De-icing robot with lifting guide wheels

Abstract

The present application relates to the technical field of deicing robot, disclose a kind of deicing robot with lifting guide wheel, including deicing component, including body, the body top is fixed with lifting frame, the inner side of the lifting frame is provided with guide wheel, the side of the body is fixed with mounting frame, the mounting frame is provided with rotating shaft, and the end of the rotating shaft is fixed with broken rod;Auxiliary assembly is set on the body, including rotating part, the rotating part includes the support seat fixed on the top of the body, the top of the support seat is fixed with stabilizing block, and the rotating column is rotatably connected in the stabilizing block.The beneficial effects of the present application are as follows: by the setting of auxiliary assembly, when the body encounters the obstruction of interval ring and cannot cross, the body can be driven by auxiliary assembly to rotate around the power transmission line, so that the body is rotated to the side away from the interval ring, and then the unmanned aerial vehicle is not needed to cross the obstacle frequently, so that the effective deicing time is prolonged, and the work efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deicing robots, and particularly relates to a deicing robot with lifting guide wheels. BACKGROUND

[0002] In the fields of power transmission, communication guarantee and industrial pipeline operation and maintenance, outdoor high-voltage transmission lines are prone to icing in winter low-temperature environment. If the icing load is too large, the carrier will be broken, the tower will be tilted, the signal will be interrupted, or the pipeline function will be invalid. Therefore, deicing equipment is needed to remove the icing to ensure the stable operation of the system. As an automatic device to replace manual work, the deicing robot includes an execution mechanism for breaking the icing, a guide wheel mechanism for realizing movement and support, and a basic guiding system for controlling the operation path. In operation, the guide wheel mechanism bears the weight of the deicing robot and moves along the axis of the transmission line, and the execution mechanism is started synchronously to remove the surface icing. At the same time, the basic obstacle avoidance function is relied on to avoid small obstacles (such as cable spacer bars) on the path, so as to realize the automatic deicing operation of the carrier.

[0003] The deicing robot has a certain obstacle avoidance capability in the small spacer bar scene. The rotation adjustment or lifting adjustment of the guide wheel can adapt to the structure size of the small spacer bar to ensure uninterrupted operation. However, in actual application scenarios, large spacer rings with larger size and more complex structure are often arranged on high-voltage transmission lines to ensure structural stability. Compared with the spacer bar, the diameter, radial protrusion height and circumferential coverage range of the large spacer ring are significantly increased, which will hinder the overall structure of the deicing robot. The deicing robot cannot pass through the spacer ring only by rotation adjustment or lifting adjustment of the guide wheel, and thus needs to rely on a drone to assist the deicing robot to pass through the spacer ring. The time-consuming obstacle crossing with the assistance of the drone is long, which reduces the actual effective deicing time and thus greatly reduces the operation efficiency. In addition, when the drone is used to pass through the spacer ring, the ice near the two sides of the spacer ring will be left, and the residual ice will be concentrated on the two sides of the spacer ring, so that the local icing thickness of the transmission line is higher than that of other areas, which is easy to cause the local load of the transmission line to exceed the design load, and is easy to cause plastic deformation or fracture of the transmission line. SUMMARY

[0004] In view of the above and / or existing problems in the deicing robot with lifting guide wheels, the present application is proposed.

[0005] Therefore, the problem to be solved by the present application is that the obstacle avoidance function of the deicing robot is simple and cannot pass through large spacer rings and other obstacles.

[0006] To solve the above technical problems, the present application provides the following technical solutions: a deicing robot with lifting guide wheels, comprising a deicing assembly, including a body, the top of the body is fixed with a lifting frame, the inner side of the lifting frame is provided with a guide wheel, one side of the body is fixed with a mounting frame, the mounting frame is provided with a rotating shaft, the end of the rotating shaft is fixed with a crushing rod;

[0007] An auxiliary assembly is arranged on the body, including a rotating part, the rotating part includes a support seat fixed to the top of the body, the top of the support seat is fixed with a stabilizing block, the stabilizing block is rotatably connected with a rotating column, the outer side of the rotating column is rotatably connected with a first gear, the upper side of the rotating column is provided with a positioning frame, the inner side of the positioning frame is rotatably connected with an extrusion rod, the outer side of the extrusion rod is fixed with a friction ring, the outer side of the positioning frame is fixed with a fixed ring, the outer side of the fixed ring is fixed with a tooth block, and the end of the rotating column is provided with a motor.

