Clamping, aligning and deicing robot suitable for power transmission cable

Abstract

The invention relates to the technical field of cable deicing, in particular to a clamping and aligning deicing robot suitable for a power transmission cable, and the clamping and aligning deicing robot comprises a walking mechanism, an auxiliary walking assembly, an unmanned aerial vehicle hanging assembly, a clamping and aligning assembly, a rotary cutting assembly and a first camera. The operation mode is more flexible, the auxiliary walking assembly applies bending force to ice on the initial position of the cable to enable the ice to fall off, the deicing effect of the initial position of the cable is achieved, the cable is guided and clamped through the clamping and aligning assembly, the center of the cable coincides with the motion center of the rotary cutting assembly, and then the rotary cutting precision is improved; the rotary cutting assembly is used for rotationally cutting the ice layer, it is guaranteed that the icing is completely removed, the icing removing effect is improved, the icing thickness is recognized in real time through the first camera, then dynamic speed regulation is conducted according to the icing thickness, and the intelligent degree is improved.

Description

[0001] This application is a divisional application of patent application No. 202510043495.4, filed on January 10, 2025, entitled "Rotary Cutting De-icing Robot Applicable to Power Transmission Cables and Control Method Thereof". Technical Field

[0002] This invention relates to the field of cable de-icing technology, and in particular to a clamping and self-aligning de-icing robot suitable for power transmission cables. Background Technology

[0003] Cable icing has long been a pressing problem in power grid operation. Overhead cables typically include transmission conductors, ground wires, and communication cables. Ground wires, which do not transmit electrical energy and therefore lack thermal efficiency, are most susceptible to icing. In extremely cold weather, large-scale cable icing can easily occur, causing line trips, line breaks, tower collapses, insulator flashovers, and communication outages, resulting in significant property damage to the power grid. Currently, high-current thermal de-icing methods are used, but these methods consume a large amount of energy, are very complex to operate, and require power outages on transmission lines, disrupting normal power supply to users.

[0004] To remove ice from high-voltage overhead lines, existing patent CN202410158335.X discloses a high-voltage overhead line de-icing robot. This robot uses a winch mechanism to move up and down on the cable. By incorporating an upper walking mechanism, a lower walking mechanism, and a vibration mechanism, the upper and lower anti-slip wheels crush the ice at both ends of the high-voltage overhead line as it moves. Simultaneously, a vibration motor is activated, causing the crushed ice to fall off. However, this invention is limited by the length of the winch rope, restricting its application to distribution network overhead lines, thus reducing its applicability. Furthermore, because transmission cables are strong and difficult to bend, it is difficult to completely crush the ice on the cable using the walking wheels, and the robot's own vibration alone is insufficient to dislodge the ice, thereby reducing the effectiveness of ice removal. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a clamping and self-aligning de-icing robot suitable for power transmission cables, which can complete the cable mounting by means of drone, improve applicability, and improve the ice removal effect by using the rotating blade to cut the ice layer without damaging the cable.

[0006] The technical solution adopted in this invention is as follows:

[0007] A clamping, self-aligning, and de-icing robot suitable for power transmission cables includes a walking mechanism, a drone sling assembly above the walking mechanism, and a de-icing mechanism connected to its front side. The de-icing mechanism includes a clamping and self-aligning assembly, a rotary cutting assembly, and a first camera disposed above the rotary cutting assembly.

[0008] The clamping and self-aligning assembly includes a first mounting frame, a guide rod, a bidirectional lead screw, and a first motor connected to the bidirectional lead screw. A limit rod is rotatably connected to the first mounting frame. The bidirectional lead screw is rotatably connected to the first mounting frame and has two nut blocks connected to it by positive and negative threads. The nut blocks are slidably connected to the guide rod, and an inclined rod is connected to its bottom. The inclined rod is located below the limit rod.

[0009] The rotary cutting assembly includes a rotary cutter head, a gear seat, a driving gear, two driven gears, an open gear, and a second motor connected to the driving gear. Each driven gear meshes with the driving gear and the open gear respectively. The driving gear, driven gears, and open gear are all rotatably connected inside the gear seat. The gear seat is fixedly connected to the first mounting bracket and has a U-shaped opening at its bottom. The rotary cutter head is connected to the inside of the open gear and protrudes forward from the gear seat. A cutting edge is connected to the front end of the rotary cutter head.

[0010] Preferably, the walking mechanism includes a frame, a front active walking wheel and a rear active walking wheel. The middle of the front active walking wheel and the rear active walking wheel are provided with an annular groove, and the inner side of the annular groove is provided with anti-slip texture. The front active walking wheel and the rear active walking wheel are rotatably connected to the frame. A third motor and a fourth motor are installed on the frame. The output end of the third motor is connected to the front active walking wheel, and the output end of the fourth motor is connected to the rear active walking wheel.

[0011] Preferably, an auxiliary walking assembly is connected to the middle of the frame. The auxiliary walking assembly includes a second mounting frame, a first lifting sliding block, a second lifting sliding block, a bracket, an L-shaped seat, an intermediate auxiliary wheel, a screw, and a fifth motor connected to the top of the screw. The first lifting sliding block is positioned above the second lifting sliding block. A guide shaft is connected to the second mounting frame. Both the first and second lifting sliding blocks are slidably connected to the guide shaft. The first lifting sliding block is threadedly connected to the screw, and a first rocker arm is hinged to one side of it. A second rocker arm is hinged to one side of the second lifting sliding block. The top of the second rocker arm is hinged to the first rocker arm, and a hinge shaft is connected to one side of it. A spring connects the first and second lifting sliding blocks. The L-shaped seat is fixedly connected to the second rocker arm. The intermediate auxiliary wheel is rotatably mounted on the bracket, and the bracket is connected to the L-shaped seat. The second mounting frame is provided with a vertical guide groove and an arc-shaped guide groove. The arc-shaped guide groove is connected to the lower end of the vertical guide groove, and the hinge shaft slides along the vertical guide groove and the arc-shaped guide groove.

