Four-bundle conductor type deicing robot

Abstract

The invention relates to the technical field of transmission conductor deicing, and discloses a four-bundle conductor type deicing robot, which comprises a walking assembly and a supporting shell, the supporting shell is provided with a size adjusting part, the supporting shell is internally and rotatably connected with a rotating shaft, the surface of the rotating shaft is fixedly provided with a moving wheel, and the supporting shell is internally provided with a driving part; the deicing assembly is arranged on the supporting shell and comprises a fixing seat fixed to one side of the supporting shell, a deicing piece is arranged on the fixing seat, and the deicing piece comprises an adjusting rod rotationally connected into the fixing seat. The beneficial effects of the invention are that: 1, the adaptability is high, and the deicing has no blind area: the distance between the two supporting shells is adjusted through the size adjusting member, and the distance between four bundled conductors of 400-500 mm is adapted; two-way deicing is achieved through the pendulum bobs on the two sides of the protective shell, the robot can work close to the iron tower, deicing blind areas caused by the fact that the unmanned aerial vehicle is hoisted at a far falling point are eliminated, and four wires are synchronously removed through the double deicing pieces.

Description

Technical Field

[0001] This invention relates to the field of de-icing technology for power transmission lines, and in particular to a four-split conductor de-icing robot. Background Technology

[0002] In the operation and maintenance of high-voltage transmission lines, four-split conductors are widely used due to their large transmission capacity. However, their icing problem can easily lead to faults such as line breaks and tower collapses. Highly efficient de-icing equipment is needed to ensure line safety. However, existing de-icing solutions have two major pain points: First, the adaptability and de-icing range are significantly limited. The spacing of the four-split conductors needs to be maintained at 400mm-500mm depending on the voltage level and conductor cross-section. However, traditional de-icing equipment is mostly designed with fixed dimensions, which makes it difficult to flexibly adapt to conductors with different spacings. This can easily lead to problems such as unstable clamping or failure to fit properly. Furthermore, the operation method is limited. For example, when drones are used to hoist de-icing equipment, in order to avoid collisions with transmission towers, the equipment landing point is often far away from the tower. This results in a de-icing blind zone in the conductor section between the landing point and the tower, making it impossible to remove ice from the entire section and leaving safety hazards.

[0003] Secondly, when the conductor is completely covered with ice, it is difficult to connect the conductor. In the severe winter weather, there will be a lot of hanging ice under the four-split conductor. When traditional de-icing equipment is lowered, the hanging ice will obstruct the connection between the de-icing equipment and the conductor, making it impossible for the de-icing equipment to effectively fit with the conductor body. The equipment lacks targeted ice-breaking and limiting structures, making it difficult to quickly establish a stable connection after the conductor is lowered. This will prevent the de-icing operation from starting, delay the time for line restoration, and affect the stable power supply of the power grid in winter. Summary of the Invention

[0004] In view of the problems existing in the above and / or existing four-split wire-type de-icing robots, the present invention is proposed.

[0005] Therefore, the problem that this invention aims to solve is that the existing de-icing equipment has significant limitations in adaptability and de-icing range, and that it is difficult to connect the dropped wire when the wire is completely covered with ice.

[0006] To solve the above technical problems, the present invention provides the following technical solution: a four-split wire-type de-icing robot, comprising a walking component, including a support shell, a size adjustment component provided on the support shell, a rotating shaft rotatably connected inside the support shell, a moving wheel fixed on the surface of the rotating shaft, and a driving component provided inside the support shell; An ice-removing assembly, mounted on the support shell, includes a fixed base fixed to one side of the support shell. An ice-removing component is mounted on the fixed base. The ice-removing component includes an adjusting rod rotatably connected to the fixed base. The adjusting rod has ice-breaking feet on its surface. A counterweight is fixed to the end of the adjusting rod. A protective shell is fixed to the surface of the adjusting rod. A support base is fixed inside the protective shell. A rotating rod is rotatably connected to the support base. A worm gear is fixed to the surface of the rotating rod. An ice-removing motor is fixed inside the protective shell. A worm gear is fixed to the output end of the ice-removing motor. A rotating disk is fixed to the end of the rotating rod. A drive column is fixed to one side of the rotating disk. A pendulum is hinged inside the protective shell. The pendulum has a first groove and a second groove. The drive column slides in the first groove. A rotating column is rotatably connected inside the protective shell. A drive rod is fixed to the surface of the rotating column. A sliding rod is fixed to one side of the drive rod. The sliding rod slides in the second groove. A pendulum is fixed to the surface of the rotating column.

[0007] In a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the size adjustment component includes a connecting rod hinged to the support shell, the other end of the connecting rod being rotatably connected to a stabilizing seat, and a positioning rod sliding within the stabilizing seat.

[0008] As a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the size adjustment component further includes a telescopic sleeve fixed to the surface of the support shell, and another telescopic plate fixed to the surface of the support shell. The telescopic plate slides inside the telescopic sleeve, and a compression bolt is rotatably connected inside the telescopic sleeve by a thread.

[0009] In a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the driving component includes a transmission shaft rotatably connected to the support shell, the transmission shaft and the rotating shaft being poweredly connected by bevel gears, a power shaft rotatably connected to the support shell, the end of the power shaft and the transmission shaft being poweredly connected by bevel gears, and a driven shaft rotatably connected to another support shell, the driven shaft and the transmission shaft being poweredly connected by bevel gears, the driven shaft sliding within the power shaft.

