A cable knock-on sprocket de-icing robot

Abstract

This invention discloses a cable-tapping inclined wheel de-icing robot, belonging to the field of power equipment maintenance technology. An upper support plate is fixedly connected between the upper ends of wedge-shaped mounting plates, and a lower support plate is fixedly connected between the lower ends of the wedge-shaped mounting plates. Both the front and rear V-shaped wheel sets include two traveling wheels arranged in an inverted V shape. The upper and lower ends of each traveling wheel are rotatably connected to the upper and lower support plates, respectively. Each traveling wheel is rotatably connected to a motor. The swing de-icing assembly includes a second motor and a cross hammer. The second motor is mounted on the top plate, and the middle of the cross hammer is fixedly connected to the output end of the second motor. The cross hammer is located at the front of the robot body, and ice-tapping sticks are rotatably connected to its four ends. A battery module supplies power to the first and second motors. This invention offers stable movement, efficient de-icing, and reliable protection, adapting to complex icing conditions, significantly reducing the risks of high-altitude operations, and is suitable for winter icing removal operations on overhead cables.

Description

Technical Field

[0001] This invention relates to the field of power equipment maintenance technology, and in particular to a cable knocking type inclined wheel de-icing robot. This invention is used for cable de-icing. By designing an inverted V-shaped inclined wheel, the robot can adapt to cables of various thicknesses and move more smoothly. There is a rotating hammer in front of the de-icing robot, which continuously rotates and knocks the ice on the cable to achieve de-icing. Background Technology

[0002] (1) Many existing de-icing robots use cable clamping to accommodate cables of different thicknesses. This has the following disadvantages: Clamping mechanisms require independent drive motors, transmission mechanisms (such as lead screws and gears), and complex clamping structures, resulting in a bulky overall mechanism with many parts.

[0003] It is difficult to judge the clamping force with the naked eye, which requires force sensors or position sensors to provide feedback on the clamping force. This, combined with the real-time adjustment of the control system, involves complex algorithms. If the sensor fails or the control system misjudges, it may result in clamping too loosely (slipping and falling) or too tightly (damaging the cable insulation).

[0004] The additional drive motors and structures increase the robot's weight and power consumption, limiting its range and working area.

[0005] (2) Many existing de-icing robots use blades for de-icing, but the effect is minimal. Research on blades also requires a lot of time and effort. If the ice is very solid, it will be a huge challenge to the torque of the blade motor. The space of the de-icing robot itself is limited. If a motor with high torque is required, the motor will be very large, which does not meet the requirements of lightweight design. If a motor with small size and high torque is required, the cost will be greatly increased.

[0006] (3) Patent CN119297909A is a UAV-borne ice-peeling robot device for power distribution lines. It uses the method of clamping cables, which has a complex structure and no force feedback system, so it cannot determine the clamping force.

[0007] Patent CN202510426752.2 describes a cable icing removal device. This patent also uses a clamping method, and its intention is to clamp the cables in the recessed area between the wheels. However, in practice, this is difficult to achieve when dealing with cables of varying thicknesses. This device also uses a blade-based de-icing method, which may be less effective against high-hardness, highly adhesive icing (such as rime or mixed rime). The blades are prone to jamming due to excessive resistance and experience severe wear, and the de-icing efficiency and effectiveness are inconsistent.

[0008] In summary, existing technologies suffer from problems such as complex structure, low reliability, poor adaptability, high energy consumption, and high cost. Therefore, there is an urgent need for a cable de-icing robot solution that is simple in structure, highly adaptable, efficient in de-icing, and reliable in operation. Summary of the Invention

[0009] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a cable-tapping inclined wheel de-icing robot.

