Unmanned aerial vehicle based de-icing device and power transmission line de-icing method

Abstract

The application relates to the technical field of unmanned aerial vehicle line inspection, in particular to an unmanned aerial vehicle-based deicing device and 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 be retracted or extended in a rod shape; the exhaust end of the air pump is connected to the telescopic pipe, so that the air pump can fill the telescopic pipe with gas; the telescopic device further comprises a retracting mechanism arranged in the telescopic pipe; the retracting mechanism comprises a winding motor and a pull wire; the winding motor is arranged at the end of the outermost telescopic pipe; one end of the pull wire is connected to the winding wheel of the winding motor, and the other end of the pull wire is connected to the innermost telescopic pipe. The telescopic rod of the application can be telescoped and length-adjusted, and the telescopic rod structure can be realized by only adopting the structure of the telescopic pipe and the pull wire. Compared with the prior art, the telescopic rod structure with equivalent effect is simpler, lighter and more suitable for being carried by the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle line inspection, in particular to an unmanned aerial vehicle-based deicing device and power transmission line deicing method. BACKGROUND

[0002] As a key component of the power system, the safe and stable operation of the power transmission line is directly related to the reliability of power supply. With the rapid development of unmanned aerial vehicle technology, the power transmission line inspection unmanned aerial vehicle technology has become an important means in the field of power operation and maintenance. Through the carrying of high-definition visible light cameras, infrared thermal imagers, ultraviolet imagers and other sensors, the technology can realize the rapid detection of defects such as conductor breakage, insulator damage and hardware loosening of the power transmission line, and can also investigate hidden dangers such as trees and buildings in the line channel. Its advantages are obvious, not only can it greatly improve the inspection efficiency, but also can reach more than 10 times the daily inspection mileage of manual inspection per unmanned aerial vehicle, and can adapt to complex terrains such as high mountains, gorges and rivers, avoiding the safety risks brought by manual climbing operation, and the data collected through multi-sensor fusion has higher precision, providing quantitative basis for equipment state evaluation.

[0003] At present, in the power transmission line inspection, non-contact inspection is widely used, but the application of contact line is relatively less. This is mainly because the carrying weight of the unmanned aerial vehicle is limited, and the weight of the mounted object is extremely strict, at the same time, the unmanned aerial vehicle is too close to the line, which may cause electric shock, collision and other safety risks, limiting the development of contact operation. In addition, the high-voltage power transmission line includes a large number of cables with close spacing, and the existing unmanned aerial vehicle deicing device cannot bypass the cables located outside to approach the cables located inside for deicing.

[0004] In order to realize contact inspection operation, a telescopic device based on unmanned aerial vehicle has appeared in the prior art, for example, patent “CN201921514006.5, an electric power inspection unmanned aerial vehicle electric verification, zero value detection and foreign matter cleaning device”, which contacts the line through the insulating rod carrying the foreign matter cleaning device to complete the corresponding operation. However, the insulating rod in such a device is not convenient to retract, resulting in poor flexibility and inconvenient operation when the unmanned aerial vehicle carries a long insulating rod to fly, which affects the operation efficiency. In addition, the telescopic rod structure is complex and heavy, which further increases the carrying burden of the unmanned aerial vehicle, and is not convenient for actual carrying and application.

[0005] In terms of deicing of power transmission lines, there are currently various deicing methods, but all have certain limitations. In terms of unmanned aerial vehicle deicing, the unmanned aerial vehicle generally carries a deicing device for deicing, such as mechanical impact type, airflow injection type, etc. These structures are usually complex, and the distance between the deicing device and the unmanned aerial vehicle is fixed and close, making it difficult to operate when the unmanned aerial vehicle is moved to the vicinity of the line, and the flexibility is insufficient, which is difficult to adapt to different icing conditions and line environments.

[0006] In summary, in the existing power transmission line contact type inspection and deicing technology, the related devices have problems such as complex structure, heavy weight, inconvenience to carry, poor flexibility, and are difficult to meet the actual operation requirements, therefore, a new unmanned aerial vehicle carrying device is needed to solve the above technical problems. SUMMARY

[0007] The purpose of the present application is to provide an unmanned aerial vehicle-based deicing device and power transmission line deicing method, which can facilitate the deicing of power transmission lines by unmanned aerial vehicles.