[0012] Preferably, the L-shaped seat is symmetrically connected with external threaded bearings on both sides, and both external threaded bearings are in movable contact with the outer side of the second mounting bracket. The bracket and the L-shaped seat are connected by a tension and compression sensor.

[0013] Preferably, the front side of the walking mechanism is symmetrically connected to two guide rails, and the rear side of the first mounting bracket is symmetrically connected to two sliders. The two sliders are slidably connected to the two guide rails respectively. A support plate is provided between the two guide rails, and a rubber-coated bolt is threadedly connected to the support plate. The lower side of the second motor is in movable contact with the rubber-coated bolt.

[0014] Preferably, the limiting rod is rotatably connected to the first mounting bracket via a bearing, and an ice-breaking blade is provided on its front side. The bottom of the ice-breaking blade is higher than the bottom of the limiting rod, and several ball bearings are evenly sleeved on the outer side of the tilting rod.

[0015] Preferably, the drone mounting assembly includes a sling and a tilting guide frame. Hooks are symmetrically connected to the top two sides of the sling, and the two ends of the tilting guide frame are connected to two hooks respectively. A second camera with a vertically upward camera direction is provided below the drone mounting assembly. The second camera is fixed to the walking mechanism, and a transparent acrylic plate is detachably connected to its top.

[0016] Preferably, the top of the traveling mechanism is connected to a third mounting bracket, which has a mounting groove. The bottom of the hanger is connected to a plug-in foot, which is movably inserted into the mounting groove. The third mounting bracket is detachably connected to a ball-head quick-release pin, which movably passes through the plug-in foot.

[0017] Preferably, the bottom of the walking mechanism is symmetrically connected with inclined support components on both sides. One inclined support component is equipped with a battery box, and the other inclined support component is equipped with a counterweight corresponding to the weight of the battery box. The center of gravity of the counterweight is set at the rear.

[0018] Preferably, the tilting support assembly includes a first support leg and a second support leg, with one side of the first support leg and the second support leg hinged together by a hinge, and the adjacent side of the first support leg being fastened together by a latch.

[0019] The present invention also provides a control method for a clamping, self-aligning, and de-icing robot suitable for power transmission cables, comprising the following steps:

[0020] S1 robot wiring includes:

[0021] S11. Hook the boom of the drone into the hook, and use remote control to lift the rotary cutting de-icing robot and hang it on the cable.

[0022] S12. Control the boom of the drone to move out of the hook, and use the second camera to identify the position of the boom of the drone in real time;

[0023] De-icing at the initial position of S2 includes:

[0024] S21. When the second camera detects that the boom of the drone has been completely removed from the hook, the auxiliary walking component is activated, so that the middle auxiliary wheel rises and presses against the position between the forward active walking wheel and the rear active walking wheel, thereby applying a bending force to the ice on the cable, causing the ice to bend and fall off.

[0025] S22. Real-time pressure value is detected by tension and compression sensors. When the real-time pressure value reaches the preset pressure threshold, the intermediate auxiliary wheel is controlled to stop rising.

[0026] S23. Start the walking mechanism to move forward a certain distance, causing the ice in front to bend and fall off, and then move backward to reset, achieving the effect of de-icing at the initial position;

[0027] S3 clamping self-aligning assembly self-aligning, including:

[0028] S31. Use the first camera to observe the de-icing situation at the initial position. When the de-icing at the initial position is completed, start the clamping and centering assembly.

[0029] S32. The first motor drives two tilting rods to move in opposite directions, thereby pressing the cable toward the center of the rotating cutting assembly. During the clamping process, the clamping is determined according to the preset current threshold of the first motor.

[0030] S33. When the current supplied to the first motor reaches the preset current threshold, the clamping and self-aligning assembly is turned off.

[0031] S4 dynamic speed-adjustable de-icing includes:

[0032] S41. Simultaneously start the walking mechanism and the rotary cutting component, thereby driving the rotary cutting de-icing robot to move forward along the cable, and use the rotary cutting component to rotary cut the ice on the cable.

[0033] S42. The ice thickness is identified in real time by the first camera. When the ice thickness is greater than the preset first thickness threshold, the forward speed of the walking mechanism and the rotational cutting speed of the rotary cutting component are reduced at the same time. When the ice thickness is less than the preset second thickness threshold, the forward speed of the walking mechanism and the rotational cutting speed of the rotary cutting component are increased at the same time.

[0034] S43. After the rotating cutting assembly performs rotating cutting on the ice covering the cable, the remaining thin ice layer is cut with an ice-breaking blade.

[0035] The S5 robot has rolled off the production line, including:

[0036] S51. After all the ice on the cable is cleared, control the middle auxiliary wheel to descend and flip downward to open. At the same time, drive the two tilting rods to move in opposite directions through the first motor, thereby loosening the cable.

[0037] S52. Use a remote-controlled drone to attach the boom to the hook, and then use the drone to retrieve the rotating cutting and de-icing robot.

[0038] The beneficial effects of this invention are as follows:

[0039] 1. This clamping, self-aligning, and de-icing robot, suitable for power transmission cables, completes cable mounting via drone slinging, making the operation more flexible and improving its applicability;

[0040] 2. Install the battery box and counterweight on the tilt support assembly so that the robot's center of gravity is lower than the lowest point of the cable. This allows the robot's own weight to generate a corrective torque when the robot tilts, ensuring that the robot does not tip over and improving the stability of the robot's posture.

