Ice shedding clamp jaw emergency release method, device and suspension insulator de-icing robot

Abstract

This invention belongs to the field of power robot technology. It proposes an emergency release method and device for de-icing grippers, as well as a suspended insulator de-icing robot. When two de-icing grippers clamp onto an insulator and cannot move away from each other, or when they are moving away but the maximum distance between them is less than the insulator's maximum diameter, the de-icing gripper release is deemed a failure. When the de-icing gripper release fails, an emergency pull ring is activated by a drone to pull the insertion pin out of the slide block, disengaging the de-icing support column from the slide block. The horizontal drive mechanism connected to the slide block then ceases to act on the de-icing support column. The drone then lifts the suspended insulator de-icing robot away from the insulator, and the slide block tensions the connecting wire to disengage the de-icing support column and de-icing blade from the insulator, completing the emergency release. This invention solves the problem of de-icing gripper release failure, overcomes the shortcomings of traditional methods lacking a reliable emergency release mechanism, and improves the reliability of emergency release.

Description

Technical Field

[0001] This invention relates to the field of electric robot technology, specifically to an emergency detachment method and device for de-icing grippers, and a de-icing robot for suspended insulators. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In winter operation and maintenance of power transmission systems, the icing problem of suspension insulator strings directly threatens the safe operation of the power grid. Icing can lead to a decrease in the insulation performance of insulators, frequent flashover faults, and even serious accidents such as string breakage and tower overturning due to ice load. Therefore, insulator string de-icing technology has always been a research focus in the field of power operation and maintenance. Traditional de-icing methods are mainly manual, requiring maintenance personnel to climb towers, which is not only inefficient but also poses significant safety risks such as falls from heights and electric shocks. With the development of automation technology, various automated de-icing equipment has been gradually applied. Existing solutions mainly include impact de-icing, thermal melting, and mechanical scraping de-icing, among which mechanical de-icing has become a research hotspot due to its strong adaptability and low energy consumption. To improve operational convenience, some automation solutions introduce drones as auxiliary equipment for aerial deployment, attitude adjustment, and operation monitoring of de-icing equipment, forming a de-icing technology architecture of "ground control + aerial assistance + automated execution".

[0004] While existing automated de-icing technologies have addressed some of the drawbacks of manual de-icing, significant technological gaps remain. Impact de-icing is prone to damaging the insulator enamel surface due to improper impact force control; thermal de-icing is energy-intensive and its efficiency drops sharply in frigid environments; traditional mechanical scraping de-icing is structurally limited and cannot adapt to the different shapes of various insulator strings, easily leading to incomplete de-icing or jamming. More critically, there is currently no gripper-type de-icing solution specifically designed for insulator strings. Existing mechanical structures cannot achieve precise contact and stable operation with insulator strings. If a gripper structure is used for de-icing, the problem of detachment after operation will arise. After the gripper is in contact with the insulator string, it is easily affected by factors such as ice adhesion and deviation in operating posture, resulting in situations where it cannot detach according to the preset program. At the same time, existing auxiliary drones are only used for deployment or monitoring and have not established an emergency linkage mechanism with the de-icing execution mechanism. There is a lack of external intervention means to deal with detachment failures. Once jamming occurs, manual handling is required, returning to the dilemma of high safety risks and low efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an emergency detachment method and device for de-icing grippers, as well as a de-icing robot for suspended insulators. This solves the problem of de-icing gripper detachment failure, improves the reliability of emergency detachment, and avoids the safety risks caused by de-icing grippers remaining on insulators.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an emergency detachment method for de-icing grippers.

