Power transmission line ground wire deicing robot

Abstract

The invention discloses a deicing robot for a ground wire of a power transmission line. Relates to the technical field of power transmission line maintenance equipment. Comprising a guide rack which is arranged in an inverted U shape and is used for straddling a ground wire; a walking assembly, a pressing assembly, a deicing assembly and a butt joint assembly are arranged on the guide rack. The two walking assemblies are arranged on the two side plates of the guide rack correspondingly. The walking assembly comprises two walking wheels which are arranged in parallel in a spaced mode, the walking wheels are located on the inner side of the guide rack and rotationally connected to the guide rack, and the rotating axes of the walking wheels are arranged in the horizontal direction; a walking motor is arranged on the outer side of the guide rack, synchronous wheels are coaxially installed on the walking wheels, synchronous wheels are also coaxially installed on an output shaft of the walking motor, and the walking motor drives the two walking wheels at the same time through a synchronous belt. The structural design is optimized through the inverted-U-shaped guide rack, the moving stability is improved in combination with the symmetrically-distributed walking assemblies, the clamping force is dynamically adjusted through the pressing assemblies, the weight distribution of the whole machine is effectively improved, the gravity center shift risk is reduced, and the machine has the advantages of being stable and reliable in operation and suitable for the complex working environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line maintenance equipment, in particular to a power transmission line ground wire deicing robot. BACKGROUND

[0002] The overhead ground wire deicing robot faces multiple technical problems in practical application: the unreasonable overall structure design leads to serious imbalance in weight distribution, the excessive concentration of load on the upper end mechanism causes the overall weight to be too large, and the lower end mechanism is relatively light, which significantly reduces the stability and reliability of the robot in running on the power transmission line ground wire, and easily causes the robot to shake or even overturn during operation; in a low temperature environment, the battery capacity rapidly decays and the motor output power significantly decreases, which seriously affects the continuous operation ability of the robot; the waterproof performance of the existing equipment is insufficient, and mechanical failure easily occurs in bad weather conditions such as rain and snow; the unmanned aerial vehicle hoisting mechanism has obvious design defects, the horizontal distance is insufficient and lacks effective guide structure, which makes it difficult for the hook to accurately dock; the lighting system lacks sufficient penetration in foggy weather, and cannot meet the lighting needs of deicing operation; the monitoring system has a single view angle and can only obtain the horizontal operation picture, and cannot fully grasp the operation site situation. These problems seriously restrict the actual application effect of the deicing robot, and a new type of power transmission line deicing robot needs to be developed to solve the above technical problems. SUMMARY

[0003] The present application aims to provide a power transmission line deicing robot and its guide frame, walking assembly, pressing assembly, deicing assembly and docking assembly, which has the advantages of optimizing the overall structure design, improving the weight distribution and improving the running stability and reliability.

[0004] The present application provides a power transmission line deicing robot, and the technical scheme is as follows: a guide frame is provided, the guide frame is arranged in an inverted U shape and is used for striding on the ground wire; a walking assembly, a pressing assembly, a deicing assembly and a docking assembly are arranged on the guide frame; the walking assembly is provided in two groups, and the two walking assemblies are arranged on the two side plates of the guide frame respectively; the walking assembly comprises two walking wheels arranged in parallel and spaced apart, the walking wheels are located on the inner side of the guide frame and are rotationally connected to the guide frame, and the rotation axes of the walking wheels are arranged in a horizontal direction; a walking motor is arranged on the outer side of the guide frame, the walking wheels are coaxially provided with synchronous wheels, the output shaft of the walking motor is also coaxially provided with a synchronous wheel, and the walking motor drives the two walking wheels simultaneously through a synchronous belt.

[0005] Further, the present application also provides that the pressing assembly comprises a pressing swing arm, a pressing wheel and a pressing motor; the pressing swing arm is rotationally connected to the guide frame, and the pressing wheel is rotationally connected to the end of the pressing swing arm; the pressing swing arm is rotated to drive the pressing wheel to approach or move away from the ground wire; and the pressing motor is used to drive the pressing swing arm to rotate.

[0006] Further, the application also proposes that the deicing assembly comprises a deicing hammer and a deicing motor, the deicing motor is installed on the top of the wire rack, and the output shaft of the deicing motor is arranged in a staggered manner with the wire.

[0007] Further, the application also proposes that the docking assembly comprises a docking block, the docking block is installed on the top end of the wire rack, and installation grooves are formed in the two sides of the docking block in the horizontal direction, and an insertion slot for inserting the insertion pin is formed in the top.

[0008] Further, the application also proposes that the guide rack is further provided with a tension adjustment block, the tension adjustment block is slidingly connected to the guide rack in the horizontal direction, the end of the tension adjustment block is further rotatably connected with a pulley, and the pulley abuts against the synchronous belt; the guide rack is further provided with a screw rod for limiting the sliding of the tension adjustment block, one end of the screw rod is threadedly penetrated into the wire rack and abuts against the tension adjustment block.

