A power transmission line multi-bundle conductor de-icing robot

Abstract

The present application belongs to the technical field of power transmission line deicing device, especially a power transmission line multi-bundle conductor deicing robot, which solves the problems of unstable clamping, incomplete deicing and inability to prevent icing of the existing deicing robot. The robot has two support links parallel to the conductor, two groups of deicing structures for deicing four conductors, a top cover plate with a transmission screw and a limiting structure that can clamp and limit the conductor, a rubbing structure that can rub the lower conductor to improve deicing efficiency, and a coating structure that can apply anti-icing paint to the conductor after deicing. It realizes stable clamping through the cooperation of the vibrating roller, the abutting swing arm and other components, uses rubbing and vibration to deice, and can also prevent icing in time to prevent the secondary formation of ice and ensure the safe and stable operation of the power transmission line.

Description

Technical Field

[0001] This invention relates to the field of de-icing devices for power transmission lines, and more particularly to a de-icing robot for multi-split conductors of power transmission lines. Background Technology

[0002] In the field of power transmission, multi-split conductors are widely used in high-voltage and ultra-high-voltage transmission lines. By splitting a single conductor into multiple conductors arranged in parallel, multi-split conductors effectively increase the transmission capacity of the line, reduce corona loss, and improve transmission efficiency. However, in cold regions or during winter, multi-split conductors are prone to icing due to snow accumulation and freezing. Icing increases conductor weight and sag, and in severe cases, can even lead to conductor breakage, tower collapse, and other accidents, posing a serious threat to the safe and stable operation of the power system.

[0003] Currently, de-icing methods for multi-split conductors in power transmission lines mainly include mechanical de-icing, thermal de-icing, and chemical de-icing. Mechanical de-icing removes ice by directly striking or rubbing the conductor with external force, but this method is inefficient and can easily damage the conductor. Thermal de-icing uses electric current or an external heat source to raise the conductor temperature and melt the ice, but it consumes a lot of energy and is ineffective in extremely low-temperature environments. Chemical de-icing lowers the melting point of the ice by spraying chemical de-icing agents, causing the ice to detach on its own, but chemical de-icing agents can pollute the environment and are costly.

[0004] With the development of robotics technology, de-icing robots for power transmission lines have gradually become a research hotspot. De-icing robots can move autonomously along power lines and perform de-icing operations through mechanical structures, offering advantages such as high efficiency, good safety, and minimal environmental impact. However, existing de-icing robots for multi-split power transmission lines still have some problems, such as unstable clamping of the conductors during de-icing, making them prone to slipping off the conductors in severe weather conditions like strong winds; low de-icing efficiency, making it difficult to quickly and effectively remove ice from the conductors; and limited functionality, only capable of de-icing and unable to provide anti-icing treatment for the de-iced conductors.

[0005] Therefore, developing a de-icing robot for multi-split conductors of transmission lines that can stably clamp conductors, efficiently remove ice, and has anti-icing functions is of great practical significance. Summary of the Invention

[0006] The purpose of this invention is to solve the shortcomings of existing methods such as unstable clamping, incomplete de-icing, and inability to prevent icing, and to propose a de-icing robot for multi-split conductors of power transmission lines.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A de-icing robot for multi-split conductors of power transmission lines, comprising:

[0009] Two support links I and two support links II, wherein support links I and support links II are arranged in parallel;

[0010] Two sets of de-icing structures are symmetrically arranged on both sides of the support rod I and support rod II, and are used to de-ice the four wires arranged vertically. The de-icing structure includes a vibrating roller I, a vibrating roller II, a vibrating roller III, and a joint motor that drives the vibrating roller II and vibrating roller III to rotate. The vibrating roller I is rotatably disposed between the two support rods I and located at the top of the two upper wires. The vibrating rollers II and III are hinged to the ends of the support rods I and II through rotating joints I, II, III, and IV.

[0011] A top cover plate is fixed to the top of the two supporting rods I;

[0012] The limiting structure includes a transmission screw, a bottom base plate, and two abutting swing arms; the transmission screw is slidably engaged with the top cover plate, and its bottom end is connected to the bottom base plate via a fixed connecting rod; the two abutting swing arms are respectively hinged to both ends of the bottom base plate, and the top of each abutting swing arm is provided with a recessed groove for accommodating a lower wire; and

[0013] A kneading structure is provided on the bottom substrate for kneading the lower conductor located within the recessed groove to improve de-icing efficiency;

[0014] The joint motor drives the vibrating roller III to abut against the two lower wires to initially clamp the four wires; the drive screw rotates to raise and lower the bottom base plate, and the horizontally positioned abutting arm cooperates with the vibrating roller III to clamp and limit the lower wires in the vertical direction.

[0015] In one possible design, the de-icing structure further includes a fixed base, a support frame, a fixed rotating wheel, and a fixed wheel drive motor; the fixed base is fixed to the bottom of the rotary joint II; the support frame is hinged to the fixed base via a rotating shaft; the fixed rotating wheel is rotatably mounted in the support frame; the output shaft of the fixed wheel drive motor is connected to the rotating shaft to drive the support frame to rotate, so that the fixed rotating wheel cooperates with the vibrating roller I to clamp the two upper wires.

[0016] In one possible design, the limiting structure further includes an electric telescopic push rod and a limiting stop bar; the electric telescopic push rod is embedded in the end of the bottom substrate; the limiting stop bar is connected to the output shaft of the electric telescopic push rod and is slidably accommodated in the notch of the bottom substrate; when the limiting stop bar is driven to extend outward by the electric telescopic push rod, it can abut against and push the abutting swing arm to rotate from a vertical state to a horizontal state.