[0010] In a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the driving component further includes a support platform that slides on the surface of the power shaft, a moving motor is fixed on the support platform, a first bevel gear is fixed at the output end of the moving motor, a second bevel gear slides on the surface of the power shaft, a limit groove is formed on the surface of the power shaft, a limit strip that slides in the limit groove is fixed inside the second bevel gear, the second bevel gear is rotatably connected to the support platform, and the first bevel gear and the second bevel gear mesh.

[0011] In a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the positioning rod is fixed inside the support platform, and a battery compartment is fixed at the bottom of the support platform.

[0012] As a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the de-icing assembly further includes an adjusting component disposed on the surface of the fixed base. The adjusting component includes a positioning disk fixed to the surface of the adjusting rod. The surface of the positioning disk is provided with a first slot and a second slot. A movable sleeve slides inside the fixed base. An insert rod slides inside the movable sleeve. A first spring is fixed to the end of the insert rod.

[0013] In a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the adjusting component further includes an adjusting shaft rotatably connected to the fixed base, an adjusting gear is fixed on the surface of the adjusting shaft, a first rack is fixed on the surface of the movable sleeve, and the adjusting gear meshes with the first rack.

[0014] As a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the adjusting component further includes a lifting plate that slides within the support platform, a slider fixed on one side of the lifting plate, a positioning groove provided on the surface of the support platform, the slider sliding within the positioning groove, a pull plate fixed on the top of the lifting plate, and a hook fixed on the top of the pull plate.

[0015] In a preferred embodiment of the four-split wire-type de-icing robot of the present invention, the adjusting component further includes a second rack fixed to the bottom of the lifting plate; a drive shaft is rotatably connected inside the support platform; a rotating gear is fixed to the surface of the drive shaft; the rotating gear meshes with the second rack; a coil spring is fixed inside the support platform; the other end of the coil spring is fixed to the surface of the drive shaft; a follower shaft is rotatably connected inside the fixed seat; the follower shaft and the adjusting shaft are poweredly connected via bevel gears; the drive shaft slides inside the follower shaft; an arc-shaped groove is provided inside the positioning disk; a return spring is fixed to the inner wall of the arc-shaped groove; and a stop block is fixed inside the fixed seat.

[0016] The beneficial effects of this invention are: 1. High adaptability and no blind spots in de-icing: The distance between the two support shells can be adjusted by the size adjustment component to adapt to the spacing of 400mm-500mm four-split wires; the pendulum on both sides of the protective shell realizes bidirectional de-icing, the robot can operate close to the tower, eliminate the de-icing blind spots caused by the far landing point of the drone hoisting, and the two de-icing components remove four wires at the same time.

[0017] 2. Stable wire placement, solving the problem of connection in full ice coverage: Before wire placement, the adjusting rod and the insertion rod are kept horizontal with the first slot of the positioning plate; after wire placement, the coil spring drives the transmission to disengage the insertion rod from the slot, and the downward swing of the adjusting rod drives the ice-breaking foot to knock down the suspended ice, helping the moving wheel to fit the wire. After swinging to vertical, the insertion rod enters the second slot, forming a double limit with the moving wheel, solving the problem of connection failure when fully covered with ice. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a diagram showing the working state of a four-split wire de-icing robot positioned on a four-split wire.

[0019] Figure 2 Four-split wire-type de-icing robot Figure 1 Side view structural diagram.

[0020] Figure 3 This is a structural diagram of a four-split wire-type de-icing robot.

[0021] Figure 4 For a four-split wire-type de-icing robot Figure 3 Enlarged view of the structure at point C.

[0022] Figure 5 This is a structural diagram of the protective shell for a four-split wire-type de-icing robot.

[0023] Figure 6 For a four-split wire-type de-icing robot Figure 5 Sectional view of the structure at point AA.

[0024] Figure 7 This is a cross-sectional view of the lever structure of a four-split wire-type de-icing robot.

[0025] Figure 8 This is a side view of the adjusting rod structure of a four-split wire-type de-icing robot.

[0026] Figure 9 For a four-split wire-type de-icing robot Figure 8 Cross-sectional view of the structure at point BB.

[0027] Figure 10 For a four-split wire-type de-icing robot Figure 9 Enlarged view of the structure at point D.

[0028] Figure 11 For a four-split wire-type de-icing robot Figure 9 Enlarged view of the structure at point E in the middle.

[0029] Figure 12 This is a cross-sectional view of the support shell of a four-split wire-guided de-icing robot.

[0030] Figure 13 For a four-split wire-type de-icing robot Figure 12 Enlarged view of the structure at point F in the middle.

[0031] Figure 14 This is a structural diagram of the drive shaft of a four-split wire-type de-icing robot.

[0032] Figure 15 This is a cross-sectional view of the positioning disk of a four-split wire-guided de-icing robot.

[0033] In the diagram: Walking assembly 1; Support shell 11; Adjusting component 12; Rotating shaft 13; Moving wheel 14; Driving component 15; De-icing assembly 2; Fixed seat 22; De-icing component 21; Adjusting rod 211; Ice-breaking foot 212; Counterweight 213; Protective shell 214; Support seat 215; Rotating rod 216; Worm gear 217; De-icing motor 218; Worm 219; Rotating disk 2110; Driving column 2111; Swing rod 2112; First slide groove 2112-1; Second slide groove 2112-2; Rotating column 2113; Driving rod 2114; Slide rod 2115; Pendulum 2116; Connecting rod 121; Stabilizing seat 122; Positioning rod 123; Telescopic sleeve 124; Telescopic plate 125; Press bolt 126; Transmission shaft 151 ; Drive shaft 152; Driven shaft 153; Support platform 154; Moving motor 155; First bevel gear 156; Second bevel gear 157; Limiting groove 152-1; Battery compartment 158; Adjusting component 23; Positioning plate 231; First slot 231-1; Second slot 231-2; Moving sleeve 232; Insert rod 233; First spring 234; Adjusting shaft 235; Adjusting gear 236; First rack 237; Lifting plate 238; Slider 239; Positioning groove 154-1; Pull plate 2310; Hook 2311; Second rack 2312; Drive shaft 2313; Rotating gear 2314; Coil spring 2315; Follower shaft 2316; Arc groove 231-3; Return spring 2317; Stop block 2318. Detailed Implementation

[0034] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] 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.

