A deicing robot with wind-chasing self-power generation function

Abstract

This invention discloses a de-icing robot with wind-following and self-generating power capabilities, comprising a body support module, a clamping and walking module, and a de-icing module. The invention features fixed side-mounted wind power generation modules on both sides of the outer shell, and wind-following power generation modules with tail fins and automatic positioning on the top and bottom of the outer shell. Through this multi-source energy supply layout of wind-following generators at the top and bottom of the body and fixed generators on both sides, efficient wind energy capture is achieved, enhancing the de-icing robot's endurance and optimizing overall power distribution and space utilization. Utilizing the gyroscopic axis-fixed effect of the distributed aerodynamic unit and the aerodynamic restoring torque of the tail fin, an attitude stabilization system is constructed, effectively suppressing body yaw caused by strong winds, reducing stress concentration and operational fluctuations caused by swaying, and ensuring the stability and safety of de-icing operations, thus possessing significant engineering application value.

Description

Technical Field

[0001] This invention belongs to the field of power maintenance and automation robot technology, specifically relating to a de-icing robot with wind-following self-generating function. Background Technology

[0002] Transmission lines are highly susceptible to icing in extremely cold or snowy weather. This not only increases the vertical load on conductors but can also lead to serious accidents such as cable breakage and tower collapse, threatening the safe and stable operation of the power grid. Currently, methods for removing cable icing mainly include manual de-icing, thermal de-icing, chemical anti-icing, and robotic de-icing. Among these, de-icing robots have become a research hotspot due to their high safety and wide operating range.

[0003] However, existing cable de-icing robots still face many technical bottlenecks in practical applications. How to improve their anti-sway stability and space utilization in high-altitude strong wind environments while ensuring the robot's long endurance has become an urgent problem to be solved in the field of cable de-icing robots.

[0004] Existing box-type robots (such as CN120473918A and CN118748383A) have a large side windward area. The lateral movement generated under strong winds can cause stress concentration in the walking mechanism, and may even cause the robot to detach from the cable or damage the cable.

[0005] In patent document CN120300717A, the applicant has proposed a technical solution for a cable de-icing robot. This robot comprises a walking module and a clamping and anti-fall module, forming a clamping and walking mechanism. It also includes an de-icing module and a solar power supply module. The walking module drives the walking wheels via a motor, enabling stable movement of the robot on icy cables. The clamping and anti-fall module consists of an electric push rod, anti-fall wheels and their brackets, guide rods, a fixing plate, and connectors, providing reliable clamping and anti-fall protection during robot movement. The de-icing module utilizes the dead point position of the linkage mechanism, combined with a reasonably structured de-icing blade, to efficiently and stably complete the de-icing operation. The solar power supply module adjusts the extension length of the solar panel via a lead screw motor-driven slider guide system, reducing the impact of wind on machine swaying in windy conditions, while simultaneously achieving energy harvesting and storage. While the system has solved the battery life problem to some extent, the de-icing robot operates in extreme geographical environments such as high altitude and cold regions. Affected by the winter climate, the work site is often accompanied by strong lateral winds, as well as limited solar energy acquisition due to weak solar radiation intensity and short effective lighting time. It is also greatly limited by lighting conditions. In windy conditions, the extended solar panels will significantly increase the wind-exposed area, exacerbating the robot's swaying. Summary of the Invention

[0006] To overcome the shortcomings of the existing technology, this invention provides a de-icing robot with wind-following self-generating power function. In particular, it proposes improvements to the technical solution published in CN120300717A. By efficiently capturing wind energy, the robot's endurance is enhanced. An attitude stabilization system is constructed to suppress the body sway caused by strong winds, reduce stress concentration and operational fluctuations caused by shaking, and ensure the stability and safety of de-icing operations.

