Power transmission line deicing robot

Abstract

The invention discloses a deicing robot for a power transmission line, relates to the field of cable deicing, solves the problem that a connecting rope is easily wound on a cable in a deicing mode in the prior art, and mainly provides the deicing robot for the power transmission line. Comprising an unmanned aerial vehicle, a first mounting frame, a winding mechanism, a traction rope, a supporting pipe, a second mounting frame and a deicing claw, the first mounting frame is fixed below the unmanned aerial vehicle, the upper end of the supporting pipe is connected with the first mounting frame, and the lower end of the supporting pipe abuts against the upper end of the second mounting frame; the upper end of a traction rope is wound around the winding mechanism, the lower end of the traction rope penetrates through the supporting pipe and is fixed to the second installation frame, and the deicing claw is installed on the second installation frame. The deicing device is mainly used for solving the problem that a connecting rope is easily wound on a cable in a deicing mode in the prior art.

Description

The present application is a divisional application of the Chinese patent application No. 2025102653443 entitled "A power transmission line deicing robot" filed on March 7, 2025. TECHNICAL FIELD

[0001] The present application relates to the field of cable deicing, in particular to a power transmission line deicing robot. BACKGROUND

[0002] Under the combined action of low temperature, high humidity and rainy and snowy weather, the overhead power transmission line conductor and ground wire often have a large range of icing phenomenon. Once the power transmission line is iced, it will cause power equipment to have short circuit, wire breakage, tripping and other faults, and even power interruption, thereby causing huge economic losses. In view of the icing condition, the following measures are usually taken: increasing the maintenance frequency: increasing the maintenance frequency of the power transmission line in advance before snowfall or rainfall, and cleaning the snow, ice, water and the like on the line in time; enhancing the line heat preservation capability: by installing heat preservation materials or increasing antifreeze and the like, the power transmission line is heat preserved to improve the ice resistance of the line; installing ice prevention equipment: ice prevention equipment such as an ice thrower and a vibrator is installed on the power transmission line to reduce the adhesion and accumulation of ice; manual deicing: in extreme cases, a high-pressure water gun and the like are used to clean the line, and the accumulated snow and ice layer is removed by manual deicing.

[0003] Since the method of manually knocking the power line with an insulating pull rod to shake off the accumulated snow is dangerous and time-consuming and laborious, with the development of science and technology, various power grid snow removal devices have emerged. For example, Chinese patent CN202420533665.8 discloses a high-altitude cable snow removal insulating rod structure based on a unmanned aerial vehicle. The unmanned aerial vehicle body is accelerated to fly to a target position, and when the snow removal rod body is at a suitable position from the impact position, the snow removal rod body is swung forward to impact the cable to remove ice and snow. The disadvantage of this scheme is that during the flight of the unmanned aerial vehicle, the deicing structure below the unmanned aerial vehicle, i.e. the snow removal rod, will shake violently due to the wind and snow interference often occurring in the deicing environment. Firstly, the snow removal rod cannot accurately control the normal deicing and snow removal work, and secondly, the snow removal rod will affect the flight of the unmanned aerial vehicle, causing safety hazards. SUMMARY

[0004] In order to overcome the problem that the snow removal structure carried by the unmanned aerial vehicle shakes violently during flight in the prior art, the present application provides a power transmission line deicing robot, which can realize that the deicing structure carried by the unmanned aerial vehicle does not affect the flight of the unmanned aerial vehicle during flight, and can smoothly work.

[0005] In order to achieve the above object, the technical scheme adopted by the present application is as follows: a power transmission line deicing robot, comprising a UAV, a first mounting frame, a winding mechanism, a traction rope, a support pipe, a second mounting frame and a deicing claw, the first mounting frame is fixed below the UAV, the upper end of the support pipe is connected with the first mounting frame, the lower end of the support pipe abuts against the upper end of the second mounting frame, the winding mechanism is mounted on the first mounting frame, the upper end of the traction rope is wound on the winding mechanism, the lower end of the traction rope passes through the support pipe and is fixed on the second mounting frame, and the deicing claw is mounted on the second mounting frame and can be sleeved with a cable; A rotating shaft is rotatably mounted on the first mounting frame, and a locking member for locking or unlocking the rotating shaft is arranged between the rotating shaft and the first mounting frame, and the upper end of the support pipe is fixedly connected with the rotating shaft; The locking member comprises a positioning ball and a second elastic member, the rotating shaft is provided with a sliding groove, the positioning ball and the second elastic member are arranged in the sliding groove, the first mounting frame is provided with a positioning hole, and when the support pipe is vertically arranged, the positioning hole and the sliding groove are correspondingly arranged, and the second elastic member partially pushes the positioning ball into the positioning hole.