[0036] 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

[0037] Reference Figures 1-9 and Figure 12 This is the first embodiment of the present invention, which provides a four-split wire de-icing robot. The four-split wire de-icing robot includes a walking component 1, including a support shell 11. The support shell 11 is provided with a size adjustment component 12. There are two support shells 11. The size adjustment component 12 is used to adjust the distance between the two support shells 11. The distance between the four split wires is related to the voltage level and the wire cross-section. According to the existing domestic line experience, the spacing of the four split wires is usually 400mm-500mm. By adjusting the distance between the two support shells 11, different split wire spacings can be adapted. Two rotating shafts 13 are rotatably connected in each support shell 11. The rotating shaft 13 is fixed with a moving wheel 14. The moving wheel 14 is provided with a recessed groove on its surface. The wire is located in the groove of the moving wheel 14, making it difficult for the moving wheel 14 to detach from the wire. A driving component 15 is provided in the support shell 11. The driving component 15 is used to drive the moving wheel 14 to rotate, so that the de-icing robot can move on the wire. The support shell 11 is made of insulating materials such as glass fiber reinforced plastic or epoxy resin composite material to prevent the support shell 11 from forming a conductive path when it comes into contact with multiple sub-conductors at the same time. The surface of the moving wheel 14 is covered with a silicone rubber insulating layer with a thickness of not less than 5 mm and a Shore hardness of not less than 70 HA. This ensures that when the moving wheel 14 comes into contact with the conductor, the supporting force is transmitted only through the insulating layer, blocking the current conduction between the rotating shaft 13 and the conductor. A polytetrafluoroethylene insulated bearing is installed at the rotating connection between the rotating shaft 13 and the support shell 11. The inner and outer rings of the bearing are respectively interference-fitted with the rotating shaft 13 and the support shell 11 to further isolate the electrical connection between the rotating shaft 13 and the support shell 11 and prevent multiple rotating shafts 13 from conducting electricity between conductors through the support shell 11.

[0038] De-icing assembly 2, mounted on support shell 11, includes a fixed base 22 fixed to one side of the two support shells 11. A de-icing component 21 is mounted on the fixed base 22. The de-icing component 21 removes ice from the wire. The de-icing component 21 includes an adjusting rod 211 rotatably connected within the fixed base 22. The adjusting rod 211 has ice-breaking feet 212 on its surface, located below the wire. A counterweight 213 is fixed to the end of the adjusting rod 211. When the adjusting rod 211 falls from a horizontal position to its current vertical position, the counterweight 213 increases the ice-breaking capacity of the ice-breaking feet 212 on the adjusting rod 211. The ice-breaking foot 212 knocks down the ice hanging below the wire, thereby positioning the ice-breaking foot 212 below the four-split wire and limiting the de-icing robot. In conjunction with the groove on the surface of the moving wheel 14, it can prevent the de-icing robot from detaching from the wire. The setting of the counterweight 213 makes the center of gravity of the de-icing robot lower, improving the stability of the de-icing robot when working on the four-split wire. By knocking down the ice hanging below the wire with the ice-breaking foot 212, the predicament of the de-icing robot being unable to connect with the wire when it needs to land on the wire can be avoided when the wire is covered by ice. A protective shell 214 is fixed to the surface of the adjusting rod 211. Two support seats 215 are fixed inside the protective shell 214. A rotating rod 216 is rotatably connected to the two support seats 215. A worm gear 217 is fixed to the surface of the rotating rod 216. A de-icing motor 218 is fixed inside the protective shell 214. A worm 219 is fixed to the output end of the de-icing motor 218. The worm 219 meshes with the worm gear 217 to drive the worm gear 217 to rotate, thereby driving the rotating rod 216 to rotate. A rotating disk 2110 is fixed to each of the two ends of the rotating rod 216. A drive column 2111 is fixed to one side of the rotating disk 2110. When the rotating disk 2110 rotates, it drives the drive column 2111 to perform circular motion. A rocker arm 2112 is hinged inside the protective shell 214. The rocker arm 2112 has a first sliding groove 2112-1 and a second sliding groove 2112-2. The drive column 2111 slides in the first sliding groove 2112-1. Inside 112-1, when the drive column 2111 performs circular motion, it can drive the swing rod 2112 to swing. A rotating column 2113 is rotatably connected inside the protective shell 214. A drive rod 2114 is fixed on the surface of the rotating column 2113. A sliding rod 2115 is fixed on one side of the drive rod 2114. The sliding rod 2115 slides in the second sliding groove 2112-2. When the swing rod 2112 swings, it can push the sliding rod 2115 through the second sliding groove 2112-2, so that the sliding rod 2115 drives the drive rod 2114 to swing back and forth. This causes the drive rod 2114 to drive the rotating column 2113 to rotate back and forth. A pendulum 2116 is fixed on the surface of the rotating column 2113. Through the reciprocating rotation of the rotating column 2113, the pendulum 2116 can strike the two wires on both sides, thereby knocking off the ice layer attached to the wires. The pendulum 2116 is made of hard rubber to prevent damage to the wires. Two de-icing components 21 are symmetrically arranged on the four-split wire, so that the four wires of the four-split wire can be de-iced at the same time. The symmetrically arranged de-icing components 21 can counteract the reaction force when the pendulum 2116 strikes, preventing the de-icing robot from deviating. The protective shell 214 has a pendulum 2116 on each side, which enables the de-icing robot to operate in both forward and backward directions for bidirectional de-icing. This design allows the robot to move closer to the power transmission tower, greatly expanding the de-icing coverage area and effectively solving the traditional pain point—when a drone is used to lift the de-icing robot, a landing point far away from the power transmission tower must be selected to avoid collision with the power transmission tower, resulting in a de-icing blind zone in the conductor section between the landing point and the power transmission tower.