[0008] As a preferred scheme of the deicing robot with lifting guide wheels, the auxiliary assembly further comprises a moving part, the moving part includes a rotating sleeve rotatably connected to the outer side of the rotating column, the outer side of the fixed ring is provided with a positioning groove, the positioning groove is connected with a positioning block, the bottom of the positioning block is fixed with a connecting plate, one side of the connecting plate is hingedly connected with a connecting rod, and the other end of the connecting rod is hingedly connected with the rotating sleeve.

[0009] As a preferred scheme of the deicing robot with lifting guide wheels, one side of the rotating sleeve is fixed with a fixed frame, the fixed frame is inserted with an insertion block, the rotating column is provided with an insertion slot, the insertion block is clamped with the insertion slot, one side of the fixed frame is fixed with a push rod, and the output end of the push rod is fixed with the insertion block.

[0010] As a preferred scheme of the deicing robot with lifting guide wheels, the auxiliary assembly further comprises a connecting part, the connecting part includes a second gear located on the outer side of the rotating column, the inner side of the first gear is provided with a gear slot, the second gear is fixedly connected with a sliding block, the outer side of the rotating column is provided with a sliding groove, the sliding block is slidably arranged in the sliding groove, and one side of the connecting plate is fixedly connected with an extrusion block.

[0011] As a preferred scheme of the deicing robot with lifting guide wheels, the outer side of the rotating column is fixed with a support ring, one side of the support ring is fixed with a first spring, and the other end of the first spring is fixed with the second gear.

[0012] As a preferred scheme of the deicing robot with lifting guide wheels, the auxiliary assembly further comprises a limiting piece, the limiting piece comprises a limiting rod, a movable groove is formed in the connecting plate, the limiting rod is located in the movable groove, a limiting hole is formed in the inner wall of the positioning groove, the end of the limiting rod penetrates the positioning block and is clamped with the limiting hole, and the bottom of the limiting rod is fixed with a second spring, and the bottom end of the second spring is fixed with the inner wall of the movable groove.

[0013] As a preferred scheme of the deicing robot with lifting guide wheels, the connecting frame is rotatably connected to the outer side of the rotating column, a positioning column is fixed to the top of the connecting frame, the end of the positioning column penetrates the connecting plate and is movably connected with the connecting plate, a fixing rod is fixed to one side of the limiting rod, a limiting column is fixed to the bottom of the fixing rod, and a limiting groove is formed in the positioning column.

[0014] As a preferred scheme of the deicing robot with lifting guide wheels, a first electromagnet is fixed to the top of the fixing rod, and a second electromagnet is fixed to one side of the connecting plate.

[0015] As a preferred scheme of the deicing robot with lifting guide wheels, a cylinder is fixed to one side of the body, and the output end of the cylinder is connected with the lifting frame.

[0016] As a preferred scheme of the deicing robot with lifting guide wheels, the number of the extrusion rods is multiple, and the extrusion rods are linearly and uniformly distributed in the positioning frame.

[0017] The auxiliary assembly is arranged, when the body cannot pass through the interval ring, the auxiliary assembly drives the body to rotate around the power transmission line, the body is rotated to the side away from the interval ring, and the unmanned aerial vehicle is not frequently used to pass through the obstacle, the effective deicing time is prolonged, and the working efficiency is improved.

[0018] During the rotation of the body around the wire, the deicing and crushing rod can rotate with the body to cover the area of the power transmission line around the interval ring, the ice around the interval ring can be completely removed, and the situation that the ice is excessively left and causes the local overload of the power transmission line is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. Among them:

[0020] Figure 1The overall structure diagram of the deicing robot with lifting guide wheels.

[0021] Figure 2 The auxiliary assembly structure diagram of the deicing robot with lifting guide wheels.

[0022] Figure 3 The rotating part side view structure diagram of the deicing robot with lifting guide wheels.

[0023] Figure 4 The moving part structure diagram of the deicing robot with lifting guide wheels.

[0024] Figure 5 The fixed ring cross-section structure diagram of the deicing robot with lifting guide wheels.

[0025] Figure 6 The rotating column partial cross-section structure diagram of the deicing robot with lifting guide wheels. Figure 5 The local enlarged structure diagram of A in the figure.