[0007] An emergency release method for de-icing grippers is applied to a suspended insulator de-icing robot containing two de-icing grippers arranged in opposite positions. The de-icing grippers include a de-icing blade, a de-icing support column, and a slide. The de-icing blade is fixedly connected to the de-icing support column, and the de-icing support column is connected to the slide via a pin. A slack connection line is connected between the de-icing support column and the slide. An emergency pull ring is provided on the pin. When the two de-icing clamps clamp the insulator and cannot move away from each other, or when they move away from each other but the maximum distance between them is less than the maximum diameter of the insulator, the de-icing clamps are deemed to have failed to disengage. When the de-icing gripper fails to disengage, the emergency pull ring is pulled by a drone to remove the plug pin from the slide, thus detaching the de-icing support from the slide. The drone will be hoisted away from the insulator along with the suspension insulator de-icing robot. The sliding block will drive the connecting wire to tighten, thereby causing the de-icing support and de-icing blade to detach from the insulator, completing the emergency detachment.

[0008] In one optional implementation of the first aspect of the present invention, when the de-icing gripper fails to disengage, the controller of the suspension insulator de-icing robot automatically sends an emergency disconnection request to the drone, so that the drone pulls the emergency pull ring through the suspended boom according to the received request.

[0009] In one optional implementation of the first aspect of the present invention, when the de-icing gripper fails to disengage, the controller of the suspension insulator de-icing robot sends an emergency disconnection request to the ground control terminal, so that the ground control terminal sends an emergency disconnection control command to the drone, thereby controlling the drone to pull the emergency pull ring.

[0010] In one optional implementation of the first aspect of the present invention, when the de-icing gripper fails to disengage, the UAV is directly controlled by the ground control terminal to pull the emergency pull ring.

[0011] Secondly, the present invention provides a de-icing device.

[0012] A de-icing device includes: a support frame, a horizontal moving mechanism, a horizontal telescopic mechanism, and two de-icing grippers arranged in opposite positions. Each de-icing gripper includes a de-icing blade, a de-icing support column, and a slide. The de-icing blade is fixedly connected to the de-icing support column, and the de-icing support column is connected to the slide via a pin. A slack connection line is connected between the de-icing support column and the slide. An emergency pull ring is provided on the pin. The slide is connected to the output end of the horizontal moving mechanism, and the horizontal telescopic mechanism is fixed on the support frame. The output end of the horizontal telescopic mechanism is connected to the horizontal moving mechanism. The two de-icing grippers move left and right under the drive of their respective horizontal moving mechanisms, so as to move closer to each other to grip the ice or move further apart to detach. The horizontal telescopic mechanism is used to drive the horizontal moving mechanism to move back and forth.

[0013] In one implementation of the second aspect of the present invention, the de-icing blade is fixed to the inner side of the de-icing support column, and side baffles are fixed to both the upper and lower parts of the de-icing support column. The side baffles are used to contact the skirts of the insulator string to limit the movement distance of the de-icing blade.

[0014] In an optional implementation of the second aspect of the present invention, the de-icing blade is a double-layered blade arranged vertically, with a connecting post connecting the double-layered blade. The connecting post is used to contact the skirt of the insulator string to limit the movement distance of the double-layered blade. The horizontal moving mechanism is connected to the support frame through multiple sections of guide rails.

[0015] In an optional implementation of the second aspect of the present invention, the two jaws of any group of de-icing grippers are arranged in a staggered manner.

[0016] In one implementation of the second aspect of the present invention, the horizontal moving mechanism is connected to the support frame via a multi-section guide rail.

[0017] Thirdly, the present invention provides a suspended insulator de-icing robot.

[0018] A suspended insulator de-icing robot includes a lifting mechanism, a hoisting mechanism, and a de-icing device according to the second aspect of the present invention. The hoisting mechanism is fixed to the upper part of the lifting mechanism, and the lower part of the lifting mechanism is connected to the support frame. The hoisting mechanism includes a hoisting guide section, a hanging guide section, and a guide plate. The hoisting guide section is used for hoisting the UAV onto and off the hoisting line, the hanging guide section is used for hanging on the hanging beam, and the guide plate is inclined and attached to the transition part between the lifting mechanism and the hoisting mechanism.