[0017] In one possible design, the limiting structure further includes a rotating shaft and a torsion spring; the rotating shaft passes through a notch in the bottom substrate; the abutting arm is fixedly sleeved on the rotating shaft; the torsion spring is sleeved outside the rotating shaft, with its two ends connected to the abutting arm and the bottom substrate respectively, for providing torque to keep the abutting arm perpendicular to the bottom substrate.

[0018] In one possible design, the kneading structure includes a threaded drive rod, a lifting sliding seat, a linkage rod, a movable slide, and a rubber anti-slip protrusion. The threaded drive rod is rotatably connected between the bottom end of the drive screw and the top of the bottom substrate. The lifting sliding seat is slidably fitted over the fixed connecting rod and slides in cooperation with the spiral groove on the outer wall of the threaded drive rod via a slider provided inside it. The movable slide is slidably connected to the outer wall of the bottom substrate. The two ends of the linkage rod are respectively hinged to the bottom of the lifting sliding seat and the top of the movable slide. The rubber anti-slip protrusion is fixed to the bottom of the movable slide.

[0019] When the threaded transmission rod rotates, the sliding block and the spiral groove work together to drive the lifting sliding seat to move up and down along the fixed connecting rod. Then, the linkage rod drives the moving sliding seat and the rubber anti-slip strip to move back and forth in a straight line along the bottom base plate to rub the wire below.

[0020] In one possible design, the kneading structure further includes a power drive shaft and an arc-shaped air guide plate; the top end of the power drive shaft is fixedly connected to the bottom end of the threaded transmission rod, and its bottom end rotatably penetrates the bottom substrate; a plurality of the arc-shaped air guide plates are fixed to the outer wall of the power drive shaft for driving the power drive shaft and the threaded transmission rod to rotate under the action of wind.

[0021] In one possible design, a rotary drive motor is embedded in each of the rotary joints I, II, III, and IV; the output shaft of the rotary drive motor is connected to one end of the corresponding vibrating roller I, II, or III for driving its rotation to achieve de-icing and robot movement.

[0022] In one possible design, vibration devices are installed inside the vibrating rollers I, II, and III, and vibrating de-icing blocks are fixed to their outer walls by bolts; the vibrations generated by the vibration devices are applied to the conductors through the vibrating de-icing blocks to remove ice.

[0023] In one possible design, two sets of coating structures are also provided at the bottom of the top cover plate. Each coating structure includes a fixed mounting base, a movable swing arm, an electromagnetic adsorption iron, an elastic spring, cleaning rollers, cleaning brushes, a vertical tube, and a liquid storage tank. The fixed mounting base is fixed to the bottom of the top cover plate. The movable swing arm is slidably disposed at the bottom of the top cover plate and connected to the fixed mounting base via the electromagnetic adsorption iron and the elastic spring. The two cleaning rollers are rotatably housed within the rotating groove of the movable swing arm. The cleaning brushes are fixed to the outer wall of the cleaning rollers. The vertical tube is fixed inside the movable swing arm and communicates with the liquid storage tank via a flexible hose. The side of the vertical tube communicates with the liquid storage chamber inside the cleaning rollers via a liquid injection pipe. The wall of the liquid storage chamber is provided with multiple drainage holes.

[0024] When the electromagnetic adsorption iron loses its magnetic attraction due to power failure, the movable swing arm moves outward under the elastic force of the elastic spring, causing the cleaning roller to contact the wire; the anti-icing coating enters the liquid storage chamber from the liquid storage tank through the vertical pipe and the liquid injection pipe, and wets the cleaning brush through the drain hole, and then coats the de-iced wire.

[0025] In one possible design, the bottom inner wall of the rotating groove is provided with a liquid collection chute; the side of the vertical pipe is connected to the liquid collection chute through a liquid return pipe for recycling excess anti-icing coating; a baffle strip is also fixed inside the rotating groove to prevent coating leakage.

[0026] Beneficial effects: In this invention, the vibrating roller I is rotatably disposed between two rotating joints II. Both rotating joints I are rotatably sleeved on the outer wall of the supporting connecting rod I near the end. One end of each of the two rotating joints I is rotatably connected to a vibrating roller II. One end of each of the two vibrating rollers II is rotatably connected to a corresponding rotating joint III. The two rotating joints III are respectively fixedly sleeved on the outer wall of the two supporting connecting rods II. The two rotating joints IV are respectively rotatably located at one end of the two supporting connecting rods II. One end of each of the two rotating joints IV is rotatably connected to a vibrating roller III. When the joint motor inside the rotating joint III is activated, the rotating joint IV is driven to rotate, so that the vibrating roller III abuts against the top of the two lower wires and cooperates with the vibrating roller I, which can complete the clamping of four wires and improve the wire de-icing efficiency.

[0027] In this invention, a rotating shaft is rotatably connected to each of the two notches, and the two abutting arms are respectively fixedly sleeved on the outer walls of the two rotating shafts. Electric telescopic push rods are fixedly embedded at both ends of the bottom base plate, and limit stops are fixed to the output shafts of the two electric telescopic push rods. Multiple recessed grooves are provided at the top of the two abutting arms. The bottom base plate moves down to below the two lower wires, and the output shafts of the electric telescopic push rods push the limit stops to move outward, driving the abutting arms to be placed horizontally. Then the bottom base plate moves up, and the two lower wires are placed in the corresponding recessed grooves, thereby further limiting the upper and lower wires, enabling the robot to move smoothly on the wires and preventing the robot from slipping off the wires when strong winds occur. The abutting arms cooperate with the vibrating roller III to clamp the lower wires vertically, which not only increases the clamping force on the lower wires but also makes the vibrating roller III close to the wires, allowing the vibrating roller III to effectively remove ice from the wires.