[0041] 3. By applying bending force to the ice on the cable at the initial position through the auxiliary walking component, the ice is bent and falls off, achieving the effect of de-icing the cable at the initial position. Moreover, the auxiliary walking component and the walking mechanism work together to form a clamping state on the cable, increasing friction and preventing slippage during walking, and preventing the robot from falling off the cable, thereby improving the reliability and safety of walking.

[0042] 4. By having the two tilting rods of the clamping and self-aligning assembly move towards each other, the cable is clamped and guided to make the center of the cable coincide with the center of motion of the rotary cutting assembly. This improves the ice-cutting effect of the rotary cutting assembly, prevents the blade from touching and damaging the cable, improves safety, and extends the service life of the robot.

[0043] 5. The limiting rod ensures that the ice-breaking blade will not damage the cable when removing residual ice. The combination of double blades at different positions removes sharp ice and thin ice respectively, ensuring that the ice can be completely removed, thereby improving the ice removal effect.

[0044] 6. The thickness of the ice layer is identified in real time by the first camera. Then, the forward speed of the walking mechanism and the rotational cutting speed of the rotary cutting component are adjusted according to the thickness of the ice layer to achieve dynamic speed regulation. This allows for flexible adjustment of the operation strategy based on the actual thickness of the ice layer, improving operational flexibility and intelligence.

[0045] 7. When not in use, the tilt support assembly can be folded, and the drone mounting assembly can be quickly disassembled, reducing space occupation and facilitating the storage and transportation of the robot. Attached Figure Description

[0046] Figure 1This is a schematic diagram of a self-aligning and de-icing robot suitable for power transmission cables.

[0047] Figure 2 This is a schematic diagram of the de-icing mechanism.

[0048] Figure 3 This is an exploded view of the de-icing mechanism.

[0049] Figure 4 This is a schematic diagram of the walking mechanism.

[0050] Figure 5 This is a structural diagram of the auxiliary walking component.

[0051] Figure 6 A three-dimensional sectional view of the auxiliary walking component.

[0052] Figure 7 This is a schematic diagram showing the connection between the slider and the guide rail.

[0053] Figure 8 This is a first exploded view of a clamping, self-aligning, and de-icing robot suitable for power transmission cables.

[0054] Figure 9 for Figure 8 Enlarged diagram of point A in the middle.

[0055] Figure 10 This is a diagram showing the installation location of the icebreaker blade.

[0056] Figure 11 for Figure 10 A sectional view of the structure.

[0057] Figure 12 This is a second exploded view of a clamping, self-aligning, and de-icing robot suitable for power transmission cables.

[0058] Figure 13 for Figure 12 Enlarged diagram of point B in the middle.

[0059] Figure 14 for Figure 12 Enlarged diagram of point C in the middle.

[0060] Figure 15 This is a flowchart of a control method for a clamping, self-aligning, and de-icing robot suitable for power transmission cables.

[0061] In the diagram: 1. Walking mechanism; 101. Frame; 102. Front active walking wheel; 103. Rear active walking wheel; 104. Third motor; 105. Fourth motor; 106. Annular groove; 107. Anti-slip texture; 2. UAV hoisting assembly; 201. Hoist; 202. Inclined guide frame; 203. Hook; 204. Connecting foot; 3. De-icing mechanism; 301. Clamping and self-aligning assembly; 3011. First mounting bracket; 3012. Guide rod 3013. Bidirectional lead screw; 3014. First motor; 3015. Limiting rod; 3016. Nut block; 3017. Inclined rod; 302. Rotary cutting assembly; 3021. Rotary cutter head; 3022. Gear seat; 3023. Driving gear; 3024. Driven gear; 3025. Open gear; 3026. Second motor; 3027. U-shaped opening; 3028. Cutting edge; 4. First camera; 5. Auxiliary walking assembly 501. Second mounting bracket; 502. First lifting sliding block; 503. Second lifting sliding block; 504. Bracket; 505. L-shaped seat; 506. Intermediate auxiliary wheel; 507. Screw; 508. Fifth motor; 509. Guide shaft; 510. First rocker arm; 511. Second rocker arm; 512. Hinge shaft; 513. Spring; 514. Vertical guide groove; 515. Arc-shaped guide groove; 516. External thread bearing; 517. 6. Tension / compression sensor; 7. Guide rail; 8. Slider; 9. Support plate; 10. Rubber-coated bolt; 11. Icebreaker blade; 12. Ball bearing; 13. Third mounting bracket; 14. Mounting slot; 15. Ball joint quick release pin; 16. Inclined support assembly; 17. First support leg; 18. Second support leg; 19. Hinge; 10. Lock; 10. Battery box; 11. Counterweight; 12. Second camera; 13. Transparent acrylic sheet. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Please see Figures 1-14 The present invention provides a technical solution: a clamping, self-aligning and de-icing robot suitable for power transmission cables, including a walking mechanism 1, a drone hanging assembly 2 is provided above the walking mechanism 1, and a de-icing mechanism 3 is connected to its front side. The de-icing mechanism 3 includes a clamping and self-aligning assembly 301, a rotary cutting assembly 302 and a first camera 4 disposed above the rotary cutting assembly 302.

[0064] Please see Figure 2The clamping and self-aligning assembly 301 includes a first mounting frame 3011, a guide rod 3012, two nut blocks 3016, and a first driving member that drives the two nut blocks 3016 to move in opposite directions or in opposite directions. The first driving member includes a bidirectional lead screw 3013 and a first motor 3014 connected to the bidirectional lead screw 3013. A limit rod 3015 is rotatably connected to the first mounting frame 3011. The bidirectional lead screw 3013 is rotatably connected to the first mounting frame 3011 and is connected to the two nut blocks 3016 through positive and negative threads respectively. The nut blocks 3016 are slidably connected to the guide rod 3012 and have an inclined rod 3017 connected to their bottom. The inclined rod 3017 is located below the limit rod 3015.