[0039] The fixing base 22 is made of glass fiber reinforced epoxy resin composite material. This material has a bending strength ≥180MPa and an impact strength ≥25kJ / m², which can withstand the impact force when the adjusting rod 211 swings and the reaction force when the pendulum 2116 strikes the ice layer. It also has excellent insulation properties and a volume resistivity ≥1×10¹. 4 Ω・cm, breakdown voltage ≥20kV / mm, to prevent the formation of a circuit between the corresponding wires of the two support shells 11 due to the conductivity of the fixing seat 22; the surface of the fixing seat 22 is coated with a polytetrafluoroethylene coating with a thickness of 0.1-0.2mm. The coating surface is smooth and burr-free to prevent the insulation performance from being affected by dirt and moisture during long-term outdoor use.

[0040] The protective shell 214 is made of ABS insulating plastic. A ceramic insulating bushing is installed at the joint between its inner wall and the rotating rod 216 and the rotating column 2113. The bushing thickness is not less than 3mm to ensure electrical isolation between the rotating rod 216, the rotating column 2113 and the protective shell 214. The striking end of the pendulum 2116 is wrapped with a polyurethane insulating pad with a surface roughness Ra≤1.6μm to prevent direct conductivity when the pendulum 2116 strikes two wires at the same time. An insulating pad made of mica board is installed at the hinge between the adjusting rod 211 and the fixed seat 22. The pad is 2-3mm thick to isolate the current conduction between the adjusting rod 211 and the fixed seat 22 and prevent the two adjusting rods 211 from connecting different sub-wires through the fixed seat 22. Example 2

[0041] Reference Figure 3 , Figure 4 , Figure 9 , Figure 11 and Figure 12 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0042] Specifically, the size adjustment component 12 includes connecting rods 121 hinged within the support shell 11. Two mutually hinged connecting rods 121 form a group, and there are four groups of connecting rods 121 in total. A stabilizing seat 122 is rotatably connected to the hinge of two connecting rods 121. A positioning rod 123 slides within each of the two stabilizing seats 122. If the positioning rod 123 is fixed and located on the same straight line, the stabilizing seat 122 is limited and can only slide on the surface of the positioning rod 123. This allows the two support shells 11 connected by the connecting rods 121 to simultaneously approach or move away from the positioning rod 123, making the positioning rod 123 a line of symmetry between the two support shells 11. This improves the uniformity of the center of gravity distribution of the de-icing robot, enabling it to operate stably on the four-split guide wire.

[0043] Specifically, the size adjustment component 12 also includes a telescopic sleeve 124 fixed to the surface of the support shell 11, and a telescopic plate 125 fixed to the surface of another support shell 11. There are four telescopic sleeves 124 and four telescopic plates 125, which are symmetrically arranged on the upper and lower sides of the two support shells 11. The telescopic plate 125 slides inside the telescopic sleeve 124. A compression bolt 126 is rotatably connected inside the telescopic sleeve 124 by a thread. The end of the compression bolt 126 is used to compress the telescopic plate 125, thereby fixing the relative position of the telescopic plate 125 and the telescopic sleeve 124, thus fixing the relative position of the two support shells 11.

[0044] When adjusting the relative positions of the two support shells 11, the adjustment is made according to the current distance between the four split wires so that the groove of the moving wheel 14 can fall onto the top of the wire, and then the relative positions of the two support shells 11 are fixed by the compression bolt 126.

[0045] The connecting rod 121, telescopic sleeve 124, and telescopic plate 125 are all made of unsaturated polyester resin composite material, which has a volume resistivity ≥1×10¹. 4 Ω・cm, breakdown voltage ≥20kV / mm, ensuring that when the size adjustment component 12 is connected to the two support shells 11, the two wires will not be energized through the size adjustment component 12 due to the conductivity of the material; the screw surface of the extrusion bolt 126 is coated with a polyimide insulating coating with a coating thickness of 50-80μm to prevent the extrusion bolt 126 from forming a conductive path when it simultaneously contacts the telescopic sleeve 124 and the telescopic plate 125.

[0046] Specifically, the drive component 15 includes a drive shaft 151 rotatably connected to the support housing 11. Both ends of the drive shaft 151 are poweredly connected to two rotating shafts 13 via bevel gears. A power shaft 152 is rotatably connected to the support housing 11. The end of the power shaft 152 is poweredly connected to the drive shaft 151 via bevel gears. A driven shaft 153 is rotatably connected to the other support housing 11. The driven shaft 153 is poweredly connected to the drive shaft 151 via bevel gears. The driven shaft 153 slides within the power shaft 152. The driven shaft 153 is located inside the power shaft 152 and is divided into hexagonal prisms, so that the power shaft 152 can drive the driven shaft 153 to rotate. Thus, the power shaft 152 and the driven shaft 153 can simultaneously drive the drive shafts 151 in both support housings 11 to rotate, so that the two drive shafts 151 drive the four rotating shafts 13 to rotate, thereby driving the moving wheel 14.