[0028] In this invention, a threaded transmission rod is rotatably connected between the bottom end of the transmission screw and the top of the bottom base plate. A slider is fixed on the inner wall of the lifting sliding seat, which slides in cooperation with the spiral groove on the outer wall of the threaded transmission rod. The tops of the two movable sliding seats are rotatably connected to the lifting sliding seat through a linkage rod. Multiple rubber anti-slip protrusions are fixed on the bottom of the movable sliding seat. The bottom end of the power drive shaft rotatably passes through the bottom base plate, and multiple arc-shaped wind guide plates are fixed on the outer wall of the power drive shaft. In winter, the wind at high altitudes can drive the threaded transmission rod to rotate through the arc-shaped wind guide plates, which can drive the lifting sliding seat to move up and down reciprocally. The lifting sliding seat drives the movable sliding seat to move linearly reciprocally through the linkage rod. Therefore, during the movement of the movable sliding seat, the rubber anti-slip protrusions can reciprocate and rub the wire located on the abutting swing arm, further accelerating the efficiency of removing ice from the wire.

[0029] In this invention, cleaning rollers are rotatably connected to both of the rotating grooves. A vertical tube is fixed inside the movable swing arm, and two liquid injection pipes are fixed to one side of the vertical tube. One end of each of the two liquid injection pipes extends rotatably into the corresponding cleaning roller. Each of the two cleaning rollers is provided with a liquid storage chamber, and the liquid storage chamber is provided with multiple drainage holes. Anti-icing coating in the liquid storage chamber is injected into the liquid storage chamber, and the coating flows through the drainage holes over the outer wall of the cleaning roller and wets the cleaning brush. Then, the motor drives the cleaning roller to rotate. Therefore, when the robot moves forward, the anti-icing coating can be applied to the de-iced wires through the cleaning brush, taking anti-icing measures in advance to prevent secondary icing.

[0030] In this invention, the vibrating roller can stably clamp four conductors, improving de-icing efficiency; the abutting arm and the vibrating roller III vertically clamp the conductors below, increasing the clamping force and enabling the vibrating roller III to effectively remove ice; in winter, the wind can drive the rubbing structure to rub the conductors back and forth, accelerating the removal of ice; the coating structure can promptly coat the conductors with anti-icing coating after de-icing, preventing secondary ice formation and ensuring the safe and stable operation of the transmission line. Attached Figure Description

[0031] Figure 1 A three-dimensional structural schematic diagram of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0032] Figure 2 A three-dimensional structural diagram of support link I and support link II of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0033] Figure 3 A three-dimensional structural diagram of the support frame, fixed base, and fixed rotating wheel of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0034] Figure 4 A three-dimensional structural schematic diagram of rotating joint I, rotating joint II, rotating joint III and rotating joint IV of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0035] Figure 5 A three-dimensional exploded structural diagram of vibrating drum I, vibrating drum II and vibrating drum III of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0036] Figure 6 A three-dimensional exploded structural diagram of the top cover plate and bevel gears II and I of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0037] Figure 7 A three-dimensional exploded view of the transmission screw, bottom base plate, and lifting sliding seat of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention.

[0038] Figure 8 This is a three-dimensional exploded structural diagram of the moving slide, the contacting swing arm, and the bottom base plate of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention.

[0039] Figure 9 This is a three-dimensional exploded structural diagram of the lifting sliding seat, the moving sliding seat, and the power drive shaft of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention.

[0040] Figure 10A three-dimensional structural diagram of the moving arm and fixed mounting base of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention;

[0041] Figure 11 A three-dimensional exploded structural diagram of the mobile swing arm and fixed mounting base of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention.

[0042] Figure 12 This is a cross-sectional view of the moving swing arm of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention.

[0043] Figure 13 This is a three-dimensional cross-sectional view of the cleaning roller of a de-icing robot for multi-split conductors of power transmission lines provided by the present invention.

[0044] In the diagram: 1. Supporting rod I; 2. Rotary joint I; 3. Rotary joint II; 4. Vibrating roller I; 5. Vibrating roller II; 6. Rotary joint III; 7. Rotary joint IV; 8. Supporting rod II; 9. Vibrating roller III; 10. Rotary drive motor; 11. Fixed base; 12. Support frame; 13. Fixed rotating wheel; 14. Fixed wheel drive motor; 15. Vibrating de-icing block; 16. Top cover plate; 17. Transmission screw; 18. Bevel gear I; 19. Bevel gear II; 20. Power drive motor; 21. Fixed connecting rod; 22. Bottom base plate; 23. Rotating shaft; 24. Abutment swing arm; 25. Torsion spring; 26. 27. Recessed groove; 28. Electric telescopic push rod; 29. ​​Limiting stop bar; 30. Threaded transmission rod; 31. Lifting sliding seat; 32. Linkage rod; 33. Moving slide; 34. Rubber anti-slip convex strip; 35. Power drive shaft; 36. Arc-shaped air guide plate; 37. Fixed mounting base; 38. Moving swing arm; 39. Electromagnetic adsorption iron; 40. Elastic spring; 41. Rotating groove; 42. Cleaning roller brush cylinder; 43. Cleaning brush; 44. Liquid storage tank; 45. Drainage hole; 46. Vertical riser; 47. Liquid injection pipe; 48. Liquid collection chute; 49. Liquid return pipe; 50. Blocking stop bar; 61. Liquid storage tank. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] In one embodiment: Refer to Figures 1-9 The wire de-icing robot relates to the technical field of power transmission line de-icing devices and mainly includes two support links I1, support link II8, two sets of de-icing structures, a top cover plate 16, a limiting structure, a rubbing structure, and two sets of coating structures.