[0026] Figure 7 The rotating column partial cross-section structure diagram of the deicing robot with lifting guide wheels.

[0027] In the figure: 1, deicing assembly; 11, machine body; 12, lifting frame; 13, guide wheel; 14, mounting frame; 15, rotating shaft; 16, breaking rod; 2, auxiliary assembly; 21, rotating part; 211, support seat; 212, stabilizing block; 213, rotating column; 214, first gear; 215, positioning frame; 216, extrusion rod; 216-1, friction ring; 217, fixed ring; 218, tooth block; 219, motor; 22, moving part; 221, rotating sleeve; 217-1, positioning groove; 222, positioning block; 223, connecting plate; 224, connecting rod; 225, fixed frame; 226, insertion block; 213-1, insertion groove; 227, push rod; 23, connecting piece; 231, second gear; 214-1, tooth groove; 232, sliding block; 213-2, sliding groove; 233, extrusion block; 234, support ring; 235, first spring; 24, limiting part; 241, limiting rod; 223-1, movable groove; 217-2, limiting hole; 242, second spring; 243, connecting frame; 244, positioning column; 245, fixed rod; 246, limiting column; 255-1, limiting groove; 247, first electromagnet; 248, second electromagnet; 17, air cylinder. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments. Example 1

[0031] Reference Figures 1-3 This is the first embodiment of the present invention. This embodiment provides a de-icing robot with lifting guide wheels. The de-icing robot with lifting guide wheels includes a de-icing assembly 1, including a body 11. A lifting frame 12 is fixed to the top of the body 11. The upper part of the lifting frame 12 is U-shaped and can move up and down. The bottom is fixed to the top of the body 11. There are two lifting frames 12, located on the top two sides of the body 11 respectively. A guide wheel 13 is provided on the inner side of the lifting frame 12. A drive mechanism is provided on one side of the lifting frame 12. The drive mechanism is connected to the guide wheel 13 and is used to drive the guide wheel 13 to rotate. A mounting frame 14 is fixed to one side of the body 11. A rotating shaft 15 is provided on the mounting frame 14. The rotating shaft 15 is connected to the drive element inside the body 11. A crushing rod 16 is fixed to the end of the rotating shaft 15. The rotating shaft 15 drives the crushing rod 16 to rotate.

[0032] During de-icing, the machine body 11 is suspended on the high-voltage transmission line by an unmanned system, and the guide wheel 13 is driven to rotate by the drive mechanism. The guide wheel 13 then moves the machine body 11 on the transmission line. At this time, the rotating shaft 15 drives the crushing rod 16 to rotate, and the crushing rod 16 can break and remove the ice on the transmission line. This is the prior art, and this solution will not be described in detail. Moreover, those skilled in the art can clearly understand the working principle.

[0033] The auxiliary assembly 2 is arranged on the machine body 11, and the number of the auxiliary assembly 2 is two groups, which are located at the head and tail of the top of the machine body 11, and the auxiliary assembly 2 comprises a rotating part 21, the rotating part 21 comprises a support seat 211 fixed to the top of the machine body 11, a stabilizing block 212 is fixed to the top of the support seat 211, a rotating column 213 is rotatably connected in the stabilizing block 212 through a bearing, a first gear 214 is rotatably connected to the outer side of the rotating column 213, a positioning frame 215 is arranged above the rotating column 213, the positioning frame 215 is in a U shape, and the number of the positioning frame 215 is two, which are located on both sides above the rotating column 213, when the machine body 11 is hung on the power transmission line, the power transmission line is located at the center position of the two positioning frames 215, and in the initial state, the two positioning frames 215 are away from the power transmission line, so that when the machine body 11 is hung on the power transmission line, the positioning frame 215 will not contact and hinder the power transmission line.

[0034] The inner side of the positioning frame 215 is rotatably connected with an extrusion rod 216 through a rotating shaft, the number of the extrusion rod 216 is multiple, which is arranged in a straight line in the positioning frame 215, a friction ring 216-1 is fixed to the outer side of the extrusion rod 216, the friction ring 216-1 is made of hard material, when the two positioning frames 215 are close to each other and combined together, the extrusion rod 216 will contact and extrude the power transmission line, at this time, the positioning frame 215 can be clamped and fixed with the power transmission line, so that the positioning frame 215 cannot rotate outside the power transmission line, because the extrusion rod 216 can rotate itself, when the positioning frame 215 moves axially along the power transmission line, it will not be hindered, and the friction ring 216-1 is clamped outside the power transmission line, which can further lock the rotation angle of the positioning frame 215, so as to avoid the rotation of the positioning frame 215 outside the power transmission line.

