De-icing robot for overhead power line of single conductor and double split conductor

Abstract

This invention relates to a de-icing robot for overhead power lines suitable for single-conductor and double-split conductors. The robot includes a de-icing base with a clamping groove in the center. A walking mechanism is located above the clamping groove. A clamping mechanism and an ice-milling mechanism are sequentially arranged from back to front on the lower side of the walking mechanism. The clamping mechanism clamps the line from the left and right sides; the ice-milling mechanism mills the ice on the line from the left and right sides; ice-melting mechanisms are located at the lower left and right ends of the de-icing base; an upper ice-knocking mechanism is located on the top front side of the de-icing base; and a lower ice-knocking mechanism is located at the rear interior of the de-icing base, extending downwards to the adjacent overhead line below. This invention enables the robot to move along overhead lines while clamping the line, adapting to overhead lines of different diameters. It solves the problems of incomplete ice removal and residue buildup associated with single de-icing methods, significantly improving de-icing efficiency and line cleanliness. It can also adapt to the simultaneous de-icing requirements of multi-split conductors, effectively improving the operational safety of de-icing overhead conductors.

Description

Technical Field

[0001] This invention belongs to the field of de-icing technology for overhead power lines, and particularly relates to a de-icing robot for overhead power lines suitable for single conductors and double-split conductors. Background Technology

[0002] Overhead transmission lines are the core carriers of power transmission. In winter, ice, snow, and freezing rain can easily cause ice to accumulate on these lines. If not cleared in time, this can easily lead to line tripping, wire breaks, or even tower collapse, seriously affecting the safe and stable operation of the power system. Currently, line de-icing mainly includes manual de-icing, electric current de-icing, and traditional mechanical de-icing. Manual de-icing has the problems of high-altitude operation risks and low efficiency; electric current de-icing has high energy consumption and is only suitable for short-distance lines; traditional mechanical de-icing equipment is mostly a single rotating impact structure, which is only suitable for single-conductor lines, has poor adaptability, and cannot completely remove ice from overhead transmission lines of different diameters. Summary of the Invention

[0003] The present invention addresses the problems existing in the prior art. Specifically, the technical problem to be solved by the present invention is to provide a de-icing robot for overhead power lines that is suitable for single conductors and double-split conductors. The robot is reasonably designed, has a compact structure, strong adaptability, and high de-icing efficiency.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a de-icing robot for overhead power lines suitable for single-conductor and double-split-conductor systems, comprising a de-icing base, a clamping groove formed in the middle of the de-icing base, a walking mechanism in contact with the line above the clamping groove, the walking mechanism driving the de-icing base to move back and forth along the line, a clamping mechanism and an ice-milling mechanism arranged sequentially from back to front on the lower side of the walking mechanism, the clamping mechanism clamping the line from the left and right sides; the ice-milling mechanism milling the ice on the line from the left and right sides; ice-melting mechanisms arranged at the lower left and right ends of the de-icing base; an upper ice-knocking mechanism arranged on the top front side of the de-icing base, and a lower ice-knocking mechanism extending downward to the adjacent overhead line located below the de-icing base at the rear interior.

[0005] Furthermore, a pair of upper moving frames are symmetrically arranged on the left and right sides of the walking mechanism. The pair of upper moving frames are driven by the adjustment drive assembly to move towards each other or away from each other in the left and right directions. The clamping mechanism is located below the rear end of the pair of upper moving frames. The pair of upper moving frames drive the clamping mechanism to clamp the line from the left and right sides. The ice milling mechanism is located below the front end of the pair of upper moving frames. The pair of upper moving frames drive the ice milling mechanism to contact the ice on the line from the left and right sides.

[0006] Furthermore, the inner top of the de-icing base is provided with a pair of upper guide rails distributed in front and back, which extend in the left and right direction; the upper movable frame is U-shaped, with the vertical sides of the upper movable frame distributed in front and back, and the top of the vertical sides slidingly engaging with the upper guide rails via upper sliders; the adjustment drive assembly includes a positive and negative threaded screw and a clamping motor that drives the positive and negative threaded screw to rotate, the axis of the positive and negative threaded screw extends in the left and right direction, and both the positive and negative threaded sections of the positive and negative threaded screws are screwed with movable nuts, which are connected to the upper movable frame located on the same side. When the positive and negative threaded screws rotate, they drive a pair of upper movable frames to move in opposite directions or away from each other along the upper guide rails.

[0007] Furthermore, the ice milling mechanism includes a pair of ice milling blades distributed on the left and right, the ice milling blades being circular in shape with their axes extending vertically, and ice milling teeth being provided on the periphery of the ice milling blades. The ice milling blades are driven to rotate by an ice milling motor vertically positioned below them. The clamping mechanism includes a pair of clamping wheels distributed on the left and right, the clamping wheels having their axes extending vertically. Each clamping wheel is driven to rotate by a drive motor vertically positioned below it, and an annular groove for contacting the circuit is provided on the periphery of the clamping wheel.