[0047] Reference Figures 1-9 The two support links I1 and II8 are placed parallel to the wires, providing a support frame for the entire robot. Two sets of de-icing structures are used to de-ice the four wires, which are arranged in pairs, one above the other. The two sets of de-icing structures are located on either side of the two support links I1 and II8, respectively. The top cover 16 is fixed to the top of the two support links I1, and a transmission screw 17 slides through it. A limiting structure is located at the bottom of the transmission screw 17 to clamp and limit the upper and lower sets of wires. A rubbing structure is used to rub the two lower wires to improve the de-icing efficiency. Two coating structures are located at the bottom of the top cover 16 to apply anti-icing coating to the de-iced wires.

[0048] Reference Figures 1-5 The de-icing structure includes two rotating joints I2, II3, III6, and IV7, as well as vibrating rollers I4, II5, and III9, a fixed base 11, a support frame 12, a fixed rotating wheel 13, and a fixed wheel drive motor 14. Vibrating roller I4 is rotatably positioned between the two rotating joints II3, located at the top of the two upper conductors. Both rotating joints II3 are fixed to one end of the two supporting connecting rods I1. Both rotating joints I2 are rotatably sleeved on the outer wall of the supporting connecting rods I1 near their ends, and are rotatably connected to one side of rotating joint II3. One end of each rotating joint I2 is rotatably connected to a vibrating roller II5, and one end of each vibrating roller II5 is rotatably connected to a corresponding rotating joint III6. Both rotating joints III6 are fixedly sleeved on the outer wall of the two supporting connecting rods II8. Both rotating joints IV7 are rotatably positioned at one end of the two supporting connecting rods II8, and are rotatably connected to one side of rotating joint III6. Vibrating rollers Ⅲ9 are rotatably connected to one end of each of the two rotary joints Ⅳ7. Joint motors are fixedly installed inside each of the two rotary joints Ⅱ3 and Ⅲ6, and the output shafts of the four joint motors are fixedly connected to one side of the corresponding rotary joints Ⅰ2 and Ⅳ7.

[0049] The joint motor drives the vibrating rollers II5 and III9 to rotate, allowing the vibrating roller III9 to contact the two lower wires, facilitating subsequent de-icing operations. Activating the joint motor within the rotary joint II3 drives the rotary joint I2, vibrating roller II5, and support rod II8 to rotate, positioning the vibrating roller III9 above the two lower wires. Then, activating the joint motor within the rotary joint III6 drives the rotary joint IV7 to rotate, placing the vibrating roller III9 against the two lower wires. At this point, the initial clamping of the four wires is achieved.

[0050] Reference Figure 2 and Figure 3Two fixed bases 11 are fixed to the bottom of two rotating joints II 3. Each fixed base 11 has a support frame 12 rotatably connected to it via a rotating shaft. Each support frame 12 has a fixed rotating wheel 13 rotatably connected to it. A fixed wheel drive motor 14 is fixed to one side of each fixed base 11. The output shaft of the fixed wheel drive motor 14 is fixedly connected to the rotating shaft, driving the support frame 12 to rotate. This allows the fixed rotating wheel 13 to cooperate with the vibrating roller I 4 to clamp the two upper wires, facilitating subsequent de-icing of the two upper wires by the vibrating roller I 4.

[0051] Start the fixed wheel drive motor 14. The fixed wheel drive motor 14 rotates through the support frame 12. The support frame 12 cooperates with the vibrating roller I4 to clamp the two wires located above, while the vibrating roller III9 abuts against the two wires below. At this time, the clamping of the four wires can be initially completed.

[0052] Reference Figure 5 Rotary joints I2, II3, III6, and IV7 are each fixedly fitted with a rotary drive motor 10 at one end. One end of each rotary drive motor 10 is fixedly connected to one end of a corresponding vibrating roller I4, II5, and III9, driving the rotation of these rollers. This allows for both wire de-icing and the movement of the de-icing robot. Vibrating rollers I4, II5, and III9 are equipped with internal vibration devices, and their outer walls are bolted with vibrating de-icing blocks 15. The internal vibration devices transmit power to the vibrating de-icing blocks 15, achieving the wire de-icing effect.