[0008] The embodiments of the present application are implemented by the following technical solutions:

[0009] A telescopic device includes a telescopic rod and an air pump; the telescopic rod includes a plurality of telescopic tubes nested layer by layer, so that the plurality of telescopic tubes can be retracted or extended in a rod shape; the exhaust end of the air pump is connected to the telescopic tube, so that the air pump can fill gas into the telescopic tube;

[0010] Further comprising a retracting mechanism arranged in the telescopic tube; the retracting mechanism includes a winding motor and a pull wire; the winding motor is arranged at the end of the outermost telescopic tube; one end of the pull wire is connected to the winding wheel of the winding motor, and the other end is connected to the innermost telescopic tube.

[0011] An unmanned aerial vehicle-based deicing device includes the above telescopic device and a deicing mechanism connected to the end of the telescopic device; the outermost telescopic tube is connected to the unmanned aerial vehicle through a connecting plate; the deicing mechanism includes a rack, a rotating ring, a driving mechanism, and a plurality of pressure rollers; the rack is connected to the end of the innermost telescopic tube; the rotating ring and the rack are both C-shaped; the rotating ring is rotatably connected to the rack, so that the openings of the rotating ring and the rack coincide or separate; the driving mechanism is drivingly connected to the rotating ring; a plurality of pressure rollers are connected to the rotating ring and uniformly distributed along the circumference of the rotating ring.

[0012] Further, the end of the innermost telescopic tube is provided with a connecting head; one end of the rack is provided with a threaded hole matched with the connecting head, so that the connecting head is threadedly connected to the inside of the threaded hole; the inside of the threaded hole is provided with a sealing plate and a sealing spring; the two ends of the sealing spring are respectively connected to the connecting head and the sealing plate, so that the sealing spring tightly presses the sealing plate against the air hole at the end of the connecting head; the inside of the threaded hole is provided with a thimble matched with the air hole, so that when the connecting head is connected to the threaded hole, the thimble pushes the sealing plate away from the air hole; the rack is provided with a connecting port communicating with the inside of the threaded hole; the driving mechanism is a pneumatic motor and is connected to the connecting port.

[0013] Further, the pressing wheel is matched with a tightening member; the tightening member comprises a cylinder and a top rod; the top rod is telescopically connected to the inside of the cylinder; one end of the top rod is matched with the cylinder and provided with a piston, and the other end is rotatably connected to the pressing wheel; the cylinder is connected to the connecting port through an air pipe.

[0014] Further, the inside of the cylinder is further provided with a reset spring, so that the top rod can be retracted into the inside of the cylinder.

[0015] Further, the connecting port is provided with a sealing ring and an air pressure valve; the air pressure valve comprises a valve core and a closing spring; the closing spring is connected to the valve core, so that the closing spring tightly presses the valve core against the sealing ring.

[0016] Further, a reversing mechanism is further included; the reversing mechanism comprises a rotating cylinder, a driving gear, a driven gear and a switching spring; the driving gear and the driven gear are connected to two ends of a rotating shaft; the rotating shaft is rotatably arranged in the inside of the rotating cylinder; the rack is provided with an arc-shaped guide hole; the rotating cylinder is slidably arranged in the guide hole; the air motor is connected with a driving gear engaged with the driven gear; the rotating shaft of the air motor is located at the center of the guide hole; the switching spring is connected to the rack and the rotating cylinder, so that the switching spring tightly presses the rotating cylinder against the end of the guide hole; the driving gear is a umbrella-shaped gear; the two sides of the rotating ring are both matched with the umbrella-shaped gear and provided with umbrella-shaped teeth, so that the driving gear is engaged with the umbrella-shaped teeth on one side of the rotating ring when the rotating cylinder is located at the two ends of the guide hole; the rack and the rotating ring are matched and provided with a limiting block, so that the rotating ring is blocked when it rotates to the limit position.

[0017] Further, the teeth of the driving gear and the driven gear are both inclined.

[0018] Further, the outermost telescopic pipe 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 pipe.