[0065] Please see Figure 3 The rotary cutting assembly 302 includes a rotary cutter head 3021, a gear seat 3022, an open gear 3025, and a second driving member that drives the open gear 3025 to rotate within the gear seat 3022. The second driving member includes a drive gear 3023, two driven gears 3024, and a second motor 3026 connected to the drive gear 3023. Each driven gear 3024 is meshed with the drive gear 3023 and the open gear 3025 respectively. The drive gear 3023, driven gears 3024, and open gear 3025 are all rotatably connected within the gear seat 3022. The gear seat 3022 is fixedly connected to the first mounting bracket 3011 and has a U-shaped opening 3027 at its bottom. The rotary cutter head 3021 is connected to the inner side of the open gear 3025 and protrudes forward from the gear seat 3022. A cutting edge 3028 is connected to the front end of the rotary cutter head 3021.

[0066] The drone's boom is attached to the drone suspension assembly 2. Using remote control, the drone lifts the rotary cutting de-icing robot and attaches it to the cable. The cable enters the gear seat 3022 through the U-shaped opening 3027 and simultaneously enters the inner side of the open gear 3025. Then, the clamping and self-aligning assembly 301 is activated. The first motor 3014 drives the bidirectional lead screw 3013 to rotate, causing the two nut blocks 3016 to move in opposite directions. This, in turn, moves the two tilting rods 3017 in opposite directions, clamping the cable and pressing it towards the center of the rotary cutting assembly 302. During clamping, the system checks the preset current threshold of the first motor 3014 to determine if the clamping is complete. When the current supplied to the first motor 3014 reaches the preset current threshold, the walking mechanism 1 and the rotary cutting assembly 302 are simultaneously activated, propelling the rotary cutting de-icing robot forward along the cable.

[0067] Furthermore, the second motor 3026 drives the active gear 3023 to rotate, and the active gear 3023 drives the open gear 3025 to rotate through the driven gear 3024, which in turn drives the rotating cutter head 3021 and the blade 3028 to rotate, so that the blade 3028 can rotate and cut the ice on the cable. The first camera 4 identifies the ice thickness in real time. When the ice thickness is greater than the preset first thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotating cutting component 302 are reduced at the same time. When the ice thickness is less than the preset second thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotating cutting component 302 are increased at the same time. After the de-icing is completed, the rotating cutting de-icing robot is retrieved by a drone.

[0068] Please see Figure 4 To facilitate improved walking and climbing power of the rotary cutting de-icing robot and prevent slippage, in this embodiment, preferably, the walking mechanism 1 includes a frame 101, a front active walking wheel 102 and a rear active walking wheel 103. The front active walking wheel 102 and the rear active walking wheel 103 are each provided with an annular groove 106 in the middle. The inner side of the annular groove 106 is provided with anti-slip texture 107. The front active walking wheel 102 and the rear active walking wheel 103 are rotatably connected to the frame 101. A third motor 104 and a fourth motor 105 are installed on the frame 101. The output end of the third motor 104 is connected to the front active walking wheel 102, and the output end of the fourth motor 105 is connected to the rear active walking wheel 103.

[0069] The purpose is to drive the front active walking wheel 102 and the rear active walking wheel 103 with the third motor 104 and the fourth motor 105 respectively, so that each walking wheel has an independent motor drive, which greatly increases the walking and climbing power. The front active walking wheel 102 and the rear active walking wheel 103 are provided with annular grooves 106 in the middle, and anti-slip textures 107 are provided on the inner side of the annular grooves 106. The anti-slip textures 107 can increase the friction between the walking wheel and the cable surface, reduce the possibility of slippage, and ensure that the walking wheel can travel stably along the cable and avoid slipping.

[0070] Please see Figures 5-6To facilitate de-icing the cable at its initial position and prevent the rotating cutting de-icing robot from detaching from the cable, in this embodiment, preferably, an auxiliary walking component 5 is connected to the middle of the frame 101. The auxiliary walking component 5 includes a second mounting frame 501, a first lifting sliding block 502, a second lifting sliding block 503, a bracket 504, an L-shaped seat 505, an intermediate auxiliary wheel 506, a screw 507, and a fifth motor 508 connected to the top of the screw 507. The first lifting sliding block 502 is positioned above the second lifting sliding block 503. A guide shaft 509 is connected to the second mounting frame 501. Both the first lifting sliding block 502 and the second lifting sliding block 503 are slidably connected to the guide shaft 509. The first lifting sliding block 502 communicates with the screw 507. The first rocker arm 510 is hinged to one side of the second lifting sliding block 503, and the second rocker arm 511 is hinged to one side of the second lifting sliding block 503. The top of the second rocker arm 511 is hinged to the first rocker arm 510, and a hinge shaft 512 is connected to one side of the second rocker arm 511. A spring 513 is connected between the first lifting sliding block 502 and the second lifting sliding block 503. An L-shaped seat 505 is fixedly connected to the second rocker arm 511. An intermediate auxiliary wheel 506 is rotatably mounted on a bracket 504. The bracket 504 is connected to the L-shaped seat 505. The second mounting bracket 501 is provided with a vertical guide groove 514 and an arc-shaped guide groove 515. The arc-shaped guide groove 515 is connected to the lower end of the vertical guide groove 514. The hinge shaft 512 slides along the vertical guide groove 514 and the arc-shaped guide groove 515.