[0053] Reference Figures 6-8The limiting structure includes a bottom base plate 22 disposed below the transmission screw 17, and two abutting swing arms 24 rotating on both sides of the bottom base plate 22. It also includes two fixed connecting rods 21 fixed to the bottom end of the transmission screw 17, with the bottom ends of both fixed connecting rods 21 fixedly connected to the top of the bottom base plate 22. Both ends of the bottom base plate 22 have notches, and rotating shafts 23 are rotatably connected to each of the two notches. The two abutting swing arms 24 are respectively fixedly sleeved on the outer walls of the two rotating shafts 23. Torsion springs 25 are sleeved on the outer walls of both rotating shafts 23. The torsion springs 25 have a wire diameter of 0.5-1.5mm, a median diameter of 5-15mm, a free height of 10-30mm, and 3-8 working turns. The ends of the two torsion springs 25 that are close to each other are fixedly connected to the sides of the abutting swing arms 24 via spring seats, while the ends of the two torsion springs that are far apart from each other are fixedly connected to the bottom base plate 22 via spring seats. The abutting arm 24 is perpendicular to the bottom base plate 22 under the action of the torsion spring 25, facilitating the subsequent raising and lowering of the bottom base plate 22 between the two wires in the same group. Electric telescopic push rods 27 are fixedly embedded at both ends of the bottom base plate 22. Limiting bars 28 are fixed to the output shafts of both electric telescopic push rods 27, and the limiting bars 28 slide within notches. The limiting bars 28 cooperate with the abutting arm 24 to push the abutting arm 24 to a horizontal position when the limiting bars 28 extend outwards, facilitating further clamping and limiting of the upper and lower wires in conjunction with the vibrating roller I4, ensuring the stability of the de-icing robot. Multiple recessed grooves 26 are provided on the top of both abutting arms 24 for limiting the two lower wires.

[0054] Reference Figure 6 A bevel gear I 18 is rotatably connected to the top of the top cover plate 16. The bevel gear I 18 has an internal thread that is threaded to the transmission screw 17. A power drive motor 20 is fixed to the top of the top cover plate 16. The output shaft of the power drive motor 20 is fixed with a bevel gear II 19 that meshes with the bevel gear I 18.

[0055] The power drive motor 20 drives the transmission screw 17 and the bottom base plate 22 downwards through the meshing of bevel gears I 18 and II 19 until the bottom base plate 22 is below the two lower wires. Then, the output shaft of the electric telescopic push rod 27 pushes the limiting stop 28 to move outwards. The limiting stop 28 cooperates with the bottom of the abutting swing arm 24, allowing the abutting swing arm 24 to be placed horizontally. Then, the bevel gear I 18 rotates in the opposite direction, driving the transmission screw 17 and the bottom base plate 22 upwards, which can place the two lower wires into the corresponding recessed grooves 26, thereby further limiting the upper and lower wires, allowing the robot to move smoothly on the wires and preventing the robot from slipping off the wires in strong winds. In addition, the abutting swing arm 24 cooperates with the vibrating roller III 9 to clamp the lower wires vertically, which not only increases the clamping force on the lower wires, but also allows the vibrating roller III 9 to be in close contact with the wires, so that the vibrating roller III 9 can effectively remove ice from the wires.

[0056] Reference Figures 7-9 The kneading structure includes a lifting sliding seat 30 slidably sleeved on the outer wall of two fixed connecting rods 21. A threaded transmission rod 29 is rotatably connected between the bottom end of the transmission screw 17 and the top of the bottom base plate 22. The lifting sliding seat 30 slides in cooperation with the spiral groove on the outer wall of the threaded transmission rod 29 via a slider. Two movable slides 32 are slidably connected to the outer wall of the bottom base plate 22. Two linkage rods 31 are rotatably connected to the top of each movable slide 32. The top ends of multiple linkage rods 31 are rotatably connected to the bottom of the lifting sliding seat 30, which are used to drive the movable slides 32 to move linearly back and forth when the lifting sliding seat 30 moves up and down. Multiple rubber anti-slip protrusions 33 are fixed to the bottom of the movable slides 32, which are used to knead the wires located in the recessed groove 26 when the movable slides 32 move linearly back and forth, thereby improving the de-icing efficiency.

[0057] Reference Figure 8 and Figure 9 The kneading structure also includes a power drive shaft 34 fixed to the bottom end of the threaded transmission rod 29. The bottom end of the power drive shaft 34 rotates through the bottom base plate 22. Multiple arc-shaped air guide plates 35 are fixed on the outer wall of the power drive shaft 34 to drive the power drive shaft 34 and the threaded transmission rod 29 to rotate under the action of wind. The power drive shaft 34 drives the threaded transmission rod 29 to rotate. The spiral groove on the threaded transmission rod 29 slides and engages with the slider in the lifting sliding seat 30 to drive the lifting sliding seat 30 to move up and down reciprocally. The lifting sliding seat 30 drives the moving slide seat 32 to move linearly reciprocally through the linkage 31. Therefore, during the movement of the moving slide seat 32, the rubber anti-slip protrusions 33 can reciprocate and rub the wire located on the abutting swing arm 24, further accelerating the efficiency of removing ice from the wire.

[0058] A drone arm is installed above the support link I1, and the drone arm rotating joint II rotates on the outer wall of the corresponding support link I1. The drone arm and the arm support are made of carbon fiber, which can effectively reduce weight. The end of the drone arm is equipped with a rotating blade to control the multi-line de-icing robot to work on the line. A control box is installed on the drone arm to control the electromagnetic adsorption iron 38, the electric telescopic push rod 27, the power drive motor 20, the rotary drive motor 10, and the fixed wheel drive motor 14.

[0059] Battery racks are installed on both sides of the wire de-icing robot. The two battery racks are fixedly connected to the corresponding support rod I1 and support rod II8, respectively. Batteries are installed on the battery racks to provide power for controlling the electromagnetic adsorption iron 38, the electric telescopic push rod 27, the power drive motor 20, the rotary drive motor 10 and the fixed wheel drive motor 14.

