gear, 26-driven gear, 27-switching spring, 28-guide hole, 29-driving gear, 30-limiting block, 31-umbrella gear, 32-output shaft, 33-rotating shaft. DETAILED DESCRIPTION

[0031] like Figures 1-15 As shown, the present invention provides a telescopic device and a deicing device based on a drone 7 and a deicing method for a power transmission line.

[0032] like Figure 4 and Figure 5 As shown, the core components of the telescopic device include a telescopic rod and an air pump 2. The telescopic rod is composed of several nested telescopic tubes 1. This nested structure allows the tubes 1 to flexibly retract and extend, forming a rod-like structure. The air pump 2 uses a micro air pump with adjustable output pressure. Its exhaust end is connected to the telescopic tube 1 via a high-pressure air pipe. During operation, it can fill the telescopic tube 1 with 0.3-0.8MPa compressed air, providing stable power for the extension of the telescopic rod.

[0033] To achieve the retraction of the telescopic rod, a retraction mechanism is also provided in the device, which includes a take-up motor 3 and a high-strength nylon pull wire 4. The take-up motor 3 is a micro servo motor, which is installed on the mounting seat at the end of the outermost telescopic tube 1. The mounting seat and the telescopic tube 1 are fixed by bolts, and a rubber sealing ring is installed on the contact surface. The servo motor can also be set on the outside of the telescopic tube 1, and only the take-up wheel 5 is set inside the telescopic tube 1 for taking up the line. This can reduce the dependence on the size of the servo motor. One end of the pull wire 4 is connected to the take-up wheel 5 of the take-up motor 3, and the other end is fixed to the center position of the end of the innermost telescopic tube 1. The take-up wheel 5 retracts the extended telescopic tube 1 by taking up the line.

[0034] Each telescopic tube 1 is equipped with a nitrile rubber piston. The piston fits tightly against the inner wall of the tube 1, with a clearance of 0.05-0.1mm. This ensures a tight seal within the tube and ensures that air pressure effectively pushes the tube 1 out during inflation. The end of the telescopic tube 1 features a stepped structure 5mm larger than the tube diameter to prevent it from falling out during extension. The outer tube 1's diameter is the same as the outer diameter of the adjacent inner tube 1, and the end section is 1-3cm long. A polytetrafluoroethylene coating is sprayed on the inner wall to reduce friction, allowing the tube to slide smoothly and limiting it to a 1-3cm area. This design ensures smooth sliding while preventing significant wobbling. A single telescopic tube 1 can be set to approximately 0.5 meters in length, while a total length of four sections can reach 2 meters when extended. The tube wall is 2mm thick and is wound from T700-grade carbon fiber composite material. It weighs only one-third of an aluminum alloy tube of the same specification, significantly reducing the carrying burden of the drone 7. The power cord for the rewinding motor 3 is made of high-voltage silicone wire and extends from a sealed outlet at the end of the telescopic tube 1. The outlet is fitted with an elastic rubber plug, creating a tight seal when the cable passes through, ensuring that gas inside the tube does not leak. When the telescopic device is not in use, the rewinding motor 3 retracts the wires and shortens the several telescopic tubes 1 via the pull wire 4. After contraction, the total length is only 1 / 4 of the extended state, reducing wind resistance during flight of the drone 7. When in use, the rewinding motor 3's payout speed is linked to the inflation speed of the air pump 2. The air pump 2 inflates the telescopic tube 1, gradually increasing the internal air pressure and pushing the telescopic tube 1 out. The rewinding motor 3 is connected to the rewinding wheel 5 via a worm gear mechanism with a transmission ratio of 1:20. This self-locking structure ensures that the pull wire 4 can only be retracted and released by the rewinding motor 3. The payout length is precisely controlled by an encoder, and the telescopic rod length can be controlled with an accuracy of ±5mm.

[0035] This telescopic device solves the problem of conventional insulating rods being difficult to retract, resulting in poor mobility and inconvenient operation when carrying the drone 7. Furthermore, the carbon fiber material is lightweight, reducing the carrying burden of the drone 7. This telescopic rod can be retracted and extended without requiring a complex transmission mechanism, significantly reducing weight. Furthermore, by controlling the release length of the cable 4, the extended length of the telescopic rod can be controlled, making the length of the telescopic rod controllable.