[0006] After the above technical scheme is adopted, the operation mode of the present application is that before the UAV is lifted, it is first hovered to a certain height, the support pipe on the first mounting frame is adjusted to a vertical position, the second elastic member partially pushes the positioning ball into the positioning hole, the fixing of the support pipe and the first mounting frame is realized, the second mounting frame is then tightened to abut against the lower end of the support pipe through the winding mechanism, the UAV and the deicing claw are relatively rigidly connected, then the UAV is lifted to a specified position above the cable to be deiced, the UAV is then lowered, the deicing claw is sleeved with the cable, then the UAV is lifted, the winding mechanism is loosened, the UAV and the deicing claw are soft connected, then the UAV can fly along the extension direction of the cable, the deicing claw is pulled by the traction rope, and the deicing operation is performed along the cable, when an ice cone or other obstacle is contacted, the deicing claw can directly impact the ice cone, since the UAV and the deicing claw are soft connected, the impact of the deicing claw will not affect the flight of the UAV, so that the ice cone on the cable is removed, after the removal is completed, when the UAV and the cable are both stopped, the deicing claw is loosened, the second mounting frame and the deicing claw are retracted to the lower end of the support pipe through the traction rope by the winding mechanism, and then the deicing operation of the next cable is performed.

[0007] The application has the following advantages: through the winding mechanism and the traction rope, the second mounting frame can be tightly arranged at the lower end of the supporting rod, the unmanned aerial vehicle and the deicing claw are connected in a relatively rigid connection, the second mounting frame is prevented from shaking when the traction rope drives the second mounting frame during the process of the unmanned aerial vehicle ascending into the air, and the second mounting frame is prevented from shaking when the deicing claw sleeve grips the traction rope, the accuracy of the deicing claw sleeve gripping the cable is improved, the traction rope is wound on the cable, and then the unmanned aerial vehicle and the deicing claw are connected in a soft connection, so that the impact of the deicing claw does not affect the flight of the unmanned aerial vehicle, the deicing mode of the deicing claw is directly impacting the ice cone, the cable surface is prevented from being damaged by the impact, the deicing efficiency is improved by directly impacting the ice cone, the deicing time is reduced, and the convenience is improved. Because of the existence of the traction rope, the unmanned aerial vehicle and the cable can be connected in a soft connection, the deicing claw has a certain hysteresis when the unmanned aerial vehicle drives the deicing claw to move, but at the same time, the deicing claw has a large inertia to impact the ice cone, and the flight of the unmanned aerial vehicle is not affected. By arranging the locking piece at the rotating shaft, the supporting pipe can rotate relative to the first mounting frame in the unlocked state, and can be folded with the unmanned aerial vehicle when the unmanned aerial vehicle lands, so that the foot support of the unmanned aerial vehicle lands, and the supporting pipe can be fixed relative to the first mounting frame in the locked state, so that the supporting pipe is prevented from shaking due to the influence of the high-altitude environment. When the supporting pipe needs to rotate, the positioning ball can move in the sliding groove due to the elastic effect of the second elastic member, so that the positioning ball is away from the positioning hole, and the rotating shaft can rotate freely, so that the supporting pipe rotates relative to the first mounting frame. When the supporting pipe is in the vertical state, the positioning ball is partially inserted into the positioning hole under the action of the second elastic member, so that the radial fixation of the supporting pipe and the first mounting frame is realized. In this way, even if the supporting pipe is affected by external factors such as wind during high-altitude operation, the supporting pipe will not shake randomly, so that the stability and safety of the deicing device are ensured.

