A pressing device for cable deicing and deicing robot

Abstract

The application provides a pressing device for cable deicing and a deicing robot, which comprises a pressing wheel assembly, a pressing fixed frame, a lifting platform, a horizontal swing arm and a lifting driving device; the lifting driving device is installed on the pressing fixed frame and is used for driving the lifting platform to move up and down; one end of the horizontal swing arm is rotationally connected with the lifting platform, and the other end of the horizontal swing arm is connected with the pressing wheel assembly; a guide rail is arranged on the pressing fixed frame, and one end of the horizontal swing arm close to the lifting platform is provided with a guide roller matched with the guide rail; when the lifting platform moves up and down, the pressing wheel assembly is switched between a working position matched with a walking wheel and a avoiding position for making the space below the walking wheel unobstructed. In this way, when the pressing wheel assembly is in the avoiding position, the walking wheel only needs to be vertically aligned with the cable, and the cable needs to be vertically close to the walking wheel, so that the deicing robot can be "mounted on the cable in one step", and the efficiency and convenience of the deicing robot in mounting on the cable are effectively improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cable deicing, and particularly relates to a pressing device for cable deicing and a deicing robot. BACKGROUND

[0002] When cold weather comes, ice will form on overhead cables such as power cables and communication cables, and these ice needs to be removed in time to avoid the overhead cables being pressed off by the ice.

[0003] In order to realize automatic removal of ice on overhead cables, an application No. 2022108230379 discloses a power transmission line walking deicing robot with a pressing assembly. The deicing robot has a walking assembly for driving it to move on the line and a pressing assembly cooperating with the walking assembly for pressing the line. The pressing assembly includes a base, two swing arms arranged on the base, and a pressing wheel arranged at the end of the swing arm. The base is arranged on the power transmission line walking deicing robot in a lifting manner, the swing arm is rotationally connected with the base, and a first elastic member is arranged between the two swing arms or between the swing arm and the base. The patent increases the adhesion to the line by cooperating the pressing wheel of the pressing assembly with the walking wheel of the walking assembly to ensure the smoothness of the power transmission line walking deicing robot, but since the base of the pressing assembly is arranged below the walking assembly in a lifting manner, the pressing wheel is always located directly below the walking wheel. Therefore, when the deicing robot is on the line, the position of the deicing robot needs to be adjusted first to allow the cable to enter the space between the walking wheel and the pressing wheel laterally, and then the vertical position of the deicing robot needs to be adjusted to allow the cable to approach the walking wheel vertically and be located in the V-shaped gap of the walking wheel. This two-step on-line method of "first lateral entry and then vertical approach" has the defects of long operation time and inconvenient operation. SUMMARY

[0004] In view of the above shortcomings of the prior art, the purpose of the present application is to provide a pressing device for cable deicing and a deicing robot, which can switch the pressing wheel assembly between a working position cooperating with the walking wheel and an avoiding position without blocking the space below the walking wheel, so that when the pressing wheel assembly is switched to the avoiding position, only the walking wheel needs to be aligned with the cable in the vertical direction and the cable needs to be vertically close to the walking wheel, and the mounting and on-line of the deicing robot can be conveniently and quickly completed.

[0005] To achieve the above object and other related objects, the present application provides a kind of cable deicing with compression device, including with walking wheel to compress cable and compress wheel assembly;The compression device further includes compression fixed frame, lifting platform, horizontal swing arm and lifting drive device;The lifting drive device is installed on compression fixed frame, for driving lifting platform up and down movement;Horizontal swing arm is rotatably connected to one end of lifting platform, and the other end of horizontal swing arm is connected with compression wheel assembly;Compression fixed frame is provided with guide rail, and one end of horizontal swing arm close to lifting platform is provided with guide roller matched with guide rail;When lifting platform moves up and down, the compression wheel assembly is switched between the working position matched with walking wheel and the avoiding position to make the space below walking wheel unobstructed.Such, when compression wheel assembly is in avoiding position, only need to vertically align walking wheel with cable, and make cable vertically close to walking wheel, it can realize " one step hang up line " of deicing robot, effectively improve the efficiency and convenience of deicing robot on line.

[0006] Preferably, the guide rail includes spiral guide rail and vertical guide rail;The upper end of the spiral guide rail is communicated with the lower end of the vertical guide rail;Thus, the horizontal swing arm connected with the guide roller can be rotated by the cooperation of the spiral guide rail and the guide roller, and then the compression wheel assembly on the horizontal swing arm enters or exits the space below the walking wheel, realizing the barrier-free on-line or off-line of the deicing robot in the vertical direction.

[0007] Preferably, the lifting drive device includes vertical screw, screw nut and compression motor for driving vertical screw rotation;The vertical screw is rotatably installed on the compression fixed frame, and the compression fixed frame is provided with vertical slide rail;The lifting platform is vertically slidably installed on the vertical slide rail, and the lifting platform is fixedly connected with the screw nut.

[0008] Preferably, the compression motor is drivingly connected with the vertical screw through synchronous belt assembly, so that when the device is overloaded, the more expensive motor and other components can be protected by the slipping of the synchronous belt, realizing overload protection.