[0008] Furthermore, a pair of lower moving frames are provided on the front and rear sides below the pair of upper moving frames. The pair of lower moving frames are distributed on the left and right and correspond to the positions of the pair of upper moving frames. The lower moving frames and the upper moving frames slide in the left and right directions. The ice milling blade and the clamping wheel are installed in the corresponding lower moving frames. The side of the pair of lower moving frames that are far apart is connected to a buffer elastic element that can stretch and deform in the left and right directions.

[0009] Furthermore, the lower moving frame is horizontally U-shaped, with the openings of a pair of lower moving frames facing each other. The periphery of the ice-milling blade and the clamping wheel both extend from the openings of the lower moving frames. The bottom of the upper moving frame is provided with a lower guide rail corresponding to the position of each lower moving frame. The lower guide rail extends in the left-right direction, and the top of the lower moving frame slides in cooperation with the corresponding lower guide rail. A pair of downwardly extending extension arms are provided at the far ends of the pair of upper moving frames. The pair of extension arms are distributed in front and behind and correspond to the positions of the lower moving frames respectively. A horizontal guide rod is fixed at the end of the lower moving frame away from the opening. The horizontal guide rod slides through the extension arm. The buffer elastic element is a buffer spring sleeved on the outside of the horizontal guide rod and located between the extension arm and the lower moving frame. The two ends of the buffer spring abut against the extension arm and the lower moving frame respectively.

[0010] Furthermore, the ice-melting mechanism includes an ice-melting liquid storage tank, a water pump, a pumping pipe, a drain pipe, and a nozzle. The water pump is located above the ice-melting liquid storage tank. The water inlet of the water pump is connected to the ice-melting liquid storage tank through the pumping pipe, and the water outlet of the water pump is connected to one end of the drain pipe. The other end of the drain pipe is connected to the nozzle.

[0011] Furthermore, the upper ice-knocking mechanism includes an upper ice-knocking motor, an upper ice-knocking shaft, an upper ice-knocking turntable, upper ice-knocking rods, and an upper ice-knocking hammer. The upper ice-knocking shaft is located at the middle of the front end of the top of the de-icing base in a front-rear direction. The rear end of the upper ice-knocking shaft is connected to the upper ice-knocking motor located inside the de-icing base. The front end of the upper ice-knocking shaft is connected to the upper ice-knocking turntable. A pair of upper ice-knocking rods are symmetrically arranged around the upper ice-knocking turntable. The upper ice-knocking hammer is hinged to the end of the upper ice-knocking rod away from the upper ice-knocking turntable.

[0012] Furthermore, the ice-knocking mechanism is driven to rise and fall by an electric push rod. The ice-knocking mechanism includes an ice-knocking motor, a motor base plate, an ice-knocking shaft, an ice-knocking turntable, ice-knocking rods, and ice-knocking hammers. The electric push rod is vertically arranged with its telescopic end extending downwards. The motor base plate is fixedly installed on the telescopic end of the electric push rod. The ice-knocking motor is mounted on the motor base plate. The output shaft of the ice-knocking motor is connected to the front end of the ice-knocking shaft, and the rear end of the ice-knocking shaft is connected to the ice-knocking turntable. A pair of ice-knocking rods are symmetrically arranged around the ice-knocking turntable. The ice-knocking hammers are hinged to the end of each ice-knocking rod away from the ice-knocking turntable.

[0013] Furthermore, the walking mechanism includes a pair of front and rear spaced-apart walking wheels, the axis of which extends in the left and right direction, and each walking wheel is driven to rotate by a walking motor; a vertically arranged hanging rod is fixed at the middle of the front and rear ends of the top of the de-icing seat, and an inverted U-shaped lifting lug is provided at the upper end of each hanging rod, with an arc-shaped guide plate connected between the two lifting lugs.