[0010] This invention is achieved through the following technical solution: A cable-knocking type inclined wheel de-icing robot includes a body, a V-shaped wheel assembly, a swing de-icing assembly, and a battery module mounted on the body. The body includes several wedge-shaped mounting plates, with an upper support plate fixedly connected between the upper ends of the wedge-shaped mounting plates and a lower support plate fixedly connected between the lower ends of the wedge-shaped mounting plates. A top plate is mounted on the top of the wedge-shaped mounting plates. The V-shaped wheel assembly includes front and rear V-shaped wheel groups mounted on the inner side of the wedge-shaped mounting plates. Each front and rear V-shaped wheel group includes two walking wheels arranged in an inverted V shape. The upper and lower ends of each walking wheel are rotatably connected to the upper and lower support plates, respectively. Each walking wheel is rotatably connected to a motor, which is fixedly connected to the lower support plate. The swing de-icing assembly includes a second motor and a cross hammer. The second motor is mounted on the top plate, and the middle of the cross hammer is fixedly connected to the output end of the second motor. The cross hammer is located at the front of the body, and ice-knocking sticks are rotatably connected to the four ends of the cross hammer. The battery module supplies power to the first and second motors.

[0011] The wedge-shaped mounting plates consist of four pieces, two at the front and two at the back. The side of the wedge-shaped mounting plate on which the V-shaped wheel is mounted is inclined at an angle of 8° to 25°, while the side opposite to the inclined side is vertical. The top plate is fixed to the top of the four wedge-shaped mounting plates. The upper support plate and the lower support plate are connected between the two wedge-shaped mounting plates on the same side. Both the upper support plate and the lower support plate are L-shaped strips. Mounting holes for mounting the traveling wheel are opened at both ends of the upper and lower support plates. The upper and lower ends of the traveling wheel are connected to the upper and lower support plates respectively through bearings.

[0012] The motor is mounted on the lower support plate, and there is a one-to-one correspondence between the motor and the traveling wheel. The outer side of the traveling wheel is covered with a layer of rubber, and a shaft runs through the center axis of the traveling wheel. The traveling wheel is fastened to the shaft by a key. Bearings are installed at the upper and lower ends of the shaft, respectively. The bearings are installed in the mounting holes of the upper and lower support plates. Synchronous pulleys are installed at the bottom end of the shaft and the output end of the motor, respectively. The motor and the traveling wheel are connected by a synchronous belt.

[0013] A spacer sleeve for the traveling wheel is provided between the upper and lower ends of the bearing and the traveling wheel; a shim is provided between the lower support plate and the synchronous belt pulley.

[0014] Wheel baffles are installed on the front side of the two wedge-shaped mounting plates at the front end and on the rear side of the two wedge-shaped mounting plates at the rear end. A camera is installed on the wheel baffle at the front end.

[0015] The ice-crushing stick is rotatably connected to the end of the cross hammer head by a pin. The tail of the ice-crushing stick is sealed with a shaft elastic retaining ring. The cross hammer head is connected to the shaft of the second motor by a key. The second motor is fixed on the motor base plate, and the motor base plate is fixed on the top plate.

[0016] A bending limiting piece is fixed to each ice-cracking stick on the cross hammer head.

[0017] A cover and a plastic shell are also provided on the outside of the body. The cover is fixed to the lower part of the outer side of the wedge-shaped mounting plate, and the lower end of the cover is bent inward. The battery module is installed on the lower side of the bent part of the cover. The plastic shell is located on top of the cover and is fixed to the upper part of the outer side of the wedge-shaped mounting plate. A hook is provided at the top of the plastic shell. Multiple robot legs are fixed on the outside of the cover. Electrical component protective covers are installed on the outside of motor one and motor two respectively.

[0018] The battery module is pluggably mounted on the battery holder, which is fixed to the bent portion at the lower end of the housing.

[0019] It also includes a control module, which comprises a remote controller, an ESC, and a microcontroller. The microcontroller is mounted on the top plate, which has six wiring holes. There are five ESCs, each mounted on a plastic shell, and each is electrically connected to one of the four motors and one motor to drive the operation of motors. The remote controller communicates with the microcontroller wirelessly and sends control commands through the microcontroller to control the robot to move forward, backward, and stop, as well as to control the forward, reverse, and stop rotation of the swing de-icing assembly.