[0009] Preferably, the end of the horizontal swing arm away from the lifting platform is provided with a fixed support part;The compression wheel assembly is slidably matched with the fixed support part in the vertical direction, and a vertical spring is arranged between the compression wheel assembly and the fixed support part;The arrangement of the vertical spring not only makes the compression wheel assembly always abut on the cable, ensures the stability of the compression wheel assembly and walking wheel cooperation walking;But the vertical spring can also make the compression wheel temporarily descend to cross the obstacle when encountering the obstacle, to avoid the situation of being stuck;In addition, the compression deformation of the vertical spring can also be used to adapt to the compression needs of cables with different diameters, to improve the versatility of the compression device.

[0010] Preferably, the pressing device comprises a position detection sensor; the position detection sensor is used to detect the position state of the pressing wheel assembly to determine whether the pressing wheel assembly is in the avoiding position or the working position.

[0011] Preferably, the position detection sensor comprises a first position sensor and a second position sensor; the first position sensor is used to detect whether the lifting platform reaches the lowest stroke position; the second position sensor comprises a scale indicating plate located on the pressing fixed frame and a second camera, a lifting indicating needle cooperating with the scale indicating plate is fixed on the lifting platform; the second camera is configured to collect the relative position image of the lifting indicating needle and the scale indicating plate in real time; when the lifting indicating needle reaches the preset scale line of the scale indicating plate, it can be determined that the pressing wheel assembly reaches the working position; the present application visually observes the relative position of the lifting indicating needle and the scale indicating plate in the vertical direction by means of the second camera, so as to facilitate the user to flexibly adjust the lifting height of the pressing wheel assembly at the working position according to the diameter of the cable to be deiced, and ensure that the pressing wheel assembly can always press the cable on the walking wheel when it is in the working position, so as to flexibly meet the pressing needs of cables with different diameters.

[0012] The present application also provides an ice removing robot, comprising a walking wheel device, an ice removing device, an electric control box and a main frame, the main frame is provided with the above-mentioned cable ice removing pressing device; the main frame comprises a horizontal top plate and first and second side plates located on both sides of the horizontal top plate, the second side plate is vertically arranged; the walking wheel of the walking wheel device is rotatably installed between the first and second side plates; the pressing fixed frame is installed outside the second side plate, and the second side plate is provided with a first avoiding opening corresponding to the pressing wheel assembly, the first avoiding opening is used to avoid the movement of the pressing wheel assembly and the corresponding horizontal swing arm.

[0013] Preferably, a hanging and detaching device is fixed above the horizontal top plate, the hanging and detaching device is used to be connected with the hook of the unmanned aerial vehicle; in this way, the unmanned aerial vehicle can be used to realize the online and offline of the ice removing robot, and the difficulty of online and offline of the ice removing robot is reduced.

[0014] Preferably, the hook comprises a lifting ring, and the hanging and detaching device comprises an automatic unhooking device cooperating with the lifting ring; the automatic unhooking device can be switched between a locking state preventing the lifting ring from being taken out and an unlocking state allowing the lifting ring to be taken out; in this way, the lifting ring can be locked or released by means of the automatic unhooking device, so as to realize the docking and separation of the unmanned aerial vehicle and the ice removing robot, thereby facilitating the automatic online of the ice removing robot by means of the unmanned aerial vehicle.

[0015] Preferably, the lifting tool comprises a U-shaped lifting bracket; the hanging and detaching device comprises a connecting bracket matched with the U-shaped lifting bracket; the connecting bracket comprises two spaced upright rods, and a swing rod is rotatably arranged at the top end of each upright rod; an elastic reset member is arranged between the swing rod and the corresponding upright rod, and the elastic reset member has a reset force for swinging the swing rod towards a horizontal state; when both of the swing rods are in the horizontal state, the two swing rods cooperatively form a blocking part for limiting the U-shaped lifting bracket from being separated upward from the connecting bracket; when the deicing robot needs to be offline, the U-shaped lifting bracket can be adjusted to a position above the connecting bracket by the unmanned aerial vehicle, and the U-shaped lifting bracket is perpendicular to the swing rods; then the U-shaped lifting bracket is moved downward relative to the connecting bracket, so that the bottom rod of the U-shaped lifting bracket is inserted into the space between the two upright rods; in this process, the bottom rod of the U-shaped lifting bracket pushes the swing rods to rotate downward against the reset force of the elastic reset member, so as to make room for the insertion of the bottom rod of the U-shaped lifting bracket, until the bottom rod of the U-shaped lifting bracket is below the swing rods; at this time, the swing rods are rotated to the horizontal state under the action of the elastic reset members, so as to limit the U-shaped lifting bracket from being separated upward from the connecting bracket, and complete the connection and locking of the two, thereby facilitating the automatic offline of the deicing robot by means of the unmanned aerial vehicle.

[0016] As described above, the cable deicing compression device and the deicing robot provided by the application have the following beneficial effects:

[0017] The compression device adopted by the application can switch the compression wheel assembly between a working position matched with the walking wheel and an avoiding position for making the space below the walking wheel unobstructed, so that when the compression wheel assembly is switched to the avoiding position, the walking wheel only needs to be aligned with the cable in the vertical direction, and the cable only needs to be vertically close to the walking wheel, so that the "one-step mounting and online" of the deicing robot can be realized, and the online efficiency and convenience of the deicing robot are effectively improved.