[0036] The present invention also provides a deicing device for a drone 7, comprising the aforementioned telescopic device and a deicing mechanism connected to the end of the telescopic device. The outermost telescopic tube 1 is connected to the drone 7 via an aluminum alloy connecting plate 6. The connecting plate 6 is connected to mounting holes on the bottom of the drone 7 via four shock-absorbing foot pads, which reduce vibration transmission during operation.

[0037] like Figures 6-10As shown, the de-icing mechanism consists of a frame 8, a rotating ring 9, a drive mechanism 10, and 3-6 pressure rollers 11. The frame 8 is made of CNC-machined aluminum alloy and is connected to the end of the innermost telescopic tube 1. The frame 8 and the rotating ring 9 are both C-shaped, with the opening radius designed according to the diameter of common power transmission lines. The rotating ring 9 is rotatably connected to the frame 8, so that the openings of the rotating ring 9 and the frame 8 can be flexibly overlapped or separated. The drive mechanism 10 is connected to the rotating ring 9 by a gear transmission. Several pressure rollers 11 are connected to the rotating ring 9 and are evenly distributed along the circumference of the rotating ring 9. The angles between adjacent pressure rollers 11 are equal.

[0038] The central angle of the opening between the frame 8 and the rotating ring 9 is 90-120 degrees, and the edges of the opening are rounded 2mm to facilitate smooth entry and exit of the power line. The frame 8 is equipped with a dovetail-shaped ridge, and the rotating ring 9 has a corresponding dovetail-shaped groove. The groove is coated with high-temperature grease. This mating structure allows the rotating ring 9 to rotate relative to the frame 8 without falling off. When the openings of the frame 8 and rotating ring 9 overlap, the frame 8 is precisely moved by the drone 7, allowing the power line to pass through the opening into the frame 8 and then between the pressure rollers 11. At this time, the rotating ring 9 rotates at a speed of 30-60 rpm, driving the pressure rollers 11 to compress the power line and roll along the circumference of the power line, crushing the ice into fragments. The drone 7, carrying the deicing mechanism, moves along the power line to de-ice the entire power line. After de-icing is completed, the rotating ring 9 is controlled to reset, re-closing the opening, and the power line can exit through the opening.

[0039] The telescopic rod allows the de-icing device to be extended 1-3 meters away from the drone. This allows the drone 7 to maintain a safe distance of at least 1.5 meters from power lines when the de-icing device contacts them, effectively preventing the risk of electric shock and collision. Furthermore, the slender telescopic rod facilitates the de-icing device's passage between cables, allowing it to reach and de-ice internal power lines as close as 0.5 meters apart. This addresses the difficulty existing drone 7 de-icing devices face in accessing internal cables, significantly improving operational flexibility.

[0040] The innermost telescopic tube 1 has a brass connector 12 at its end. The outer surface of the connector 12 is threaded. One end of the frame 8 has a threaded hole 13 of the same size as the connector 12. The connector 12 is threaded into the inner portion of the threaded hole 13. This connection method facilitates quick replacement of different operating mechanisms.

[0041] A stainless steel sealing plate 14 and a stainless steel sealing spring 15 are provided inside the connector 12. The two ends of the sealing spring 15 are welded to the connector 12 and the sealing plate 14 respectively. Under the action of the sealing spring 15, the sealing plate 14 is pressed tightly against the air hole 16 at the end of the connector 12, thereby reliably sealing the air hole 16. A carbide ejector pin 17 is provided inside the screw hole 13 to match the air hole 16. When the connector 12 is connected to the screw hole 13, the ejector pin 17 pushes the sealing plate 14 away from the air hole 3-5mm, so that the high-pressure gas in the telescopic tube 1 can be transferred to the frame 8, and then transported to the drive mechanism 10. The frame 8 is also provided with a connection port connected to the inside of the screw hole 13. The drive mechanism 10 adopts an air motor and is connected to the connection port through a quick-connect connector. The air motor can output a speed of up to 3000r / min at an air pressure of 0.5MPa, and drives the rotating ring 9 to rotate after being decelerated by the reduction gearbox.