[0020] This invention uses inverted V-shaped walking wheels, which the robot can directly attach to. These wheels can adapt to cables of various thicknesses, eliminating the need for a complex clamping structure and reducing the number of motors required. This invention employs a knocking-type de-icing method. The robot has an ice-removing head at the front with four ice-knocking rods that rotate rapidly under the drive of a DC brushless motor, continuously knocking on the cable to break up the ice and achieve a better de-icing effect.

[0021] This invention employs remote control. The remote control's throttle controls the robot's forward and backward movement, and can also control the forward, reverse, and stop rotation of the crosshead hammer. Real-time video transmission via camera allows monitoring of the robot's deviation from the cable. The motors can be adjusted to rotate forward and reverse; if the robot deviates from the cable to the left or right, the motor's rotation can be adjusted for better de-icing. If there is no ice, the robot can be stopped to save power.

[0022] The advantages of this invention are: (1) V-shaped wheel design Minimalist structure and high reliability: Through an innovative inverted V-shaped inclined wheel design, cable self-adaptation is achieved purely mechanically, eliminating all clamping drive components, transmission mechanisms, and complex sensor control systems. This significant reduction in the number of parts not only lowers manufacturing costs and failure rates but also greatly improves the robot's reliability and durability in harsh environments such as low temperatures and vibrations.

[0023] Highly adaptive and safe: The adaptive process is completed instantaneously, with no electronic control delay, and can adapt to a wider range of cable diameter variations. Furthermore, the clamping force of the walking mechanism on the cable comes solely from the robot's own weight, eliminating the risk of uncontrolled active clamping force and fundamentally preventing damage to the cable insulation layer due to excessive clamping, thus ensuring higher safety.

[0024] (2) Use a brushless motor For the striking motor: high torque and strong striking force result in more thorough ice breaking. The effect is particularly noticeable on hard ice blocks.

[0025] For walking motors: When contacting ice surfaces or breaking hard ice, resistance is generated far exceeding that on flat ground. High-torque motors are the power guarantee that ensures the robot can move forward stably and operate normally under these heavy-duty conditions; even if there is a brief slippage, the high torque can allow the drive wheels to quickly regain traction, restore posture, and avoid instability; combined with the excellent speed regulation characteristics of brushless motors, smooth start-stop and speed control can be achieved; brushless motors themselves are highly efficient, saving more power when providing the same traction force, which helps to extend the battery life.

[0026] (3) Swinging and striking design The high-speed rotating rotor has 2 to 4 ice-beating sticks evenly distributed radially. When the rotor rotates, the hammers do not continuously cut the ice layer, but periodically strike the ice on the cable surface at a certain frequency, perpendicular to or at a certain angle.

[0027] The concentrated impact force effectively breaks hard ice, avoiding energy loss and jamming caused by continuous friction. It has a good breaking effect on all types of ice, especially high-hardness ice, making it more adaptable. The ice-breaking bar has a large force-bearing area, is less prone to localized wear, has a more impact-resistant structure, and a longer service life.

[0028] (4) This invention employs remote control. The throttle of the remote control controls the robot's forward and backward movement, and can also control the forward, reverse, and stop rotation of the swing de-icing component. The ice on the cable is not a perfectly concentric cylinder; there will be deviations, sometimes to the left and sometimes to the right. Through real-time image transmission from the camera, the operator can see the deviation of the swing de-icing component from the cable and operate it to rotate forward or reverse, achieving a better de-icing effect. If there is no ice, the swing de-icing component can also be stopped to save power.

[0029] (5) Lightweight overall design and excellent battery life: The simplified structure and the application of high-efficiency brushless motors have significantly reduced the weight of the whole machine. Combined with the modular pluggable battery design, the robot carries a smaller load and the working battery life is effectively extended, making it particularly suitable for long-distance cable line inspection and de-icing tasks. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention after the plastic shell is removed; Figure 3 This is a schematic diagram of the swing de-icing assembly structure of the present invention; Figure 4 This is a schematic diagram of the fuselage and V-shaped wheel assembly structure of the present invention; Figure 5 This is a schematic diagram of the V-shaped wheel assembly structure after the top plate of the present invention has been removed; Figure 6 This is a cross-sectional view of the V-shaped wheel assembly structure of the present invention.