[0018] The deicing robot provided by the application walks by means of the driving force provided by the walking wheel device, and deices the cable in the form of ice shoveling during walking, so that the deicing efficiency is effectively improved.

[0019] The online and offline operations of the deicing robot by means of the unmanned aerial vehicle not only can avoid the high-altitude operation risk brought by the traditional tower climbing operation, but also can ignore the tower climbing difficulty brought by complex environments such as mountains and rivers, so that the online and offline efficiency and difficulty of the deicing robot are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a perspective view of the compression wheel assembly of the compression device in the avoiding position.

[0021] Figure 2 It is a perspective view of the compression wheel assembly of the compression device in the working position.

[0022] Figure 3 It is a perspective view of the compression wheel assembly of the compression device in the working position.Figure 2 Vertical cross-sectional view.

[0023] Figure 4 This is a bottom-view perspective view of the de-icing robot of this application mounted on a cable.

[0024] Figure 5 This is a rear view of the clamping wheel assembly of the de-icing robot of this application in the working position.

[0025] Figure 6 This is a rear view of the clamping wheel assembly of the de-icing robot of this application when it is in the avoidance position.

[0026] Figure 7 This is a perspective view of the clamping wheel assembly of the de-icing robot of this application in the avoidance position (the housing 90 is not shown).

[0027] Figure 8 This is a perspective view of the clamping wheel assembly of the de-icing robot of this application in the working position (automatic unhooking device 60 is not shown).

[0028] Figure 9 for Figure 8 3D exploded view.

[0029] Figure 10 This is a rear view of the main unit rack.

[0030] Figure 11 This is a three-dimensional view of the walking wheel device.

[0031] Figure 12 This is a three-dimensional view of the de-icing device.

[0032] Figure 13 A 3D view of the docking of a drone and a de-icing robot (drone not shown).

[0033] Figure 14 A 3D view of the drone docking with the de-icing robot (drone not shown).

[0034] Figure 15 This is a side view of the connecting frame.

[0035] Figure 16 This is a diagram showing the docking process between the U-shaped hanger and the connecting frame.

[0036] Explanation of reference numerals in the attached figures

[0037] Cable 01, Hanger 021, U-shaped hanger 022;

[0038] Pressing device 10, pressing wheel assembly 11, pressing wheel mounting frame 111, pressing wheel 112, pressing fixed frame 12, lifting platform 13, horizontal swing arm 14, fixed support part 141, vertical spring 142, lifting driving device 15, vertical lead screw 151, lead screw nut 152, pressing motor 153, vertical sliding rail 154, guide rail 16, spiral guide rail 16a, vertical guide rail 16b, guide roller 161, limiting part 17, first position sensor 181, lifting indicator 182;

[0039] Walking wheel device 20, walking wheel 21, walking motor 22, end cover 23;

[0040] Deicing device 30, deicing fixed frame 31, bidirectional lead screw 32, movable seat 33, deicing motor 34, synchronous belt assembly 35, shovel 36;

[0041] Electric control box 40;

[0042] Main frame 50, cable passage 50a, horizontal top plate 51, first side plate 52, vertical part 521, inclined part 522, second side plate 53, guide frame 54, inclined guide surface 541, auxiliary support frame 55;

[0043] Automatic unhooker 60;

[0044] Connecting frame 70, vertical rod 71, swing rod 72, limiting groove 721;

[0045] First camera 81, second camera 82, third camera 83, three-color lamp 84;

[0046] Cover 90, scale indicator plate 91. DETAILED DESCRIPTION

[0047] The embodiments of the present application will be described in detail by specific embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0048] Please refer to Figures 1 to 16It is to be understood that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and are not used to limit the defined conditions under which the present application can be implemented, so they do not have technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0049] The existing pressing device of the deicing robot adopts a lifting type pressing wheel structure, so that the pressing wheel is always located directly below the corresponding walking wheel; when the deicing robot needs to be mounted on the cable, the position of the deicing robot needs to be adjusted first to allow the cable to enter the space between the walking wheel and the pressing wheel laterally, and then the vertical position of the deicing robot is adjusted to allow the cable to approach the walking wheel vertically and be located in the V-shaped gap of the walking wheel. This two-step on-line method of "first lateral entry and then vertical approach" has the defects of long operation time and inconvenient operation.

[0050] To solve the above technical problems, the present application provides a pressing device for cable deicing, as shown in Figures 1 to 6 The pressing device 10 includes a pressing wheel assembly 11, a pressing fixed frame 12, a lifting platform 13, a horizontal swing arm 14 and a lifting driving device 15; wherein the lifting driving device 15 is installed on the pressing fixed frame 12 and is used to drive the lifting platform 13 to move up and down; one end of the horizontal swing arm 14 is rotatably connected with the lifting platform 13, and the other end of the horizontal swing arm 14 is connected with the pressing wheel assembly 11; the pressing wheel assembly 11 is used to cooperate with the walking wheel 21 to press the cable 01; the pressing fixed frame 12 is provided with a guide rail 16, and the end of the horizontal swing arm 14 close to the lifting platform 13 is provided with a guide roller 161 cooperating with the guide rail 16; when the lifting platform 13 moves up and down, the pressing wheel assembly 11 can switch between the working position cooperating with the walking wheel 21 and the avoiding position allowing the space below the walking wheel 21 to be unobstructed.