[0060] In another embodiment: Refer to Figure 10 and Figure 11 The coating structure includes two fixed mounting bases 36 fixed to the bottom of the top cover plate 16, and two movable swing arms 37 sliding on the bottom of the top cover plate 16. Electromagnetic magnets 38 are fixedly embedded on the sides of the fixed mounting bases 36 and the movable swing arms 37 that are close to each other. Two elastic springs 39 are fixed to the sides of the fixed mounting bases 36 and the movable swing arms 37 via spring seats. The elastic springs 39 have a wire diameter of 0.3-1.2 mm, a mean diameter of 3-12 mm, a free height of 8-25 mm, and 2-7 working turns. The magnetic attraction between the two electromagnetic magnets 38 is greater than the elastic force of the elastic springs 39.

[0061] Reference Figures 10-13 The movable swing arm 37 has two rotating grooves 40 on the side away from the fixed mounting base 36, and the two rotating grooves 40 are arranged vertically. A cleaning roller brush cylinder 41 is rotatably connected to each of the two rotating grooves 40, and a cleaning brush 42 is fixed to the outer wall of each of the two cleaning roller brush cylinders 41. A vertical pipe 45 is fixed inside the movable swing arm 37, and two liquid storage tanks 50 are fixed to the top of the top cover plate 16. Both vertical pipes 45 are fixedly connected to the liquid storage tanks 50 via hoses. Two liquid injection pipes 46 are fixed to one side of the vertical pipe 45, and one end of each liquid injection pipe 46 extends rotatably into the corresponding cleaning roller brush cylinder 41 to provide anti-icing coating to the cleaning brush 42. A solenoid valve is located above the two injection pipes inside the vertical pipe 45. Both cleaning rollers 41 are provided with a liquid storage chamber 43 located above the cleaning brush 42, and the bottom end of the liquid injection pipe 46 extends into the liquid storage chamber 43. The liquid storage chamber 43 is provided with a plurality of drainage holes 44 for the anti-icing coating in the liquid storage chamber 43 to flow to the cleaning brush 42 through the drainage holes 44.

[0062] When the electromagnetic adsorption iron 38 is de-energized, the magnetic attraction between the two electromagnetic adsorption irons 38 is released. The moving arm 37 moves outward under the elastic force of the spring 39, allowing the two cleaning rollers 41 to contact the corresponding upper and lower wires, facilitating subsequent coating operations. Next, the solenoid valve on the vertical pipe 45 is opened, and the anti-icing coating in the liquid storage tank 50 is injected into the corresponding liquid storage chambers 43 through the hose, vertical pipe 45, and two liquid injection pipes 46. The coating flows through the drain hole 44 over the outer wall of the cleaning roller 41 and wets the cleaning brush 42. Then, the motor drives the cleaning roller 41 to rotate. Therefore, as the robot moves forward, the anti-icing coating can be applied to the de-iced wires through the cleaning brush 42, taking anti-icing measures in advance to prevent secondary icing.

[0063] Reference Figure 12 The bottom inner walls of both rotating grooves 40 are provided with liquid collection troughs 47. A liquid return pipe 48 is fixedly connected to one side of the vertical pipe 45. The two liquid return pipes 48 extend into the two liquid collection troughs 47 respectively, for recycling the anti-icing coating collected in the liquid collection troughs 47 back into the vertical pipe 45. A baffle 49 is fixed in each of the two rotating grooves 40 to prevent leakage of the anti-icing coating. The top and bottom diameters of the cleaning roller brush cylinder 41 are smaller than the middle diameter, allowing the anti-icing coating to wet the cleaning brush 42 as it flows downwards and collect excess coating at the bottom in the liquid collection troughs 47. A sealing plug is threaded to the bottom end of the vertical pipe 45. Excess anti-icing coating on the cleaning roller brush cylinder 41 collects along the outer wall of the cleaning roller brush cylinder 41 into the liquid collection troughs 47, and then collects in the vertical pipe 45 through the liquid return pipe 48. The sealing plug installed at the bottom end of the vertical pipe 45 allows for the recycling of excess anti-icing coating after removal.

[0064] A method for using a de-icing robot for multi-split conductors of power transmission lines includes the following steps:

[0065] S1. Place the robot on the multi-split conductor of the power transmission line, start the fixed wheel drive motor 14, the fixed wheel drive motor 14 rotates through the support frame 12, the support frame 12 cooperates with the vibrating roller I4 to clamp the two conductors located above, then start the joint motor in the rotating joint II3 to drive the rotating joint I2, the vibrating roller II5 and the support connecting rod II8 to rotate, so that the vibrating roller III9 is ​​located above the two conductors below, then start the joint motor in the rotating joint III6 to drive the rotating joint IV7 to rotate, so that the vibrating roller III9 abuts against the two conductors below, at this time the clamping of four conductors can be initially completed;

[0066] S2. Start the rotary drive motor 10 in the rotary joint Ⅳ7, rotary joint Ⅰ2 and rotary joint Ⅱ3 respectively to drive the vibrating roller Ⅲ9, vibrating roller Ⅱ5 and vibrating roller Ⅰ4 to rotate, so that the robot can run on the wire. During the movement, the vibration device built into the vibrating roller Ⅲ9, vibrating roller Ⅱ5 and vibrating roller Ⅰ4 vibrates and transmits power to the vibrating de-icing block 15 to achieve the wire de-icing effect.