[0008] Further, the deicing claw comprises a first deicing plate and a second deicing plate, and the first deicing plate and the second deicing plate are respectively arranged at the two sides of the lower end of the second mounting frame through shaft rods; the first deicing plate and the second deicing plate are both S-shaped; in the initial state, the first ends of the first deicing plate and the second deicing plate are both above the shaft rods and are arranged outward, the second ends of the first deicing plate and the second deicing plate are both below the shaft rods, and the lower parts of the first deicing plate and the second deicing plate are arranged alternately; the first ends of the first deicing plate and the second deicing plate are provided with a connecting assembly, and the connecting assembly can connect the first ends of the first deicing plate and the second deicing plate in the connected state.

[0009] The sleeve-grasping step of the deicing claw is: firstly, the second mounting frame is lowered from directly above the cable, until the lower part of the first deicing plate and the second deicing plate near the second end contacts the cable, then the lowering continues, forcing the first deicing plate and the second deicing plate to rotate around the shaft, until the first end of the first deicing plate and the first end of the second deicing plate rotate below the power line and stagger, so that the connecting assembly between the first end of the first deicing plate and the first end of the second deicing plate contact and connect each other, completing the sleeve-grasping of the deicing claw on the cable, ensuring that the deicing claw does not fall off the cable when deicing along the cable, increasing the reliability. With the foregoing technical solution, the first deicing plate and the second deicing plate complete the sleeve-grasping by the way of turning over after contacting the cable, without the need to carry too many control components to complete the sleeve-grasping, making the load of the unmanned aerial vehicle lighter, and the operation is simple and direct, easy to operate, reducing the difficulty of sleeve-grasping.

[0010] Further, the center of gravity of the first deicing plate is located between the second end and the corresponding shaft, and the center of gravity of the second deicing plate is located between the second end and the corresponding shaft, so that the first deicing plate and the second deicing plate are kept in the initial state; or, a first torsional spring is arranged between the first deicing plate and the second mounting frame, and a second torsional spring is arranged between the second deicing plate and the second mounting frame, so that the first deicing plate and the second deicing plate are kept in the initial state.

[0011] With the first technical solution, by setting the center of gravity of the first deicing plate and the second deicing plate between the corresponding shaft and the second end, the first deicing plate and the second deicing plate can naturally drop to the appropriate position by gravity, reducing the difficulty of subsequent sleeve-grasping, and only a small force is needed to turn over the first deicing plate and the second deicing plate, saving cost and reducing deicing difficulty.

[0012] With the second technical solution, the influence of the environment on the unmanned aerial vehicle in the air can be reduced, for example, the wind at high altitude is relatively large, which can affect the rotation of the first deicing plate and the second deicing plate.

[0013] With the above two technical solutions, a limiting part needs to be arranged at the initial position and the position after the sleeve-grasping is completed, to avoid the first deicing plate and the second deicing plate rotating in the opposite direction or rotating too much.

[0014] Further, the connecting assembly comprises a sliding block, a first elastic member and an electromagnet; the first end of the first deicing plate is provided with a first sinking groove, the first end of the second deicing plate is provided with a second sinking groove, the sliding block is elastically and slidably arranged in the first sinking groove through the first elastic member, and the electromagnet is fixedly installed in the second sinking groove; when the electromagnet and the sliding block are opposite, the electromagnet adsorbs the sliding block, and then the first deicing plate and the second deicing plate are connected.

[0015] The first deicing plate and the second deicing plate are connected by cooperation of the electromagnet and the sliding block, without the need of additional complex control components to control the connection and disconnection, compared with the design of realizing the connection and unlocking by complex mechanical structures such as motors and connecting rods, so that the structure of the deicing claw is greatly simplified.

[0016] Further, the second deicing plate is provided with a battery and a remote control circuit board, the battery is electrically connected with the remote control circuit board, and the electromagnet is electrically connected with the remote control circuit board.

[0017] According to the above technical scheme, the electromagnet is electrically connected with the remote control circuit board, so that the operator can remotely control the on-off of the electromagnet by the remote controller, and during the deicing process, the operator can send instructions by the remote controller at the appropriate time according to the actual situation to control the electromagnet to be powered on or powered off, so as to realize accurate control of the connection state of the first deicing plate and the second deicing plate.

[0018] Further, the lower end of the support pipe is provided with a support hole, the upper end of the second mounting frame is fixedly connected with a connecting block, the connecting block is fixedly connected with a top block matched with the support hole, and when the top block is connected in the support hole, the support pipe and the second mounting frame are fixed in the radial direction, and the lower end of the traction rope is fixed to the top block.