[0051] As shown in Figure 6 Since there is no any obstruction below the walking wheel 21 when the pressing wheel assembly 11 is in the avoiding position, only the position adjustment of the deicing robot using the pressing device 10 is needed to align the walking wheel 21 with the cable 01 in the vertical direction and to allow the walking wheel 21 to approach the cable 01 vertically, so that the "one-step mounting on-line" of the deicing robot can be realized, which effectively reduces the on-line difficulty of the deicing robot and improves the on-line efficiency of the deicing robot.

[0052] As shown in Figure 2 The guide rail 16 comprises a spiral guide rail 16a and a vertical guide rail 16b, and the upper end of the spiral guide rail 16a is communicated with the lower end of the vertical guide rail 16b; wherein the spiral guide rail 16a is used to constrain the movement track of the guide roller 161, so that the horizontal swing arm 14 and the compacting wheel assembly 11 thereon rotate while vertically moving, so that the compacting wheel assembly 11 can enter or exit the space below the walking wheel 21, so that when the compacting wheel assembly 11 exits the space below the walking wheel 21, the space below the walking wheel 21 is unobstructed, so that the cable 01 passes through the space below the walking wheel 21 to vertically approach or move away from the walking wheel 21, effectively improving the convenience of the deicing robot up and down the line; and the vertical guide rail 16b is provided, which can provide a stable lifting movement after the compacting wheel assembly 11 enters the space below the walking wheel 21, ensuring that the compacting wheel assembly 11 entering the space below the walking wheel 21 can cooperate with the walking wheel 21 to clamp the cable 01, so as to avoid the situation that the walking wheel 21 slips or separates from the cable 01 during walking, and ensure the walking stability.

[0053] It should be noted that the guide roller 161 can be a roller or a roller or a cam bearing follower, etc. Various rolling elements are not limited; in this embodiment, the guide roller 161 preferably adopts a cam bearing follower.

[0054] It can be understood that in order to reduce energy loss, the horizontal swing arm 14 is preferably rotatably connected to the lifting platform 13 by a bearing; in this embodiment, the bearing between the horizontal swing arm 14 and the lifting platform 13 is an angular contact ball bearing.

[0055] As shown in Figure 3 The compacting wheel assembly 11 comprises a compacting wheel mounting frame 111 and a compacting wheel 112 rotatably arranged on the compacting wheel mounting frame 111.

[0056] In a preferred embodiment, as shown in Figure 3 The end of the horizontal swing arm 14 away from the lifting platform 13 is formed with a fixed support portion 141; wherein the compacting wheel mounting frame 111 and the fixed support portion 141 are slidingly matched in the vertical direction, and a vertical spring 142 is coupled therebetween; in this way, the compression deformation of the vertical spring 142 not only enables the compacting wheel 112 to temporarily descend to pass over obstacles when encountering obstacles, avoiding the situation of being stuck, but also enables the cable 01 of different diameters to be compacted on the walking wheel 21, to ensure the walking stability, effectively improving the versatility of the compacting device 10.

[0057] Further, one of the pressing wheel mounting frame 111 and the fixed support part 141 is detachably fixed with a horizontal guide rod (not shown in the figure), and the other is provided with a vertical sliding groove matched with the horizontal guide rod; through the sliding cooperation of the horizontal guide rod and the corresponding vertical sliding groove in the vertical direction, the sliding stroke of the pressing wheel mounting frame 111 can be limited to avoid the pressing wheel mounting frame 111 from being pushed away by the vertical spring 142.

[0058] It should be noted that the horizontal guide rod is detachably fixed on the pressing wheel mounting frame 111 or the fixed support part 141 by clamping, threaded connection or the like.

[0059] In the embodiment, as shown in Figure 3 , the lifting driving device 15 includes a vertical screw rod 151, a screw nut 152 and a pressing motor 153 for driving the vertical screw rod 151 to rotate; wherein the vertical screw rod 151 is rotatably installed on the pressing fixed frame 12, and the pressing fixed frame 12 is provided with a vertical sliding rail 154; the lifting platform 13 is vertically slidably installed on the vertical sliding rail 154 through a sliding block, and the lifting platform 13 is fixedly connected with the screw nut 152 installed on the vertical screw rod 151.

[0060] It should be noted that the pressing motor 153 can directly drive the vertical screw rod 151 to rotate, or indirectly drive the vertical screw rod 151 to rotate through a gear transmission assembly or a synchronous belt transmission assembly, which is not limited; in the embodiment, the pressing motor 153 is preferably in transmission connection with the vertical screw rod 151 through a synchronous belt transmission assembly, so that mechanical overload protection can be realized by means of synchronous belt slipping.

[0061] Of course, in other embodiments, the lifting driving device 15 can also use other existing linear driving devices such as linear motors or synchronous belt linear modules, which are not limited.