[0014] Compared with the prior art, the present invention has the following advantages: The present invention is reasonably designed and can realize the wire-clamping movement on the overhead line conductors, adapt to overhead lines of different diameters, and at the same time, the upper and lower ice-knocking mechanism, the ice-milling mechanism and the ice-melting mechanism realize composite de-icing, which solves the problem of incomplete ice removal and easy residue in single de-icing methods, greatly improves de-icing efficiency and line cleanliness, and can also adapt to the synchronous de-icing requirements of multi-split conductors, effectively improving the automation level and operation safety of overhead conductor de-icing. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present invention. Figure 1 ; Figure 2 This is a three-dimensional structural diagram of an embodiment of the present invention. Figure 2 ; Figure 3 This is a side view of the structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal three-dimensional structure of an embodiment of the present invention. Figure 1 ; Figure 5This is a schematic diagram of the internal three-dimensional structure of an embodiment of the present invention. Figure 2 ; Figure 6 This is a side cross-sectional view of an embodiment of the present invention; Figure 7 This is a schematic diagram of the overall structure of the clamping mechanism and the ice milling mechanism in an embodiment of the present invention; Figure 8 yes Figure 7 Front view sectional view; Figure 9 yes Figure 7 A schematic diagram of the rear view section; Figure 10 This is a three-dimensional structural schematic diagram of the ice-melting mechanism in an embodiment of the present invention; Figure 11 This is a three-dimensional structural diagram of the walking mechanism in an embodiment of the present invention; Figure 12 This is a three-dimensional structural diagram of the ice-knocking mechanism in an embodiment of the present invention; Figure 13 This is a three-dimensional structural diagram of the lower ice-knocking mechanism in an embodiment of the present invention; Figure 14 This is a three-dimensional structural diagram of the upper movable frame in an embodiment of the present invention; Figure 15 This is a three-dimensional structural schematic diagram of the ice removal base body in an embodiment of the present invention; Figure 16 This is a three-dimensional structural diagram of the ice-milling blade in an embodiment of the present invention.

[0016] In the picture: 1-De-icing base; 2-Clamping groove; 3-Traveling mechanism; 4-Clamping mechanism; 5-Milling mechanism; 6-Ice melting mechanism; 7-Upper ice-breaking mechanism; 8-Lower ice-breaking mechanism; 9-De-icing base body; 10-Cover; 11-Opening; 12-Protective baffle; 13-Traveling wheel; 14-Traveling motor; 15-Traveling wheel axle; 16-Axle mounting bracket; 17-Horizontal mounting plate; 18-Upper moving frame; 19-Adjustment drive assembly; 20-Upper guide rail; 21-Positive and negative thread screw; 22-Clamping motor; 23-Trapezoidal screw support; 24-Motor base; 25-Moving nut; 26-Milling blade; 27-Milling tooth; 28-Milling motor; 29-Clamping wheel; 30-Drive motor; 31-Annular groove; 32- Lower moving frame; 33-Lower guide rail; 34-Extension arm; 35-Horizontal guide rod; 36-Buffer spring; 37-Ice melting liquid storage tank; 38-Water pump; 39-Water suction pipe; 40-Drain pipe; 41-Sprayer head; 42-Upper ice-beating motor; 43-Upper ice-beating shaft; 44-Upper ice-beating turntable; 45-Upper ice-beating rod; 46-Upper ice-beating hammer; 47-Electric push rod; 48-Lower ice-beating motor; 49-Motor base plate; 50-Lower ice-beating shaft; 51-Lower ice-beating turntable; 52-Lower ice-beating rod; 53-Lower ice-beating hammer; 54-Hanging rod; 55-Hanging lug; 56-Guide plate; 57-Equipotential rod; 58-Camera; 59-Control box; 60-Mounting slot; 61-Coupling; 62-Motor shaft; 63-Bearing seat. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0019] like Figures 1-16As shown, this invention discloses a de-icing robot for overhead power lines applicable to single-conductor and double-split-conductor systems. It includes a de-icing base 1 for mounting on the overhead power line. The de-icing base 1 has a clamping groove 2 in the middle for accommodating the overhead power line. The clamping groove 2 is open at the bottom and extends through the entire structure in the front-to-back direction. Above the clamping groove 2, inside the de-icing base, a traveling mechanism 3 is arranged to contact the line. The traveling mechanism 3 drives the de-icing base 1 to move back and forth along the line. Below the traveling mechanism 3, from back to front, are a clamping mechanism 4 and an ice-milling mechanism 5. The clamping mechanism 4 clamps the line from the left and right sides. The clamping mechanism and the traveling mechanism are coordinated. The system is designed to allow for wire clamping and movement on overhead power line conductors, adapting to overhead power lines of different diameters. The ice milling mechanism 5 mills the ice on the line from the left and right sides. The lower left and right ends of the de-icing base 1 are equipped with ice melting mechanisms 6, which spray ice melting liquid onto the ice on the line. The top front side of the de-icing base 1 is equipped with an upper ice-breaking mechanism 7, which is used to initially break the ice on the current overhead power line (the line located in the clamping groove). The rear end of the de-icing base 1 is equipped with a lower ice-breaking mechanism 8 that extends downward to the adjacent overhead power line below, which is used to initially break the ice on the adjacent overhead power line below. The upper and lower ice-knocking mechanism, the ice-milling mechanism, and the ice-melting mechanism achieve composite de-icing. First, the ice layer on the overhead line is softened and brittled by the ice-melting liquid. Then, the upper and lower ice-knocking hammers perform preliminary breaking of the ice on the current and adjacent overhead lines. Finally, the ice-milling mechanism achieves coordinated operation of rotary cutting and radial impact. This solves the problems of incomplete ice removal and easy residue in single de-icing methods, greatly improving de-icing efficiency and line cleanliness. At the same time, it can adapt to the synchronous de-icing needs of multi-split conductors.