[0031] In the diagram: 1-Wedge mounting plate, 2-Upper support plate, 3-Lower support plate, 4-Top plate, 5-Walking wheel, 6-Motor 1, 7-Motor 2, 8-Cross hammer head, 9-Ice popsicle, 10-Battery module, 11-Bearing, 12-Synchronous pulley, 13-Synchronous belt, 14-Walking wheel spacer, 15-Glue-coated, 16-Walking wheel baffle, 17-Camera, 18-Pin, 19-Elastic retaining ring for shaft, 20-Motor base plate, 21-Bending limit plate, 22-Cover, 23-Plastic shell, 24-Hook, 25-Robot legs, 26-Electrical component protective cover, 27-Battery holder, 28-Electronic speed controller, 29-Cable, 30-Shaft. Detailed Implementation

[0032] like Figures 1-6As shown, a cable-tapping inclined wheel de-icing robot includes a body and a V-shaped wheel assembly, a swing de-icing assembly, and a battery module 10 mounted on the body. The body includes several wedge-shaped mounting plates 1, with an upper support plate 2 fixedly connected between the upper ends of the wedge-shaped mounting plates 1 and a lower support plate 3 fixedly connected between the lower ends of the wedge-shaped mounting plates 1. A top plate 4 is mounted on the top of the wedge-shaped mounting plates 1. The V-shaped wheel assembly includes front and rear V-shaped wheel sets mounted on the inner side of the wedge-shaped mounting plates 1. Each front and rear V-shaped wheel set includes two walking wheels 5, which are arranged in an inverted V-shape. The inclined surface of the wedge-shaped mounting plates 1 forms a shape that is compatible with the cable 29. The clamping angle ensures that the robot walks stably on the cable 29 and is not prone to derailment. The upper and lower ends of each walking wheel 5 are rotatably connected to the upper and lower support plates 2 and 3, respectively. Each walking wheel 5 is rotatably connected to a motor 6, which is fixedly connected to the lower support plate 3. The swing de-icing assembly includes a second motor 7 and a cross hammer 8. The second motor 7 is mounted on the top plate 4. The middle part of the cross hammer 8 is fixedly connected to the output end of the second motor 7. The cross hammer 8 is located at the front of the machine body, facing the ice-covered area of ​​the cable. Ice-breaking sticks 9 are rotatably connected to the four ends of the cross hammer 8. The battery module 10 supplies power to the first motor 6 and the second motor 7.

[0033] The wedge-shaped mounting plates 1 consist of four pieces, two at the front and two at the back. The side of the wedge-shaped mounting plate 1 where the V-shaped wheel is mounted is an inclined surface with an inclination angle of 8° to 25°. This inclination angle design can accommodate overhead cables of different diameters, ensuring reliable contact between the traveling wheel 5 and the cable surface. The side opposite to the inclined surface is a vertical surface. The top plate 4 is fixed to the top of the four wedge-shaped mounting plates 1. The upper support plate 2 and the lower support plate 3 are connected between the two wedge-shaped mounting plates 1 on the same side. The upper support plate 2 and the lower support plate 3 are both L-shaped strips. Mounting holes for mounting the traveling wheel 5 are opened at both ends of the upper and lower support plates 2 and 3, respectively. The upper and lower ends of the traveling wheel 5 are connected to the upper and lower support plates 2 and 3 through bearings 11, respectively, to ensure that the traveling wheel 5 rotates flexibly.

[0034] The motor 6 is mounted on the lower support plate 3, and the motor 6 corresponds one-to-one with the traveling wheel 5. A layer of rubber coating 15 is provided on the outside of the traveling wheel 5. A shaft 30 passes through the center axis of the traveling wheel 5. The traveling wheel 5 is fastened to the shaft 30 by a key. Bearings 11 are installed at the upper and lower ends of the shaft, respectively. The bearings 11 are installed in the mounting holes of the upper and lower support plates 2 and 3, respectively. Synchronous belts 12 are installed at the bottom end of the shaft and the output end of the motor 6, respectively. The motor 6 and the traveling wheel 5 are connected by a synchronous belt 13.