[0071] The purpose is to drive the screw 507 to rotate before the rotary cutting de-icing robot needs to attach the wire. This rotation causes the first lifting sliding block 502 to descend along the guide shaft 509. The first lifting sliding block 502 then drives the second lifting sliding block 503 to descend via the first rocker arm 510 and the second rocker arm 511. Simultaneously, the hinge shaft 512 slides downward along the vertical guide groove 514 and the arc-shaped guide groove 515, improving the guiding accuracy of the descent stroke. When the hinge shaft 512 slides within the arc-shaped guide groove 515... Both the first rocker arm 510 and the second rocker arm 511 rotate along the hinge point. The second rocker arm 511 drives the L-shaped seat 505 to flip downward. At this time, the first lifting sliding block 502 and the second lifting sliding block 503 move closer to each other. The spring 513 reduces the vibration generated when they move closer to each other and improves the smoothness of the movement when they move closer. When the hinge shaft 512 slides to the bottom of the arc-shaped guide groove 515, the second rocker arm 511 drives the L-shaped seat 505 to flip downward to form an open state, avoiding interference between the intermediate auxiliary wheel 506 and the cable.

[0072] After the cable smoothly enters the walking mechanism 1, the fifth motor 508 drives the screw 507 to rotate in the opposite direction, thereby causing the first lifting sliding block 502 to rise along the guide shaft 509. The first lifting sliding block 502 drives the second lifting sliding block 503 to rise through the first rocker arm 510 and the second rocker arm 511. At the same time, the hinge shaft 512 slides upward along the arc-shaped guide groove 515 and the vertical guide groove 514. When the hinge shaft 512 slides in the arc-shaped guide groove 515, both the first rocker arm 510 and the second rocker arm 511 rotate along the hinge point. The second rocker arm 511 drives the L-shaped seat 505 to flip upward. At this time, the first lifting sliding block 502 and the second lifting sliding block 503 move away from each other. The spring 513 reduces the vibration generated when they move away from each other and improves the movement when they move away. To ensure stability, when the hinge shaft 512 slides to the top of the arc-shaped guide groove 515, the second rocker arm 511 drives the L-shaped seat 505 to flip upward to form a closed state. At this time, the intermediate auxiliary wheel 506 is located directly below the cable. Then, the screw 507 continues to rotate in the opposite direction through the fifth motor 508, and the hinge shaft 512 slides upward in the vertical guide groove 514. The second rocker arm 511 drives the L-shaped seat 505 to rise vertically until the intermediate auxiliary wheel 506 applies a bending force to the ice on the cable at the initial position, causing the ice to bend and fall off. Then, the intermediate auxiliary wheel 506 presses the cable and cooperates with the walking mechanism 1 to form a clamping state on the cable, increasing friction and preventing slippage during walking. It also prevents the rotating cutting de-icing robot from detaching from the cable, thereby improving the reliability and safety of walking.

[0073] In order to facilitate the improvement of the lifting and lowering smoothness of the L-shaped seat 505 and enable the intermediate auxiliary wheel 506 to automatically stop rising, thereby improving the degree of automation and preventing excessive clamping of the cable, in this embodiment, preferably, external thread bearings 516 are symmetrically connected on both sides of the L-shaped seat 505, and both external thread bearings 516 are in movable contact with the outer side of the second mounting bracket 501. The bracket 504 and the L-shaped seat 505 are connected by a tension and pressure sensor 517.

[0074] The purpose is to allow the external threaded bearing 516 to roll along the outer side of the second mounting bracket 501 while the L-shaped seat 505 is being raised and lowered. The rolling of the external threaded bearing 516 can distribute the friction between the L-shaped seat 505 and the second mounting bracket 501, making the raising and lowering process smoother and avoiding the resistance and shaking caused by direct sliding. This improves the stability of the L-shaped seat 505's raising and lowering. Moreover, with the support of the external threaded bearing 516, the load and pressure of the L-shaped seat 505 can be evenly distributed, reducing local wear and extending service life. The intermediate auxiliary wheel 506 rises vertically and applies a bending force to the ice on the cable at the initial position, causing the ice to bend and fall off. Then, the intermediate auxiliary wheel 506 continues to rise and presses the cable. The tension and pressure sensor 517 detects the real-time pressure value. When the real-time pressure value reaches the preset pressure threshold, the fifth motor 508 is controlled to stop the rotation drive of the screw 507, causing the intermediate auxiliary wheel 506 to stop rising, thereby improving the degree of automation and preventing excessive clamping of the cable.

[0075] Please see Figures 7-9 In order to facilitate adaptive adjustment according to the cable inclination, in this embodiment, preferably, two guide rails 6 are symmetrically connected to the front side of the walking mechanism 1, and two sliders 7 are symmetrically connected to the rear side of the first mounting bracket 3011. The two sliders 7 are slidably connected to the two guide rails 6 respectively. A support plate 8 is provided between the two guide rails 6. A rubber-coated bolt 9 is threadedly connected to the support plate 8. The lower side of the second motor 3026 is in movable contact with the rubber-coated bolt 9.

[0076] The purpose is that when the rotary cutting de-icing robot moves forward and climbs a slope, the cable is inclined upwards. The inclined cable can lift the de-icing mechanism 3 through the limit rod 3015, so that the de-icing mechanism 3 can slide upwards along the guide rail 6 through the slider 7. Then, it can make adaptive adjustments according to the inclination of the cable, improve the degree of adaptability, and prevent the overall weight of the rotary cutting de-icing robot from being concentrated on the de-icing mechanism 3, which would cause the walking mechanism 1 to slip. The rubber-coated bolt 9 is in contact with the lower side of the second motor 3026, forming the limit of the second motor 3026 at the lowest position during adaptive adjustment.