[0019] In one implementation of the third aspect of the present invention, the lifting mechanism includes a lifting module and a hoisting module, with the hoisting module arranged at the bottom of the lifting module. The lifting module includes a lifting upper connecting plate, multiple insulating rods, multiple insulating rod connecting plates, upper insulating rod clamps, lower insulating rod clamps, a bottom rectangular tube, and insulating ropes. The top of the multiple insulating rods is connected to the lifting upper connecting plate through the upper insulating rod clamps, and the bottom of the multiple insulating rods is connected to the bottom rectangular tube through the lower insulating rod clamps. The bottom rectangular tube is fixed to the support frame. The winch module includes pulleys, rollers, a winch motor support, a winch motor, and a winch bracket. The winch bracket is fixed to the bottom rectangular tube, the winch motor support is fixed to the winch bracket, and the winch motor is fixed to the winch motor support. The winch motor is connected to the rollers, the pulleys are fixed to the bottom rectangular tube, one end of the insulating rope is connected to the lifting upper connecting plate, and the other end of the insulating rope passes around the pulley and is wound around the roller. The winch motor winds or unwinds the insulating rope through the rollers, thereby driving the support frame to move up and down.

[0020] Fourthly, the present invention provides a suspension insulator de-icing system, including an anti-fall hook device arranged on the crossarm of the tower and a suspension insulator de-icing robot according to the third aspect of the present invention. The anti-fall hook device includes a mounting beam, and the mounting guide part of the suspension insulator de-icing robot is mounted on the mounting beam.

[0021] Compared with the prior art, the beneficial effects of the present invention are: This invention innovatively proposes an emergency detachment method for de-icing grippers and develops a suspended insulator de-icing robot. By utilizing the combination of plug-in pins connecting the de-icing support column and the slide, slack connecting wires, and the use of a drone to pull the emergency pull ring, the problem of de-icing gripper detachment failure is solved, overcoming the shortcomings of traditional methods that lack a reliable emergency detachment mechanism. By using a drone to pull the plug-in pin separation component, combined with hoisting to tension and detach the connecting wires, the reliability of emergency detachment is improved, and the safety risks caused by de-icing grippers remaining on the insulator are avoided.

[0022] This invention innovatively designs a de-icing device that utilizes the cooperation of double de-icing grippers, side baffles, multi-section guide rails, horizontal movement, and telescopic mechanism to overcome the shortcomings of traditional mechanical scraping, such as poor adaptability and incomplete de-icing. The side baffles limit the blade's movement distance to protect the insulator, the multi-section guide rails improve the stability of horizontal movement, and the horizontal telescopic mechanism adapts to different working positions, thereby improving the de-icing accuracy and the stability of the mechanism's operation and avoiding blade damage to the insulator and jamming problems.

[0023] This invention utilizes an integrated solution of lifting mechanism, hoisting mechanism and de-icing device to overcome the shortcomings of traditional de-icing equipment, such as inconvenient deployment and limited operation. The hoisting guide is adapted to drone hoisting, the hanging guide achieves stable hanging, and the lifting mechanism adjusts the height through the winch module, which improves the equipment deployment efficiency and adaptability to the working height, and avoids the safety risks of manual tower climbing deployment.