[0020] This de-icing robot can adapt to overhead transmission lines with different split conductors, realizing integrated operation of line-clamping movement, composite de-icing and remote control. It has a compact structure, flexible operation and high de-icing efficiency, effectively solving the problems of poor safety, low adaptability and low degree of automation of existing de-icing methods.

[0021] In this embodiment, the de-icing base 1 includes a de-icing base body 9 in the shape of an inverted U-shaped frame (e.g., Figure 15 As shown, a rectangular cover 10 is fixed to the top of the de-icing base body 9. Protective baffles 12 are fixed to both the front and rear ends of the de-icing base body 9. An inverted Y-shaped opening 11 is provided in the middle of the protective baffle 12. The openings on the protective baffles 12 at the front and rear ends form a clamping groove 2. U-shaped mounting grooves 60 are provided at the lower left and right ends of the de-icing base body 9, which are typically used to install an ice-melting mechanism.

[0022] In this embodiment, the walking mechanism 3 includes a pair of walking wheels 13 spaced apart in front and behind. The axes of the walking wheels 13 extend in the left-right direction, and each walking wheel 13 is driven to rotate by a walking motor 14. Specifically: as shown... Figure 11 As shown, the axle 15 of the walking wheel is mounted on the inverted U-shaped axle mounting bracket 16, which is locked to the inner top of the de-icing base body 9. A horizontal U-shaped transverse mounting plate 17 is fixed to the side of the axle mounting bracket 16. The axle 15 of the walking wheel extends into the transverse mounting plate 17 and is connected to the motor shaft of the walking motor 14 through a coupling. The walking motor 14 is mounted on the end of the transverse mounting plate 17 away from the axle mounting bracket 16.

[0023] In this embodiment, as Figure 3-5 As shown, a pair of upper moving frames 18 are symmetrically arranged on the left and right sides of the walking mechanism 3. The pair of upper moving frames 18 are driven by the adjustment drive assembly 19 to move towards each other or away from each other in the left and right directions. The clamping mechanism 4 is installed below the rear end of the pair of upper moving frames 18 and between a pair of walking wheels 13. The pair of upper moving frames 18 drive the clamping mechanism 4 to clamp the line from the left and right sides. The ice milling mechanism 5 is installed below the front end of the pair of upper moving frames 18 and in front of the pair of walking wheels 13. The pair of upper moving frames 18 drive the ice milling mechanism 5 to contact the ice on the line from the left and right sides.

[0024] In this embodiment, as Figure 5-7 As shown in Figure 14, the inner top of the de-icing base body 9 is provided with a pair of front-to-back upper guide rails 20, which extend in the left-right direction; the upper movable frame 18 is U-shaped, with its two vertical sides distributed in front and back, and the top of each vertical side slides into the upper guide rail 20 on the same side via an upper slider, thereby guiding the left-right movement of the upper movable frame. Figure 5 , 7 As shown in Figure 8, the adjustment drive assembly 19 includes a forward and reverse threaded screw 21 and a clamping motor 22 that drives the forward and reverse threaded screw 21 to rotate. The axis of the forward and reverse threaded screw 21 extends in the left-right direction. The forward and reverse threaded screw 21 is mounted on a pair of trapezoidal screw supports 23 distributed on the left and right sides. The trapezoidal screw supports 23 are fixedly mounted on the inner top of the de-icing base body 9. The clamping motor 22 is mounted on a motor base 24, which is locked to the inner top of the de-icing base body 9. The output shaft of the clamping motor 22 is connected to the forward and reverse threaded screw 21 through a coupling. The forward and reverse threaded sections of the forward and reverse threaded screw 21 are each screwed with a movable nut 25. The movable nut 25 is connected to an upper movable frame 18 located on the same side. When the forward and reverse threaded screw 21 is driven to rotate by the clamping motor 22, it drives the pair of upper movable frames 18 to move synchronously in opposite directions or in opposite directions along the upper guide rail 20, thereby adjusting the distance between the pair of upper movable frames, and thus driving the clamping mechanism and the ice milling mechanism to move synchronously.

[0025] In this embodiment, as Figure 4-7 As shown in Figure 9, the ice milling mechanism 5 includes a pair of ice milling blades 26 distributed on the left and right. The ice milling blades 26 are circular in shape and their axes extend vertically (i.e., the ice milling blades are horizontally positioned). Ice milling teeth 27 are provided on the periphery of the ice milling blades 26. The ice milling blades 26 are driven to rotate by an ice milling motor 28 vertically positioned below them. During operation, the rotating ice milling blades contact the ice covering the circuit surface, and rotary cutting and radial impact work in tandem. Further, as... Figure 16 As shown, the ice-milling blade has a multi-layer structure from top to bottom, including multiple working layers and a partition layer between two adjacent working layers, with a ring of ice-milling teeth on the periphery of each working layer.