[0067] S3. When clamping the wires, the power drive motor 20 drives the transmission screw 17 and the bottom base plate 22 downward through the meshing of bevel gear I 18 and bevel gear II 19 until the bottom base plate 22 is below the two wires below. Then, the output shaft of the electric telescopic push rod 27 pushes the limiting stop 28 to move outward. The limiting stop 28 cooperates with the bottom of the abutting swing arm 24 to make the abutting swing arm 24 horizontal. Then, the bevel gear I 18 rotates in the opposite direction, driving the transmission screw 17 and the bottom base plate 22 to move upward, which can place the two wires below into the corresponding recessed grooves 26, thereby further limiting the upper and lower wires, so that the robot can move smoothly on the wires and avoid the robot slipping off the wires when strong winds come. In addition, the abutting swing arm 24 cooperates with the vibrating roller III 9 to clamp the lower wires vertically, which not only increases the clamping force on the lower wires, but also makes the vibrating roller III 9 close to the wires, so that the vibrating roller III 9 can effectively remove ice from the wires.

[0068] S4. Since the robot is located on a high-altitude conductor, the wind at high altitude in winter can drive the power drive shaft 34 to rotate through the arc-shaped wind guide plate 35. The power drive shaft 34 drives the threaded transmission rod 29 to rotate. The spiral groove on the threaded transmission rod 29 slides and engages with the slider in the lifting sliding seat 30, which can drive the lifting sliding seat 30 to move up and down reciprocally. The lifting sliding seat 30 drives the moving sliding seat 32 to move linearly reciprocally through the linkage 31. Therefore, during the movement of the moving sliding seat 32, the rubber anti-slip protrusions 33 can reciprocate and rub the conductor located on the abutting swing arm 24, further accelerating the efficiency of removing ice from the conductor.

[0069] S5. When the robot moves forward to de-ice the wires, the electromagnetic adsorption iron 38 is de-energized, the magnetic attraction between the two electromagnetic adsorption irons 38 is released, and the moving arm 37 moves outward under the elastic force of the elastic spring 39, enabling the two cleaning rollers 41 to contact the corresponding upper and lower wires respectively, facilitating subsequent coating operations. Then, the solenoid valve on the vertical riser 45 is opened, and the anti-icing coating in the liquid storage tank 50 is injected into the corresponding liquid storage chambers 43 through the cooperation of the hose, the vertical riser 45, and the two liquid injection pipes 46. The coating also flows through the drain hole 44 to the cleaning... The outer wall of the roller brush 41 is moistened with cleaning brush 42. Then, the motor drives the cleaning roller brush 41 to rotate. Therefore, when the robot moves forward, it can apply anti-icing coating to the de-iced wire through the cleaning brush 42, taking anti-icing measures in advance to prevent secondary ice formation. The excess anti-icing coating on the cleaning roller brush 41 is collected in the liquid collection trough 47 along the outer wall of the cleaning roller brush 41, and is collected in the vertical pipe 45 through the liquid return pipe 48. The sealing plug installed at the bottom of the vertical pipe 45 can be removed later to recycle the excess anti-icing coating.

[0070] However, as is well known to those skilled in the art, the working principles and wiring methods of the electromagnetic adsorption iron 38, the electric telescopic push rod 27, the power drive motor 20, the rotary drive motor 10, and the fixed wheel drive motor 14 are commonplace and belong to conventional means or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0071] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0072] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A de-icing robot for multi-split conductors of power transmission lines, characterized in that, include: Two support links I (1) and two support links II (8), wherein the support links I (1) and the support links II (8) are arranged in parallel; Two sets of de-icing structures are symmetrically arranged on both sides of the support rod I (1) and support rod II (8) for de-icing two sets of four wires arranged vertically. The de-icing structure includes a vibrating roller I (4), a vibrating roller II (5), a vibrating roller III (9), and a joint motor that drives the vibrating roller II (5) and vibrating roller III (9) to rotate. The vibrating roller I (4) is rotatably disposed between the two support rods I (1) and located at the top of the two upper wires. The vibrating roller II (5) and vibrating roller III (9) are hinged to the ends of the support rod I (1) and support rod II (8) through rotating joints I (2), II (3), III (6) and IV (7). The top cover plate (16) is fixed to the top of the two support rods I (1); The limiting structure includes a transmission screw (17), a bottom base plate (22), and two abutting swing arms (24); the transmission screw (17) is slidably engaged with the top cover plate (16), and its bottom end is connected to the bottom base plate (22) through a fixed connecting rod (21); the two abutting swing arms (24) are respectively hinged to the two ends of the bottom base plate (22), and the top of the abutting swing arms (24) is provided with a recessed groove (26) for accommodating the lower wire. as well as A kneading structure is provided on the bottom substrate (22) for kneading the lower wire confined in the recessed groove (26) to improve the de-icing efficiency; Vibration devices are installed inside the vibrating roller I (4), vibrating roller II (5) and vibrating roller III (9), and their outer walls are fixed with vibrating de-icing blocks (15) by bolts; the vibration generated by the vibration devices acts on the conductor through the vibrating de-icing blocks (15) to remove ice; The joint motor drives the vibrating roller III (9) to abut against the two lower wires to initially clamp the four wires; the drive screw (17) rotates to drive the bottom base plate (22) to rise and fall, and the horizontal abutting arm (24) cooperates with the vibrating roller III (9) to clamp and limit the lower wires in the vertical direction.

2. The de-icing robot for multi-split conductors of transmission lines according to claim 1, characterized in that, The de-icing structure also includes a fixed base (11), a support frame (12), a fixed rotating wheel (13), and a fixed wheel drive motor (14); the fixed base (11) is fixed to the bottom of the rotating joint II (3); the support frame (12) is hinged to the fixed base (11) through a rotating shaft; the fixed rotating wheel (13) is rotatably installed inside the support frame (12); the output shaft of the fixed wheel drive motor (14) is connected to the rotating shaft to drive the support frame (12) to rotate, so that the fixed rotating wheel (13) cooperates with the vibrating roller I (4) to clamp the two wires above.