[0019] According to the above technical scheme, the top block is matched and connected with the inner wall of the support hole at the lower end of the support pipe, and the connecting block abuts against the bottom of the support pipe, so that the relative fixation of the second mounting frame and the support pipe is increased, and even if the winding mechanism is loose, the second mounting frame can still be prevented from shaking through the matched connection of the top block and the support hole.

[0020] Further, a pressure sensor is installed in the support hole, and the upper end of the top block clamps the pressure sensor with the bottom surface of the support hole.

[0021] According to the above technical scheme, the pressure sensor is arranged in the support hole, so that the remote control circuit board controls the electromagnet to be continuously powered on and powered on when the pressure sensor is not subjected to pressure, so that the deicing claw can always grasp the cable and perform deicing operation. This scheme is to avoid that the signal of the operator is poor to cause the electromagnet to be powered off when the unmanned aerial vehicle is in flight operation, so that the power supply of the electromagnet is ensured to be stable through the pressure sensor.

[0022] Further, the winding mechanism comprises a motor and a winding wheel, the winding wheel is rotationally connected to the first mounting frame, the motor is installed on the first mounting frame and is in transmission connection with the winding wheel, and the upper end of the traction rope is wound on the winding wheel.

[0023] By adopting the above-mentioned technical solution, the rotation of the winding wheel can be conveniently controlled by the motor to wind the traction rope around the winding wheel, making it easier for the operator to control the traction rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present application will be further described below with reference to the accompanying drawings: Figure 1 A schematic diagram of a power transmission line deicing robot for this application; Figure 2 It is a structural schematic diagram of the first mounting frame in the present invention; Figure 3 This is a schematic structural diagram of the first deicing plate and the second deicing plate in the present invention; Figure 4 In the present invention Figure 3 A magnified view of part A; Figure 5 In the present invention Figure 3 A magnified view of part B; Figure 6 is a state diagram of the first de-icing plate and the second de-icing plate in the initial state of the present invention; Figure 7 This is a state diagram of the first de-icing plate and the second de-icing plate in the present invention when they are above the electric wires; Figure 8 This is a diagram showing a state in which the first de-icing plate and the second de-icing plate surround the electric wires in the present invention.

[0025] In the figure: 1. UAV; 2. First mounting frame; 3. Motor; 4. Reel; 5. Tow rope; 6. Rotating shaft; 7. Support tube; 8. Top block; 9. Connecting block; 10. Second mounting frame; 11. First de-icing plate; 12. Second de-icing plate; 13. Pressure sensor; 14. Sink; 15. Sliding block; 17. Electromagnet. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0027] The terms "first", "second", etc. (if any) in the description and claims of the present application are used to distinguish similar objects, and are not used to describe a particular order or sequence, even if "second" is used to distinguish before a certain technical feature, it does not mean that there must be "first". It should be understood that in the present application, "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. It should be understood that in the present application, "multiple" means two or more. "And / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, X and / or Y can represent: X alone, X and Y exist at the same time, and Y alone. The character " / " generally represents that the front and rear associated objects have an "or" relationship. "Include X, Y and Z" "include X, Y, Z" means that X, Y and Z are all included, "include X, Y or Z" means that one of X, Y and Z is included, and "include X, Y and / or Z" means that any one or any two or three of X, Y and Z is included.

[0028] The technical solutions of the present application will be described in detail below with specific examples. The following specific examples can be combined or replaced according to actual conditions, and the same or similar concepts or processes may not be described in some embodiments.

[0029] As shown in Figures 1 to 8 The present application provides a power line deicing robot, which comprises a unmanned aerial vehicle 1, a first mounting frame 2, a winding mechanism, a traction rope 5, a support pipe 7, a second mounting frame 10 and a deicing claw. The first mounting frame 2 is fixed below the unmanned aerial vehicle 1, the upper end of the support pipe 7 is connected with the first mounting frame 2, the lower end of the support pipe 7 abuts on the upper end of the second mounting frame 10, the winding mechanism is installed on the first mounting frame 2, the upper end of the traction rope 5 is wound on the winding mechanism, the lower end of the traction rope 5 passes through the support pipe 7 and is fixed on the second mounting frame 10, and the deicing claw is installed on the second mounting frame 10 and can be sleeved with a cable 18.