[0019] A power transmission line deicing method adopts the above-mentioned unmanned aerial vehicle-based deicing device, controls the swing motor, adjusts the angle of the telescopic rod according to the position of the power transmission line, so that the telescopic rod does not touch the surrounding power transmission line when it extends to the power transmission line; the air pump outputs the first air pressure, so that the telescopic rod extends to the appropriate length and moves the unmanned aerial vehicle, so that the power transmission line enters the inside of the rotating ring; the air pump outputs the second air pressure, so that the pressing wheel tightly presses the power transmission line and the rotating ring drives the pressing wheel to rotate to break the ice; the unmanned aerial vehicle moves along the extension direction of the power transmission line to deice the whole power transmission line.

[0020] The technical scheme of the embodiment of the application has at least the following advantages and beneficial effects:

[0021] The telescopic rod of the present application can be telescopic and length-adjustable, and can be realized by only using the structure of telescopic tube and pull wire. The telescopic rod structure of the present application is simpler and lighter than the prior art, and is more suitable for being carried by a UAV. The deicing device carried by the telescopic rod can be moved to a distance of 2 to 3 meters or even longer from the UAV, so that the deicing device contacts the power transmission line when the UAV is still far away from the power transmission line, thereby avoiding damage of the UAV caused by contacting the power transmission line during deicing. The driving of the deicing device and the driving of the compression wheel are both driven by air pressure, so that the structure is simpler and more conducive to being carried by a UAV. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0023] Figure 2 Schematic diagram of the telescopic rod horizontally installed below the UAV. Figure 1 Enlarged view of a in FIG. 4.

[0024] Figure 3 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0025] Figure 4 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0026] Figure 5 Schematic diagram of the telescopic rod horizontally installed below the UAV. Figure 4 Enlarged view of b in FIG. 6.

[0027] Figure 6 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0028] Figure 7 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0029] Figure 8 Schematic diagram of the telescopic rod horizontally installed below the UAV. Figure 7 Enlarged view of c in FIG. 8.

[0030] Figure 9 Schematic diagram of the telescopic rod horizontally installed below the UAV. Figure 7 Enlarged view of d in FIG. 10.

[0031] Figure 10 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0032] Figure 11 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0033] Figure 12 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0034] Figure 13 Schematic diagram of the telescopic rod horizontally installed below the UAV.

[0035] Figure 14This is a schematic diagram showing the rotating cylinder located on the other side of the guide hole.

[0036] Figure 15 This is a schematic diagram of the engagement of the driving gear and the driven gear.

[0037] Reference numerals: 1-Telescopic tube, 2-Air pump, 3-Take-up motor, 4-Pull line, 5-Take-up reel, 6-Connecting plate, 7-UAV, 8-Frame, 9-Rotating ring, 10-Drive mechanism, 11-Pressure roller, 12-Connector, 13-Screw hole, 14-Sealing plate, 15-Sealing spring, 16-Air hole, 17-Ejector pin, 18-Cylinder body, 19-Ejector rod, 20-Reset spring, 21-Sealing ring, 22-Valve core, 23-Closing spring, 24-Rotating cylinder, 25-Drive gear, 26-Driven gear, 27-Switching spring, 28-Guide hole, 29-Drive gear, 30-Limit block, 31-Bevel gear, 32-Output shaft, 33-Rotating shaft. Detailed Implementation

[0038] like Figures 1-15 As shown, the present invention provides a telescopic device, a de-icing device based on a UAV 7, and a method for de-icing power transmission lines.

[0039] 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 telescopic tubes 1 to flexibly retract or extend, forming a rod-like structure. The air pump 2 is a miniature air pump with adjustable output pressure. Its exhaust end is connected to the telescopic tubes 1 through a high-pressure air pipe. During operation, it can fill the telescopic tubes 1 with compressed gas at 0.3-0.8 MPa, providing stable power for the extension of the telescopic rod.