[0007] To achieve its objectives, the present invention employs the following technical solution: The present invention relates to a de-icing robot with wind-following self-generating power function, comprising a body support module with an outer shell, a clamping structure for clamping the robot onto an icy cable, a walking mechanism for moving the robot back and forth on the cable by a walking motor, and a de-icing module for de-icing the icy cable by a de-icing motor driving a de-icing blade.

[0008] The de-icing robot of the present invention with wind-following self-generating function is characterized by: fixed side wind power generation modules on both sides of the outer shell, and wind-following power generation modules with tail wings and automatic positioning on the top and bottom of the outer shell.

[0009] The de-icing robot of this invention with wind-following self-generating power function is also characterized by the following: the fixed side wind power generation module adopts a wind turbine generator, which is composed of a side generator bracket, a side generator cover, a side generator shaft sleeve, and side generator blades; the side generator bracket is fixed to the side of the outer shell by bolts, the side generator cover covers the side generator and is fixed to the generator bracket by bolts; the side generator shaft sleeve covers the side wind turbine generator shaft; the side generator blades are fixedly connected to the side generator shaft.

[0010] The de-icing robot of this invention with wind-chasing self-generating power function is also characterized by the following: the wind-chasing power generation module on the side further includes a slewing connector, a slewing support, a mid-section connector, a wind-chasing generator bushing, wind-chasing generator blades, a wind-chasing generator cover, and a slewing fixing plate; the tail fin is fixedly connected to the mid-section connector by bolts; the first end of the slewing connector is fixedly connected to the slewing support, and the second end of the slewing connector is fixedly connected to the slewing fixing plate by bolts, so that the two slewing fixing plates cover the mid-section connector; the slewing support is fixedly connected to the corresponding positions at the top and bottom of the outer shell by bolts; the mid-section connector is fixedly connected to the generator cover by bolts; the generator bushing covers the wind-chasing generator shaft; the generator blades are fixedly connected to the wind-chasing generator shaft; and the generator cover covers the generator.

[0011] The de-icing robot of the present invention with wind-following self-generating power function is also characterized by: air holes are opened on both sides of the outer shell to form a body air duct for lateral wind flow.

[0012] The de-icing robot of the present invention with wind-following self-generating power function is also characterized in that: the wind power generation module on the side of the body support module also includes a storage battery set inside the outer shell, and the storage battery is fixedly set at the bottom of the outer shell.

[0013] The de-icing robot of the present invention with wind-following self-generating power function is also characterized by: a slot is provided on the middle section connector, and a card plate is provided at the corresponding position of the rotary fixing plate, so as to realize the positioning between the middle section connector and the rotary fixing plate by the cooperation of the slot and the card plate.

[0014] The de-icing robot of the present invention with wind-following self-generating power function is also characterized by: a positioning groove is provided at the second end of the rotary connector, so that the rotary fixing plate is positioned in the positioning groove, thereby realizing the positioning connection between the rotary connector and the rotary fixing plate.

[0015] Compared with existing technologies, the beneficial effects of this invention are reflected in: 1. This invention, by setting wind-following power generation units with automatic orientation function at the top and bottom of the machine body, can autonomously adjust the impeller attitude according to the real-time wind direction, ensuring that it is always in the position of maximum wind energy capture, which significantly improves the energy utilization rate of the robot in high-altitude long-distance operations.

[0016] 2. In addition to setting up a wind-following power generation unit, the present invention also incorporates fixed wind turbines on both sides of the machine body and top and bottom wind-following units to form a distributed omnidirectional energy harvesting system. Without increasing additional space occupation, it realizes the utilization of wind energy in complex flow field environments and provides a reliable guarantee for the long-term operation of the de-icing mechanism.

[0017] 3. This invention overcomes the limitations of traditional de-icing robots that rely solely on adding counterweights to maintain stability. By utilizing the gyroscopic fixed-axis effect generated by the high-speed rotation of four distributed pneumatic units, high-frequency swaying caused by crosswinds or de-icing load fluctuations is effectively controlled at the physical level. Simultaneously, the aerodynamic restoring torque generated by the directional tail fin in the wind field enables the robot to possess dynamic attitude correction capabilities, significantly improving its walking stability and anti-yaw performance under strong wind conditions, and reducing the risk of fatigue damage to cables due to resonance.