[0062] In addition, in order to realize the automatic adjustment and control of the position of the pressing wheel assembly 11, the pressing device 10 further includes a position detection sensor for detecting the position state of the pressing wheel assembly 11 (i.e. confirming whether the pressing wheel assembly 11 is in the avoiding position or the working position).

[0063] Specifically, as shown in Figure 1 , Figure 3 and Figure 8As shown, the position detection sensor comprises a first position sensor 181 and a second position sensor; wherein the first position sensor 181 is a micro switch or various ranging sensors; when the first position sensor 181 senses that the lifting platform 13 reaches the lowest stroke position, it indicates that the compression wheel assembly 11 is in the avoiding position; the second position sensor comprises a lifting indicator 182, a scale indicating plate 91 and a second camera 82; wherein the scale indicating plate 91 and the second camera 82 are fixed on the compression fixing frame 12, and the second camera 82 faces the scale area of the scale indicating plate 91; the lifting indicator 182 is arranged on the lifting platform 13, and the needle tip of the lifting indicator 182 extends to the scale area of the scale indicating plate 91; thus, the relative position image of the lifting indicator 182 and the scale indicating plate 91 can be collected in real time by the second camera 82, and the collected relative position image is fed back to the display panel of the ground remote controller in real time through wireless communication, so that the user can observe and determine whether the needle tip of the lifting indicator 182 points to the preset scale line of the scale indicating plate 91 through the display panel; when the user observes that the needle tip of the lifting indicator 182 points to the preset scale line of the scale indicating plate 91, it indicates that the compression wheel assembly 11 has reached the working position; in the embodiment, the first position sensor 181 preferably adopts a micro switch to ensure the response speed and working reliability.

[0064] It should be noted that the position of the preset scale line is determined according to the wire diameter of the cable 01, as long as the compression wheel assembly 11 can be pressed on the walking wheel 21 when it is in the working position.

[0065] Of course, in other embodiments, the position detection sensor can also be various existing ranging sensors such as laser ranging sensors or infrared ranging sensors; the ranging sensor is installed on the compression fixing frame 12 and is used for detecting the lifting position of the lifting platform 13; when the ranging sensor detects that the lifting platform 13 reaches the first preset distance position, it indicates that the compression wheel assembly 11 is in the avoiding position; when the ranging sensor detects that the lifting platform 13 reaches the second preset distance position, it indicates that the compression wheel assembly 11 is in the working position; wherein the first preset distance position is a fixed value; the second preset distance position is selected and set according to the wire diameter of the cable 01.

[0066] As shown in Figure 4 The application also provides an ice removing robot, which comprises a walking wheel device 20, an ice removing device 30, an electric control box 40, a main frame 50 and the compression device 10 described above; wherein the compression device 10, the walking wheel device 20, the ice removing device 30 and the electric control box 40 are all installed on the main frame 50; in the embodiment, the electric control box 40 is provided with a three-color lamp 84 for indicating the state of the equipment.

[0067] Specifically, as shown in Figure 10As shown, the main frame 50 comprises a horizontal top plate 51 and a first side plate 52 and a second side plate 53 located on the left and right sides of the horizontal top plate 51; wherein the second side plate 53 is vertically arranged, and the horizontal top plate 51, the first side plate 52 and the second side plate 53 together enclose a cable passage 50a for the cable 01 to enter and exit.

[0068] In a preferred embodiment, as shown in Figure 10 The first side plate 52 comprises a vertical portion 521 and an inclined portion 522 connected to the lower end of the vertical portion 521; wherein the inclined portion 522 of the first side plate 52 is inclined downward from the top to the direction away from the second side plate 53, so as to guide the cable 01 to enter; and the electric control box 40 is preferably arranged on the outside of the inclined portion 522.

[0069] At this time, as shown in Figure 4 , Figure 10 and Figure 11 The walking wheel device 20 comprises a walking wheel 21, a walking motor 22 and an end cover 23; wherein the walking wheel 21 is located in the cable passage 50a and is rotatably installed between the vertical portion 521 of the first side plate 52 and the second side plate 53; the walking motor 22 is installed on the first side plate 52 or the second side plate 53 and is used to drive the walking wheel 21 to rotate; and the end cover 23 is installed on the side plate away from the walking motor 22 and is used to rotatably support the axle of the walking wheel 21, so as to ensure the stability of the rotation of the walking wheel 21.

[0070] In addition, as shown in Figure 7 and Figure 9 The pressing fixed frame 12 of the pressing device 10 is installed on the outside of the second side plate 53, and the second side plate 53 is provided with a first avoiding opening corresponding to each pressing wheel assembly 11, which avoids the movement of the pressing wheel assembly 11 and the corresponding horizontal swing arm 14 through the first avoiding opening, so that the pressing wheel assembly 11 can smoothly enter or exit the cable passage 50a of the main frame 50, and ensure that the pressing wheel assembly 11 can be switched between the working position matched with the walking wheel 21 and the avoiding position exiting the cable passage 50a, thereby improving the efficiency and convenience of the deicing robot in the process of entering and exiting the line.

[0071] It should be noted that the pressing device 10 is arranged one-to-one corresponding to the walking wheel device 20; when the walking wheel device 20 is provided with multiple walking wheel devices 20, each walking wheel device 20 is arranged in the front-rear direction.