[0040] To achieve the retraction of the telescopic pole, the device also includes a retraction mechanism, which comprises a take-up motor 3 and a high-strength nylon pull cable 4. The take-up motor 3 is a miniature servo motor, mounted on a mounting base at the end of the outermost telescopic tube 1. The mounting base is fixed to the telescopic tube 1 with bolts, and a rubber sealing ring is added to the contact surface. Alternatively, the servo motor can be placed outside the telescopic tube 1, with only the take-up reel 5 placed inside the telescopic tube 1 for take-up. This reduces the dependence on the size of the servo motor. One end of the pull cable 4 is connected to the take-up reel 5 of the take-up motor 3, and the other end is fixed to the center position at the end of the innermost telescopic tube 1. The take-up reel 5 takes up the cable, thus retracting the extended telescopic tube 1.

[0041] Each telescopic tube 1 is equipped with a nitrile rubber piston, which is in interference fit with the inner wall of the telescopic tube 1, and the fit gap is controlled within 0.05-0.1 mm, which can ensure the sealing of the tube and ensure that the air pressure can effectively push the telescopic tube 1 to extend out during inflation. The end of the telescopic tube 1 is designed to have a step structure with a diameter of 5 mm larger than the tube body, which can prevent the telescopic rod from falling off when it extends out. The caliber of the outer telescopic tube 1 at the end is the same as the outer diameter of the adjacent inner telescopic tube 1, and the length of the end part is 1-3 cm. The inner wall of this part is sprayed with a polytetrafluoroethylene coating to reduce the friction coefficient, so that the tube body can just slide and be limited to a length of 1-3 cm. This design can ensure the normal sliding of the telescopic tube 1 while avoiding large shaking. The length of a single telescopic tube 1 can be set to about 0.5 meters. For example, the total length of four telescopic tubes 1 after extension can reach 2 meters, and the tube wall thickness is 2 mm. The telescopic tubes 1 are made of T700 carbon fiber composite material and have a weight of only 1 / 3 of the same specification aluminum alloy tube, which can greatly reduce the carrying burden of the unmanned aerial vehicle 7. The power line of the take-up motor 3 is made of high-voltage silicone wire and extends out of the sealing outlet hole at the end of the telescopic tube 1. An elastic rubber plug is installed in the outlet hole, and the cable can form a tight seal when passing through, ensuring that the gas in the tube will not leak. When the telescopic device is not used, the take-up motor 3 winds up and pulls back several telescopic tubes 1 through the pull wire 4, and the total length after contraction is only 1 / 4 of the length in the expanded state, which reduces the wind resistance when the unmanned aerial vehicle 7 is flying. When in use, the take-up motor 3 controls the speed of the pay-off in conjunction with the inflation speed of the air pump 2. The air pump 2 inflates the telescopic tube 1, and the internal air pressure gradually rises and pushes the telescopic tube 1 to extend out. The take-up motor 3 is connected to the take-up wheel 5 through a worm and gear structure, and the transmission ratio is 1:20. This structure has a self-locking function, so that the pull wire 4 can only be wound and unwound under the action of the take-up motor 3. The pay-off length is accurately controlled by the encoder, and the length control accuracy of the telescopic rod can reach ±5 mm.

[0042] The telescopic device solves the problem that the existing insulation rod is not convenient to contract, which leads to poor flexibility and inconvenience in operation when carrying the unmanned aerial vehicle 7. At the same time, the total weight of the carbon fiber material is light, which reduces the carrying burden of the unmanned aerial vehicle 7. The telescopic rod can be retracted and does not require a complex transmission mechanism, which greatly reduces the weight. At the same time, the length of the telescopic rod can be controlled by controlling the release length of the pull wire 4, so that the length of the telescopic rod is controllable.

[0043] The present application also provides an ice removal device based on an unmanned aerial vehicle 7, which comprises the telescopic device described above and an ice removal mechanism connected to the end of the telescopic device. The outermost telescopic tube 1 is connected to the unmanned aerial vehicle 7 through an aluminum alloy connecting plate 6. The connecting plate 6 is connected to the mounting hole at the bottom of the unmanned aerial vehicle 7 through four shock-absorbing foot pads, which can reduce the transmission of vibration during operation.

[0044] As Figures 6-10As shown, the deicing mechanism is composed of a frame 8, a rotating ring 9, a driving mechanism 10 and 3-6 pressure wheels 11. The frame 8 is made of aluminum alloy by numerical control machining and is connected to the end of the innermost telescopic tube 1. The frame 8 and the rotating ring 9 are both C-shaped, and the opening arc is designed according to the diameter of the common transmission line. 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 driving mechanism 10 is connected to the rotating ring 9 through gear transmission. The pressure wheels 11 are connected to the rotating ring 9 and evenly distributed along the circumference of the rotating ring 9, and the included angle of adjacent pressure wheels 11 is equal.