[0018] 4. This invention converts the fluid kinetic energy that was originally directly impacting the casing of the wind turbine into useful electrical energy through the rotation of the wind turbine rotor, thus realizing an active "energy dissipation" load reduction mechanism. Attached Figure Description

[0019] Figure 1 This is an overall isometric schematic diagram of the present invention; Figure 2 This is an isometric schematic diagram of the internal structure of the present invention; Figure 3 This is an isometric schematic diagram of the generators on both sides of the present invention; Figure 4 This is an isometric schematic diagram of the wind-chasing generator of the present invention; Figure 5 This is an isometric schematic diagram of the slewing connection mechanism of the wind-chasing generator of the present invention; Figure 6 This is an isometric schematic diagram of the generator connection parts of the present invention; The following components are labeled in the diagram: 1. Airframe support module; 101. Outer shell; 102. Air duct; 103. Battery; 2. Side wind power generation module; 201. Side generator bracket; 202. Side generator cover; 203. Side generator bushing; 204. Side generator blade; 3. Wind-following power generation module; 301. Tail fin; 302. Slewing connector; 303. Slewing bearing; 304. Mid-section connector; 305. Wind-following generator bushing; 306. Wind-following generator blade; 307. Wind-following generator cover; 308. Slewing fixing plate; 401. Clamping structure; 402. Walking mechanism; 5. De-icing module. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] See Figure 1 and Figure 2 The de-icing robot with wind-following self-generating power function in this embodiment includes a body support module 1 with an outer shell 101, a clamping structure 401 for clamping the robot on the icy cable, a walking mechanism 402 driven by a walking motor to move the robot back and forth on the cable, and a de-icing module 5 driven by a de-icing motor to de-ice the icy cable with a de-icing blade. The clamping structure 401, the walking mechanism 402 and the de-icing module 5 are all derived from the relevant technical solutions of a cable de-icing robot proposed by the applicant in the patent document with publication number CN120300717A.

[0022] Figure 1 and Figure 2 In the technical solution of this embodiment shown, fixed side wind power generation modules 2 are provided on both sides of the outer shell 101, and wind-chasing power generation modules 3 are provided on the top and bottom of the outer shell 101.

[0023] Figure 3As shown, in this embodiment, the side wind power generation module 2 adopts a wind turbine generator, which consists of a side generator bracket 201, a side generator cover 202, a side generator shaft sleeve 203, and a side generator blade 204. The side generator bracket 201 is fixed to the side of the outer casing 101 by bolts. The side generator cover 202 covers the side generator and is fixed to the generator bracket 201 by bolts. The side generator shaft sleeve 203 covers the side wind turbine generator shaft. The side generator blade 204 is fixedly connected to the side generator shaft. In this embodiment, the wind turbine generators set on both sides of the outer casing are fixed wind turbine generators, making full use of the side wind resources in the power transmission line environment.

[0024] Figure 4 As shown, in this embodiment, the wind-following power generation module 3 has a tail fin 301, and includes a slewing connector 302, a slewing support 303, a mid-section connector 304, a wind-following generator bushing 305, a wind-following generator blade 306, a wind-following generator cover 307, and a slewing fixing plate 308. The tail fin 301 is fixedly connected to the mid-section connector 304 by bolts. The first end of the slewing connector 302 is fixedly connected to the slewing support 303, and the second end of the slewing connector 302 is fixedly connected to the slewing fixing plate 308 by bolts, so that the two slewing fixing plates 308 cover the mid-section connector 304. The slewing support 303 is fixedly connected to the corresponding positions at the top and bottom of the outer casing 101 by bolts. The mid-section connector 304 is fixedly connected to the generator cover 307 by bolts. The generator bushing 305 covers the wind-following generator shaft. The generator blade 306 is fixedly connected to the wind-following generator shaft. The generator cover 307 covers the generator. In this embodiment, the wind-following generator modules located at the top and bottom of the outer casing have automatic orientation capabilities. They can capture the ambient wind direction in real time and autonomously adjust the blade attitude to achieve efficient capture and conversion of wind energy, significantly improving the robot's energy utilization and endurance during high-altitude, long-distance operations. Their integration with the side generator enables complementary multi-source energy harvesting within a compact mechanical space, optimizing overall power distribution and space utilization.