[0035] A wheel spacer 14 is provided between the upper and lower ends of the bearing 11 and the wheel 5; a gasket is provided between the lower support plate 3 and the timing belt 12.

[0036] Two wedge-shaped mounting plates 1 at the front and two wedge-shaped mounting plates 1 at the rear are respectively installed on the front side of the two wedge-shaped mounting plates 1 at the rear to protect the walking wheels 5 and prevent ice fragments or debris from being rolled into the wheels. A camera 17 is installed on the walking wheel baffle 16 at the front to collect images of cable icing and robot operation status in real time, providing visual support for remote operation.

[0037] The ice-crushing stick 9 is rotatably connected to the end of the cross hammer head 8 via a pin 18. The tail of the ice-crushing stick 9 is sealed with a shaft elastic retaining ring 19 to prevent the ice-crushing stick 9 from falling off, while ensuring that the ice-crushing stick 9 can rotate flexibly around the pin 18 to achieve multi-directional adaptive knocking to remove ice. The cross hammer head 8 is connected to the shaft of the second motor 7 via a key. The second motor 7 is fixed on the motor base plate 20, and the motor base plate 20 is fixed on the top plate 4.

[0038] A bending limiting piece 21 is fixed on the cross hammer head 8 corresponding to each ice pop 9.

[0039] A cover 22 and a plastic shell 23 are also provided on the outside of the machine body. The cover 22 is fixed to the lower outer part of the wedge-shaped mounting plate 1, and the lower end of the cover 22 is bent inward. The battery module 10 is installed on the lower side of the bent part of the cover 22. The plastic shell 23 is located on top of the cover 22 and is fixed to the upper outer part of the wedge-shaped mounting plate 1. A hook 24 is provided at the top of the plastic shell 23 to facilitate the lifting and transportation of the robot. Multiple robot legs 25 are fixed on the outside of the cover 22 for stable placement when the robot is idle. Electrical component protective covers 26 are installed on the outside of the first motor 6 and the second motor 7 to prevent water vapor and ice slag from damaging the motors during the de-icing process.

[0040] The battery module 10 is pluggably mounted on the battery holder 27, which is fixed to the bent portion at the lower end of the cover 22, facilitating quick battery replacement and charging and improving the robot's continuous operation capability.

[0041] It also includes a control module, which includes a remote controller, an ESC 28, and a microcontroller. The microcontroller is mounted on the top plate 4, which has six wiring holes. There are five ESCs, which are mounted on the plastic shell 23 and electrically connected to four motors 6 and one motor 7 respectively, for driving motors 6 and 7. The remote controller communicates with the microcontroller wirelessly and sends control commands through the microcontroller to control the robot to move forward, backward, and stop, as well as to control the forward, reverse, and stop rotation of the swing de-icing component.

[0042] In this invention, both motor 6 and motor 7 are brushless motors, and the bearings are deep groove ball bearings.

[0043] The battery module 10 has four 20V batteries connected in parallel to power the motor ESC 28, improving the battery life. The battery module 10 is pluggable; the four battery holders 27 are fixed on the housing 22. The battery module 10 can be plugged in and used, and can be unplugged when charging is needed, which is very convenient.

[0044] In this invention, the V-shaped wheel assembly can adapt to cables of different thicknesses. Camera 17 allows the operator to clearly see the working situation; the swinging de-icing assembly taps the cable to remove ice; hook 24 facilitates hand-carrying and drone transport. Walking wheels 5 are used for movement, and robot legs 25 support the robot's upright position; ESCs 28 drive the motors—five motors require five ESCs 28. The plastic shell 23 serves to shield and protect the internal components. The ESCs 28 are also mounted on the plastic shell 23.

[0045] The casing 22 also needs to hold four battery holders 27. The lower part of the casing 22 is designed to bend inwards, which saves space and facilitates battery installation without protruding. This design also ensures the strength of the battery. If the board were upright and the battery were also installed vertically, it would protrude, increasing space usage and reducing strength. There is also a long strip of sheet metal at the top. As the battery falls downwards, pulling the lower part of the casing 22 down, this sheet metal piece pulls the lower part of the casing 22 upwards, counteracting the downward force and increasing strength.

