A high-voltage power line de-icing robot for extremely cold conditions

Abstract

This invention discloses a high-voltage power line de-icing robot for extremely cold conditions, relating to the field of power line de-icing robot technology. It includes a main component comprising a housing with U-shaped wheels inside and an ice-breaking mechanism positioned along the forward direction of the housing. A robotic arm cleaning assembly is disposed within the housing, including a movable component within the housing. The movable component includes a lead screw rotatably connected to the housing, with a movable seat rotatably connected to the surface of the lead screw via a threaded connection. A lifting seat slides on the surface of the movable seat, and a threaded rod is disposed within the movable seat, positioned above the lifting seat. The robot autonomously identifies obstacles such as shock absorbers and spacers using a vision component. Combined with the independent drive of the U-shaped wheels and the clamping and lifting action of the striking hammer, it can autonomously overcome obstacles using both front and rear wheels. This eliminates reliance on drone hoisting for obstacle crossing, significantly improving the efficiency of de-icing operations on extremely cold high-voltage power lines and reducing the safety risks of high-altitude operations.

Description

Technical Field

[0001] This invention relates to the field of power line de-icing robot technology, and in particular to a high-voltage power line de-icing robot for extremely cold conditions. Background Technology

[0002] High-voltage transmission lines are prone to icing such as rime and hoarfrost in extremely cold environments of -40℃, which can easily cause conductor galloping, line breakage and tower collapse, seriously threatening the safety of the power grid. Currently, the mainstream approach to line de-icing is robotic de-icing, but existing de-icing robots have obvious technical defects under extremely cold conditions.

[0003] Existing de-icing robots generally adopt a separate design for the de-icing mechanism and the obstacle-crossing mechanism, requiring separate lifting, clamping, or sliding components to achieve obstacle crossing. This results in a bulky overall structure and complex movements, which not only significantly increases the load on the wiring, but also makes them prone to lubrication failure and mechanism jamming in extremely cold environments. In addition, some robots rely heavily on drones for obstacle crossing assistance and cannot autonomously cross obstacles such as anti-vibration hammers and spacers, resulting in poor operational continuity and low efficiency. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] In view of the problems existing in the above and / or existing high-voltage line de-icing robots under extremely cold conditions, the present invention is proposed.

[0006] Therefore, the problem that this invention aims to solve is that existing extreme cold de-icing robots are bulky and prone to jamming, and rely on drone assistance, making it difficult for them to autonomously overcome obstacles and ensure safe and efficient de-icing of the power grid.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a high-voltage line de-icing robot under extremely cold conditions, comprising a main body component including a shell, wherein a U-shaped wheel is provided inside the shell, and an ice-breaking mechanism is provided in the forward direction of the shell; A robotic arm cleaning assembly is disposed within the housing and includes a movable component disposed within the housing. The movable component includes a lead screw rotatably connected to the housing. A movable seat is rotatably connected to the surface of the lead screw via a thread. A lifting seat is slidably disposed on the surface of the movable seat. A threaded rod is disposed within the movable seat and is located above the lifting seat. The lifting base is provided with a cleaning component, which includes a rotating shaft rotatably connected to the lifting base. A swing arm is fixed to the surface of the rotating shaft, and a support shaft is rotatably connected inside the swing arm. A hammer is fixed to the surface of the support shaft, and an ice-removing groove is provided on the hammer.

[0008] As a preferred embodiment of the high-voltage line de-icing robot under extremely cold conditions described in this invention, the moving part further includes a threaded sleeve rotatably connected to the moving seat, the threaded sleeve and the threaded rod being rotatably connected by threads, the surface of the threaded rod being provided with a sliding groove, a slider being fixed inside the moving seat, and the slider sliding within the sliding groove.

[0009] As a preferred embodiment of the high-voltage line de-icing robot under extremely cold conditions described in this invention, the moving part further includes a worm wheel fixed to the surface of the threaded sleeve, a drive shaft is rotatably connected inside the moving seat, a worm is fixed to the surface of the drive shaft, and the worm wheel and the worm mesh.