[0077] Please see Figures 10-11 In order to facilitate the smooth movement of the rotary cutting de-icing robot and to cut through thin ice layers to improve the ice removal effect, in this embodiment, preferably, the limiting rod 3015 is rotatably connected to the first mounting frame 3011 through a bearing, and an ice-breaking blade 10 is provided on its front side. The bottom of the ice-breaking blade 10 is higher than the bottom of the limiting rod 3015, and several ball bearings 11 are evenly sleeved on the outer side of the tilting rod 3017.

[0078] The purpose is to create a triangular structure between the limiting rod 3015 and the two tilting rods 3017 to clamp the cable when the rotary cutting de-icing robot moves along the cable. The limiting rod 3015 is rotatably connected to the first mounting bracket 3011 through a bearing, and the tilting rods 3017 are in contact with the cable through ball bearings 11. This reduces the relative friction between the rotary cutting de-icing robot and the cable when it moves, improving the smoothness of movement. Furthermore, after the rotary cutting assembly 302 performs rotary cutting on the thick ice layer on the cable, the ice-breaking blade 10 can cut through the thin ice layer, further improving the ice removal effect.

[0079] Please see Figure 12 To facilitate the attachment of the drone boom to the drone mounting assembly 2 and the removal of the drone boom from the drone mounting assembly 2, in this embodiment, preferably, the drone mounting assembly 2 includes a frame 201 and an inclined guide frame 202. Hooks 203 are symmetrically connected to the top two sides of the frame 201. The two ends of the inclined guide frame 202 are respectively connected to the two hooks 203. A second camera 18 with a vertically upward camera direction is provided below the drone mounting assembly 2. The second camera 18 is fixed to the walking mechanism 1, and a transparent acrylic plate 19 is detachably connected to its top.

[0080] The purpose is to guide the drone through the tilting guide frame 202, so that the drone's boom can be hooked into the hook 203. The drone is then remotely controlled to lift the rotating cutting and de-icing robot and hang it on the cable. The position of the drone's boom is identified in real time by the second camera 18, so that the drone's boom can be moved out of the hook 203.

[0081] Please see Figure 13 In order to facilitate the quick disassembly and installation of the drone hanging component 2, reduce the space occupation, and facilitate the storage and transportation of the rotary cutting de-icing robot, in this embodiment, preferably, the top of the walking mechanism 1 is connected to a third mounting frame 12, the third mounting frame 12 is provided with a mounting groove 13, the bottom of the hanging frame 201 is connected to a plug-in foot 204, the plug-in foot 204 is movably inserted into the mounting groove 13, and the third mounting frame 12 is detachably connected to a ball head quick release pin 14, the ball head quick release pin 14 movably passes through the plug-in foot 204;

[0082] The purpose is to allow for the quick installation of the drone suspension assembly 2 when the rotary cutting de-icing robot is needed. This involves inserting the connector 204 of the drone suspension assembly 2 downwards into the mounting slot 13, then installing the ball-head quick-release pin 14 to pass through the connector 204 and secure it. When the rotary cutting de-icing robot is no longer in use, the ball-head quick-release pin 14 is removed, and the connector 204 of the drone suspension assembly 2 is moved upwards from the mounting slot 13, thus achieving quick disassembly of the drone suspension assembly 2. This reduces space occupation and facilitates the storage and transportation of the rotary cutting de-icing robot.

[0083] Please see Figure 12 In order to facilitate ground support for the rotary cutting de-icing robot and to ensure that the center of gravity of the rotary cutting de-icing robot is lower than the lowest position of the cable when hanging the cable, thereby improving the stability of the rotary cutting de-icing robot's posture, in this embodiment, preferably, inclined support components 15 are symmetrically connected to the bottom sides of the walking mechanism 1. One inclined support component 15 is equipped with a battery box 16, and the other inclined support component 15 is equipped with a counterweight 17 corresponding to the weight of the battery box 16. The center of gravity of the counterweight 17 is set at the rear.

[0084] The purpose is to install the battery box 16 and the counterweight 17 on the two inclined support components 15 respectively, so that the center of gravity of the rotary cutting de-icing robot is lower than the lowest position of the cable. This allows the robot's own weight to generate a corrective torque when it tilts, ensuring that the rotary cutting de-icing robot does not tip over and improving the stability of its posture. The center of gravity of the battery box 16 and the counterweight 17 is set at the rear, which can offset the weight of the de-icing mechanism 3 and prevent the rotary cutting de-icing robot from tilting forward as a whole.

[0085] Please see Figure 14 In order to facilitate the folding of the tilt support assembly 15, reduce the space occupied, and facilitate the storage and transportation of the rotary cutting de-icing robot, in this embodiment, preferably, the tilt support assembly 15 includes a first support leg 1501 and a second support leg 1502. One side between the first support leg 1501 and the second support leg 1502 is hinged by a hinge 1503, and the adjacent side is movably fastened by a latch 1504.

[0086] The purpose is to unlock the latch 1504 when the rotary cutting de-icing robot is finished using it, and then flip the second support leg 1502 upward with the hinge 1503 as the center, so that the first support leg 1501 and the second support leg 1502 are in a folded state, which reduces the space occupied and facilitates the storage and transportation of the rotary cutting de-icing robot. When the rotary cutting de-icing robot needs to be used, the second support leg 1502 is flipped downward with the hinge 1503 as the center, so that the first support leg 1501 and the second support leg 1502 are in an unfolded state, and then the latch 1504 is locked to fix it.

[0087] Please see Figure 15 The present invention also provides a control method for a clamping, self-aligning, and de-icing robot suitable for power transmission cables, comprising the following steps:

[0088] S1 robot wiring includes:

[0089] S11. Hook the boom of the drone into the hook 203, and use remote control to lift the rotary cutting de-icing robot and hang it on the cable.