[0045] The central angle of the opening part of the frame 8 and the rotating ring 9 is 90-120 degrees, and the opening edge is chamfered by 2mm to facilitate the smooth entry and exit of the transmission line. The frame 8 is provided with dovetail-shaped protrusions, and the rotating ring 9 is provided with corresponding dovetail-shaped sliding grooves. High-temperature lubricating grease is applied in the sliding grooves. This matching structure allows the rotating ring 9 to rotate relative to the frame 8 without falling off. When the openings of the frame 8 and the rotating ring 9 are overlapped, the frame 8 is moved by precise control of the unmanned aerial vehicle 7, so that the transmission line enters the inside of the frame 8 through the opening, and then is located between the pressure wheels 11. At this time, the rotating ring 9 rotates at a speed of 30-60r / min, driving the pressure wheels 11 to press and roll along the circumference of the transmission line to crush the ice into pieces. The unmanned aerial vehicle 7 moves along the direction of the transmission line with the deicing mechanism to deice the entire transmission line. After deicing, the rotating ring 9 is controlled to reset so that the opening is overlapped again, and the transmission line can exit through the opening.

[0046] Through the action of the telescopic rod, the deicing device can extend to a position 1-3 meters away from the unmanned aerial vehicle 1, so that when the deicing device contacts the transmission line, the unmanned aerial vehicle 7 still maintains a safety distance of ≥1.5 meters from the transmission line, effectively avoiding the risk of electric shock and collision. At the same time, the telescopic rod is also convenient for the deicing device to pass through between the several cables and extend into the internal transmission line with a spacing of only 0.5 meters to deice it, solving the problem that the existing deicing device of the unmanned aerial vehicle 7 is difficult to approach the internal cable for deicing, and the operation flexibility is significantly improved.

[0047] The end of the innermost telescopic tube 1 is provided with a brass connector 12, the outer surface of the connector 12 is processed with threads, one end of the frame 8 is provided with a screw hole 13 of the same specification matched with the connector 12, and the connector 12 is connected in the screw hole 13 through threads. This connection method is convenient for quick replacement of different operating mechanisms.

[0048] The connecting head 12 is internally provided with a stainless steel sealing plate 14 and a stainless steel sealing spring 15. The two ends of the sealing spring 15 are respectively welded on the connecting head 12 and the sealing plate 14. Under the action of the sealing spring 15, the sealing plate 14 is tightly pressed at the air hole 16 at the end of the connecting head 12, so as to reliably seal the air hole 16. The air hole 16 is internally provided with a hard alloy thimble 17 matched with the air hole 16. When the connecting head 12 is connected to the screw hole 13, the thimble 17 pushes the sealing plate 14 away from the air hole 3-5 mm, so that the high-pressure gas in the telescopic pipe 1 can be transmitted to the rack 8, and then to the driving mechanism 10. The rack 8 is also provided with a connecting port communicating with the inside of the screw hole 13, and the driving mechanism 10 is connected to the connecting port through a quick plug connector. The pneumatic motor has an output speed of 3000 r / min under 0.5 MPa air pressure, and drives the rotating ring 9 to rotate through a speed reduction gear box.

[0049] When the rack 8 is removed, the air hole 16 of the connecting head 12 is sealed by the sealing plate 14, so as to avoid the failure of the telescopic rod caused by gas leakage; when the rack 8 is installed, the thimble 17 pushes the sealing plate 14 away, so that the high-pressure gas can provide power for the pneumatic motor, without the need for additional motor and battery devices, so that the structure of the deicing mechanism is simplified by 40%, the weight is reduced by 25%, and the unmanned aerial vehicle 7 is more conducive to long-time carrying operation.