[0024] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0026] Figure 1 A schematic diagram of the structure of an ice clamping device provided in an exemplary embodiment of the present invention; Figure 2 A schematic diagram of the structure of the de-icing gripper provided in an exemplary embodiment of the present invention; Figure 3 A schematic diagram of a horizontal moving mechanism provided as an exemplary embodiment of the present invention. Figure 1 ; Figure 4 A schematic diagram of a horizontal moving mechanism provided as an exemplary embodiment of the present invention. Figure 2 ; Figure 5 A schematic diagram of a horizontal moving mechanism provided as an exemplary embodiment of the present invention. Figure 3 ; Figure 6 Structural details of a suspension insulator de-icing robot provided as an exemplary embodiment of the present invention. Figure 1 ; Figure 7 Structural details of a suspension insulator de-icing robot provided as an exemplary embodiment of the present invention. Figure 2 ; Figure 8 Structural details of a suspension insulator de-icing robot provided as an exemplary embodiment of the present invention. Figure 3 ; Figure 9 Structural details of a suspension insulator de-icing robot provided as an exemplary embodiment of the present invention. Figure 4 ; Figure 10 A flowchart illustrating an emergency detachment method for de-icing grippers provided as an exemplary embodiment of the present invention; in, 1. Horizontal moving mechanism; 101. Moving base; 102. De-icing module; 103. Moving rack; 104. De-icing module slider; 105. Trapezoidal lead screw; 106. Clamping motor output shaft; 107. Motor connecting seat; 108. Clamping motor; 109. Fixed base; 110. Moving cable chain; 111. Cable chain bracket; 112. Camera; 113. Camera bracket; 114. Translation guide rail; 115. Translation slider; 116. Gear motor output shaft; 117. Gear retaining ring; 118. Drive gear; 119. Motor mounting plate; 120. Gear motor; 2. Telescopic mechanism; 3. De-icing gripper; 301. Side baffle; 302. De-icing blade; 303. De-icing support; 304. Blade support; 305. Wedge-shaped slide; 306. Hard limit stop; 307. Insert / remove pin; 308. Emergency pull ring; 4. Multi-section guide rail; 5. Control box; 6. Battery box; 7. Support frame; 8. Quick-release connecting plate; 9. Multi-section insulating rod; 10. Lifting mechanism; 11. Hanging guide; 12. Guide plate; 13. Lifting guide; 14. Lifting module; 15. Winch module; 16. Upper clamp of insulating rod; 17. Upper lifting connecting plate; 18. Insulating rope; 19. Multi-section insulating rod connecting plate; 20. Pipe clamp; 21. Rectangular tube; 22. Lower clamp of insulating rod; 23. Pulley; 24. Roller; 25. Winch motor support; 26. Winch motor; 27. Winch bracket. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0029] like Figure 1 As shown, this implementation proposes an ice-clamping device, including: a support frame 7, a horizontal moving mechanism 1, a horizontal telescopic mechanism 2, and two ice-removing grippers 3 arranged opposite to each other. A control box 5 and a battery box 6 are mounted on the support frame 7, and a quick-release connecting plate 8 is connected to the support frame 7. Figure 2 As shown, the de-icing gripper 3 includes a de-icing blade 302, a de-icing support column 303, and a wedge-shaped slide 305. The de-icing blade 302 and the de-icing support column 303 are fixedly connected by a blade support 304. The de-icing support column 303 and the wedge-shaped slide 305 are connected by a plug-in pin 307. A slack connecting line is connected between the de-icing support column 303 and the wedge-shaped slide 305. An emergency pull ring 308 is provided on the plug-in pin 307. The wedge-shaped slide 305 is connected to the output end of the horizontal moving mechanism 1, and the horizontal telescopic mechanism 2 is fixed on the support frame 7. The output end of the horizontal telescopic mechanism 2 is connected to the horizontal moving mechanism 1. The two de-icing grippers 3 are driven by the corresponding horizontal moving mechanism 1 to move left and right, so as to move closer to each other to clamp ice or move away from each other to detach. The horizontal telescopic mechanism 2 is used to drive the horizontal moving mechanism 1 to move back and forth.

[0030] like Figure 3 , Figure 4 and Figure 5As shown, the horizontal moving mechanism 1 includes: a moving base 101, a de-icing module 102, a moving rack 103, a de-icing module slider 104, a trapezoidal lead screw 105, a clamping motor output shaft 106, a motor connecting seat 107, a clamping motor 108, a fixed base 109, a moving cable chain 110, a cable chain bracket 111, a camera 112, a camera bracket 113, a translation guide rail 114, a translation slider 115, a gear motor output shaft 116, a gear retaining ring 117, a drive gear 118, a motor mounting plate 119, and a gear motor 120.

[0031] Both the cable chain bracket 111 and the camera bracket 113 are fixed on the fixed base 109. The fixed base 109 is fixedly connected to the telescopic frame. A movable cable chain 110 is fixed on the cable chain bracket 111, and a camera 112 is connected to the camera bracket 113.