[0047] Specifically, the drive unit 15 also includes a support platform 154 that slides on the surface of the power shaft 152. A moving motor 155 is fixed on the support platform 154. A first bevel gear 156 is fixed at the output end of the moving motor 155. A second bevel gear 157 slides on the surface of the power shaft 152. A limit groove 152-1 is formed on the surface of the power shaft 152. A limit strip that slides in the limit groove 152-1 is fixed in the second bevel gear 157, so that while the second bevel gear 157 slides on the surface of the power shaft 152, it can also drive the power shaft 152 to rotate. The second bevel gear 157 is rotatably connected to the support platform 154, and the first bevel gear 156 and the second bevel gear 157 mesh.

[0048] When the mobile motor 155 is started, the first bevel gear 156 is driven to rotate, which in turn drives the second bevel gear 157 to rotate. This causes the second bevel gear 157 to drive the power shaft 152 to rotate, which in turn drives the four rotating shafts 13 to rotate, thereby driving the mobile wheel 14. The direction of movement of the de-icing robot can be controlled by the forward and reverse rotation of the output end of the mobile motor 155.

[0049] Specifically, both positioning rods 123 are fixed inside the support platform 154. Since the support platform 154 slides on the surface of the power shaft 152, the support platform 154 is located at the intersection of the positioning rods 123 and the power shaft 152. When the two support shells 11 move closer or further apart, the support platform 154 slides on the surface of the power shaft 152, so that the support platform 154 is always located in the middle position of the two support shells 11. A battery compartment 158 ​​is fixed at the bottom of the support platform 154. The battery compartment 158 ​​is used to power the de-icing robot. The battery in the battery compartment 158 ​​can be replaced to meet the field operation requirements of the de-icing robot. Since the height of the battery compartment 158 ​​is lower than the height of the moving wheels 14, the stability of the de-icing robot operation can be improved. Example 3

[0050] Reference Figures 1-15 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0051] Specifically, the de-icing assembly 2 also includes an adjusting component 23 disposed on the surface of the fixed base 22. The adjusting component 23 includes a positioning plate 231 fixed to the surface of the adjusting rod 211. The surface of the positioning plate 231 is provided with a first slot 231-1 and a second slot 231-2. The angle deviation between the first slot 231-1 and the second slot 231-2 on the positioning plate 231 is 90 degrees. Two movable sleeves 232 slide inside the fixed base 22. A plug rod 233 slides inside the movable sleeves 232. A first spring 234 is fixed to the end of the plug rod 233. The first spring 234 is in a compressed state.

[0052] By inserting the two rods 233 into the first slot 231-1 and the second slot 231-2 respectively, the adjusting rod 211 can be in a horizontal and a vertical state respectively.

[0053] When the drone hoists the de-icing robot toward the four-split conductor, the two adjusting rods 211 are in a horizontal state, and at this time the insertion rod 233 is inserted into the first slot 231-1. When the de-icing robot lands on top of the four-split conductor, the insertion rod 233 moves away from the first slot 231-1, the positioning plate 231 on the adjusting rod 211 loses its limit, and the adjusting rod 211 can swing downward under the action of gravity, so that the ice-breaking foot 212 knocks down the ice hanging below the conductor, thereby placing the ice-breaking foot 212 below the four-split conductor, thus limiting the de-icing robot. At this time, the adjusting rod 211 is in a vertical state, and another insertion rod 233 is inserted into the second slot 231-2, thereby limiting the positioning plate 231, thus limiting the vertical state of the adjusting rod 211.

[0054] Specifically, the adjusting component 23 also includes an adjusting shaft 235 rotatably connected to the fixed base 22. An adjusting gear 236 is fixed on the surface of the adjusting shaft 235, and a first rack 237 is fixed on the surface of each of the two movable sleeves 232. The adjusting gear 236 meshes with the two first racks 237.

[0055] By rotating the adjusting shaft 235, the adjusting gear 236 can drive the two first racks 237 to move alternately, so that one moving sleeve 232 moves closer to the positioning disk 231 and the other moving sleeve 232 moves away from the positioning disk 231.

[0056] Specifically, the adjusting component 23 also includes two lifting plates 238 that slide within the support platform 154. Each of the two lifting plates 238 has a slider 239 fixed on one side. The support platform 154 has a positioning groove 154-1 on its surface. The slider 239 slides within the positioning groove 154-1 to limit the travel of the lifting plates 238. A pull plate 2310 is fixed to the top of the two lifting plates 238. A hook 2311 is fixed to the top of the pull plate 2310. The drone can lift the de-icing robot by using the hook 2311.

[0057] The positioning plate 231, the movable sleeve 232, and the pull plate 2310 are all made of phenolic resin insulating material, with no exposed metal on their surfaces. The surface of the insertion rod 233 is wrapped with a polyvinyl chloride insulating layer, with only the end section that mates with the slot exposed metal. The length of the exposed section does not exceed 1 / 2 of the slot depth, ensuring that when the insertion rod 233 is inserted into the positioning plate 231, it only achieves mechanical limiting and does not form a conductive circuit with other metal parts through the positioning plate 231. The hook 2311 is made of nylon insulating material with a load-bearing strength ≥500N, preventing the hook 2311 from becoming a conductive medium between wires during drone hoisting.