[0042] With this structural design, when the frame 8 is removed, the air hole 16 of the connector 12 will be blocked by the sealing plate 14 to prevent the telescopic rod from failing due to gas leakage; when the frame 8 is installed, the ejector pin 17 pushes open the sealing plate 14, allowing the high-pressure gas to power the pneumatic motor, eliminating the need for additional motors and batteries. This simplifies the structure of the de-icing mechanism by 40% and reduces its weight by 25%, making it more convenient for the drone 7 to carry and operate for a long time.

[0043] The pressure roller 11 is equipped with a tensioning member comprising a cylinder 18 and a push rod 19. The push rod 19 is telescopically connected to the interior of the cylinder 18, with a clearance of 0.03-0.05mm. One end of the push rod 19 is fitted with a nitrile rubber piston that engages the cylinder 18, creating an interference fit and a seal. The other end of the push rod 19 is rotatably connected to the pressure roller 11 and the cylinder 18 via an air pipe, secured to the connection port by a compression fitting.

[0044] When high-pressure gas enters cylinder 18 through the connection port, it pushes the piston, driving push rod 19 to extend, causing pressure roller 11 to tightly press against the power line. The pressing force can be precisely controlled by the pressure of air pump 2, thereby more effectively breaking ice. The provision of this pressing member allows pressure roller 11 to flexibly adjust the degree of pressure according to the thickness of the power line and the ice coverage, ensuring optimal deicing results under different working conditions. Compared with pressure roller 11 with fixed pressure, the deicing success rate is improved.

[0045] A return spring 20 is also provided inside the cylinder 18 and installed between the bottom of the cylinder 18 and the piston. When the air pressure is withdrawn, the return spring 20 pushes the push rod 19 back into the cylinder 18, separating the pressure wheel 11 from the transmission line, making it easier for the transmission line to be smoothly detached from the rotating ring 9.

[0046] like Figure 8As shown, the connection port is provided with a nitrile rubber sealing ring 21 and an air pressure valve. The air pressure valve includes a stainless steel valve core 22 and a closing spring 23. The closing spring 23 is connected to the valve core 22, and under the action of the closing spring 23, the valve core 22 is pressed against the sealing ring 21.

[0047] The model of the closing spring 23 has been precisely calculated and selected so that only when the air pressure reaches 0.45MPa can the elastic force of the closing spring 23 be overcome to push open the valve core 22. The valve core 22 opens with a stroke of 3mm, away from the sealing ring 21, to achieve simultaneous ventilation of the pneumatic motor and the top fastener. The air pressure at this time is greater than the 0.3MPa required for the telescopic rod to extend, and the air pressure is automatically controlled by the electronic pressure regulator on the air pump 2. When in use, the telescopic rod is first driven to extend to the predetermined position by an air pressure of 0.3MPa, and then the air pressure is increased to 0.45MPa to allow the pneumatic motor and the top fastener to ventilate and work. This step-by-step control method makes the operation more orderly and realizes the separate control of the two actions of telescopic and de-icing.

[0048] like Figure 12-14 As shown, the de-icing device also includes a reversing mechanism, which consists of a rotating cylinder 24, a driving gear 25, a driven gear 26 and a switching spring 27. The driving gear 25 and the driven gear 26 are both connected to the two ends of the rotating shaft 33. The rotating shaft 33 is rotatably installed in the rotating cylinder 24 through two deep groove ball bearings. The bearings are interference fit with the rotating cylinder 24. An arc-shaped guide hole 28 is provided on the frame 8. The width of the guide hole 28 is slightly larger than the diameter of the rotating cylinder 24, so that the rotating cylinder 24 can be slidably installed in the guide hole 28, and the sliding fit clearance is 0.1-0.2mm. The driving gear 29 is connected to the output shaft 32 of the pneumatic motor. The driving gear 29 is meshed with the driven gear 26, and the rotating shaft of the pneumatic motor is located at the center of the arc where the guide hole 28 is located, ensuring that the driving gear 29 is always meshed with the driven gear 26 during the movement of the rotating cylinder 24 along the guide hole 28. The switching spring 27 is connected between the frame 8 and the rotating cylinder 24 . Under the action of the switching spring 27 , the rotating cylinder 24 is pressed against the end of the guide hole 28 .