[0046] The electrical component protective cover 26 is used to protect the ESC 28 motor and serves a waterproof function. The wheel guard 16 is for mounting the camera 17 and also has an aesthetic purpose.

[0047] The swing-type de-icing assembly uses a brushless DC motor to rotate continuously, driving the crosshead hammer 8 to rotate. This causes the four ice-beating rods 9 on top to rotate continuously, striking the cables. Each ice-beating rod 9 is connected to the crosshead hammer 8 by a pin 18, and its tail is sealed with a spring-loaded retaining ring 19. This connection between the ice-beating rod 9 and the crosshead hammer 8 is not tight, but rather leaves a gap, allowing the ice-beating rod 9 to swing during striking. This provides both the force from the motor and inertia, achieving a good striking effect.

[0048] The crosshead 8 is connected to the shaft of motor 7 via a key. Motor 7 is connected to the base plate via a threaded connection, and the base plate is connected to the top plate 4 via a threaded connection.

[0049] V-shaped wheel assembly: The synchronous belt 13 is used for transmission between the motor 6 and the traveling wheel 5. The motor 6 drives the traveling wheel 5 to rotate, realizing forward and backward movement. The traveling wheel 5 has a layer of rubber coating, which is intended to increase the friction between it and the cable, reduce slippage, and ensure smooth forward movement.

[0050] One side of the wedge-shaped mounting plate 1 is made slanted, so that the walking wheels 5 form a V-shape, allowing the robot to be directly mounted on the cable, achieving self-adaptation to various cable specifications.

[0051] The lower support plate 3 is used to install the motor 6, the synchronous belt 12, and the traveling wheel 5.

[0052] The upper support plate 2 is used to install the walking wheels 5 and is connected to the top plate 4.

[0053] Top plate 4 can be used to place electronic devices such as microcontrollers and install the swing-type ice-breaking assembly. It has 6 large holes for easy wiring.

[0054] The upper and lower support plates 2 and 3 each have a bearing 11 mounting hole, which can be used to embed the bearing 11.

[0055] The traveling wheel 5 is fastened to the shaft by a key. The motor 6 drives the synchronous belt 12 to rotate, the synchronous belt 12 drives the shaft to rotate, and the shaft drives the traveling wheel 5 to rotate by a key.

[0056] The rubber coating is to increase the friction of the walking wheels 5, which is especially important for reducing slippage on icy cables and also improves the robot's climbing ability. The hardened walking wheels 5 also help to crush and remove some ice fragments from the cables during movement. The purpose of the rubber coating is to increase friction and improve climbing ability.

[0057] The wheel spacer 14 can press the wheel 5 between the two bearings 11. Conversely, it can also press the two bearings 11 into the upper and lower supports, thus fixing the wheel 5.

[0058] The gasket isolates the lower support plate 3 from the synchronous belt 12, protecting the synchronous belt 12 and also raising the synchronous belt 12, so that the synchronous belt 12 of the traveling wheel 5 is at the same height as the synchronous belt 12 of the motor.

[0059] On the ground, turn on the robot switch and connect the remote control to the signal and image transmission. The drone will then hoist the robot onto the cable. Thanks to the V-shaped wheels' adaptive cable design, the robot can begin operation immediately once the cable is attached. The operator adjusts the robot's forward speed and the direction of the hammer's rotation in real time based on the ice conditions reported by camera 17, until the de-icing is complete.

[0060] This invention relates to an inverted V-shaped traveling wheel 5 assembly based on a wedge-shaped mounting plate 1: It claims protection for an adaptive wheel assembly structure for cable travel, the core of which is a pair of wedge-shaped mounting plates 1 with specific inclination angles. The long inclined side of the wedge plate is used to mount the axle of the traveling wheel 5, making the left and right traveling wheels 5 symmetrically arranged in an inverted V shape. The upper and lower support plates 2 and 3 are both drilled with holes for mounting bearings 11, allowing the traveling wheels 5 to be clamped between the upper and lower support plates 2 and 3 via deep groove ball bearings 11, traveling wheel spacers 14, and gaskets, thus achieving the installation of the traveling wheels 5. The traveling wheels 5 are coated with rubber to increase friction. The structures on both sides together achieve purely mechanical radial adaptation of the cable without external power. The scope of protection should cover the specific construction method of the V-shaped wheel assembly, the inclination angle range (in this design, the inclination angle between the long inclined side and the vertical side is 12°, which can protect 8°~25°), and the overall combination principle that achieves self-adaptation.