[0058] Specifically, the adjusting component 23 also includes a second rack 2312 fixed to the bottom of the two lifting plates 238 respectively. Two drive shafts 2313 are rotatably connected inside the support platform 154. A rotating gear 2314 is fixed on the surface of the drive shaft 2313. The rotating gear 2314 meshes with the second rack 2312. A coil spring 2315 is fixed inside the support platform 154. The coil spring 2315 is currently in a slightly charged state. The other end of the coil spring 2315 is fixed to the surface of the drive shaft 2313. A follower shaft 2316 is rotatably connected inside the fixed seat 22. The follower shaft 2316 and the adjusting shaft 235 are connected by bevel gears. The bevel gear on the follower shaft 2316 is smaller than the bevel gear on the adjusting shaft 235 to achieve the purpose of saving effort. The drive shaft 2313 slides inside the follower shaft 2316. This part of the drive shaft 2313 is a hexagonal prism, so that the drive shaft 2313 can drive the follower shaft 2316 to rotate. When the drone lifts the de-icing robot by using the hook 2311, the hook 2311 pulls the two lifting plates 238 through the pull plate 2310, causing the lifting plates 238 to move upward. At this time, the lifting plates 238 drive the rotating gear 2314 to rotate through the second rack 2312, which in turn drives the adjusting shaft 235 to rotate through the drive shaft 2313 and the follower shaft 2316. This causes one insertion rod 233 to move away from the second slot 231-2 and the other insertion rod 233 to move closer to the first slot 231-1. During this process, the coil spring 2315 further stores force. At this time, the staff moves the two adjusting rods 211 to the horizontal position so that the insertion rod 233 can be inserted into the first slot 231-1. At this time, both adjusting rods 211 remain in the horizontal position.

[0059] When the de-icing robot lands on top of the four-split wire, the hook 2311 loses the pull of the drone. Under the release of the spring force of the coil spring 2315, the drive shaft 2313 rotates in the reverse direction to reset, thereby causing the hook 2311 to fall and reset. At this time, the adjusting shaft 235 also rotates in the reverse direction, so that one insertion rod 233 is close to the second slot 231-2 and the other insertion rod 233 is away from the first slot 231-1. When the hook 2311 falls to the lowest point of its stroke, the insertion rod 233 is completely away from the first slot 231-1. This causes the positioning disk 231 on the adjusting rod 211 to lose its limit. Under the action of gravity, the adjusting rod 211 can swing downward, causing the ice-breaking foot 212 to knock down the ice hanging below the wire. This places the ice-breaking foot 212 below the four-split wire, thereby limiting the de-icing robot. At this time, the adjusting rod 211 is in a vertical state. Another insert rod 233 is inserted into the second slot 231-2 under the support of the first spring 234, thereby limiting the positioning disk 231 and thus limiting the vertical state of the adjusting rod 211.

[0060] An arc-shaped groove 231-3 is provided in the positioning plate 231. A return spring 2317 is fixed in the inner wall of the arc-shaped groove 231-3. A stop block 2318 is fixed in the fixed seat 22. When the adjusting rod 211 swings from the horizontal state to a swing angle of 70 degrees, the stop block 2318 can contact the return spring 2317. As the adjusting rod 211 continues to fall under the action of inertia and gravity, the stop block 2318 squeezes the return spring 2317 until the adjusting rod 211 swings 90 degrees and is in a vertical state. At this time, it is inserted into the second slot 231-2 through the insertion rod 233 to limit the adjustment rod 211.

[0061] After de-icing is completed, when the de-icing robot needs to be lifted off the four-split wire by a drone, the drone pulls the hook 2311, causing the hook 2311 to move the lifting plate 238 upward, thereby moving the insertion rod 233 away from the second slot 231-2. When the hook 2311 moves to the highest point of its stroke, the insertion rod 233 is completely away from the second slot 231-2.

[0062] Release the limit on the positioning disk 231. At this time, under the reset force of the reset spring 2317, the positioning disk 231 can drive the adjusting rod 211 to deflect by 15 degrees. The adjusting rod 211 drives the ice-breaking foot 212 away from the wire, so that the ice-breaking foot 212 will not affect the de-icing robot from moving away from the four-split wire.

[0063] The present invention, through its ice-breaking foot 212 design, knocks down the ice hanging below the conductor, thus solving the aforementioned predicament from three dimensions: "removing obstacles, exposing the conductor itself, and establishing a stable connection." The specific process and mechanism of action are as follows: When the drone lifts the de-icing robot to the four-split conductor, the adjusting rod 211 engages with the first slot 231-1 of the positioning plate 231 through the insert rod 233 to maintain a horizontal state. At this time, the ice-breaking foot 212 is in a non-contact state with the conductor, which avoids the ice-breaking foot 212 from colliding with the ice layer during the lifting process and causing the robot's posture to deviate, and ensures that the moving wheel 14 can accurately align with the top area of ​​the conductor when the conductor is dropped.

[0064] When the robot's moving wheel 14 initially contacts the top ice layer of the conductor, the hook 2311 loses the pulling force of the drone, and the coil spring 2315 releases its elasticity to drive the drive shaft 2313 to rotate in the opposite direction. Through the transmission of the follower shaft 2316 and the adjusting shaft 235, the insertion rod 233 is disengaged from the first slot 231-1. Under the dual action of its own weight and the counterweight 213, the adjusting rod 211 swings downward around the hinge hole of the fixed base 22. During this process, the ice-breaking foot 212 located on the adjusting rod 211 will make rigid contact with the ice layer hanging below the conductor. Since the gravitational potential energy is converted into kinetic energy during the swing, the ice-breaking foot 212 can generate enough impact force to break and peel off the suspended ice attached to the conductor, especially the drooping and loosely structured ice layer.