[0032] The movable rack 103 is fixed to the bottom of the movable base 101. A motor connector 107 is fixed on the movable base 101. A clamping motor 108 is fixed on the motor connector 107. The output shaft 106 of the clamping motor is connected to the trapezoidal lead screw 105. The threads on both sides of the trapezoidal lead screw 105 are opposite. A de-icing module slider 104 is connected to each side of the trapezoidal lead screw 105 by threads. Each de-icing module slider 104 is connected to a wedge-shaped slide block 305.

[0033] In this implementation, the de-icing blade 302 is fixed to the inner side of the de-icing support column 303. Side baffles 301 are fixed to both the upper and lower parts of the de-icing support column 303. The side baffles 301 are used to contact the skirts of the insulator string to limit the movement distance of the de-icing blade 302.

[0034] The wedge-shaped slide block 305 is fixed on the de-icing module slider 104. The de-icing module slider 104 is fixed with a hard limit block 306. The limit blocks 308 on the two de-icing claws 3 are arranged opposite to each other.

[0035] The motor mounting plate 119 is fixed on the telescopic frame, and the telescopic frame is provided with a translation guide rail 114. The movable base 101 is slidably connected to the translation guide rail 114 through the translation slider 115. The output end of the horizontal telescopic mechanism 2 is connected to the telescopic frame. The telescopic frame and the support frame 7 are connected through a multi-section guide rail 4. A gear motor 120 is connected to the motor mounting plate 119. A gear retaining ring 117 is provided at the end of the output shaft 116 of the gear motor. A drive gear 118 is connected to the output shaft 116 of the gear motor. The drive gear 118 and the movable rack 103 drive the horizontal moving mechanism 1 to move left and right as a whole to achieve the clamping of the two insulator strings.

[0036] In this implementation, a suspended insulator de-icing robot is proposed, such as... Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, it includes a lifting mechanism, a hoisting mechanism 10, and a de-icing device. The hoisting mechanism 10 is fixed to the upper part of the lifting mechanism, and the lower part of the lifting mechanism is connected to the support frame 7. The hoisting mechanism 10 includes a hoisting guide section 13, a hanging guide section 11, and a guide plate 12. The hoisting guide section 13 is used for hoisting the UAV onto the line and hoisting it off the line. The hanging guide section 11 is used for hanging on the hanging beam. The guide plate 12 is inclined and attached to the transition part between the lifting mechanism and the hoisting mechanism 10.

[0037] In this implementation, the lifting mechanism includes a lifting module 14 and a hoisting module 15, with the hoisting module 15 arranged at the bottom of the lifting module 14; The lifting module 14 includes an upper lifting plate 17, multiple insulating rods 9, multiple insulating rod connecting plates 19, upper insulating rod clamps 16, lower insulating rod clamps 22, a bottom rectangular tube 21, and an insulating rope 18. The top of the multiple insulating rods 9 is connected to the upper lifting plate 17 through the upper insulating rod clamps 16, and the bottom of the multiple insulating rods 9 is connected to the bottom rectangular tube 21 through the lower insulating rod clamps 22. The bottom rectangular tube 21 is fixed on the support frame 7. Pipe clamps 20 are fitted on the multiple insulating rods 9, and two multiple insulating rods 9 are connected by the multiple insulating rod connecting plates 19.

[0038] The hoisting module 15 includes a pulley 23, a roller 24, a hoisting motor support 25, a hoisting motor 26, and a hoisting bracket 27. The hoisting bracket 27 is fixed on the bottom rectangular tube 21, the hoisting motor support 25 is fixed on the hoisting bracket 27, the hoisting motor 26 is fixed on the hoisting motor support 25, the hoisting motor 26 is connected to the roller 24, the pulley 23 is fixed on the bottom rectangular tube 21, one end of the insulating rope 18 is connected to the lifting upper connecting plate 17, and the other end of the insulating rope 18 passes around the pulley 23 and is wound around the roller 24. The hoisting motor 26 winds or unwinds the insulating rope 18 through the roller 24, thereby driving the support frame to move up and down.