[0009] Further, the application also proposes that the guide rack is provided with a battery mounting shell, a lithium battery module is fixed in the battery mounting shell through a quick insertion pin, and a pull ring is further arranged on the lithium battery module.

[0010] Further, the application also proposes that the bottom of the two side plates of the guide rack is outwardly expanded, and an infrared anti-fog lamp that irradiates upward is arranged.

[0011] Further, the deicing assembly further comprises a deicing motor, a deicing swing arm and a deicing coil, the deicing swing arm is rotatably connected to the guide rack, the end of the deicing swing arm is U-shaped and is provided with the deicing coil, the deicing swing arm rotates to drive the deicing coil to approach or move away from the ground wire, and the deicing motor is used to drive the deicing swing arm to rotate.

[0012] In summary, the application has the following beneficial technical effects:

[0013] The application optimizes the structural design of the inverted U-shaped guide rack, improves the moving stability in combination with the symmetrically distributed walking assembly, dynamically adjusts the clamping force of the pressing assembly, effectively improves the weight distribution of the whole machine, reduces the risk of gravity deviation, and has the advantages of stable and reliable operation and adaptation to complex working environments. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is the overall structure diagram of the power transmission line ground deicing robot of the application;

[0015] Figure 2 is Figure 1 the overall structure diagram of the walking assembly and the pressing assembly in

[0016] Figure 3 is the use schematic diagram of the docking assembly of the application;

[0017] Figure 4is a schematic view of the specific structure of the butt joint block.

[0018] Explanation of reference signs:

[0019] 1, guide frame; 11, butt joint block; 12, battery mounting shell; 13, lithium battery module; 14, infrared anti-fog lamp; 15, rotating panoramic camera; 21, walking wheel; 22, synchronous wheel; 23, synchronous belt; 24, walking motor; 25, tension adjustment block; 26, pulley; 31, compression wheel; 32, compression swing arm; 33, compression motor; 41, deicing hammer; 42, deicing motor; 43, ice melting coil; 44, ice melting swing arm; 45, ice melting motor; 5, unmanned aerial vehicle; 51, lifting ring; 52, connecting block. DETAILED DESCRIPTION

[0020] The following will be described in detail in combination with the accompanying drawings. Figures 1-4 The application is further described in detail.

[0021] The application proposes a power line deicing robot comprising a guide frame 1, which is arranged in an inverted U shape for straddling on the ground wire, and two walking assemblies are arranged on the two side plates respectively. The walking assembly comprises two walking wheels 21 arranged in parallel and spaced apart, which are located on the inner side of the guide frame 1 and connected to the walking motor 24 on the outer side through the synchronous belt 23, so as to realize synchronous driving of the two sides. The compression assembly, the deicing assembly and the butt joint assembly are integrated at different positions of the frame respectively, forming a modular layout.

[0022] Among them, the guide frame 1 is a support structure for carrying various functional components, and the opening is designed downward to facilitate straddling on the conductor. The synchronous belt 23 is used for transmission to realize synchronous rotation of the two wheel sets. The compression assembly refers to a device for maintaining the contact pressure of the equipment and the conductor, which can specifically adopt a swing arm type structure to drive the compression wheel 31 to abut against the conductor. The deicing assembly refers to an execution mechanism for breaking the ice layer, which can specifically adopt an eccentric hammering structure to generate high-frequency impact force. The butt joint assembly refers to an interface for connecting the equipment and the external lifting device, which can specifically adopt a modular mounting block with a slot.

[0023] Specifically, the inverted U-shaped guide frame 1 is straddled on the conductor to form a stable support basis, and the two walking wheels 21 are symmetrically arranged on the two sides of the conductor. The walking motor 24 drives the two walking wheels 21 simultaneously through the synchronous belt 23. The compression assembly adjusts the contact pressure of the compression wheel 31 and the conductor through the swing arm, and dynamically compensates the diameter change of the conductor during movement. The deicing assembly breaks the ice on the surface of the conductor through the rotating hammer head, and the butt joint assembly provides a standardized interface to facilitate the quick positioning and installation of the unmanned aerial vehicle 5 lifting equipment.

[0024] Through the above technical solutions, this application effectively balances the overall weight distribution of the equipment. The inverted U-shaped frame and the dual-sided walking components form a stable triangular support structure, significantly reducing the swaying amplitude during operation. The synchronous drive design ensures that the equipment travels in a straight line along the guide wire, avoiding the risk of deviation caused by the difference in wheel speeds on both sides. The modular layout rationally distributes the various functional components in different positions on the frame, reducing the concentration of top load and facilitating quick disassembly and replacement during maintenance.