[0090] S12. Control the boom of the drone to move out of the hook 203, and use the second camera 18 to identify the position of the boom of the drone in real time;

[0091] De-icing at the initial position of S2 includes:

[0092] S21. When the second camera 18 detects that the boom of the drone has been completely removed from the hook 203, the auxiliary walking component 5 is activated, so that the middle auxiliary wheel 506 rises and presses against the position between the forward active walking wheel 102 and the rear active walking wheel 103, thereby applying a bending force to the ice on the cable, causing the ice to bend and fall off.

[0093] S22. Real-time pressure value is detected by tension and pressure sensor 517. When the real-time pressure value reaches the preset pressure threshold, the intermediate auxiliary wheel 506 is controlled to stop rising.

[0094] S23. Start the walking mechanism 1 to move forward a certain distance, causing the ice in front to bend and fall off, and then move backward to reset, achieving the effect of de-icing at the initial position;

[0095] S3 clamping self-aligning assembly self-aligning, including:

[0096] S31. Use the first camera 4 to observe the de-icing situation at the initial position. When the de-icing at the initial position is completed, start the clamping and centering assembly 301.

[0097] S32. The first motor 3014 drives the two tilting rods 3017 to move in opposite directions, thereby pressing the cable toward the center position of the rotary cutting assembly 302. During the clamping process, the clamping is determined according to the preset current threshold of the first motor 3014.

[0098] S33. When the current supplied to the first motor 3014 reaches the preset current threshold, the clamping self-aligning assembly 301 is turned off.

[0099] S4 dynamic speed-adjustable de-icing includes:

[0100] S41. Simultaneously start the walking mechanism 1 and the rotary cutting assembly 302, thereby driving the rotary cutting de-icing robot to move forward along the cable, and using the rotary cutting assembly 302 to rotary cut the ice on the cable.

[0101] S42. The ice thickness is identified in real time by the first camera 4. When the ice thickness is greater than the preset first thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotary cutting component 302 are reduced at the same time. When the ice thickness is less than the preset second thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotary cutting component 302 are increased at the same time.

[0102] S43. After the rotary cutting assembly 302 performs rotary cutting on the ice covering the cable, the ice-breaking blade 10 is used to cut the remaining thin ice layer.

[0103] The S5 robot has rolled off the production line, including:

[0104] S51. After all the ice on the cable is cleared, control the intermediate auxiliary wheel 506 to descend and flip downward to form an open state. At the same time, drive the two tilting rods 3017 to move in opposite directions through the first motor 3014, thereby loosening the cable.

[0105] S52. Use the boom of the remote-controlled drone to hook the hook 203, and then use the drone to retrieve the rotating cutting and de-icing robot;

[0106] This application utilizes a drone-borne method to mount the cable, offering greater operational flexibility and improved applicability. The battery box 16 and counterweight 17 are mounted on the tilting support assembly 15, ensuring the robot's center of gravity is below the lowest point of the cable. This allows the robot's own weight to generate a corrective torque when it veers, preventing tipping and improving stability. The auxiliary walking assembly 5 applies a bending force to the initial ice layer on the cable, causing it to bend and fall off. Furthermore, the auxiliary walking assembly 5, in conjunction with the walking mechanism 1, forms a clamping grip on the cable, increasing friction and preventing slippage during movement. This also prevents the robot from detaching from the cable, thereby improving walking reliability and safety. The two tilting rods 3017 of the clamping and self-aligning assembly 301 move towards each other, thereby clamping the cable and guiding it so that the center of the cable coincides with the center of motion of the rotary cutting assembly 302. This improves the ice-cutting effect of the rotary cutting assembly 302 and prevents the blade 3028 from touching and damaging the cable, thus improving safety and extending the service life of the robot. Under the premise of ensuring that the cable is not damaged, the blade 3028 of the rotary cutting assembly 302 is used to rotate and cut the ice layer, improving the ice removal effect. After the rotary cutting assembly 302 rotates and cuts the thick ice layer on the cable, the ice-breaking blade 10 cuts through the thin ice layer to ensure complete removal of the ice and further improve the ice removal effect.

[0107] The first camera 4 identifies the ice thickness in real time. When the ice thickness exceeds a preset first thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotary cutting component 302 are simultaneously reduced. This allows the blade 3028 to cut the thick ice layer more smoothly and evenly, avoiding uneven cutting or incomplete ice removal. It also reduces the robot's load, ensures a more stable cutting process, and extends the robot's service life. When the ice thickness is less than a preset second thickness threshold, the forward speed of the walking mechanism 1 and the rotational cutting speed of the rotary cutting component 302 are simultaneously increased, thereby improving the robot's work efficiency and reducing the time to complete the task. By dynamically adjusting the speed, the robot can flexibly adjust its operating strategy according to the actual ice thickness, improving operational flexibility. When the rotary cutting de-icing robot is no longer in use, the tilting support component 15 can be folded, and the drone hanging component 2 can be quickly disassembled, reducing space occupation and facilitating the robot's storage and transportation.