[0039] Based on the above-mentioned suspension insulator de-icing robot, such as Figure 10 As shown, this implementation proposes an emergency release method for the de-icing gripper 3, which is applied to a suspended insulator de-icing robot containing two de-icing grippers 3 arranged in opposite positions. The de-icing gripper 3 includes a de-icing blade 302, a de-icing support column 303, and a wedge-shaped slide 305. The de-icing blade 302 is fixedly connected to the de-icing support column 303, and the de-icing support column 303 is connected to the wedge-shaped slide 305 by a plug-in pin 307. A slack connection line is connected between the de-icing support column 303 and the wedge-shaped slide 305. An emergency pull ring 308 is provided on the plug-in pin 307. S1001: When the two de-icing grippers 3 clamp the insulator and cannot move away from each other under the action of the horizontal drive mechanism, or when they move away from each other but the maximum distance between them is less than the maximum diameter of the insulator, it is determined that the de-icing grippers 3 have failed to disengage. S1002: When the de-icing gripper 3 fails to disengage, the emergency pull ring 308 is pulled by the drone to pull the plug pin 307 out of the wedge slide 305, the de-icing support 303 is disengaged from the wedge slide 305, and the horizontal drive mechanism connected to the wedge slide 305 no longer acts on the de-icing support 303. S1003: The drone lifts the robot body connected to the wedge-shaped slide 305 away from the insulator. The wedge-shaped slide 305 drives the connecting line to tighten, thereby causing the de-icing support 303 and the blade to detach from the insulator, completing the emergency detachment.

[0040] In this implementation, when the de-icing gripper 3 fails to detach, the controller of the suspended insulator de-icing robot automatically sends an emergency disconnection request to the drone, so that the drone pulls the emergency pull ring 308 via the suspended boom according to the received request. That is, the controller of the suspended insulator de-icing robot is the main control body. Optionally, in some other implementations, when the de-icing gripper 3 fails to detach, the controller of the suspended insulator de-icing robot sends an emergency disconnection request to the ground control terminal, so that the ground control terminal sends an emergency disconnection control command to the drone, thereby controlling the drone to pull the emergency pull ring 308. At this time, the ground control terminal controls the drone's actions according to the response of the controller of the suspended insulator de-icing robot. Alternatively, in some other implementations, manual operation is adopted, that is, when the ground staff visually discovers that the de-icing gripper 3 has failed to detach, they directly control the drone to pull the emergency pull ring 308 through the ground control terminal.

[0041] Based on the above-mentioned suspended insulator de-icing robot, this implementation also proposes a suspended insulator de-icing system, which also includes an anti-fall hook device arranged on the crossarm of the tower (pre-installed on the crossarm of the tower by a drone). The anti-fall hook device includes a mounting beam, and the mounting guide part of the suspended insulator de-icing robot is mounted on the mounting beam.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A de-icing device, characterized in that, include: The system includes a support frame, a horizontal moving mechanism, a horizontal telescopic mechanism, and two de-icing grippers arranged in opposite positions. Each de-icing gripper includes a de-icing blade, a de-icing support column, and a slide. The de-icing blade is fixedly connected to the de-icing support column, and the de-icing support column is connected to the slide via a pin. A slack connection line is connected between the de-icing support column and the slide. An emergency pull ring is provided on the pin. The slide is connected to the output end of the horizontal moving mechanism, and the horizontal telescopic mechanism is fixed on the support frame. The output end of the horizontal telescopic mechanism is connected to the horizontal moving mechanism. The two de-icing grippers move left and right under the drive of the corresponding horizontal moving mechanism, so as to move closer to each other to clamp ice or move away from each other to detach. The horizontal telescopic mechanism is used to drive the horizontal moving mechanism to move back and forth. The de-icing blade is fixed to the inside of the de-icing support column. Side baffles are fixed to the upper and lower parts of the de-icing support column. The side baffles are used to contact the skirts of the insulator string to limit the movement distance of the de-icing blade. The de-icing blades are double-layered blades arranged vertically, with connecting posts between the two layers. The connecting posts are used to contact the skirts of the insulator string to limit the movement distance of the double-layered blades. The horizontal moving mechanism is connected to the support frame through multiple sections of guide rails. The two grippers of any group of de-icing grippers are arranged vertically in a staggered manner.