[0010] As a preferred embodiment of the high-voltage line de-icing robot under extremely cold conditions described in this invention, the moving component further includes a pressure rod fixed in the lifting seat, the pressure rod being located below the threaded rod, and a first spring fixed in the lifting seat, the other end of the first spring being fixed in the moving seat.

[0011] As a preferred embodiment of the high-voltage line de-icing robot under extreme cold conditions described in this invention, the cleaning component further includes a drive rod rotatably connected to the lifting seat, a rotating disk fixed to the end of the drive rod, a pressing rod fixed to one side of the rotating disk, a lifting plate sliding inside the lifting seat, and a pressing groove formed inside the lifting plate.

[0012] As a preferred embodiment of the high-voltage line de-icing robot under extreme cold conditions described in this invention, the cleaning component further includes a connecting rod rotatably connected to one side of the lifting plate, the other end of the connecting rod being rotatably connected to a drive arm, and the other end of the drive arm being fixed to the surface of the rotating shaft.

[0013] As a preferred embodiment of the high-voltage line de-icing robot under extreme cold conditions described in this invention, the robotic arm cleaning assembly further includes an adjusting component disposed on the swing arm. The adjusting component includes a rod that slides within the swing arm, a second spring fixed inside the rod, the other end of the second spring fixed inside the swing arm, and a slot provided on the surface of the support shaft, into which the rod can be inserted.

[0014] As a preferred embodiment of the high-voltage line de-icing robot under extreme cold conditions described in this invention, the adjusting component further includes a push block that slides within the lifting seat, a third spring fixed inside the push block, the other end of the third spring fixed inside the lifting seat, a pressure plate fixed at the bottom of the movable seat, the pressure plate being located above the push block, and a movable groove being provided on one side of the lifting seat.

[0015] As a preferred embodiment of the high-voltage line de-icing robot under extremely cold conditions described in this invention, the main body component further includes a lifting frame and a vision component fixed to the top of the housing, and a support frame is provided below the housing.

[0016] As a preferred embodiment of the high-voltage line de-icing robot under extremely cold conditions described in this invention, the shell and the lifting frame are made of anodized aluminum alloy, the hammer is made of polyurethane elastomer-coated metal core, and the groove of the U-shaped wheel is lined with a high-friction rubber layer.

[0017] The beneficial effects of this invention are as follows: by integrating the de-icing function of the hammer with the functions of center of gravity adjustment, clamping and lifting, and posture adaptation through the robotic arm cleaning component, there is no need to add a separate obstacle-crossing mechanism; combined with the lightweight anodized aluminum alloy frame of the shell, the overall load is lower, which is suitable for extremely cold environments, effectively avoids low-temperature jamming, and balances de-icing efficiency and operational stability.

[0018] By autonomously identifying obstacles such as vibration dampers and spacers using vision components, and with the independent drive of U-shaped wheels and the clamping and supporting lifting effect of the hammer, it can autonomously complete obstacle crossing with the front and rear wheels; eliminating the reliance on drone hoisting during obstacle crossing, significantly improving the efficiency of de-icing operations on extremely cold high-voltage lines, and reducing the safety risks of high-altitude operations. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a scene depicting a robot used for de-icing high-voltage power lines in extremely cold conditions.

[0021] Figure 2 This is a cross-sectional view of the shell structure of a high-voltage line de-icing robot used in extremely cold conditions.

[0022] Figure 3 This is a structural diagram of the lifting platform of a high-voltage line de-icing robot used in extremely cold conditions.

[0023] Figure 4For de-icing robots for high-voltage power lines in extremely cold conditions Figure 3 Cross-sectional structural diagram.

[0024] Figure 5 For de-icing robots for high-voltage power lines in extremely cold conditions Figure 4 Enlarged view of the structure at point A in the middle.