[0065] After the ice below the conductor is knocked off, it serves two key purposes: First, it removes the ice layer obstructing the bottom of the conductor, fully exposing the lower half of the conductor body and laying the foundation for the subsequent ice-breaking foot 212 to form a limit; Second, the ice layer at the top of the conductor will partially break under the indirect vibration of the moving wheel 14's gravity pressing and the swinging ice-breaking foot 212, allowing the recessed groove on the surface of the moving wheel 14 to penetrate the surface ice layer and form an effective clamp with the metal body of the conductor. After the groove and the conductor are more closely fitted, it not only prevents the robot from detaching from the conductor, but also ensures that when the drive component 15 drives the moving wheel 14 to rotate, the power can be stably transmitted to the conductor, avoiding the robot being unable to move due to slippage on the ice.

[0066] After the ice-breaking foot 212 knocks down the suspended ice, the adjusting rod 211 will continue to swing to a vertical position. At this time, the insertion rod 233 is inserted into the second slot 231-2 of the positioning plate 231 to achieve a limit. The ice-breaking foot 212 is located exactly below the wire, forming a double limiting structure of "upper clamp and lower push" with the moving wheel 14: on the one hand, the moving wheel 14 clamps the top of the wire through the slot to prevent the robot from falling off; on the other hand, the ice-breaking foot 212 abuts against the bottom of the wire to prevent the robot from slipping off due to the shaking of the wire. This double limiting structure further ensures that the robot can always maintain a stable connection with the wire in the subsequent bidirectional de-icing operation, and completely solves the technical dilemma of "the robot cannot fall off the wire and it is difficult to establish an effective connection when the wire is completely covered with ice".

[0067] When in use, the de-icing robot needs to be moved to the four-split guide wire by a drone. At this time, the drone lifts the de-icing robot by using the hook 2311. The hook 2311 pulls the two lifting plates 238 through the pull plate 2310, causing the lifting plates 238 to move upward. At this time, the staff moves the two adjusting rods 211 to the horizontal position, so that the insertion rod 233 is inserted into the first slot 231-1. At this time, both adjusting rods 211 are kept in the horizontal position.

[0068] When the de-icing robot falls to the top of the four-split conductor, the hook 2311 loses the pull of the drone. Under the release of the elastic force of the coil spring 2315, the drive shaft 2313 rotates in the reverse direction to reset, thereby causing the hook 2311 to fall and reset. The adjusting shaft 235 also rotates in the reverse direction, causing one insert rod 233 to move closer to the second slot 231-2 and the other insert rod 233 to move away from the first slot 231-1. This causes the positioning plate 231 on the adjusting rod 211 to lose its limit. Under the action of gravity, the adjusting rod 211 can swing downward, causing the ice-breaking foot 212 to knock down the ice hanging below the conductor. This places the ice-breaking foot 212 below the four-split conductor, thereby limiting the de-icing robot. At this time, the adjusting rod 211 is in a vertical state. The other insert rod 233 is inserted into the second slot 231-2 under the support of the first spring 234, thereby limiting the positioning plate 231 and limiting the vertical state of the adjusting rod 211.

[0069] At this time, the de-icing motor 218 is activated, causing the worm gear 219 to drive the worm wheel 217 to rotate, which in turn drives the rotating rod 216 to rotate. The rotating rod 216 drives the two rotating disks 2110 at both ends to rotate. When the rotating disks 2110 rotate, they can drive the drive column 2111 to perform circular motion. The drive column 2111 drives the swing rod 2112 to swing through the first slide groove 2112-1. When the swing rod 2112 swings, it can push the slide rod 2115 through the second slide groove 2112-2, causing the slide rod 2115 to drive the drive rod 2114 to swing back and forth. This causes the drive rod 2114 to drive the rotating column 2113 to rotate back and forth. Through the reciprocating rotation of the rotating column 2113, the pendulum 2116 can strike the two wires on both sides, thereby knocking off the ice layer attached to the wires. The de-icing robot moves on the wires to remove ice from the four-split wires.

[0070] After de-icing is completed, when the de-icing robot needs to be lifted away from the four-split wire by a drone, the drone pulls the hook 2311, causing the hook 2311 to move the lifting plate 238 upward, thereby moving the insertion rod 233 away from the second slot 231-2 and releasing the limit on the positioning plate 231. At this time, under the reset force of the reset spring 2317, the positioning plate 231 can drive the adjusting rod 211 to deflect, and the adjusting rod 211 drives the ice-breaking foot 212 away from the wire, so that the ice-breaking foot 212 will not affect the de-icing robot moving away from the four-split wire.

[0071] Furthermore, when in use, the de-icing robot is not obstructed by the spacers of the four-split conductor, allowing the de-icing robot to move freely between two transmission towers.

[0072] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A four-bundle conductor de-icing robot, characterized by: Including, The walking assembly (1) includes a support shell (11), the support shell (11) is provided with a size adjusting part (12), the support shell (11) is rotatably connected with a rotating shaft (13), the rotating shaft (13) is fixed with a moving wheel (14), and the support shell (11) is provided with a driving part (15); The deicing assembly (2) is arranged on the support shell (11) and includes a fixed seat (22) fixed to one side of the support shell (11), and the fixed seat (22) is provided with a deicing part (21); the deicing part (21) includes an adjusting rod (211) rotatably connected in the fixed seat (22), the adjusting rod (211) is provided with an ice breaking foot (212) on the surface, the adjusting rod (211) is fixed with a counterweight (213) at the end, the adjusting rod (211) is fixed with a protective shell (214) on the surface, the protective shell (214) is rotatably connected with a rotating column (2113), and the rotating column (2113) is fixed with a pendulum (2116) on the surface.