[0025] This application further proposes a clamping assembly including a clamping swing arm 32, a clamping wheel 31, and a clamping motor 33; the clamping swing arm 32 is rotatably connected to the guide frame 1, and the clamping wheel 31 is rotatably connected to the end of the clamping swing arm 32; the clamping swing arm 32 rotates to drive the clamping wheel 31 closer to or away from the wire; the clamping motor 33 is used to drive the clamping swing arm 32 to rotate.

[0026] The rotation axis of the clamping arm 32 is perpendicular to the direction of the conductor's extension. When the clamping motor 33 is started, the rotational motion is converted into the swinging motion of the clamping arm 32. The clamping wheel 31 moves along an arc trajectory driven by the arm, and the clamping wheel 31 forms a controllable contact pressure with the conductor by adjusting the angle of the arm. During the robot's movement, the clamping wheel 31 automatically adjusts the contact state according to the undulations of the conductor surface, while maintaining a constant pressure value through the closed-loop control of the clamping motor 33.

[0027] This application further proposes a de-icing assembly including a de-icing hammer 41 and a de-icing motor 42. The de-icing motor 42 is mounted on the top of the wire frame, and its output shaft is arranged parallel to and offset from the wire. The de-icing hammer 41 is mounted on the output shaft of the de-icing motor 42.

[0028] Specifically, the de-icing motor 42 is fixed at the top of the conductor frame, with its output shaft spatially misaligned with the conductor, allowing the de-icing hammer 41 to cover the ice layer around the conductor during rotation. When the de-icing motor 42 starts, the output shaft drives the de-icing hammer 41 to rotate around its axis, and the hammer applies an impact load to the ice layer on the conductor surface through centrifugal force or direct impact.

[0029] Through the above technical solution, this application solves the operational stability problem caused by the offset of the center of gravity of the de-icing device, and at the same time improves the efficiency of removing ice layers around the conductor. The staggered arrangement of the de-icing hammer 41 generates multi-angle impacts during rotation, which can adapt to working scenarios with different ice thicknesses, and the top mounting method of the motor reduces the risk of the equipment getting stuck in complex terrain.

[0030] This application further proposes a docking assembly including a docking block 11, which is mounted on the top of the wire frame. The docking block 11 has mounting grooves on both sides in the horizontal direction and a slot for inserting a pin on the top.

[0031] The docking block 11 needs to be used in conjunction with a connecting device mounted on the drone 5. The connecting device on the drone 5 includes a lifting ring 51, with a connecting block 52 at the bottom of the lifting ring 51. The connecting block 52 has locking blocks on both sides for inserting into the mounting slot. A spring pin is also inserted vertically through the connecting block 52. When the locking block is inserted into the mounting slot, the spring pin inserts into the slot to prevent the locking block from coming out of the mounting slot. This completes the connection between the drone 5 and the docking block 11, facilitating the de-icing robot's loading and unloading operations.

[0032] This application further proposes that a tension adjustment block is installed on the guide frame 1, the tension adjustment block is slidably connected to the guide frame 1 in the horizontal direction, and a pulley 26 is rotatably connected to the end of the tension adjustment block, the pulley 26 abuts against the timing belt 23; the guide frame 1 is provided with a screw for limiting the sliding of the tension adjustment block, one end of the screw is threaded through the guide frame and abuts against the tension adjustment block.

[0033] Specifically, the tension adjustment block changes its contact position with the timing belt 23 by sliding horizontally. The pulley 26 forms a rolling support point inside the timing belt 23. When the timing belt 23 deforms due to temperature changes or long-term use, rotating the screw pushes the tension adjustment block to move, causing the pulley 26 to apply radial pressure to the timing belt 23 to compensate for the slack. During this process, the pulley 26 rolls in contact with the timing belt 23 to avoid sliding friction, and the screw's thread self-locking characteristic maintains the adjusted tension.

[0034] Through the above technical solutions, this application solves the problem of slack in the synchronous belt 23 caused by environmental temperature difference or mechanical fatigue, ensuring the stability of power transmission of the walking component, especially in low temperature environment, effectively maintaining the meshing state between the synchronous belt 23 and the walking wheel 21, reducing the risk of robot deviation caused by slippage, while extending the service life of the synchronous belt 23 and reducing the maintenance frequency; the adjustable belt tensioner compensates for belt slack in real time, ensuring transmission efficiency and walking smoothness in low temperature environment.

[0035] This application further proposes that the guide frame 1 is equipped with a battery mounting housing 12, in which a lithium battery module 13 is fixed by a quick-release pin, and the lithium battery module 13 is also equipped with a pull ring. Through the cooperation of quick-release pin fixing and pull ring removal, the lithium battery module 13 can be replaced efficiently, ensuring the robot's continuous operation capability in extreme environments, while reducing maintenance costs caused by inconvenient battery removal.