[0035] A fixed ring 217 is fixed to the outer side of the positioning frame 215, the fixed ring 217 is in a semicircle shape, a tooth block 218 is fixed to the outer side of the fixed ring 217, the number of the tooth block 218 is multiple, which is arranged in a ring shape outside the two fixed rings 217, and an electric motor 219 is arranged at the end of the rotating column 213, the electric motor 219 is used to drive the rotating column 213 to rotate.

[0036] When the machine body 11 moves to the position of the large spacing ring, first, the lifting frame 12 at the head position of the machine body 11 is moved upward, and the head guide wheel 13 is separated from the power transmission line, then the electric motor 219 at the tail is started to drive the rotating column 213 to rotate, at this time, the two positioning frames 215 are close to each other, and the extrusion rod 216 extrudes the power transmission line, at the same time, the two fixed rings 217 are close to each other and form a complete ring, and the first gear 214 is engaged with the tooth block 218.

[0037] At this time, the rotating column 213 drives the first gear 214 to rotate, and since the positioning frame 215 cannot rotate outside the power transmission line, when the first gear 214 rotates, it moves in a circular motion around the fixed ring 217 under the cooperation of the toothed block 218, and drives the machine body 11 to move in a circular motion around the power transmission line, so that the machine body 11 can be rotated to the side away from the spacing ring. At this time, the head guide wheel 13 continues to drive the machine body 11 to move, and when the head of the machine body 11 passes the spacing ring, the head guide wheel 13 is clamped outside the power transmission line, and the head positioning frame 215 is clamped and fixed with the power transmission line. At this time, the tail guide wheel 13 and the positioning frame 215 can be separated from the power transmission line, so that the tail guide wheel 13 and the positioning frame 215 can pass the spacing ring, so that the unmanned aerial vehicle does not need to pass the obstacle frequently, the effective deicing time is prolonged, the work efficiency is improved, and during the winding rotation of the machine body 11, the deicing and crushing rod 16 can rotate with the machine body to cover the area of the power transmission line around the spacing ring, so that the ice around the spacing ring can be completely removed, thereby avoiding the situation that too much ice remains and causes local overload of the power transmission line. Embodiment 2

[0038] With reference to Figures 3-7 For the second embodiment of the present application, the embodiment is based on the previous embodiment.

[0039] Specifically, the auxiliary assembly 2 further comprises a moving piece 22, the moving piece 22 comprises a rotating sleeve 221 rotatably connected to the outside of the rotating column 213, the outside of the fixed ring 217 is provided with a positioning groove 217-1, and the positioning groove 217-1 is clamped with a positioning block 222. The positioning block 222 is T-shaped, and the number is two, which corresponds to two fixed rings 217 respectively. The bottom of the positioning block 222 is fixed with a connecting plate 223, one side of the connecting plate 223 is hinged with a connecting rod 224, the other end of the connecting rod 224 is hinged with the rotating sleeve 221, and the number of the connecting rod 224 and the connecting plate 223 is two.

[0040] Specifically, one side of the rotating sleeve 221 is fixed with a fixed frame 225, the fixed frame 225 is inserted with an insertion block 226, and the rotating column 213 is provided with an insertion slot 213-1. The insertion block 226 is clamped with the insertion slot 213-1, the rotating column 213 and the rotating sleeve 221 are connected through the cooperation of the two, so that the rotating column 213 can drive the rotating sleeve 221 to rotate.

[0041] One side of the fixed frame 225 is fixed with a push rod 227, the output end of the push rod 227 is fixed with the insertion block 226, and the push rod 227 is driven by electricity.

[0042] When the rotating column 213 rotates, it drives the rotating sleeve 221 to rotate, the rotating sleeve 221 moves the connecting plate 223 through the connecting rod 224, the connecting plate 223 drives the fixed ring 217 to move through the positioning block 222, and then the two fixed rings 217 are connected and closed.

[0043] At this time, the insertion block 226 is moved by the push rod 227 to separate from the insertion slot 213-1, so that the rotating column 213 is separated from the rotating sleeve 221, and the rotating column 213 will not drive the rotating sleeve 221 to rotate when rotating.