[0061] This invention relates to a combined de-icing mechanism with a floating gap, an inertial-energized striking mechanism, and a traveling wheel 5 for compaction: A rotating striking head structure for de-icing is claimed. The ice-striking rod 9 is connected to a cross-shaped hammer head 8 (or a flathead, trident head; i.e., 4-bar, 2-bar, or 3-bar) via a pin 18, and a movable gap (not a rigid connection) is designed at the connection point to allow for slight radial swaying of the ice-striking rod 9. This design allows the ice-striking rod 9 to swing upwards under centrifugal force during rotation, combining the driving force of the motor 7 with its own inertia to form a more powerful combined striking action. This invention designs a knocking stick 9 with a pin 18 and an elastic retaining ring. The knocking stick 9 has a square connecting end at one end and a round striking end at the other end. The preferred size range is a diameter of 15mm and a length of 106mm. The walking wheels 5 are hard inside and soft outside. When walking over the cable, they play a crushing role, crushing and removing the small ice fragments that the knocking stick 9 did not remove. The outer rubber coating increases the friction to ensure that the robot will not slip in icy and snowy conditions, while also ensuring the robot's ability to climb steep cables.

[0062] The present invention integrates a battery holder 27 with a strength-enhancing housing 22 structure: the robot's main body housing 22 has an inwardly bent side panel for mounting the battery. This design has three functions: first, it provides storage space for the battery module 10 within a limited space, optimizing the overall spatial layout; second, it improves the bending strength and rigidity of the side panel through the mechanical properties of the bent structure itself; and third, it forms a prestressed structure together with the elongated sheet metal reinforcing ribs to resist housing deformation caused by the weight of the battery, enhancing the overall structural stability. This inwardly bent housing design concept for integrating functional components and enhancing strength, as well as its specific form, should be protected.

[0063] The present invention relates to a compact integrated structure for the transmission and upper and lower supports of the walking wheel 5: The integrated design of the driving unit for the walking wheel 5 should be protected. The present invention compactly integrates the brushless motor 6, the synchronous belt 13 transmission system (including the driving pulley, driven pulley, and tension pulley), the walking wheel 5, and its bearing 11 support into a single module composed of upper and lower support plates 2 and 3. The motor 6 is fixed to the lower support plate 3 and drives the shaft of the walking wheel 5 via the synchronous belt 13 at a specific transmission ratio (1:1 in this design). The upper and lower support plates 2 and 3 directly clamp and fix the shaft of the walking wheel 5 through the bearing 11 and spacers, eliminating the need for an additional bearing 11 seat and achieving a balance between high rigidity and lightweight design. The overall layout and connection relationships of this highly integrated modular walking drive unit should be protected.

Claims

1. A cable-tapping type inclined wheel de-icing robot, characterized in that: The device includes a fuselage, a V-shaped wheel assembly, a swing de-icing assembly, and a battery module mounted on the fuselage. The fuselage includes several wedge-shaped mounting plates. An upper support plate is fixedly connected between the upper ends of the wedge-shaped mounting plates, and a lower support plate is fixedly connected between the lower ends of the wedge-shaped mounting plates. A top plate is mounted on top of the wedge-shaped mounting plates. The V-shaped wheel assembly includes front and rear V-shaped wheel groups mounted inside the wedge-shaped mounting plates. Each front and rear V-shaped wheel group includes two traveling wheels arranged in an inverted V shape. The upper and lower ends of each traveling wheel are rotatably connected to the upper and lower support plates, respectively. Each traveling wheel is rotatably connected to a motor, which is fixedly connected to the lower support plate. The swing de-icing assembly includes a second motor and a cross hammer. The second motor is mounted on the top plate. The middle part of the cross hammer is fixedly connected to the output end of the second motor. The cross hammer is located at the front of the fuselage, and ice-breaking sticks are rotatably connected to the four ends of the cross hammer. The battery module supplies power to the first and second motors.