[0026] In this embodiment, as Figure 4-8 As shown, the clamping mechanism 4 includes a pair of clamping wheels 29 distributed on the left and right, respectively, which are mounted on a pair of upper movable frames 18. The axes of the clamping wheels 29 extend vertically (i.e., the clamping wheels are horizontally arranged), and each clamping wheel 29 is driven to rotate by a drive motor 30 vertically positioned below it. The circumference of each clamping wheel 29 is provided with an annular groove 31 for contacting the overhead line, thus improving the clamping effect. During operation, the pair of upper movable frames move towards each other, driving the pair of clamping wheels to move synchronously, thereby clamping the overhead line from both sides. Simultaneously, the clamping wheels are driven by the drive motor to rotate along the overhead line, thus performing both clamping and moving functions. The pair of moving wheels and the pair of clamping wheels enable the clamping and moving of the overhead line conductor.

[0027] In this embodiment, as Figure 5-9 As shown, a pair of lower moving frames 32 are provided on both the front and rear sides below a pair of upper moving frames 18 (i.e., there are a total of four lower moving frames). The pair of lower moving frames 32 on the front and rear sides are distributed to the left and right and correspond to the positions of the pair of upper moving frames 18. The lower moving frames 32 and the upper moving frames 18 slide in the left and right directions, that is, the lower moving frames can move left and right at the bottom of the upper moving frames. The ice milling blade 26 and the clamping wheel 29 are installed in the lower moving frames 32 with corresponding positions. The side of the pair of lower moving frames 32 that is far apart is connected to a buffer elastic element that can stretch and deform in the left and right directions. The buffer elastic element can play a buffering role.

[0028] Specifically, such as Figure 5-9As shown, the lower moving frame 32 is horizontally U-shaped, with the openings of a pair of lower moving frames 32 facing each other. The periphery of the ice milling blade 26 and the clamping wheel 29 both extend from the openings of the lower moving frames 32. The bottom of the upper moving frame 18 is provided with a lower guide rail 33 corresponding to the position of each lower moving frame 32. The lower guide rail 33 extends in the left and right direction and is locked to the bottom of the upper moving frame 18. The top of the lower moving frame 32 slides in cooperation with the lower guide rail 33 corresponding to its position. Each of the two upper moving frames 18 has a pair of downwardly extending extension arms 34 at its far ends. The extension arms 34 are distributed front and rear and correspond to the positions of the lower moving frame 32. A horizontal guide rod 35 is fixed to the end of the lower moving frame 32 away from the opening. The horizontal guide rod 35 slides through the extension arm 34. The buffer elastic element is a buffer spring 36 sleeved on the outside of the horizontal guide rod 35 and located between the extension arm 34 and the lower moving frame 32. The two ends of the buffer spring 36 abut against the extension arm 34 and the lower moving frame 32, respectively. The buffer spring plays a clamping and buffering role. The spring can extend and retract, so that the clamping wheel always keeps in contact with the outer wall of the line, avoiding slippage or clamping failure due to excessive gap, and ensuring the stability of walking and de-icing operations. When the robot encounters line clips, anti-vibration hammers, or other line accessories or obstacles, the spring can be compressed, causing the clamping wheel to retract and avoid hard collisions that could damage the motor, bearings, or wires, while also preventing the robot from getting stuck at obstacles.

[0029] In this embodiment, as Figure 10 As shown, the de-icing mechanism 6 includes a de-icing fluid storage tank 37, a water pump 38, a pumping pipe 39, a drain pipe 40, and a nozzle 41. The water pump 38 is positioned above the de-icing fluid storage tank 37 and installed on the de-icing base body 9. The inlet end of the water pump 38 is connected to the de-icing fluid storage tank 37 via the pumping pipe 39, and the outlet end of the water pump 38 is connected to one end of the drain pipe 40. The other end of the drain pipe 40 is connected to the nozzle 41. During operation, the water pump draws the de-icing fluid from the storage tank to the nozzle, which atomizes the fluid and sprays it onto the surface of the overhead line. This allows the fluid to penetrate to the interface between the ice layer and the conductor, softening and brittlening the ice layer. This assists the mechanical de-icing mechanism in peeling off the ice layer and forms a temporary antifreeze and insulating protective layer on the conductor surface. Because the de-icing mechanism is distributed on both sides, and the structures on both sides are identical (both have de-icing fluid storage tanks, water pumps, nozzles, etc.), de-icing operations can be performed from both sides.