[0108] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A clamping, self-aligning, and de-icing robot suitable for power transmission cables, comprising a walking mechanism (1), characterized in that: The front side of the walking mechanism (1) is connected to a de-icing mechanism (3), which includes a clamping self-aligning assembly (301) and a rotating cutting assembly (302). The clamping and self-aligning assembly (301) includes a first mounting bracket (3011), a guide rod (3012), two nut blocks (3016), and a first driving member that drives the two nut blocks (3016) to move in opposite directions or in opposite directions. A limit rod (3015) is rotatably connected to the first mounting bracket (3011). The nut blocks (3016) are slidably connected to the guide rod (3012), and an inclined rod (3017) is connected to their bottom. The inclined rod (3017) is located below the limit rod (3015). The rotary cutting assembly (302) includes a rotary cutter head (3021), a gear seat (3022), an open gear (3025), and a second driving member that drives the open gear (3025) to rotate within the gear seat (3022). The gear seat (3022) is fixedly connected to the first mounting bracket (3011) and has a U-shaped opening (3027) at its bottom. The rotary cutter head (3021) is connected to the inner side of the open gear (3025) and protrudes forward from the gear seat (3022). The rear side of the first mounting bracket (3011) is slidably connected to the front side of the walking mechanism (1) in a vertical direction. The front side of the walking mechanism (1) is provided with a support plate (8) and a limiting block is provided on the support plate (8). The lower side of the second driving member is in movable contact with the limiting block. The bottom sides of the walking mechanism (1) are symmetrically connected with inclined support components (15). One of the inclined support components (15) is equipped with a battery box (16), and the other inclined support component (15) is equipped with a counterweight (17) corresponding to the weight of the battery box (16). The center of gravity of the counterweight (17) is set at the rear.

2. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 1, characterized in that: The walking mechanism (1) includes a frame (101), a front active walking wheel (102) and a rear active walking wheel (103). The front active walking wheel (102) and the rear active walking wheel (103) are provided with an annular groove (106) in the middle. The inner side of the annular groove (106) is provided with anti-slip texture (107). The front active walking wheel (102) and the rear active walking wheel (103) are rotatably connected to the frame (101). A third motor (104) and a fourth motor (105) are installed on the frame (101). The output end of the third motor (104) is connected to the front active walking wheel (102) in a transmission connection. The output end of the fourth motor (105) is connected to the rear active walking wheel (103) in a transmission connection.

3. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 2, characterized in that: An auxiliary walking assembly (5) is connected to the middle of the frame (101). The auxiliary walking assembly (5) includes a second mounting bracket (501), a first lifting sliding block (502), a second lifting sliding block (503), a bracket (504), an L-shaped seat (505), an intermediate auxiliary wheel (506), a screw (507), and a fifth motor (508) connected to the top of the screw (507). The first lifting sliding block (502) is positioned above the second lifting sliding block (503). A guide shaft (509) is connected to the second mounting bracket (501). Both the first lifting sliding block (502) and the second lifting sliding block (503) are slidably connected to the guide shaft (509). The first lifting sliding block (502) is threadedly connected to the screw (507), and a first rocker arm (510) is hinged to one side of it. A second rocker arm (511) is hinged to one side of the lifting sliding block (503). The top of the second rocker arm (511) is hinged to the first rocker arm (510), and a hinge shaft (512) is connected to one side of it. A spring (513) is connected between the first lifting sliding block (502) and the second lifting sliding block (503). The L-shaped seat (505) is fixedly connected to the second rocker arm (511). The intermediate auxiliary wheel (506) is rotatably mounted on the bracket (504). The bracket (504) is connected to the L-shaped seat (505). The second mounting bracket (501) is provided with a vertical guide groove (514) and an arc-shaped guide groove (515). The arc-shaped guide groove (515) is connected to the lower end of the vertical guide groove (514). The hinge shaft (512) slides along the vertical guide groove (514) and the arc-shaped guide groove (515).

4. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 3, characterized in that: The L-shaped seat (505) is symmetrically connected with external thread bearings (516) on both sides. Both external thread bearings (516) are in movable contact with the outer side of the second mounting bracket (501). The bracket (504) and the L-shaped seat (505) are connected by a tension and pressure sensor (517).

5. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 1, characterized in that: The front side of the walking mechanism (1) is symmetrically connected to two guide rails (6), and the rear side of the first mounting bracket (3011) is symmetrically connected to two sliders (7). The two sliders (7) are slidably connected to the two guide rails (6) respectively, and the support plate (8) is disposed between the two guide rails (6).

6. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 1, characterized in that: The limiting rod (3015) is rotatably connected to the first mounting bracket (3011) via a bearing, and an ice-breaking blade (10) is provided on its front side. The bottom of the ice-breaking blade (10) is higher than the bottom of the limiting rod (3015). Several ball bearings (11) are evenly sleeved on the outer side of the tilting rod (3017).

7. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 1, characterized in that: The walking mechanism (1) is equipped with a drone hoisting assembly (2) above it. The drone hoisting assembly (2) includes a frame (201) and an inclined guide frame (202). Hooks (203) are symmetrically connected to the top two sides of the frame (201). The two ends of the inclined guide frame (202) are respectively connected to the two hooks (203). A second camera (18) with a vertical upward camera direction is provided below the drone hoisting assembly (2). The second camera (18) is fixed on the walking mechanism (1), and a transparent acrylic plate (19) is detachably connected to its top.

8. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 7, characterized in that: The top of the walking mechanism (1) is connected to a third mounting bracket (12), the third mounting bracket (12) is provided with a mounting groove (13), the bottom of the hanger (201) is connected to a plug-in foot (204), the plug-in foot (204) is movably inserted into the mounting groove (13), the third mounting bracket (12) is detachably connected to a ball head quick release pin (14), the ball head quick release pin (14) movably passes through the plug-in foot (204).

9. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 1, characterized in that: The inclined support assembly (15) includes a first support leg (1501) and a second support leg (1502), one side of the first support leg (1501) and the second support leg (1502) is hinged by a hinge (1503), and the adjacent side is movably fastened by a latch (1504).

10. The clamping, self-aligning, and de-icing robot for power transmission cables according to claim 1, characterized in that: The limiting block is a rubber-coated bolt (9), which is threaded onto the support plate (8).

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