[0050] The pressure roller 11 is matched with a pressing member, and the pressing member includes a cylinder body 18 and a pressing rod 19. The pressing rod 19 is telescopically connected inside the cylinder body 18, and the cooperation gap is 0.03-0.05 mm. One end of the pressing rod 19 is matched with the cylinder body 18 and is provided with a nitrile rubber piston, and the piston is in interference fit with the cylinder body 18 to realize sealing. The other end is rotatably connected to the pressure roller 11 and is provided with a Y-shaped structure. The cylinder body 18 is connected to the connecting port through an air pipe, and the air pipe is fixed at both ends by a sleeve joint.

[0051] When the high-pressure gas enters the cylinder body 18 through the connecting port, the piston is pushed to drive the pressing rod 19 to extend, so that the pressure roller 11 tightly presses the power transmission line. The pressing force can be accurately controlled by the pressure of the air pump 2, so as to more effectively break the ice. The setting of the pressing member can flexibly adjust the pressing degree of the pressure roller 11 according to the thickness of the power transmission line and the icing condition, so as to ensure that the best deicing effect can be achieved under different working conditions. Compared with the pressure roller 11 with fixed pressure, the deicing success rate is improved.

[0052] The cylinder body 18 is also internally provided with a reset spring 20 installed between the bottom of the cylinder body 18 and the piston. When the air pressure is removed, the reset spring 20 pushes the pressing rod 19 to retract into the cylinder body 18, so that the pressure roller 11 is separated from the power transmission line, and the power transmission line is smoothly separated from the inside of the rotating ring 9.

[0053] As Figure 8As shown, the connecting port is provided with a nitrile rubber sealing ring 21 and a gas pressure valve. The gas pressure valve comprises 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 tightly pressed against the sealing ring 21.

[0054] The model of the closing spring 23 is accurately calculated and selected so that only when the gas pressure reaches 0.45 MPa, the elastic force of the closing spring 23 can push away the valve core 22, the valve core 22 opens a stroke of 3 mm, moves away from the sealing ring 21, and realizes the simultaneous ventilation of the pneumatic motor and the tightening member. At this time, the gas pressure is greater than 0.3 MPa required for the extension of the telescopic rod, and the gas pressure is automatically controlled by the electronic pressure regulator on the air pump 2. In use, first, the telescopic rod is driven to extend to a predetermined position by a gas pressure of 0.3 MPa, and then the gas pressure is increased to 0.45 MPa to make the pneumatic motor and the tightening member work in ventilation. This step-by-step control mode makes the operation more orderly, and realizes the separate control of the extension and deicing actions.

[0055] As shown in Figures 12-14 , the deicing device further comprises a reversing mechanism, which is composed 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 connected to the two ends of the rotating shaft 33, the rotating shaft 33 is rotatably provided in the rotating cylinder 24 through two deep groove ball bearings, and the bearings are interference fit with the rotating cylinder 24. The machine frame 8 is provided with an arc-shaped guide hole 28, 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 provided in the guide hole 28, and the sliding fit clearance is 0.1-0.2 mm. The output shaft 32 of the pneumatic motor is connected with a driving gear 29, the driving gear 29 is engaged with the driven gear 26, and the rotating shaft of the pneumatic motor is located at the center of the arc of the guide hole 28, which ensures that the driving gear 29 is always engaged 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 machine frame 8 and the rotating cylinder 24, and under the action of the switching spring 27, the rotating cylinder 24 is tightly pressed at the end of the guide hole 28.

[0056] As shown in Figure 9 , the driving gear 25 is an umbrella-shaped tooth 31 wheel, and the two sides of the rotating ring 9 are provided with umbrella-shaped teeth 31 matched with the umbrella-shaped tooth 31 wheel. When the rotating cylinder 24 is located at both ends of the guide hole 28, the driving gear 25 is engaged with the umbrella-shaped teeth 31 on one side of the rotating ring 9, respectively. The machine frame 8 and the rotating ring 9 are matched with each other to provide a limit block 30, which will be blocked and stopped when the rotating ring 9 is rotated in one direction to the limit position of about 140 degrees.