[0030] In this embodiment, as Figure 12As shown, the upper ice-knocking mechanism 7 includes an upper ice-knocking motor 42, an upper ice-knocking shaft 43, an upper ice-knocking turntable 44, upper ice-knocking rods 45, and upper ice-knocking hammers 46. The upper ice-knocking shaft 43 is positioned at the front center of the top cover 10 of the de-icing base body 9 along the front-rear direction. The rear end of the upper ice-knocking shaft 43 is connected to the upper ice-knocking motor 42, which is located inside the top cover 10 of the de-icing base body. The front end of the upper ice-knocking shaft 43 is connected to the upper ice-knocking turntable 44. A pair of upper ice-knocking rods 45 are symmetrically arranged around the upper ice-knocking turntable 44. The upper ice-knocking hammers 46 are hinged to the end of each upper ice-knocking rod 45 away from the upper ice-knocking turntable 44. During operation, the upper ice-knocking motor drives the upper ice-knocking turntable to rotate via the upper ice-knocking shaft. The upper ice-knocking turntable drives the pair of upper ice-knocking rods to rotate synchronously, and the upper ice-knocking hammers on the upper ice-knocking rods knock down the ice on the overhead power line.

[0031] In this embodiment, as Figure 13 As shown, the ice-knocking mechanism 8 is driven to rise and fall by an electric push rod 47. The ice-knocking mechanism 8 includes an ice-knocking motor 48, a motor base plate 49, an ice-knocking shaft 50, an ice-knocking turntable 51, ice-knocking rods 52, and ice-knocking hammers 53. The electric push rod 47 is vertically arranged with its telescopic end extending downwards. The motor base plate 49 is fixedly installed on the telescopic end of the electric push rod 47. The ice-knocking motor 48 is located on the motor base plate 49. The output shaft of the ice-knocking motor 48 is connected to the front end of the ice-knocking shaft 50. The rear end of the ice-knocking shaft 50 is connected to the ice-knocking turntable 51. A pair of ice-knocking rods 52 are symmetrically arranged on the periphery of the ice-knocking turntable 51. The ice-knocking hammers 53 are hinged to the end of the ice-knocking rods 52 away from the ice-knocking turntable 51. During operation, the electric push rod is activated, which drives the lower ice-knocking mechanism to extend downward to the position of the adjacent overhead line. The lower ice-knocking motor is then activated, which drives the lower ice-knocking hammer to continuously and reciprocate to hammer the adjacent overhead line, thereby improving the de-icing efficiency.

[0032] In this embodiment, as Figure 1-2 As shown, a vertically arranged lifting rod 54 is fixed at the middle of both the front and rear ends of the top cover 10 of the de-icing base body 9. Each lifting rod 54 has an inverted U-shaped lifting lug 55 at its upper end. The lifting lug is used to cooperate with the drone for lifting. An arc-shaped guide plate 56 is connected between two lifting lugs 55. The drone uses the lifting lug to carry the de-icing robot to the ice-covered overhead line.

[0033] In this embodiment, as Figure 1-2 As shown, the protective baffle 12 at the rear end of the de-icing base is connected to a downwardly extending equipotential rod 57, which is used to contact the overhead line. In use, the de-icing robot is hoisted onto the overhead line by a drone. During the hoisting process, the de-icing robot is powered off. After the equipotential wire 15 contacts the overhead line, the de-icing robot and the overhead line are at the same potential.

[0034] In another embodiment, such as Figure 1-2 As shown, cameras 58 are installed at both the front and rear ends of the top cover 10 of the de-icing base. Figure 4 As shown, it also includes a control mechanism, which is integrated into a sealed control box 59 inside the housing 10 via wiring. This control mechanism is electrically connected to the walking motor, gripping motor, upper ice-knocking motor, drive motor, ice-milling motor, and lower ice-knocking motor. Specifically, the control mechanism includes an industrial computer, a wireless communication module, an I / O module, and a power supply module. The wireless communication module enables signal interaction between the robot and the remote control console. The power supply module is a lithium battery pack with integrated fast charging and overvoltage protection functions, providing power to each motor, sensor, and main control board.