[0072] It can be understood that, in the process of the deicing robot entering the line, in order to further ensure that the cable 01 can smoothly reach the position where it is in contact with the walking wheel 21 along the cable passage 50a, as shown in Figure 10As shown, the bottom of the horizontal top plate 51 is also provided with a guide frame 54, which is vertically connected with the vertical part 521 of the first side plate 52 and the second side plate 53; the guide frame 54 is a door-shaped frame, and the two legs of the guide frame 54 are provided with inclined guide surfaces 541; in this way, the cable 01 can be guided during the process of entering the cable 01 by using the inclined part 522 of the first side plate 52 and the inclined guide surfaces 541 of the guide frame 54, so as to ensure the smoothness of the entering process.

[0073] Further, as shown in Figure 7 and Figure 8 , the second side plate 53 is provided with a cover 90 for covering each compression device 10; a scale indicating plate 91 is arranged outside the cover 90 to realize the relative fixation of the scale indicating plate 91 and the compression fixing frame 12; in addition, the cover 90 is also provided with a vertical opening for avoiding the movement of the lifting indicating needle 182, and the needle tip of the lifting indicating needle 182 extends to the scale area of the corresponding scale indicating plate 91 through the vertical opening.

[0074] In order to avoid the interference of the deicing device 30 with the up and down line operation of the deicing robot, as shown in Figure 12 , the deicing device 30 includes a deicing fixing frame 31, two movable seats 33, two spades 36 and a synchronous adjusting assembly; wherein the two movable seats 33 are slidingly installed on the deicing fixing frame 31 along the left and right directions and are connected with the two spades 36 respectively; the synchronous adjusting assembly is used to drive the two movable seats 33 to approach or move away synchronously, so as to adjust the distance between the two movable seats 33, thereby realizing the adjustment of the distance between the two spades 36.

[0075] In this embodiment, as shown in Figure 12 , the synchronous adjusting assembly includes a bidirectional screw 32 which is horizontally rotatably installed on the deicing fixing frame 31; the bidirectional screw 32 is driven to rotate by the deicing motor 34 or by the deicing motor 34 + the synchronous belt assembly 35, and the two movable seats 33 are threadedly installed on the bidirectional screw 32; the threads of the two movable seats 33 are opposite in direction, so that when the deicing motor 34 drives the bidirectional screw 32 to rotate, the two movable seats 33 can approach or move away synchronously.

[0076] Of course, in other embodiments, the synchronous adjusting assembly can also adopt the synchronous adjusting structure disclosed in the patent CN2024214723984, and the like, which is not limited.

[0077] Further, as shown in Figure 8As shown, the electric control box 40 is provided with a first camera 81 facing the shovel 36, and the first camera 81 is used to shoot the images at the two shovels 36; the images obtained by shooting are fed back to the display panel of the ground remote controller in real time through wireless communication, so that the user can determine the approach of the two shovels 36 and the icing condition in front of the shovel 36 by observing the images; in addition, the user can also determine whether the cable 01 is located between the two shovels 36 by means of the images, thereby helping the user to determine the on-line condition of the deicing robot.

[0078] In order to improve the operation safety of the deicing robot on and off line; as shown in Figure 7 and Figure 10 As shown, the horizontal top plate 5 of the main rack 50 is fixedly provided with a hanging and detaching device, which is used to be connected with the hook of the unmanned aerial vehicle, so as to realize the on and off line operation of the deicing robot by means of the unmanned aerial vehicle, which not only can avoid the risk of high-altitude operation brought by traditional tower climbing operation, but also can ignore the difficulty of tower climbing brought by complex environment such as mountainous area and river, and improve the on and off line efficiency of the deicing robot; in this embodiment, the hook is preferably connected with the unmanned aerial vehicle through a rope, so that when the unmanned aerial vehicle hoists the deicing robot, the flight swing can be buffered by means of the rope, so as to reduce the shaking interference of the deicing robot on the unmanned aerial vehicle.

[0079] In order to facilitate the user to accurately obtain the connection state of the hanging and detaching device and the hook, as shown in Figure 8 As shown, the main rack 50 is also provided with a third camera 83 facing the hanging and detaching device; the third camera 83 is used to shoot the images near the hanging and detaching device, and the images obtained by shooting are fed back to the display panel of the ground remote controller in real time through wireless communication, so that the user can determine whether the hanging and detaching device and the hook are connected successfully by observing the images.

[0080] It can be understood that the structure of the hanging and detaching device is closely related to the structure of the unmanned aerial vehicle hook, which includes but is not limited to the following several embodiments.

[0081] Embodiment one

[0082] One of the hanging and detaching device and the hook is a hook, and the other is a ring; through the cooperation of the hook and the ring, the connection or separation of the unmanned aerial vehicle and the deicing robot is realized, so as to facilitate the completion of the on and off line operation of the deicing robot by means of the unmanned aerial vehicle.

[0083] Embodiment two

[0084] As shown in Figure 13 The hook is a ring 021, and the hanging and detaching device is an automatic unhooking device 60 matched with the ring 021; wherein the automatic unhooking device 60 can be switched between the locked state of preventing the ring 021 from being taken out and the unlocked state of allowing the ring 021 to be taken out, so as to realize the connection or separation of the unmanned aerial vehicle and the deicing robot.