[0049] like Figure 9 As shown, the drive gear 25 is a bevel gear 31. Bevel gears 31 are provided on both sides of the rotating ring 9 to match these gears. When the rotating cylinder 24 is positioned at either end of the guide hole 28, the drive gear 25 engages with the bevel gears 31 on one side of the rotating ring 9. A stop block 30 is provided between the frame 8 and the rotating ring 9. When the rotating ring 9 rotates in one direction to the limit of approximately 140 degrees, it is blocked and stops.

[0050] The elastic force of the switching spring 27 makes the rotating cylinder 24 only stably stay at the two ends of the guide hole 28, and cannot stay in the middle position. When the rotating cylinder 24 stays at the two ends, the driving gear 25 engages with the bevel teeth 31 on both sides of the rotating ring 9, so that the rotating ring 9 rotates in opposite directions in the two situations. Figure 15 As shown, when the rotating ring 9 rotates to the limit position and is blocked, and the driven gear 26 is still driven by the driving gear 29, since both sides of the teeth of the driving gear 29 and the driven gear 26 are inclined, continued application of force will cause the two to radially slip against each other, thereby generating relative displacement, causing the driven gear 26 and the driving gear 29 to move away from each other by the depth of one tooth, thereby causing the rotating cylinder 24 to move along the guide hole 28 by the depth of one tooth. If the relative position of the rotating cylinder 24 and the guide hole 28 is as shown Figure 12 As shown, when the driven gear 26 and the driving gear 29 are separated from each other by a depth of one tooth, the relative positions of the rotating cylinder 24 and the guide hole 28 are as shown in FIG. Figure 13 As shown, when the moving distance exceeds the center position of the guide hole 28, the rotating cylinder 24 will be pushed to the other end of the guide hole 28 under the action of the switching spring 27. Figure 14 The driving gear 25 is engaged with the other side of the rotating ring 9 to realize the reversal of the rotating ring 9, so that the rotating ring 9 can reciprocate in two directions to break ice, and avoid the rotating ring 9 rotating in one direction to cause the air pipe of the tightening member to be entangled.

[0051] Both sides of the teeth of the driving gear 29 and the driven gear 26 are beveled. This structural design enables the gears to generate an axial thrust of more than 50N while transmitting torque, so that when the rotating ring 9 is blocked, the driving gear 29 and the driven gear 26 can slip against each other, thereby realizing the movement of the rotating cylinder 24 and the reversing of the rotating ring 9, ensuring the reliable operation of the reversing mechanism and a high reversing success rate.

[0052] The outermost telescopic tube 1 is hinged to the connecting plate 6 via a precision hinge. Connecting plate 6 also houses an oscillating motor, featuring a worm gear reduction motor with a reduction ratio of 1:100 and an output torque of 5 N·m. The motor's shaft is connected to the shaft of the outermost telescopic tube 1 via a coupling. By controlling the forward and reverse rotation of the motor, the telescopic rod can be adjusted within a ±90-degree range, allowing it to reach the power lines from various angles without contacting surrounding lines. This makes it particularly suitable for the complex line environments of multi-circuit towers, improving the device's adaptability to diverse line environments.

[0053] The method for de-icing a transmission line using the de-icing device based on the drone 7 is as follows: first, the position of the transmission line is observed using a high-definition camera on the drone 7 ground station, and the swing motor is controlled to output a corresponding angle signal to drive the telescopic rod to rotate to the optimal operating angle, ensuring that the telescopic rod does not touch surrounding transmission lines when extended toward the transmission line. Next, the air pump 2 is controlled to output a first air pressure of 0.3 MPa to extend the telescopic rod to an appropriate length. The distance between the end of the telescopic rod and the transmission line is monitored in real time by a laser ranging sensor. When the distance reaches 50 cm, the telescopic rod stops extending. The drone 7 is then controlled by the flight control system to translate the drone 7 so that the transmission line enters the interior of the rotating ring 9 through the opening. Next, the air pump 2 is controlled to output a second air pressure of 0.45 MPa. At this time, the pressure roller 11 compresses the transmission line under the action of the air pressure. At the same time, the rotating ring 9 drives the pressure roller 11 to rotate at a speed of 40 r / min to break the ice. During the ice-breaking process, the working status of the de-icing mechanism is monitored in real time by the attitude sensor. Finally, the drone 7 is controlled to move along the extension direction of the transmission line at a speed of 0.5 m / s to de-ice the entire transmission line, maintaining a stable relative position relative to the transmission line during movement.