[0044] When the machine body 11 passes through the spacing ring and the rotating column 213 is reversely rotated to reset, the insertion block 226 is re-engaged with the insertion slot 213-1, and the rotating column 213 drives the rotating sleeve 221 to reversely rotate, so that the connecting rod 224 pushes the connecting plate 223 to reversely move and reset.

[0045] Specifically, the auxiliary assembly 2 further comprises a connecting piece 23, the connecting piece 23 comprises a second gear 231 located outside the rotating column 213, the second gear 231 has fewer teeth, the inner side of the first gear 214 is provided with a tooth groove 214-1, the second gear 231 is fixedly provided with a sliding block 232, the outer side of the rotating column 213 is provided with a sliding groove 213-2, the sliding block 232 slides in the sliding groove 213-2, the second gear 231 and the rotating column 213 are connected through cooperation of the two, so that the rotating column 213 can drive the second gear 231 to rotate, and the second gear 231 can also move axially outside the rotating column 213, one side of the connecting plate 223 is fixedly provided with an extrusion block 233, one side of the extrusion block 233 is inclined.

[0046] When the connecting plate 223 moves, the extrusion block 233 approaches the second gear 231, when the two fixed rings 217 are connected and closed, the inclined surface of the extrusion block 233 extrudes the second gear 231, and pushes the second gear 231 to move, so that the second gear 231 is engaged with the tooth groove 214-1, at this time, the rotating column 213 and the first gear 214 are connected through cooperation of the two, so that the rotating column 213 can drive the first gear 214 to rotate.

[0047] Specifically, the rotating column 213 is fixedly provided with a supporting ring 234 outside, one side of the supporting ring 234 is fixedly provided with a first spring 235, the other end of the first spring 235 is fixedly provided with the second gear 231, when the extrusion block 233 is separated from the second gear 231, the second gear 231 is moved through the first spring 235, so that the second gear 231 is separated from the tooth groove 214-1. Embodiment 3

[0048] Reference Figures 1-7 This is the third embodiment of the application, which is based on the previous two embodiments.

[0049] Specifically, the auxiliary assembly 2 further comprises limiting pieces 24, the number of the limiting pieces 24 is two groups, which correspond to the two fixing rings 217 respectively, the limiting piece 24 comprises a limiting rod 241, the connecting plate 223 is provided with a movable slot 223-1, the limiting rod 241 is located in the movable slot 223-1, the inner wall of the positioning slot 217-1 is provided with a limiting hole 217-2, the end of the limiting rod 241 penetrates through the positioning block 222 and is clamped with the limiting hole 217-2, the positioning block 222 and the fixing ring 217 are locked through cooperation of the two, so that the positioning block 222 does not slide in the positioning slot 217-1 when moving, but can drive the fixing ring 217 to move.

[0050] The bottom of the limiting rod 241 is fixedly provided with a second spring 242, the bottom end of the second spring 242 is fixedly connected with the inner wall of the movable slot 223-1, and the second spring 242 is used for applying a pushing force to the limiting rod 241, so that the limiting rod 241 is more tightly clamped with the movable slot 223-1.

[0051] Specifically, the outer side of the rotating column 213 is rotatably connected with a connecting frame 243 through a bearing, the top of the connecting frame 243 is fixedly provided with a positioning column 244, the two ends of the positioning column 244 penetrate through the two connecting plates 223 respectively and are movably connected with the connecting plates 223, one side of the limiting rod 241 is fixedly provided with a fixing rod 245, the connecting plate 223 is provided with a through slot, the fixing rod 245 extends to the outside of the through slot and is movably connected with the through slot, the bottom of the fixing rod 245 is fixedly provided with a limiting column 246, and the positioning column 244 is provided with a limiting slot 255-1.

[0052] Specifically, the top of the fixing rod 245 is fixedly provided with a first electromagnet 247, and one side of the connecting plate 223 is fixedly provided with a second electromagnet 248.