2. The cable-tapping type inclined wheel de-icing robot according to claim 1, characterized in that: The wedge-shaped mounting plates consist of four pieces, two at the front and two at the back. The side of the wedge-shaped mounting plate on which the V-shaped wheel is mounted is inclined at an angle of 8° to 25°, while the side opposite to the inclined side is vertical. The top plate is fixed to the top of the four wedge-shaped mounting plates. The upper support plate and the lower support plate are connected between the two wedge-shaped mounting plates on the same side. Both the upper support plate and the lower support plate are L-shaped strips. Mounting holes for mounting the traveling wheel are opened at both ends of the upper and lower support plates. The upper and lower ends of the traveling wheel are connected to the upper and lower support plates respectively through bearings.

3. The cable-tapping type inclined wheel de-icing robot according to claim 2, characterized in that: The motor is mounted on the lower support plate, and there is a one-to-one correspondence between the motor and the traveling wheel. The outer side of the traveling wheel is covered with a layer of rubber, and a shaft runs through the center axis of the traveling wheel. The traveling wheel is fastened to the shaft by a key. Bearings are installed at the upper and lower ends of the shaft, respectively. The bearings are installed in the mounting holes of the upper and lower support plates. Synchronous pulleys are installed at the bottom end of the shaft and the output end of the motor, respectively. The motor and the traveling wheel are connected by a synchronous belt.

4. The cable-tapping type inclined wheel de-icing robot according to claim 3, characterized in that: A spacer sleeve for the traveling wheel is provided between the upper and lower ends of the bearing and the traveling wheel; a shim is provided between the lower support plate and the synchronous belt pulley.

5. The cable-tapping type inclined wheel de-icing robot according to claim 2, characterized in that: Wheel baffles are installed on the front side of the two wedge-shaped mounting plates at the front end and on the rear side of the two wedge-shaped mounting plates at the rear end. A camera is installed on the wheel baffle at the front end.

6. The cable-tapping type inclined wheel de-icing robot according to claim 1, characterized in that: The ice-crushing stick is rotatably connected to the end of the cross hammer head by a pin. The tail of the ice-crushing stick is sealed with a shaft elastic retaining ring. The cross hammer head is connected to the shaft of the second motor by a key. The second motor is fixed on the motor base plate, and the motor base plate is fixed on the top plate.

7. The cable-tapping type inclined wheel de-icing robot according to claim 1, characterized in that: A bending limiting piece is fixed to each ice-cracking stick on the cross hammer head.

8. The cable-tapping type inclined wheel de-icing robot according to claim 1, characterized in that: A cover and a plastic shell are also provided on the outside of the body. The cover is fixed to the lower part of the outer side of the wedge-shaped mounting plate, and the lower end of the cover is bent inward. The battery module is installed on the lower side of the bent part of the cover. The plastic shell is located on top of the cover and is fixed to the upper part of the outer side of the wedge-shaped mounting plate. A hook is provided at the top of the plastic shell. Multiple robot legs are fixed on the outside of the cover. Electrical component protective covers are installed on the outside of motor one and motor two respectively.

9. A cable-tapping type inclined wheel de-icing robot according to claim 8, characterized in that: The battery module is pluggably mounted on the battery holder, which is fixed to the bent portion at the lower end of the housing.

10. A cable-tapping type inclined wheel de-icing robot according to claim 8, characterized in that: It also includes a control module, which comprises a remote controller, an ESC, and a microcontroller. The microcontroller is mounted on the top plate, which has six wiring holes. There are five ESCs, each mounted on a plastic shell, and each is electrically connected to one of the four motors and one motor to drive the operation of motors. The remote controller communicates with the microcontroller wirelessly and sends control commands through the microcontroller to control the robot to move forward, backward, and stop, as well as to control the forward, reverse, and stop rotation of the swing de-icing assembly.

Images