[0030] The working mode of the scheme is that before the unmanned aerial vehicle 1 takes off, the unmanned aerial vehicle 1 first hovers to a certain height, the support pipe 7 on the first mounting frame 2 is adjusted to the vertical position, then the second mounting frame 10 is tightened to abut against the lower end of the support pipe 7 through the winding mechanism, so that the unmanned aerial vehicle 1 and the deicing claw are relatively rigidly connected, then the unmanned aerial vehicle 1 rises to a specified position above the deicing cable 18, then the unmanned aerial vehicle 1 descends, so that the deicing claw is sleeved on the cable 18, then the unmanned aerial vehicle 1 rises, and at the same time the winding mechanism loosens the traction rope 5, so that the unmanned aerial vehicle 1 and the deicing claw are soft connected, then the unmanned aerial vehicle 1 can fly along the extension direction of the cable 18, the deicing claw is pulled by the traction rope 5, and deicing operation is performed along the cable 18, when the deicing claw contacts an ice cone or the like obstacle, the deicing claw can directly impact the ice cone, because the unmanned aerial vehicle 1 and the deicing claw are soft connected, the impact of the deicing claw does not affect the flight of the unmanned aerial vehicle 1, so that the ice cone on the cable 18 is removed, after the removal is completed, when the unmanned aerial vehicle 1 and the cable 18 stop moving, the deicing claw releases the cable 18, the winding mechanism retracts the second mounting frame 10 and the deicing claw to the lower end of the support pipe 7 through the traction rope 5, and then deicing operation is performed on the next cable 18. The application has the following advantages: through the winding mechanism and the traction rope 5, the second mounting frame 10 can abut against the lower end of the support pipe, the unmanned aerial vehicle 1 and the deicing claw are connected to be relatively rigid, the second mounting frame 10 is prevented from shaking during the unmanned aerial vehicle 1 takes off, and the second mounting frame 10 is prevented from shaking when the deicing claw sleeves the traction rope 5, the accuracy of the deicing claw sleeving the cable 18 is improved, and the traction rope 5 is prevented from being wound on the cable 18, then the unmanned aerial vehicle 1 and the deicing claw are soft connected, so that the impact of the deicing claw does not affect the flight of the unmanned aerial vehicle 1, the deicing mode of the deicing claw is to directly impact the ice cone, the cable 18 is prevented from being impacted, the surface of the cable 18 is prevented from being damaged, the deicing efficiency is improved, the deicing time is reduced, and the convenience is improved, because the traction rope 5 exists, the unmanned aerial vehicle 1 and the cable 18 can be soft connected, when the unmanned aerial vehicle 1 drives the deicing claw to move, the deicing claw has a certain hysteresis, but at the same time has great inertia to impact the ice cone, and does not affect the flight of the unmanned aerial vehicle 1.

[0031] Preferably, the length of the traction rope 5 is longer than twice the length of the support pipe 7.

[0032] Further, the deicing claws comprise first deicing plates 11 and second deicing plates 12, which are respectively arranged on both sides of the lower end of the second mounting frame 10 through shaft rods; the first deicing plates 11 and the second deicing plates 12 are both S-shaped; in the initial state, the first ends of the first deicing plates 11 and the first ends of the second deicing plates 12 are both above the shaft rods and are arranged outward, the second ends of the first deicing plates 11 and the second ends of the second deicing plates 12 are both below the shaft rods, and the lower parts of the first deicing plates 11 and the lower parts of the second deicing plates 12 are staggered; a connecting assembly is arranged between the first ends of the first deicing plates 11 and the first ends of the second deicing plates 12, and in the connected state, the connecting assembly can connect the first ends of the first deicing plates 11 and the first ends of the second deicing plates 12.