3. The de-icing robot for multi-split conductors of transmission lines according to claim 2, characterized in that, The limiting structure also includes an electric telescopic push rod (27) and a limiting stop (28); the electric telescopic push rod (27) is embedded in the end of the bottom base plate (22); the limiting stop (28) is connected to the output shaft of the electric telescopic push rod (27) and is slidably accommodated in the notch of the bottom base plate (22); when the limiting stop (28) is driven to extend outward by the electric telescopic push rod (27), it can abut against and push the abutting swing arm (24) to rotate from a vertical state to a horizontal state.

4. The de-icing robot for multi-split conductors of transmission lines according to claim 3, characterized in that, The limiting structure also includes a rotating shaft (23) and a torsion spring (25); the rotating shaft (23) passes through a notch in the bottom substrate (22); the abutting arm (24) is fixedly sleeved on the rotating shaft (23); the torsion spring (25) is sleeved outside the rotating shaft (23), and its two ends are respectively connected to the abutting arm (24) and the bottom substrate (22) to provide torque to keep the abutting arm (24) perpendicular to the bottom substrate (22).

5. The de-icing robot for multi-split conductors of transmission lines according to claim 4, characterized in that, The kneading structure includes a threaded drive rod (29), a lifting sliding seat (30), a linkage rod (31), a movable slide (32), and a rubber anti-slip convex strip (33); the threaded drive rod (29) is rotatably connected between the bottom end of the drive screw (17) and the top of the bottom base plate (22); the lifting sliding seat (30) is slidably sleeved on the outside of the fixed connecting rod (21), and slides in cooperation with the spiral groove on the outer wall of the threaded drive rod (29) through a slider provided inside it; the movable slide (32) is slidably connected to the outer wall of the bottom base plate (22); the two ends of the linkage rod (31) are respectively hinged to the bottom of the lifting sliding seat (30) and the top of the movable slide (32); the rubber anti-slip convex strip (33) is fixed to the bottom of the movable slide (32); When the threaded transmission rod (29) rotates, the lifting sliding seat (30) is driven to move up and down along the fixed connecting rod (21) through the cooperation of the slider and the spiral groove. Then, the moving sliding seat (32) and the rubber anti-slip convex strip (33) are driven to move back and forth in a straight line along the bottom base plate (22) through the linkage rod (31) to rub the wire below.

6. The de-icing robot for multi-split conductors of transmission lines according to claim 5, characterized in that, The kneading structure also includes a power drive shaft (34) and an arc-shaped air guide plate (35); the top end of the power drive shaft (34) is fixedly connected to the bottom end of the threaded transmission rod (29), and its bottom end rotatably passes through the bottom substrate (22); a plurality of the arc-shaped air guide plates (35) are fixed to the outer wall of the power drive shaft (34) for driving the power drive shaft (34) and the threaded transmission rod (29) to rotate under the action of wind.

7. A de-icing robot for multi-split conductors of transmission lines according to claim 6, characterized in that, Rotary joint I (2), rotary joint II (3), rotary joint III (6) and rotary joint IV (7) are each equipped with a rotary drive motor (10); the output shaft of the rotary drive motor (10) is connected to one end of the corresponding vibrating roller I (4), vibrating roller II (5) or vibrating roller III (9) for driving its rotation to achieve de-icing and robot movement.

8. The de-icing robot for multi-split conductors of transmission lines according to claim 7, characterized in that, It also includes two sets of coating structures disposed at the bottom of the top cover plate (16). The coating structures include a fixed mounting base (36), a movable swing arm (37), an electromagnetic adsorption iron (38), an elastic spring (39), a cleaning roller brush cylinder (41), a cleaning brush (42), a vertical tube (45), and a liquid storage tank (50). The fixed mounting base (36) is fixed to the bottom of the top cover plate (16). The movable swing arm (37) is slidably disposed at the bottom of the top cover plate (16) and connected to the fixed mounting base (50) by the electromagnetic adsorption iron (38) and the elastic spring (39). The base (36) is connected; the two cleaning rollers (41) are rotatably housed in the rotating groove (40) of the movable swing arm (37); the cleaning brush (42) is fixed to the outer wall of the cleaning roller (41); the vertical tube (45) is fixed inside the movable swing arm (37) and is connected to the liquid storage tank (50) through a hose; the side of the vertical tube (45) is connected to the liquid storage chamber (43) inside the cleaning roller (41) through a liquid injection pipe (46); the wall of the liquid storage chamber (43) is provided with a plurality of drainage holes (44). When the electromagnetic adsorption iron (38) loses its magnetic attraction due to power failure, the movable swing arm (37) moves outward under the elastic force of the elastic spring (39), causing the cleaning roller (41) to contact the wire; the anti-icing coating enters the liquid storage chamber (43) from the liquid storage tank (50) through the vertical pipe (45) and the liquid injection pipe (46), and wets the cleaning brush (42) through the drain hole (44), and then coats the de-iced wire.

9. A de-icing robot for multi-split conductors of transmission lines according to claim 8, characterized in that, The bottom inner wall of the rotating groove (40) is provided with a liquid collection chute (47); the side of the vertical pipe (45) is connected to the liquid collection chute (47) through a liquid return pipe (48) for recycling excess anti-icing coating; a blocking strip (49) for preventing coating leakage is also fixed inside the rotating groove (40).

Images