[0053] When the two fixing rings 217 are connected and closed, the limiting column 246 coincides with the limiting slot 255-1, at this time, the first electromagnet 247 and the second electromagnet 248 are electrified, so that they repel each other, the second electromagnet 248 pushes the first electromagnet 247 and the fixing rod 245 to move downward, the fixing rod 245 drives the limiting column 246 to be clamped with the limiting slot 255-1, the position of the connecting plate 223 outside the positioning column 244 is locked through cooperation of the two, so that the connecting plate 223 cannot move outside the positioning column 244, and the position of the fixing ring 217 is locked, and the extrusion rod 216 can continuously extrude the power transmission line, at the same time, the limiting rod 241 is separated from the limiting hole 217-2, and the connection between the positioning block 222 and the fixing ring 217 is released, so that the positioning block 222 can move along the inside of the positioning slot 217-1.

[0054] Specifically, one side of the machine body 11 is fixedly provided with a gas cylinder 17, the output end of the gas cylinder 17 is connected with the lifting frame 12, the output end of the gas cylinder 17 is connected with the upper part and the lifting part of the lifting frame 12, and is used for driving the lifting frame 12 to move up and down.

[0055] In use,

[0056] When the body 11 moves to the position of the large spacing ring, first move the lifting frame 12 at the head position of the body 11 upward, and separate the head guide wheel 13 from the power transmission line, then start the motor 219 at the tail to drive the rotating column 213 to rotate, at this time the two positioning frames 215 will approach, and the extrusion rod 216 will extrude the power transmission line, and at the same time the two fixed rings 217 will fit together and form a complete ring.

[0057] When the two fixed rings 217 are connected and closed, the limiting column 246 will coincide with the limiting groove 255-1, at this time the first electromagnet 247 and the second electromagnet 248 are energized, so that they repel each other, and the second electromagnet 248 pushes the first electromagnet 247 and the fixed rod 245 to move downward, so that the fixed rod 245 drives the limiting column 246 to engage with the limiting groove 255-1, and through the cooperation of the two, the position of the connecting plate 223 outside the positioning column 244 is locked, so that it cannot move outside the positioning column 244, thereby the position of the fixed ring 217 can be locked, and the extrusion rod 216 can continuously extrude the power transmission line, at the same time, the limiting rod 241 will be separated from the limiting hole 217-2, and the connection between the positioning block 222 and the fixed ring 217 will be released, so that the positioning block 222 can move inside the positioning groove 217-1.

[0058] When the connecting plate 223 moves, it will drive the extrusion block 233 to approach the second gear 231, when the two fixed rings 217 are connected and closed, the inclined surface of the extrusion block 233 will extrude the second gear 231, and push the second gear 231 to move, so that it engages with the tooth groove 214-1, at this time the rotating column 213 can be connected with the first gear 214 through the cooperation of the two, so that the rotating column 213 can drive the first gear 214 to rotate.

[0059] At this time, the push rod 227 drives the insertion block 226 to move, so that the insertion block 226 is separated from the insertion groove 213-1, thereby the rotating column 213 can be separated from the rotating sleeve 221, at this time the rotating column 213 will not drive the rotating sleeve 221 to rotate when it rotates.

[0060] At this time, the rotating column 213 drives the first gear 214 to rotate, and since the positioning frame 215 cannot rotate outside the power transmission line, when the first gear 214 rotates, it will move in a circle around the fixed ring 217 under the cooperation of the toothed block 218, and drive the machine body 11 to move in a circle around the power transmission line, so as to make the machine body 11 rotate to the side away from the spacing ring. At this time, the head guide wheel 13 continues to drive the machine body 11 to move, and when the head of the machine body 11 passes through the spacing ring, the head guide wheel 13 is clamped outside the power transmission line, and the head positioning frame 215 is clamped and fixed with the power transmission line. At this time, the tail guide wheel 13 and the positioning frame 215 can be separated from the power transmission line, so that the tail guide wheel 13 and the positioning frame 215 can pass through the spacing ring, so that the unmanned aerial vehicle does not need to pass through the obstacle frequently, the effective deicing time is prolonged, the work efficiency is improved, and during the winding rotation of the machine body 11, the deicing and crushing rod 16 can rotate with the machine body to cover the power transmission line area around the spacing ring, so that the ice around the spacing ring can be completely removed, thereby avoiding the situation that too much ice remains, causing the power transmission line to be locally overloaded.

[0061] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, not to limit it. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application, which should be covered by the claims of the present application.