[0057] 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, but not in the middle position. When the rotating cylinder 24 stays at the two ends, the driving gear 25 is engaged with the umbrella-shaped teeth 31 on both sides of the rotating ring 9, so that the rotating ring 9 rotates in opposite directions in the two cases. As shown in Figure 15 When the rotating ring 9 is rotated to the limit position and is blocked, and the driven gear 26 is still driven by the driving gear 29, because the two sides of the teeth of the driving gear 29 and the driven gear 26 are both inclined, the continuous force will make the two gears radially slip with each other, and then generate relative displacement, so that the driven gear 26 and the driving gear 29 move away from each other by the depth of a tooth, and then the rotating cylinder 24 moves along the guide hole 28 by the depth of a tooth. If the relative position of the rotating cylinder 24 and the guide hole 28 is as shown in Figure 12 When the driven gear 26 and the driving gear 29 move away from each other by the depth of a tooth, the relative position of the rotating cylinder 24 and the guide hole 28 is as shown in Figure 13 When the moving distance exceeds the center position of the guide hole 28, under the action of the switching spring 27, the rotating cylinder 24 will be pushed to the other end of the guide hole 28 as shown in Figure 14 So that the driving gear 25 is engaged with the other side of the rotating ring 9 to realize the reversing of the rotating ring 9, so that the rotating ring 9 can reciprocate in two directions to break ice, avoiding the wrapping of the air pipe of the clamping member due to the rotation of the rotating ring 9 in one direction.

[0058] The two sides of the teeth of the driving gear 29 and the driven gear 26 are both inclined, and this structure design makes the gears 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 with each other, so as to realize the movement of the rotating cylinder 24 and the reversing of the rotating ring 9, and ensure the reliable operation of the reversing mechanism and the high success rate of reversing.

[0059] The outermost telescopic pipe 1 is hinged to the connecting plate 6 through a precision hinge. The connecting plate 6 is also provided with a swing motor, and a worm gear reducer motor is selected, with a reduction ratio of 1:100 and an output torque of 5N·m. The rotating shaft of the swing motor is connected to the rotating shaft of the outermost telescopic pipe 1 through a shaft coupling. By controlling the forward and reverse rotation of the swing motor, the telescopic rod can be adjusted within a range of ±90 degrees, so that the telescopic rod can stretch to the power transmission line from various angles, avoiding touching the surrounding power transmission lines, especially suitable for complex line environments of multi-loop towers, and improving the adaptability of the device to different line environments.

[0060] The method for deicing the power transmission line by using the deicing device based on the unmanned aerial vehicle 7 is as follows: first, the high-definition camera of the unmanned aerial vehicle 7 ground station is used to observe the position of the power transmission line, the swing motor is controlled to output a corresponding angle signal, the telescopic rod is driven to rotate to the optimal working angle, and it is ensured that the telescopic rod does not touch the surrounding power transmission line when it extends to the power transmission line; then the air pump 2 is controlled to output a first air pressure of 0.3 MPa, the telescopic rod is extended to an appropriate length, the distance between the end of the telescopic rod and the power transmission line is monitored in real time by the laser ranging sensor, and the extension is stopped when the distance reaches 50 cm, then the unmanned aerial vehicle 7 is controlled to translate by the flight control system of the unmanned aerial vehicle 7, so that the power transmission line enters the inside of the rotating ring 9 through the opening; then the air pump 2 is controlled to output a second air pressure of 0.45 MPa, at this time the pressure wheel 11 is pressed against the power transmission line under the action of the air pressure, and the rotating ring 9 drives the pressure wheel 11 to rotate at a speed of 40 r / min to break the ice, and the working state of the deicing mechanism is monitored in real time by the attitude sensor during the ice breaking process; finally, the unmanned aerial vehicle 7 is controlled to move along the extension direction of the power transmission line at a speed of 0.5 m / s to deice the entire power transmission line, and the relative position between the unmanned aerial vehicle 7 and the power transmission line is kept stable during the movement.