[0036] This application further proposes that the bottom of the two side plates of the guide frame 1 is set outward, and an upward-illuminating infrared anti-fog spotlight 14 is provided. The guide frame 1 is also provided with a rotating panoramic camera 15.

[0037] Compared to existing technologies, traditional flashover LED strips use visible light and are placed flat on the rack surface, which can easily cause a halo effect in foggy weather, resulting in a shortened visibility distance. This solution combines an infrared light source with an upward illumination angle to maintain an effective lighting range when the light penetrates the fog layer. At the same time, the outward-expanding side plate structure compensates for the original center of gravity distribution defects and avoids mechanical imbalance caused by concentrated load.

[0038] It solves the operational stability problems caused by insufficient lighting penetration and overall center of gravity shift in smog environments, ensuring that the robot maintains stable movement when working continuously in low visibility conditions, and reducing the risk of derailment caused by obstructed vision or mechanical shaking.

[0039] To further improve de-icing efficiency, an ice-melting assembly is also provided on the guide frame 1. The ice-melting assembly includes an ice-melting swing arm 44, an ice-melting coil 43, and an ice-melting motor 45. The ice-melting swing arm 44 is rotatably connected to the guide frame. The end of the ice-melting swing arm 44 is U-shaped. The ice-melting swing arm 44 rotates to drive the ground wire to be wrapped around the U-shaped part. The ice-melting coil 43 is provided at the U-shaped part, which generates eddy currents at the ground wire through electromagnetic induction to heat the ground wire. The ice-melting motor 45 is set on the guide frame 1 and is used to drive the ice-melting swing arm 44 to rotate.

[0040] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A power line ground wire de-icing robot, characterized by: The guiding frame is arranged in an inverted U shape and straddles the ground wire, and the guiding frame is provided with a walking assembly, a pressing assembly, a deicing assembly and a docking assembly; The walking assembly is provided with two groups, and the two walking assemblies are arranged on the two side plates of the guiding frame respectively. The walking assembly comprises two walking wheels arranged in parallel and spaced apart, which are located inside the guiding frame and are rotationally connected to the guiding frame, and the rotation axis is arranged in a horizontal direction. The guiding frame is provided with a walking motor outside, and the walking wheel is coaxially installed with a synchronous wheel, and the walking motor output shaft is also coaxially installed with a synchronous wheel, and the walking motor drives the two walking wheels through the synchronous belt.

2. A power line ground wire de-icing robot according to claim 1, characterized in that: The pressing assembly comprises a pressing swing arm, a pressing wheel and a pressing motor. The pressing swing arm is rotationally connected to the guiding frame, and the pressing wheel is rotationally connected to the end of the pressing swing arm. The pressing swing arm rotates to drive the pressing wheel to approach or move away from the ground wire. The pressing motor is used to drive the pressing swing arm to rotate.

3. A power line ground wire de-icing robot according to claim 2, characterized in that: The deicing assembly comprises a deicing hammer and a deicing motor, and the deicing motor is installed on the top of the guiding frame, and the output shaft is arranged in a staggered manner with the ground wire. The deicing hammer is installed on the output shaft of the deicing motor.

4. A power line ground wire de-icing robot according to claim 3, characterized in that: The docking assembly comprises a docking block, and the docking block is installed at the top end of the ground wire frame. The two sides of the docking block are provided with mounting grooves in a horizontal direction, and the top is provided with a slot for inserting a bolt.

5. A power line ground wire de-icing robot according to claim 4, characterized in that: The guiding frame is also provided with a tension adjusting block which is slidingly connected to the guiding frame in a horizontal direction. The end of the tension adjusting block is also rotationally connected with a pulley which abuts against the synchronous belt. The guiding frame is also provided with a screw rod for limiting the sliding of the tension adjusting block. One end of the screw rod is threaded through the ground wire frame and abuts against the tension adjusting block.

6. A power line ground wire de-icing robot according to claim 5, characterized in that: The guiding frame is provided with a battery mounting shell, and a lithium battery module is fixed in the battery mounting shell by a quick latch. The lithium battery module is also provided with a pull ring.

7. A power line ground wire de-icing robot according to claim 6, characterized in that: The bottom of the two side plates of the guiding frame is arranged in an outward expansion, and is provided with an infrared anti-fog lamp which irradiates upward. The guiding frame is also provided with a rotating panoramic camera.

8. A power line ground wire de-icing robot according to claim 7, characterized in that: The deicing assembly further comprises a deicing motor, a deicing swing arm and a deicing coil. The deicing swing arm is rotationally connected to the guiding frame. The end of the deicing swing arm is U-shaped and provided with a deicing coil. The deicing swing arm rotates to drive the deicing coil to approach or move away from the ground wire. The deicing motor is used to drive the deicing swing arm to rotate.

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