Claims

1. An ice-melting robot with lifting guide wheels, characterized by: Including, The deicing assembly (1) includes a body (11), the top of the body (11) is fixed with a lifting frame (12), the inner side of the lifting frame (12) is provided with a guide wheel (13), one side of the body (11) is fixed with a mounting frame (14), the mounting frame (14) is provided with a rotating shaft (15), and the end of the rotating shaft (15) is fixed with a crushing rod (16); The auxiliary assembly (2) is arranged on the body (11) and includes a rotating part (21), the rotating part (21) includes a support seat (211) fixed to the top of the body (11), the top of the support seat (211) is fixed with a stabilizing block (212), the stabilizing block (212) is rotatably connected with a rotating column (213) in the inner side, the outer side of the rotating column (213) is rotatably connected with a first gear (214), the upper side of the rotating column (213) is provided with a positioning frame (215), the inner side of the positioning frame (215) is rotatably connected with an extrusion rod (216), the outer side of the extrusion rod (216) is fixed with a friction ring (216-1), the outer side of the positioning frame (215) is fixed with a fixed ring (217), the outer side of the fixed ring (217) is fixed with a tooth block (218), and the end of the rotating column (213) is provided with a motor (219); The auxiliary assembly (2) further includes a moving part (22), the moving part (22) includes a rotating sleeve (221) rotatably connected to the outer side of the rotating column (213), the outer side of the fixed ring (217) is provided with a positioning groove (217-1), the positioning groove (217-1) is connected with a positioning block (222), the bottom of the positioning block (222) is fixed with a connecting plate (223), one side of the connecting plate (223) is hingedly connected with a connecting rod (224), and the other end of the connecting rod (224) is hingedly connected with the rotating sleeve (221); One side of the rotating sleeve (221) is fixed with a fixed frame (225), the fixed frame (225) is inserted with an insertion block (226), the rotating column (213) is provided with an insertion slot (213-1), the insertion block (226) is clamped with the insertion slot (213-1), one side of the fixed frame (225) is fixed with a push rod (227), and the output end of the push rod (227) is fixed with the insertion block (226); The auxiliary assembly (2) further includes a connecting part (23), the connecting part (23) includes a second gear (231) located on the outer side of the rotating column (213), the inner side of the first gear (214) is provided with a gear slot (214-1), the second gear (231) is fixedly connected with a sliding block (232), the outer side of the rotating column (213) is provided with a sliding groove (213-2), the sliding block (232) is slidably arranged in the sliding groove (213-2), and one side of the connecting plate (223) is fixedly connected with an extrusion block (233). The auxiliary assembly (2) further comprises a limiting piece (24), the limiting piece (24) comprises a limiting rod (241), the connecting plate (223) is provided with a movable slot (223-1), the limiting rod (241) is located in the movable slot (223-1), the inner wall of the positioning slot (217-1) is provided with a limiting hole (217-2), the end of the limiting rod (241) penetrates through the positioning block (222) and is clamped with the limiting hole (217-2), the bottom of the limiting rod (241) is fixedly connected with a second spring (242), and the bottom end of the second spring (242) is fixedly connected with the inner wall of the movable slot (223-1). The outer side of the rotating column (213) is rotatably connected with a connecting frame (243), the top of the connecting frame (243) is fixedly connected with a positioning column (244), the end of the positioning column (244) penetrates through the connecting plate (223) and is movably connected with the connecting plate (223), one side of the limiting rod (241) is fixedly connected with a fixing rod (245), the bottom of the fixing rod (245) is fixedly connected with a limiting column (246), and the positioning column (244) is provided with a limiting slot (255-1). The top of the fixing rod (245) is fixedly connected with a first electromagnet (247), one side of the connecting plate (223) is fixedly connected with a second electromagnet (248).

2. The de-icing robot with lifting idlers as claimed in claim 1, characterized in that: The outer side of the rotating column (213) is fixedly connected with a supporting ring (234), one side of the supporting ring (234) is fixedly connected with a first spring (235), and the other end of the first spring (235) is fixedly connected with the second gear (231).

3. The de-icing robot with lifting idlers as claimed in claim 2, characterized in that: One side of the machine body (11) is fixedly connected with an air cylinder (17), and the output end of the air cylinder (17) is connected with the lifting frame (12).

4. The de-icing robot with lifting idlers as claimed in claim 3, characterized in that: The number of the extrusion rods (216) is multiple, which are linearly and uniformly distributed in the positioning frame (215).

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