[0025] In practice, the corresponding structural forms also include: Figure 1 As shown, air vents are provided on both sides of the outer casing 101 to form a body air duct 102 for lateral airflow.

[0026] Figure 2 As shown, the body support module 1 also includes a battery 103 disposed inside the outer shell 101, and the battery 103 is fixedly disposed at the bottom of the outer shell 101.

[0027] Figure 6 As shown, a slot is provided on the middle connector 304. Figure 5As shown, a retaining plate is provided at the corresponding position of the rotary fixing plate 308, and the positioning between the middle connecting piece 304 and the rotary fixing plate 308 is achieved by the cooperation of the retaining groove and the retaining plate.

[0028] Figure 5 As shown, a positioning groove is provided at the second end of the rotary connector 302 so that the rotary fixing plate 308 is positioned in the positioning groove, thereby realizing the positioning connection between the rotary connector 302 and the rotary fixing plate 308.

[0029] When the de-icing robot is put into operation, the electric push rod in the clamping mechanism 401 pushes the clamping wheel, so that the clamping wheel and the walking wheel in the walking mechanism 402 clamp the cable together. After the cable is clamped, the walking motor in the walking mechanism 402 drives the two walking wheels to walk along the cable. At the same time, the lead screw motor in the de-icing module 5 drives the two de-icing blades to come into contact with the cable, and the two de-icing motors drive the two de-icing blades to perform de-icing operations.

[0030] When the robot is put into operation, the side wind power generation module 2 and the wind-chasing power generation module 3 located on both sides start to operate and realize wind power generation; the side wind can pass through the de-icing robot shell 101 through the set wind duct 102 to realize wind circulation; when the wind direction changes, the wind-chasing generator can automatically rotate around the rotation center by the aerodynamic torque generated by the tail fin 301, keeping the fan blades always facing the wind direction.

[0031] In this invention, the wind-following power generation module automatically orients itself through a tail fin mechanism, capturing the ambient wind direction in real time and autonomously adjusting the blade attitude to achieve efficient wind energy capture and conversion. When dealing with complex and ever-changing wind field environments, the fixed wind turbines on both sides work in conjunction with the wind-following module to achieve longer-lasting refueling within a compact mechanical space. Its operation is stable and reliable. Utilizing the gyroscopic axis-fixing effect generated by the high-speed rotation of the distributed aerodynamic unit and the aerodynamic restoring torque of the directional tail fin, the yaw motion of the body around the cable axis is precisely suppressed. Under normal meteorological conditions, the aerodynamic unit performs energy harvesting tasks. When encountering strong wind loads or de-icing load fluctuations, the inertial torque generated by the rotating blades can adjust the body attitude in real time, achieving more efficient and stable energy distribution. While ensuring the functions of walking, de-icing, and wind power generation, the mechanism maintains a compact overall size. At the same time, the automatic wind-following and anti-yaw stabilization can better meet the de-icing requirements under various extreme and harsh working conditions, improving the robot's operating efficiency and safety.