Claims

1. A telescopic device, characterized in that: The invention comprises a telescopic rod and an air pump; the telescopic rod comprises a plurality of telescopic tubes nested in layers, so that the telescopic tubes can be retracted or extended into a rod shape; the exhaust end of the air pump is connected to the telescopic tubes, so that the air pump can fill the telescopic tubes with gas; It also includes a retraction mechanism arranged in the telescopic tube; the retraction mechanism includes a take-up motor and a pull wire; the take-up motor is arranged at the end of the outermost telescopic tube; one end of the pull wire is connected to the take-up wheel of the take-up motor, and the other end is connected to the innermost telescopic tube.

2. A de-icing device based on a drone, characterized by: It comprises the telescopic device according to claim 1 and a de-icing mechanism connected to the end of the telescopic device; the outermost telescopic tube is connected to the drone through a connecting plate; the de-icing mechanism comprises a frame, a rotating ring, a driving mechanism and a plurality of pressure wheels; the frame is connected to the end of the innermost telescopic tube; the rotating ring and the frame are both C-shaped; the rotating ring is rotatably connected to the frame so that the openings of the rotating ring and the frame overlap or separate; the driving mechanism is transmission-connected to the rotating ring; a plurality of pressure wheels are connected to the rotating ring and are evenly distributed along the circumference of the rotating ring.

3. The de-icing device based on a drone according to claim 2, characterized in that: The end of the innermost telescopic tube is provided with a connecting head; one end of the frame is provided with a screw hole to cooperate with the connecting head, so that the connecting head is threadedly connected to the inside of the screw hole; a sealing plate and a sealing spring are provided inside the connecting head; the two ends of the sealing spring are respectively connected to the connecting head and the sealing plate, so that the sealing spring pushes the sealing plate tightly against the air hole at the end of the connecting head; a push pin is provided inside the screw hole to cooperate with the air hole, so that when the connecting head is connected to the screw hole, the push pin pushes the sealing plate away from the air hole; the frame is provided with a connecting port connected to the inside of the screw hole; the driving mechanism is a pneumatic motor and is connected to the connecting port.

4. The deicing device based on a drone according to claim 3, characterized in that: The pressure wheel is provided with a tightening member; the tightening member includes a cylinder body and a push rod; the push rod is telescopically connected to the inside of the cylinder body; one end of the push rod is provided with a piston in cooperation with the cylinder body, and the other end is rotatably connected to the pressure wheel; the cylinder body is connected to the connecting port through an air pipe.

5. The de-icing device based on a drone according to claim 4, characterized in that: A return spring is also provided inside the cylinder body to enable the push rod to retract into the cylinder body.

6. The de-icing device based on a drone according to claim 5, characterized in that: The connecting port is provided with a sealing ring and an air pressure valve; the air pressure valve includes a valve core and a closing spring; the closing spring is connected to the valve core so that the closing spring presses the valve core against the sealing ring.

7. The de-icing device based on a drone according to claim 6, characterized in that: The transmission gear of the present invention is a gear which is connected to the gear of the driven gear of the driving member, and the gear is connected with the gear of the driven gear to form a round shank and a gear of the driven gear to move relative to each other.

8. The de-icing device based on a drone according to claim 7, characterized in that: Both sides of the teeth of the driving gear and the driven gear are in a bevel shape.

9. The deicing device based on a drone according to claim 8, characterized in that: The outermost telescopic tube is hinged to the connecting plate; the connecting plate is further provided with a swing motor; the rotating shaft of the swing motor is connected to the rotating shaft of the outermost telescopic tube.

10. A method for deicing a power transmission line, using the drone-based deicing device according to claim 9, characterized in that: The swing motor is controlled to adjust the angle of the telescopic rod according to the position of the transmission line, so that the telescopic rod will not touch the surrounding transmission lines when extending toward the transmission line; the air pump outputs a first air pressure to extend the telescopic rod to an appropriate length and move the drone so that the transmission line enters the rotating ring; the air pump outputs a second air pressure to cause the pressure wheel to press the transmission line and the rotating ring drives the pressure wheel to rotate and break the ice; the drone moves along the extension direction of the transmission line to de-ice the entire transmission line.

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