[0033] The sleeve-grasping step of the deicing claws is: first, the second mounting frame 10 is lowered from directly above the cable 18 until the lower parts of the first deicing plates 11 and the second deicing plates 12 near the second ends contact the cable 18, then the second mounting frame 10 is continuously lowered to force the first deicing plates 11 and the second deicing plates 12 to rotate around the shaft rods until the first ends of the first deicing plates 11 and the first ends of the second deicing plates 12 are below the cable 18 and staggered, so that the connecting assembly between the first ends of the first deicing plates 11 and the first ends of the second deicing plates 12 contact and connect with each other, the sleeve-grasping of the deicing claws on the cable 18 is completed, and the deicing claws are ensured not to be separated from the cable 18 when deicing along the cable 18, thereby increasing the reliability. By adopting the foregoing technical solution, the first deicing plates 11 and the second deicing plates 12 are turned over and sleeved after contacting the cable 18, so that the sleeve-grasping can be completed without carrying too many control components, the load of the unmanned aerial vehicle 1 is lighter, and the operation is simple and direct, easy to operate, and the difficulty of sleeve-grasping is reduced.

[0034] Further, the centers of gravity of the first deicing plates 11 are located between the second ends and the corresponding shaft rods, and the centers of gravity of the second deicing plates 12 are located between the second ends and the corresponding shaft rods, so that the first deicing plates 11 and the second deicing plates 12 are kept in the initial state. Alternatively, first torsional springs are arranged between the first deicing plates 11 and the second mounting frame 10, and second torsional springs are arranged between the second deicing plates 12 and the second mounting frame 10, so that the first deicing plates 11 and the second deicing plates 12 are kept in the initial state.

[0035] By adopting the first technical solution, the centers of gravity of the first deicing plates 11 and the second deicing plates 12 are arranged between the corresponding shaft rods and the second ends, so that the first deicing plates 11 and the second deicing plates 12 can naturally drop to the appropriate positions by gravity, the difficulty of subsequent sleeve-grasping actions is reduced, and only a very small force is needed to turn over the first deicing plates 11 and the second deicing plates 12, thereby saving costs and reducing the difficulty of deicing.

[0036] With the second scheme, the influence of the environment on the UAV 1 in the air can be reduced, for example, the wind at high altitude is relatively large, which will affect the rotation of the first and second ice removing plates 11 and 12.

[0037] With the above two schemes, a limiting part needs to be arranged at the initial position and the position where the sleeve is gripped to avoid the first and second ice removing plates 11 and 12 rotating in the opposite direction or rotating too much.

[0038] Further, the connecting assembly comprises a sliding block 15, a first elastic member and an electromagnet 17; the first end of the first ice removing plate 11 is provided with a first sinking groove 14, the first end of the second ice removing plate 12 is provided with a second sinking groove 14, the sliding block 15 is elastically arranged in the first sinking groove 14 through the first elastic member, and the electromagnet 17 is fixedly installed in the second sinking groove 14; when the electromagnet 17 and the sliding block 15 are opposite, the electromagnet 17 adsorbs the sliding block 15, and then the first and second ice removing plates 11 and 12 are connected.

[0039] With the foregoing technical scheme, the connection of the first and second ice removing plates 11 and 12 is realized by the cooperation of the electromagnet 17 and the sliding block 15, without the need to carry complex control components to control the connection and disconnection, compared with the design of realizing the connection and unlocking through the complex mechanical structure of the motor 3 and the connecting rod, the structure of the ice removing claw is greatly simplified.

[0040] Preferably, when the electromagnet 17 adsorbs the sliding block 15, the sliding block 15 is clamped between the first and second sinking grooves 14, which can effectively prevent the first and second ice removing plates 11 and 12 from separating after being connected.

[0041] Further, the second ice removing plate 12 is provided with a battery and a remote control circuit board, the battery is electrically connected with the remote control circuit board, and the electromagnet 17 is electrically connected with the remote control circuit board.

[0042] With the foregoing technical scheme, the electromagnet 17 is electrically connected with the remote control circuit board, so that the operator can remotely control the on-off of the electromagnet 17 through the remote controller, and in the ice removing process, the operator can send instructions through the remote controller at the appropriate time according to the actual situation to make the remote control circuit board control the electromagnet 17 to be powered on or powered off, so as to realize accurate control of the connection state of the first and second ice removing plates 11 and 12.