2. The quad-bundle de-icing robot of claim 1, wherein: The deicing part (21) further includes a support seat (215) fixed in the protective shell (214), a rotating rod (216) rotatably connected in the support seat (215), a worm gear (217) fixed on the surface of the rotating rod (216), a deicing motor (218) fixed in the protective shell (214), a worm (219) fixed on the output end of the deicing motor (218), a rotating disc (2110) fixed at the end of the rotating rod (216), a driving column (2111) fixed on one side of the rotating disc (2110), a swing rod (2112) hinged in the protective shell (214), a first sliding groove (2112-1) and a second sliding groove (2112-2) formed in the swing rod (2112), the driving column (2111) sliding in the first sliding groove (2112-1), a driving rod (2114) fixed on the surface of the rotating column (2113), a sliding rod (2115) fixed on one side of the driving rod (2114), and the sliding rod (2115) sliding in the second sliding groove (2112-2).

3. The quad-bundle de-icing robot of claim 2, wherein: The size adjusting part (12) includes a connecting rod (121) hinged in the support shell (11), and a stabilizing seat (122) rotatably connected at the other end of the connecting rod (121); The size adjusting part (12) further includes a telescopic sleeve (124) fixed on the surface of the support shell (11), and a telescopic plate (125) fixed on the surface of the other support shell (11), the telescopic plate (125) sliding in the telescopic sleeve (124), and the telescopic sleeve (124) is rotatably connected with an extrusion bolt (126) through threads.

4. The quad-bundle de-icing robot of claim 3, wherein: The driving piece (15) comprises a transmission shaft (151) rotatably connected in the support shell (11), the transmission shaft (151) and the rotating shaft (13) are power-connected through bevel gears, a power shaft (152) is rotatably connected in the support shell (11), the power shaft (152) and the transmission shaft (151) are power-connected through bevel gears, a driven shaft (153) is rotatably connected in the other support shell (11), the driven shaft (153) and the transmission shaft (151) are power-connected through bevel gears, and the driven shaft (153) slides in the power shaft (152).

5. The quad-bundle de-icing robot of claim 4, wherein: The driving piece (15) further comprises a support table (154) sliding on the surface of the power shaft (152), a moving motor (155) is fixed on the support table (154), a first bevel gear (156) is fixed on the output end of the moving motor (155), a second bevel gear (157) slides on the surface of the power shaft (152), a limiting groove (152-1) is formed in the surface of the power shaft (152), a limiting strip sliding in the limiting groove (152-1) is fixed in the second bevel gear (157), the second bevel gear (157) is rotatably connected in the support table (154), and the first bevel gear (156) is engaged with the second bevel gear (157).

6. The quad-bundle de-icing robot of claim 5, wherein: The positioning rod (123) is fixed in the support table (154), and a battery compartment (158) is fixed to the bottom of the support table (154).

7. The quad-bundle de-icing robot of claim 5 or 6, wherein: The deicing assembly (2) further comprises an adjusting piece (23) arranged on the surface of the fixing seat (22), the adjusting piece (23) comprises a positioning disc (231) fixed on the surface of the adjusting rod (211), first and second insertion grooves (231-1 and 231-2) are formed in the surface of the positioning disc (231), a moving sleeve (232) slides in the fixing seat (22), an insertion rod (233) slides in the moving sleeve (232), and a first spring (234) is fixed to the end of the insertion rod (233).

8. The quad-bundle de-icing robot of claim 7, wherein: The adjusting piece (23) further comprises an adjusting shaft (235) rotatably connected in the fixing seat (22), an adjusting gear (236) is fixed on the surface of the adjusting shaft (235), a first rack (237) is fixed on the surface of the moving sleeve (232), and the adjusting gear (236) is engaged with the first rack (237).

9. The quad-bundle de-icing robot of claim 8, wherein: The adjusting piece (23) further comprises a lifting plate (238) sliding in the support table (154), a sliding block (239) is fixed to one side of the lifting plate (238), a positioning groove (154-1) is formed in the surface of the support table (154), the sliding block (239) slides in the positioning groove (154-1), a pull plate (2310) is fixed to the top of the lifting plate (238), and a hook (2311) is fixed to the top of the pull plate (2310).

10. The quad-bundle de-icing robot of claim 9, wherein: The adjusting part (23) further comprises a second gear rack (2312) fixed to the bottom of the lifting plate (238), a driving shaft (2313) rotatably connected in the support table (154), a rotating gear (2314) fixed to the surface of the driving shaft (2313), the rotating gear (2314) engaged with the second gear rack (2312), a coil spring (2315) fixed in the support table (154), the other end of the coil spring (2315) fixed to the surface of the driving shaft (2313), a driven shaft (2316) rotatably connected in the fixed seat (22), the driven shaft (2316) and the adjusting shaft (235) connected through a bevel gear, the driving shaft (2313) slides in the driven shaft (2316), an arc-shaped slot (231-3) is arranged in the positioning disc (231), a return spring (2317) is fixed to the inner wall of the arc-shaped slot (231-3), and a stop block (2318) is fixed in the fixed seat (22).

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