[0032] This invention utilizes the gyroscopic fixed-axis effect generated by the distributed aerodynamic unit during high-speed rotation, and the aerodynamic restoring torque generated by the directional tail fin in a wind field to construct a passive and active attitude stabilization system. When the robot encounters strong wind loads, the inertial torque generated by the rotating blades effectively suppresses the yaw motion of the robot body around the cable axis, reducing stress concentration in the walking mechanism and operational fluctuations of the de-icing head caused by swaying, thus ensuring the stability and safety of the de-icing operation. The combination of the distributed aerodynamic unit and the compact body not only reduces the static load on the side of the body when exposed to wind, but also provides a feasible design for the attitude control and continuous power supply of the cable de-icing robot, exhibiting good environmental adaptability, a certain degree of anti-interference capability, and significant engineering application value.

[0033] The structural features of the present invention have been described in detail above with reference to the illustrations. The present invention is not limited to the scope of implementation shown in the illustrations. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, shall be within the protection scope of the present invention as long as they do not exceed the spirit covered by the specification and illustrations.

Claims

1. A de-icing robot with wind-following self-generating power function, comprising a body support module (1) with an outer shell (101), a clamping structure (401) for clamping the robot onto an icy cable, a walking mechanism (402) for driving the robot to move back and forth on the cable by a walking motor, and a de-icing module (5) for de-icing the icy cable by a de-icing motor driving a de-icing blade, characterized in that: Fixed side wind power generation modules (2) are provided on both sides of the outer shell (101), and wind-chasing power generation modules (3) with tail fins (301) and automatic positioning are provided on the top and bottom of the outer shell (101).

2. The de-icing robot with wind-following self-generating power function according to claim 1, characterized in that: The fixed side wind power generation module (2) adopts a wind turbine generator, which is composed of a side generator bracket (201), a side generator cover (202), a side generator bushing (203), and a side generator blade (204). The side generator bracket (201) is fixed to the side of the outer shell (101) by bolts. The side generator cover (202) covers the side generator and is fixed to the generator bracket (201) by bolts. The side generator bushing (203) covers the side wind turbine generator shaft. The side generator blade (204) is fixed to the side generator shaft.

3. The de-icing robot with wind-following self-generating power function according to claim 1, characterized in that: The wind-following power generation module (3) also includes a slewing connector (302), a slewing bearing (303), a mid-section connector (304), a wind-following generator bushing (305), a wind-following generator fan blade (306), a wind-following generator cover (307), and a slewing fixing plate (308); the tail fin (301) is fixedly connected to the mid-section connector (304) by bolts; the first end of the slewing connector (302) is fixedly connected to the slewing bearing (303), and the second end of the slewing connector (302) is fixedly connected to the mid-section connector (304) by bolts. Bolts are used to fix the rotating fixing plate (308), so that the two rotating fixing plates (308) cover the middle section connector (304); the rotating support (303) is fixedly connected to the corresponding positions of the top and bottom of the outer shell (101) by bolts; the middle section connector (304) is fixedly connected to the generator cover (307) by bolts; the generator bushing (305) covers the wind-chasing generator shaft; the generator fan blade (306) is fixedly connected to the wind-chasing generator shaft; the generator cover (307) covers the generator.

4. The de-icing robot with wind-following self-generating function according to claim 1, characterized in that: in The outer shell (101) has air holes on both sides to form a body air duct (102) for lateral airflow.

5. The de-icing robot with wind-following self-generating function according to claim 1 or 4, characterized in that: The body support module (1) also includes a battery (103) disposed inside the outer shell (101), and the battery (103) is fixedly disposed at the bottom of the outer shell (101).

6. The de-icing robot with wind-following self-generating function according to claim 3, characterized in that: in The middle section connector (304) is provided with a slot, and a card plate is provided at the corresponding position of the rotary fixing plate (308). The positioning between the middle section connector (304) and the rotary fixing plate (308) is achieved by the cooperation of the slot and the card plate.

7. The de-icing robot with wind-following self-generating power function according to claim 3, characterized in that: in The second end of the rotary connector (302) is provided with a positioning groove so that the rotary fixing plate (308) is positioned in the positioning groove, thereby realizing the positioning connection between the rotary connector (302) and the rotary fixing plate (308).

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