[0043] Further, the lower end of the support pipe 7 is provided with a support hole, the upper end of the second mounting frame 10 is fixedly provided with a connecting block 9, the connecting block 9 is fixedly provided with a top block 8 matched with the support hole, and when the top block 8 is connected in the support hole, the support pipe 7 is fixedly connected with the second mounting frame 10 in the radial direction, and the lower end of the traction rope 5 is fixed to the top block 8.

[0044] Wherein, the support hole is matched with the top block 8, the radial fixation of the support pipe 7 to the second mounting frame 10 refers to the diameter direction along the traction rope 5.

[0045] By the matching connection of the top block 8 and the inner wall of the support hole at the lower end of the support pipe 7, and the abutting connection of the connecting block 9 and the bottom of the support pipe 7, the relative fixation of the second mounting frame 10 and the support pipe 7 can be increased, even if the winding mechanism is loose, the shaking of the second mounting frame 10 can still be avoided through the matching connection of the top block 8 and the support hole.

[0046] Further, the support hole is internally provided with a pressure sensor 13, and the upper end of the top block 8 clamps the pressure sensor 13 with the bottom surface of the support hole.

[0047] By arranging the pressure sensor 13 in the support hole, when the remote control circuit board is not subjected to the pressure of the pressure sensor 13, the electromagnetic iron 17 is continuously powered and magnetized, so that the deicing claw can always grasp the cable 18 and perform deicing operation. This scheme is to avoid the power-off of the electromagnetic iron 17 caused by the poor signal of the operator when the unmanned aerial vehicle 1 is in flight operation, so as to ensure the stable power supply of the electromagnetic iron 17 through the pressure sensor 13.

[0048] Further, the first mounting frame 2 is rotationally provided with a rotating shaft 6, and a locking member for locking or unlocking the rotating shaft 6 is arranged between the rotating shaft 6 and the first mounting frame 2. The upper end of the support pipe 7 is fixedly connected with the rotating shaft 6.

[0049] By arranging the locking member at the rotating shaft 6, the support pipe 7 can rotate relative to the first mounting frame 2 in the unlocked state, which can cooperate with the unmanned aerial vehicle 1 to fold the support pipe 7 when landing, so that the landing legs of the unmanned aerial vehicle 1 can fall to the ground. The support pipe 7 can be fixed relative to the first mounting frame 2 in the locked state, so as to avoid the shaking of the support pipe 7 caused by the high-altitude environment.

[0050] Further, the locking member comprises a positioning ball and a second elastic member, the rotating shaft 6 is provided with a sliding groove, the positioning ball and the second elastic member are arranged in the sliding groove, the first mounting frame 2 is provided with a positioning hole, the positioning hole and the sliding groove are correspondingly arranged when the support pipe 7 is vertically arranged, and the second elastic member partially pushes the positioning ball into the positioning hole.

[0051] Adopting the preceding technical scheme, when the support pipe 7 needs to rotate, the positioning ball can be manually controlled to move in the sliding groove due to the elastic effect of the second elastic member, so that the positioning ball leaves the positioning hole, at this time the rotating shaft 6 can be freely rotated, so as to realize the rotation of the support pipe 7 relative to the first mounting frame 2, when the support pipe 7 is in the vertical state, the positioning ball is partially topped into the positioning hole under the action of the second elastic member, realizing the radial fixation of the support pipe 7 and the first mounting frame 2. In this way, when high-altitude operation is performed, even if affected by external factors such as wind, the support pipe 7 will not shake randomly, ensuring the stability and safety of the deicing device.

[0052] It can be understood that the locking member can also be locked in a manner such as screwing, clamping, etc. This manual unlocking and locking scheme needs to be operated manually after the unmanned aerial vehicle 1 leaves the ground to a certain height, and an electric motor or other electric control operation can also be used to rotate the support pipe 7.

[0053] Further, the winding mechanism comprises a motor 3 and a winding wheel 4, the winding wheel 4 is rotationally connected to the first mounting frame 2, and the motor 3 is installed on the first mounting frame 2 and is in transmission connection with the winding wheel 4, and the upper end of the traction rope 5 is wound on the winding wheel 4.

[0054] Adopting the preceding technical scheme, the rotation of the winding wheel 4 can be conveniently controlled by the motor 3, so as to wind the traction rope 5 on the winding wheel 4, facilitating the control of the traction rope 5 by the operator.