2. A method for emergency release of de-icing grippers, characterized in that, A de-icing robot for suspended insulators, comprising two de-icing grippers arranged in opposite positions, utilizes the de-icing device as described in claim 1. When the two de-icing clamps clamp the insulator and cannot move away from each other, or when they move away from each other but the maximum distance between them is less than the maximum diameter of the insulator, the de-icing clamps are deemed to have failed to disengage. When the de-icing gripper fails to disengage, the emergency pull ring is pulled by a drone to remove the plug pin from the slide, thus detaching the de-icing support from the slide. The drone lifts the suspended insulator de-icing robot away from the insulator, and the sliding block drives the connecting wire to tension so that the de-icing support and de-icing blade can be separated from the insulator, completing the emergency separation.

3. The emergency release method for de-icing grippers as described in claim 2, characterized in that, When the de-icing gripper fails to disengage, the controller of the suspension insulator de-icing robot automatically sends an emergency disconnection request to the drone, so that the drone can pull the emergency pull ring via the suspended boom according to the received request.

4. The emergency detachment method for de-icing grippers as described in claim 2, characterized in that, When the de-icing gripper fails to detach, the controller of the suspension insulator de-icing robot sends an emergency disconnection request to the ground control terminal, which then sends an emergency disconnection control command to the drone, thereby controlling the drone to pull the emergency pull ring.

5. The emergency detachment method for de-icing grippers as described in claim 2, characterized in that, If the de-icing gripper fails to detach, the drone can be directly controlled via the ground control terminal to pull the emergency pull ring.

6. A suspended insulator de-icing robot, characterized in that, It includes a lifting mechanism, a hoisting mechanism, and the de-icing device as described in claim 1, wherein the hoisting mechanism is fixed to the upper part of the lifting mechanism, and the lower part of the lifting mechanism is connected to the support frame. The hoisting mechanism includes a hoisting guide section, a hanging guide section, and a guide plate. The hoisting guide section is used for hoisting the UAV onto and off the hoisting line, the hanging guide section is used for hanging on the hanging beam, and the guide plate is inclined and attached to the transition part between the lifting mechanism and the hoisting mechanism.

7. The suspended insulator de-icing robot as described in claim 6, characterized in that, The lifting mechanism includes a lifting module and a winch module, with the winch module located at the bottom of the lifting module; The lifting module includes a lifting upper connecting plate, multiple insulating rods, multiple insulating rod connecting plates, upper insulating rod clamps, lower insulating rod clamps, a bottom rectangular tube, and insulating ropes. The top of the multiple insulating rods is connected to the lifting upper connecting plate through the upper insulating rod clamps, and the bottom of the multiple insulating rods is connected to the bottom rectangular tube through the lower insulating rod clamps. The bottom rectangular tube is fixed to the support frame. The winch module includes pulleys, rollers, a winch motor support, a winch motor, and a winch bracket. The winch bracket is fixed to the bottom rectangular tube, the winch motor support is fixed to the winch bracket, and the winch motor is fixed to the winch motor support. The winch motor is connected to the rollers, and the pulleys are fixed to the bottom rectangular tube. One end of the insulating rope is connected to the lifting upper connecting plate, and the other end of the insulating rope passes around the pulley and is wound around the roller. The winch motor winds or unwinds the insulating rope through the rollers, thereby driving the support frame to move up and down.

8. A de-icing system for suspension insulators, characterized in that, It includes a fall protection hook device arranged on the crossarm of the tower and a suspended insulator de-icing robot as described in claim 6 or 7. The fall protection hook device includes a mounting beam, and the mounting guide part of the suspended insulator de-icing robot is mounted on the mounting beam.

Images