[0085] It should be noted that the automatic unhooker 60 is a prior art, and its specific structure can refer to the unhooker disclosed in the patents CN2018216842126, CN2013103634150, CN2018208647579, etc., and will not be described here.

[0086] The scheme of the second embodiment can effectively avoid the unhooking risk caused by wind impact during hoisting, and ensure the hoisting safety.

[0087] Embodiment three

[0088] As shown in Figure 13 and Figure 14 , the lifting tool includes a lifting ring 021 and a U-shaped hanger 022; the hanging and detaching device includes an automatic unhooker 60 matched with the lifting ring 021 and a connecting frame 70 matched with the U-shaped hanger 022; wherein the lifting ring 021 of the unmanned aerial vehicle is connected with the automatic unhooker 60 of the deicing robot to realize the online operation of the deicing robot; and the U-shaped hanger 022 of the unmanned aerial vehicle is connected with the connecting frame 70 of the deicing robot to realize the offline operation of the deicing robot.

[0089] It should be noted that the automatic unhooker 60 is a prior art, and it can be switched between the locked state of preventing the lifting ring 021 from being pulled out and the unlocked state of allowing the lifting ring 021 to be pulled out, so as to realize the connection or separation of the unmanned aerial vehicle and the deicing robot; the specific structure of the automatic unhooker 60 can refer to the unhooker disclosed in the patents CN2018216842126, CN2013103634150, CN2018208647579, etc., and will not be described here.

[0090] The structure of the connecting frame 70 is shown in Figure 15 , which includes two vertical rods 71 arranged at intervals in the front and rear directions, and a swing rod 72 is rotatably installed at the top end of each vertical rod 71; a resilient return member (not shown in the figure) is coupled between the swing rod 72 and the corresponding vertical rod 71; the resilient return member is configured to provide a return force to the swing rod 72 to swing towards the horizontal state.

[0091] It can be understood that the resilient return member is a torsion spring or an inclined compression spring, which is not limited.

[0092] It should be noted that the vertical rod 71 is provided with an angle limiting member, which is used to limit the angle of upward swinging of the swing rod 72, so as to ensure that the swing rod 72 can only swing upward to the horizontal state. When the two swing rods 72 are in the horizontal state, the free ends of the two swing rods 72 are opposite, and the spacing between the free ends of the two swing rods 72 is less than the width of the bottom bar of the U-shaped hanger 022.

[0093] In this way, as shown in Figure 14 and Figure 16As shown, when the deicing robot needs to be offline, the position of the unmanned aerial vehicle is adjusted by the remote control, so that the U-shaped hanger 022 is located above the corresponding connecting frame 70 and the bottom rod of the U-shaped hanger 022 forms a certain angle with the swing rod 72 of the connecting frame 70; then the U-shaped hanger 022 is lowered, in this process, the bottom rod of the U-shaped hanger 022 will contact and push at least one swing rod 72 to rotate downward, until the bottom rod of the U-shaped hanger 022 passes through the swing rod 72 and is located below the swing rod 72; at this time, the swing rod 72 rotated downward will be restored to the horizontal state under the action of the corresponding elastic reset member; in this way, the two swing rods 72 of the connecting frame 70 are in a horizontal state, thereby cooperating to form a blocking part that limits the U-shaped hanger 022 from being separated upward from the connecting frame 70, realizing the anti-separation connection between the U-shaped hanger 022 and the connecting frame 70.

[0094] Since the U-shaped hanger 022 only needs to be angularly close to the connecting frame 70 to complete the anti-separation docking of the two, the docking difficulty is relatively low. The risk of docking failure is reduced, and the docking efficiency is improved.

[0095] Further, as shown in Figure 15 , the lower portion of the swing rod 72 is provided with a limiting groove 721 for accommodating and restricting the bottom rod of the U-shaped hanger 022 to limit the shaking of the connecting frame 70.

[0096] In a preferred embodiment, as shown in Figure 7 and Figure 10 , two automatic unhooking devices 60 and two connecting frames 70 are arranged on the main frame 50; wherein each connecting frame 70 is arranged on the horizontal top plate 51 of the main frame 50 in the front-rear direction; the two automatic unhooking devices 60 are connected to the two side plates of the main frame 50 through the auxiliary support frame 55, so that the two automatic unhooking devices 60 are symmetrically arranged on the left and right sides of the two connecting frames 70.

[0097] As can be seen from the above, since the compression device adopted by the present application can switch the compression wheel assembly between the working position cooperating with the traveling wheel and the avoiding position allowing the space below the traveling wheel to be unobstructed, so that when the compression wheel assembly is switched to the avoiding position, only the traveling wheel and the cable need to be aligned in the vertical direction, and the cable needs to be vertically close to the traveling wheel, the deicing robot can be "mounted and connected online in one step", effectively improving the online efficiency and convenience of the deicing robot; and the unmanned aerial vehicle is used to operate the deicing robot to go online and offline, which can effectively avoid the high-altitude operation risk and operation difficulty brought by traditional tower climbing operation, and improve the online and offline efficiency of the deicing robot. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has high industrial utilization value.