[0055] In addition to the preferred embodiments described above, the present application also has other embodiments, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor fall within the scope of the present application.

Claims

1. A power transmission line deicing robot, characterized in that: The device comprises a drone, a first mounting frame, a winding mechanism, a traction rope, a support tube, a second mounting frame and a de-icing claw, wherein the first mounting frame is fixed below the drone, the upper end of the support tube is connected to the first mounting frame, the lower end of the support tube abuts against the upper end of the second mounting frame, the winding mechanism is mounted on the first mounting frame, the upper end of the traction rope is wound around the winding mechanism, the lower end of the traction rope passes through the support tube and is fixed to the second mounting frame, and the de-icing claw is mounted on the second mounting frame and can grip the cable; A rotating shaft is rotatably mounted on the first mounting frame, a locking member for locking or unlocking the rotating shaft is provided between the rotating shaft and the first mounting frame, and the upper end of the support tube is fixedly connected to the rotating shaft; The locking member includes a positioning ball and a second elastic member. A sliding groove is provided on the rotating shaft. The positioning ball and the second elastic member are arranged in the sliding groove. The first mounting frame is provided with a positioning hole. When the support tube is set vertically, the drone is in a normal posture. The positioning hole is set corresponding to the sliding groove. The second elastic member pushes the positioning ball part into the positioning hole.

2. The power transmission line deicing robot according to claim 1, characterized in that: The de-icing claws include a first de-icing plate and a second de-icing plate, which are respectively arranged on both sides of the lower end of the second mounting frame by rotating through an axis; the first de-icing plate and the second de-icing plate are both S-shaped; in the initial state, the first end of the first de-icing plate and the first end of the second de-icing plate are both above the axis and are both arranged outward, the second end of the first de-icing plate and the second end of the second de-icing plate are both located below the axis, and the lower part of the first de-icing plate and the lower part of the second de-icing plate are staggered; a connecting assembly is provided between the first end of the first de-icing plate and the first end of the second de-icing plate, and in the connected state, the connecting assembly can connect the first end of the first de-icing plate and the first end of the second de-icing plate.

3. The power transmission line deicing robot according to claim 2, characterized in that: The center of gravity of the first de-icing plate is located between its second end and the corresponding shaft rod, and the center of gravity of the second de-icing plate is located between its second end and the corresponding shaft rod, so that the first de-icing plate and the second de-icing plate are maintained in their initial states; or, a first torsion spring is provided between the first de-icing plate and the second mounting bracket, and a second torsion spring is provided between the second de-icing plate and the second mounting bracket, so that the first de-icing plate and the second de-icing plate are maintained in their initial states.

4. The power transmission line deicing robot according to claim 2, characterized in that: The connecting assembly includes a sliding block, a first elastic member and an electromagnet; the first end of the first de-icing plate is provided with a first sunken groove, the first end of the second de-icing plate is provided with a second sunken groove, the sliding block is elastically slidably arranged in the first sunken groove through the first elastic member, and the electromagnet is fixedly installed in the second sunken groove; when the electromagnet and the sliding block are relative to each other, the electromagnet adsorbs the sliding block, thereby connecting the first de-icing plate and the second de-icing plate.

5. The power transmission line deicing robot according to claim 4, characterized in that: A battery and a remote control circuit board are provided on the second de-icing board. The battery is electrically connected to the remote control circuit board, and the electromagnet is electrically connected to the remote control circuit board.

6. The power transmission line deicing robot according to claim 1, characterized in that: A support hole is provided at the lower end of the support tube, a connecting block is fixed at the upper end of the second mounting frame, a top block adapted to the support hole is fixed on the connecting block, when the top block is connected to the support hole, the support tube and the second mounting frame are radially fixed, and the lower end of the traction rope is fixed to the top block.

7. The power transmission line deicing robot according to claim 6, characterized in that: A pressure sensor is installed in the supporting hole, and the upper end of the top block and the upper end surface of the bottom surface of the supporting hole clamp the pressure sensor.

8. The power transmission line deicing robot according to claim 1, characterized in that: The winding mechanism includes a motor and a winding wheel. The winding wheel is rotatably connected to the first mounting frame. The motor is installed on the first mounting frame and is transmission-connected to the winding wheel. The upper end of the traction rope is wound around the winding wheel.

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