Claims

1. A drone-based de-icing device, characterized by: The device comprises a telescopic device and an ice removing mechanism connected to the end of the telescopic device; the telescopic device comprises a telescopic rod and a gas pump; the telescopic rod comprises several telescopic pipes nested layer by layer, so that the telescopic pipes can be retracted or extended in the form of a rod; the exhaust end of the gas pump is connected to the telescopic pipes, so that the gas pump can fill the telescopic pipes with gas; The device further comprises a retracting mechanism arranged in the telescopic pipes; the retracting mechanism comprises a winding motor and a wire; the winding motor is arranged at the end of the outermost telescopic pipe; one end of the wire is connected to the winding wheel of the winding motor, and the other end is connected to the innermost telescopic pipe; The outermost telescopic pipe is connected to a drone through a connecting plate; the ice removing mechanism comprises a rack, a rotating ring, a driving mechanism and several pressing wheels; the rack is connected to the end of the innermost telescopic pipe; the rack and the rotating ring are both C-shaped; the rotating ring is rotatably connected to the rack, so that the openings of the rotating ring and the rack coincide or separate; the driving mechanism is drivingly connected to the rotating ring; the pressing wheels are connected to the rotating ring and uniformly distributed along the circumference of the rotating ring.

2. The drone-based de-icing device of claim 1, wherein: The end of the innermost telescopic pipe is provided with a connecting head; one end of the rack is provided with a screw hole matched with the connecting head, so that the connecting head is threadedly connected to the inside of the screw hole; the inside of the connecting head is provided with a sealing plate and a sealing spring; the two ends of the sealing spring are respectively connected to the connecting head and the sealing plate, so that the sealing spring tightly presses the sealing plate against the air hole at the end of the connecting head; the inside of the screw hole is provided with a thimble matched with the air hole, so that when the connecting head is connected to the screw hole, the thimble pushes the sealing plate away from the air hole; the rack is provided with a connecting port communicating with the inside of the screw hole; the driving mechanism is a pneumatic motor and is connected to the connecting port.

3. The drone-based de-icing device of claim 2, wherein: The pressing wheel is matched with a pressing member; the pressing member comprises a cylinder and a top rod; the top rod is telescopically connected to the inside of the cylinder; one end of the top rod is provided with a piston matched with the cylinder, and the other end is rotatably connected to the pressing wheel; the cylinder is connected to the connecting port through an air pipe.

4. The drone-based de-icing device of claim 3, wherein: The inside of the cylinder is further provided with a reset spring, so that the top rod can be retracted into the cylinder.

5. The drone-based de-icing device of claim 4, wherein: The connecting port is provided with a sealing ring and an air pressure valve; the air pressure valve comprises a valve core and a closing spring; the closing spring is connected to the valve core, so that the closing spring tightly presses the valve core against the sealing ring.

6. The drone-based de-icing device of claim 5, wherein: The switching mechanism comprises a rotating cylinder, a driving gear, a driven gear and a switching spring; the driving gear and the driven gear are connected to the two ends of a rotating shaft; the rotating shaft is rotatable through the inside of the rotating cylinder; the frame is provided with an arc-shaped guide hole; the rotating cylinder is slidably through the guide hole; the pneumatic motor is connected with a driving gear engaged with the driven gear; the rotating shaft of the pneumatic motor is located at the center of the guide hole; the switching spring is connected to the frame and the rotating cylinder, so that the switching spring tightly presses the rotating cylinder against the end of the guide hole; the driving gear is a bevel gear; the rotating ring is provided with a bevel gear on both sides of the bevel gear, so that the driving gear is engaged with the bevel gear on one side of the rotating ring when the rotating cylinder is located at both ends of the guide hole; the frame and the rotating ring are provided with a limiting block in cooperation with each other, so that the rotating ring is blocked when it rotates to the limit position.

7. The drone-based de-icing device of claim 6, wherein: The two sides of the teeth of the driving gear and the driven gear are beveled.

8. The drone-based de-icing device of claim 7, wherein: 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.

9. A method for de-icing a power line using the drone-based de-icing device of claim 8, characterized in that: The swing motor is controlled to adjust the angle of the telescopic rod according to the position of the power transmission line, so that the telescopic rod does not touch the surrounding power transmission lines when it extends to the power transmission line; the air pump outputs the first air pressure, so that the telescopic rod extends to the appropriate length and moves the unmanned aerial vehicle, so that the power transmission line enters the inside of the rotating ring; the air pump outputs the second air pressure, so that the pressing wheel presses the power transmission line and the rotating ring rotates to break the ice; the unmanned aerial vehicle moves along the extension direction of the power transmission line to deice the whole power transmission line.

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