[0098] The above embodiments are only illustrative of the principles of the present application and its efficacy, and are not intended to limit the present application. Any modification or change made by any person skilled in the art without departing from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. A pressing device for deicing a cable, comprising a pressing wheel assembly (11) cooperating with a traveling wheel (21) to press a cable (01); characterized in that, The compaction device further comprises a compaction fixing frame (12), a lifting platform (13), a horizontal swing arm (14) and a lifting driving device (15); the lifting driving device (15) is installed on the compaction fixing frame (12) and is used to drive the lifting platform (13) to move up and down; one end of the horizontal swing arm (14) is rotatably connected with the lifting platform (13), and the other end of the horizontal swing arm (14) is connected with the compaction wheel assembly (11); the compaction fixing frame (12) is provided with a guide rail (16), and one end of the horizontal swing arm (14) close to the lifting platform (13) is provided with a guide roller (161) matched with the guide rail (16); when the lifting platform (13) moves up and down, the compaction wheel assembly (11) switches between a working position matched with the traveling wheel (21) and an avoiding position in which the space below the traveling wheel (21) is not blocked; the guide rail (16) comprises a spiral guide rail (16a) and a vertical guide rail (16b); the upper end of the spiral guide rail (16a) is connected with the lower end of the vertical guide rail (16b).

2. The press device for deicing a cable according to claim 1, characterized by The lifting driving device (15) comprises a vertical screw rod (151), a screw nut (152) and a compaction motor (153) used to drive the vertical screw rod (151) to rotate; the vertical screw rod (151) is rotatably installed on the compaction fixing frame (12), and the compaction fixing frame (12) is provided with a vertical sliding rail (154); the lifting platform (13) is vertically slidably installed on the vertical sliding rail (154), and the lifting platform (13) is fixedly connected with the screw nut (152).

3. The press device for de-icing a cable according to claim 2, characterized in that, The compaction motor (153) is in transmission connection with the vertical screw rod (151) through a synchronous belt assembly.

4. The press device for de-icing a cable according to claim 1, wherein One end of the horizontal swing arm (14) away from the lifting platform (13) is provided with a fixed support part (141); the compaction wheel assembly (11) is in sliding connection with the fixed support part (141) in the vertical direction, and a vertical spring (142) is arranged between the compaction wheel assembly (11) and the fixed support part (141).

5. A press device for de-icing a cable according to any one of claims 1 to 4, characterized in that The compaction device (10) comprises a position detection sensor; the position detection sensor is used to detect the position state of the compaction wheel assembly (11).

6. The press according to claim 5, wherein The position detection sensor comprises a first position sensor (181) and a second position sensor; the first position sensor (181) is used to detect whether the lifting platform (13) reaches the lowest stroke position; the second position sensor comprises a scale indicating plate (91) located on the compaction fixing frame (12) and a second camera (82), and the lifting platform (13) is fixedly provided with a lifting indicating needle (182) matched with the scale indicating plate (91); the second camera (82) is configured to collect the relative position image of the lifting indicating needle (182) and the scale indicating plate (91) in real time; when the lifting indicating needle (182) reaches a preset scale line of the scale indicating plate (91), it is determined that the compaction wheel assembly (11) is in the working position.

7. A deicing robot comprising a traveling wheel device (20), a deicing device (30), an electric control box (40), and a main frame (50), characterized by, The main frame (50) is provided with the pressing device as claimed in any one of claims 1-6; the main frame (50) comprises a horizontal top plate (51) and first and second side plates (52, 53) located on both sides of the horizontal top plate (51), the second side plate (53) is vertically arranged; the traveling wheels (21) of the traveling wheel device (20) are rotatably installed between the first and second side plates (52, 53); the pressing fixing frame (12) is installed outside the second side plate (53), and the second side plate (53) is provided with a first avoiding opening corresponding to each pressing wheel assembly (11), the first avoiding opening is used for avoiding the movement of the pressing wheel assembly (11) and the corresponding horizontal swing arm.

8. An ice-removal robot according to claim 7, characterized in that A hanging and detaching device is fixed above the horizontal top plate (51), and the hanging and detaching device is used for hooking connection with a spreader of a UAV.

9. An ice-removal robot according to claim 8, characterized in that The spreader comprises a lifting ring (021), and the hanging and detaching device comprises an automatic unhooking device (60) matched with the lifting ring (021); the automatic unhooking device (60) can be switched between a locking state of preventing the lifting ring (021) from being pulled out and an unlocking state of allowing the lifting ring (021) to be pulled out.

10. An ice-removal robot according to claim 9, characterized in that The spreader comprises a U-shaped hanger (022); the hanging and detaching device comprises a connecting frame (70) matched with the U-shaped hanger (022); the connecting frame (70) comprises two spaced-apart vertical rods (71), and the top end of each vertical rod (71) is rotatably provided with a swing rod (72); an elastic reset member is arranged between the swing rod (72) and the corresponding vertical rod (71), and the elastic reset member has a reset force for swinging the swing rod (72) to a horizontal state; when the two swing rods (72) are both in the horizontal state, the two swing rods (72) cooperatively form a blocking part for limiting the U-shaped hanger (022) from being pulled out of the connecting frame (70) upward.

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