[0035] Specific implementation process: The de-icing robot is hoisted onto the overhead power line by a drone. During the hoisting process, the robot is powered off. Once the equipotential rod 57 contacts the overhead power line, the robot and the overhead power line are at the same potential. After the hoisting is completed and the drone leaves, the de-icing robot's control system is powered on, and the robot starts. The front-facing camera 58 is activated. When it is confirmed that the overhead power line is in complete contact with the traveling wheels 13, the clamping motor 22 starts, the forward and reverse threaded screws 21 rotate, and the clamping wheels 29 on both sides clamp the overhead power line from the left and right sides, so that the clamping wheels 29 are in contact with the outer wall of the overhead power line and form a stable clamp. After clamping into place, the water pump 38 is remotely activated, and the de-icing liquid is evenly sprayed onto the overhead line through the nozzle 41, penetrating to the interface between the ice layer and the conductor to soften and embrittle the ice layer, assisting the mechanical de-icing mechanism in peeling off the ice layer; at the same time, the walking motor 14 is activated, driving the walking wheel 13 to roll at a constant speed along the overhead line; simultaneously, the upper ice-beating motor 42, the ice-milling motor 28, and the lower ice-beating motor 48 are activated, with the upper ice-beating hammer 46 continuously hammering the overhead line to remove cedar; the ice-milling motor 28 drives the ice-milling blade 26 to rotate and cut around the overhead line to remove hard ice; the lower ice-beating hammer 53 continuously hammers adjacent overhead lines to improve the overall de-icing efficiency; throughout the operation, the wireless communication module enables real-time signal interaction between the de-icing robot and the remote control console, allowing staff to remotely monitor and manually intervene, and the power module continuously supplies power to each mechanism; when the de-icing of the current area is completed, the de-icing robot is taken by a drone to the next icy area to repeat the above de-icing actions.

[0036] The advantages of this invention are: (1) The composite de-icing mode of upper and lower ice-knocking mechanism + ice milling mechanism + ice melting mechanism is adopted. First, the ice layer of the overhead line is softened and brittle by ice melting liquid. Then, the ice layer of the current and adjacent overhead lines is initially broken by upper and lower ice-knocking hammers. Then, the ice milling mechanism realizes the coordinated operation of rotary cutting and radial impact. This solves the problem of incomplete ice removal and easy residue in the single de-icing method, greatly improves the de-icing efficiency and line cleanliness, and can also adapt to the synchronous de-icing needs of multi-split conductors. (2) The clamping mechanism is compatible with overhead lines of different diameters. It clamps stably and does not slip during the movement. It uses positive and negative screws to drive the left and right clamping wheels to feed synchronously. With the horizontal guide rod and spring buffer structure, it can achieve adaptive clamping of overhead lines of different diameters. It not only ensures the clamping stability during movement and de-icing operations and avoids slippage and deviation, but also achieves overload protection through spring buffer to prevent excessive clamping force from damaging the conductor insulation layer, thus improving the safety of equipment operation and line compatibility. (3) The structure is compact and each mechanism can be disassembled and assembled, which facilitates transportation and maintenance and is suitable for de-icing operations of overhead lines in different environments.

[0037] If this invention discloses or relates to components or structural parts that are fixedly connected to each other, then, unless otherwise stated, a fixed connection can be understood as: a fixed connection that can be detached (e.g., using bolts or screws), or a fixed connection that cannot be detached (e.g., riveting, welding). Of course, a fixed connection can also be replaced by an integral structure (e.g., manufactured in one piece using a casting process) (except where it is obviously impossible to use an integral molding process).

[0038] In addition, unless otherwise stated, the terms used in any of the technical solutions disclosed in this invention to indicate positional relationships or shapes include states or shapes that are similar to, close to, or approximate with those states or shapes.

[0039] Any component provided by this invention can be assembled from multiple individual components or can be a single component manufactured by a one-piece molding process.

[0040] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A de-icing robot suitable for single-conductor and double-split-conductor overhead power lines, characterized in that: The device includes an ice-removing base with a clamping groove in the middle. A traveling mechanism that contacts the power line is located above the clamping groove. The traveling mechanism drives the ice-removing base to move back and forth along the power line. A clamping mechanism and an ice-milling mechanism are arranged sequentially from back to front on the lower side of the traveling mechanism. The clamping mechanism clamps the power line from the left and right sides. The ice-milling mechanism mills the ice on the power line from the left and right sides. Ice-melting mechanisms are arranged at the lower left and right ends of the ice-removing base. An upper ice-knocking mechanism is arranged on the top front side of the ice-removing base. A lower ice-knocking mechanism is arranged at the rear end of the ice-removing base, extending downward to the adjacent overhead power line located below.

2. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 1, characterized in that: The walking mechanism has a pair of upper moving frames symmetrically arranged on the left and right sides. The pair of upper moving frames are driven by the adjustment drive assembly to move towards each other or away from each other in the left and right directions. The clamping mechanism is located below the rear end of the pair of upper moving frames. The pair of upper moving frames drive the clamping mechanism to clamp the line from the left and right sides. The ice milling mechanism is located below the front end of the pair of upper moving frames. The pair of upper moving frames drive the ice milling mechanism to contact the ice on the line from the left and right sides.

3. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 2, characterized in that: The inner top of the de-icing base is provided with a pair of upper guide rails distributed in front and back, which extend in the left and right direction; the upper movable frame is U-shaped, with the vertical sides of the upper movable frame distributed in front and back, and the top of the vertical sides slidingly engaging with the upper guide rails through upper sliders; the adjustment drive assembly includes a positive and negative threaded screw and a clamping motor that drives the positive and negative threaded screw to rotate. The axis of the positive and negative threaded screw extends in the left and right direction, and both the positive and negative threaded sections of the positive and negative threaded screws are screwed with movable nuts. The movable nuts are connected to the upper movable frame located on the same side. When the positive and negative threaded screws rotate, they drive a pair of upper movable frames to move in opposite directions or away from each other along the upper guide rails.

4. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 2, characterized in that: The ice milling mechanism includes a pair of ice milling blades distributed on the left and right. The ice milling blades are circular in shape and their axes extend vertically. The ice milling blades are provided with ice milling teeth on their periphery. The ice milling blades are driven to rotate by an ice milling motor vertically located below them. The clamping mechanism includes a pair of clamping wheels distributed on the left and right. The clamping wheels are driven to rotate by a drive motor vertically located below them. The clamping wheels are provided with annular grooves on their periphery for contacting the circuit.

5. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 4, characterized in that: A pair of lower moving frames are provided on the front and rear sides below the pair of upper moving frames. The pair of lower moving frames are distributed on the left and right and correspond to the positions of the pair of upper moving frames. The lower moving frames and the upper moving frames slide in the left and right directions. The ice milling blade and the clamping wheel are installed in the corresponding lower moving frames. The side of the pair of lower moving frames that is far apart is connected to a buffer elastic element that can stretch and deform in the left and right directions.

6. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 5, characterized in that: The lower moving frame is horizontally U-shaped, with the openings of a pair of lower moving frames facing each other. The periphery of the ice-milling blade and clamping wheel both extend from the openings of the lower moving frames. The bottom of the upper moving frame is provided with a lower guide rail corresponding to the position of each lower moving frame. The lower guide rail extends in the left-right direction, and the top of the lower moving frame slides in cooperation with the corresponding lower guide rail. A pair of downwardly extending extension arms are provided at the far ends of the pair of upper moving frames. The pair of extension arms are distributed in front and behind and correspond to the positions of the lower moving frames respectively. A horizontal guide rod is fixed at the end of the lower moving frame away from the opening. The horizontal guide rod slides through the extension arm. The buffer elastic element is a buffer spring sleeved on the outside of the horizontal guide rod and located between the extension arm and the lower moving frame. The two ends of the buffer spring abut against the extension arm and the lower moving frame respectively.

7. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 1, characterized in that: The ice-melting mechanism includes an ice-melting liquid storage tank, a water pump, a pumping pipe, a drain pipe, and a nozzle. The water pump is located above the ice-melting liquid storage tank. The water inlet of the water pump is connected to the ice-melting liquid storage tank through the pumping pipe. The water outlet of the water pump is connected to one end of the drain pipe, and the other end of the drain pipe is connected to the nozzle.

8. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 1, characterized in that: The upper ice-knocking mechanism includes an upper ice-knocking motor, an upper ice-knocking shaft, an upper ice-knocking turntable, upper ice-knocking rods, and an upper ice-knocking hammer. The upper ice-knocking shaft is located at the middle of the front end of the top of the de-icing base along the front-rear direction. The rear end of the upper ice-knocking shaft is connected to the upper ice-knocking motor located inside the de-icing base. The front end of the upper ice-knocking shaft is connected to the upper ice-knocking turntable. A pair of upper ice-knocking rods are symmetrically arranged around the upper ice-knocking turntable. The upper ice-knocking hammer is hinged to the end of the upper ice-knocking rod away from the upper ice-knocking turntable.

9. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 1, characterized in that: The ice-knocking mechanism is driven to rise and fall by an electric push rod. The ice-knocking mechanism includes an ice-knocking motor, a motor base plate, an ice-knocking shaft, an ice-knocking turntable, ice-knocking rods, and ice-knocking hammers. The electric push rod is vertically arranged with its telescopic end extending downwards. The motor base plate is fixedly installed on the telescopic end of the electric push rod. The ice-knocking motor is located on the motor base plate. The output shaft of the ice-knocking motor is connected to the front end of the ice-knocking shaft. The rear end of the ice-knocking shaft is connected to the ice-knocking turntable. A pair of ice-knocking rods are symmetrically arranged around the ice-knocking turntable. The ice-knocking hammers are hinged to the end of each ice-knocking rod away from the ice-knocking turntable.

10. The de-icing robot for overhead power lines applicable to single-conductor and double-split conductors according to claim 1, characterized in that: The walking mechanism includes a pair of front and rear spaced-apart walking wheels, the axis of which extends in the left and right direction, and each walking wheel is driven to rotate by a walking motor; a vertically arranged hanging rod is fixed at the middle of the front and rear ends of the top of the de-icing seat, and an inverted U-shaped lifting lug is provided at the upper end of each hanging rod, and an arc-shaped guide plate is connected between the two lifting lugs.

Images