[0025] Figure 6 For de-icing robots for high-voltage power lines in extremely cold conditions Figure 4 Enlarged view of the structure at point B in the middle.

[0026] Figure 7 This is a cross-sectional view of the hammer of a high-voltage line de-icing robot used in extremely cold conditions.

[0027] Figure 8 This is a structural diagram of the moving parts of a high-voltage line de-icing robot used in extremely cold conditions.

[0028] In the diagram: Main component 1; Housing 11; U-shaped wheel 12; Ice-breaking mechanism 13; Robotic arm cleaning component 2; Moving part 21; Lead screw 211; Moving seat 212; Lifting seat 213; Threaded rod 214; Cleaning component 22; Rotating shaft 221; Swing arm 222; Support shaft 223; Hammer 224; Ice removal groove 224-1; Threaded sleeve 216; Slide 214-1; Slider 217; Worm gear 218; Drive shaft 219; Worm 2 110; Pressure rod 2111; First spring 2112; Drive rod 225; Rotary disk 226; Extrusion rod 227; Lifting plate 228; Extrusion groove 228-1; Connecting rod 229; Drive arm 2210; Adjusting component 23; Insert rod 231; Second spring 232; Slot 223-1; Push block 233; Third spring 234; Pressure plate 235; Moving groove 213-1; Lifting frame 14; Vision assembly 15; Support frame 16. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0032] Example 1, referring to Figures 1-5 , Figure 7 and Figure 8 This is the first embodiment of the present invention, which provides a high-voltage line de-icing robot for extremely cold conditions. The high-voltage line de-icing robot for extremely cold conditions includes a main body component 1, including a shell 11. The shell 11 is the outer shell of the high-voltage line de-icing robot. There are two U-shaped wheels 12 inside the shell 11, located at the front and rear ends of the shell 11 respectively, which move on the high-voltage transmission line to drive the high-voltage line de-icing robot. An ice-breaking mechanism 13 is provided in the forward direction of the shell 11. The ice-breaking mechanism 13 is the prior art. The ice-breaking mechanism 13 is equipped with an ice-breaking saw and an ice-breaking shovel, which can break the ice layer on the surface of the high-voltage transmission line.

[0033] The robotic arm cleaning assembly 2 is housed within the housing 11 and includes a movable component 21 housed within the housing 11. The movable component 21 includes a lead screw 211 rotatably connected within the housing 11. A drive motor is provided at the end of the lead screw 211. A movable seat 212 is threadedly connected to the surface of the lead screw 211. Rotating the lead screw 211 can drive the movable seat 212 to move. A slide rod slides inside the movable seat 212. Both ends of the slide rod are fixed to the inner wall of the housing 11 to support the movable seat 212 and reduce the weight of the movable seat 212 borne by the lead screw 211.

[0034] A lifting seat 213 is slidably mounted on the outside of the movable seat 212. A threaded rod 214 is provided inside the movable seat 212. The threaded rod 214 is located above the lifting seat 213. The threaded rod 214 can move up and down inside the movable seat 212, so that the threaded rod 214 can press the lifting seat 213 downward, so that the movable seat 212 and the lifting seat 213 are far apart.

[0035] The lifting base 213 is equipped with a cleaning component 22, which includes a rotating shaft 221 rotatably connected to the left and right sides of the lifting base 213. A swing arm 222 is fixed on the surface of the rotating shaft 221. A support shaft 223 is rotatably connected to the end of the swing arm 222 away from the rotating shaft 221. A hammer 224 is fixed on the surface of the support shaft 223. By rotating the rotating shaft 221, the swing arm 222 can drive the hammer 224 to knock on the ice layer remaining on the power transmission line, thereby further cleaning the ice.

[0036] The striking hammer 224 is provided with an ice removal groove 224-1, which allows the ice blocks knocked down by the two striking hammers 224 to be removed from the striking hammer 224 through the ice removal groove 224-1 when striking the ice layer remaining on the power transmission line, thereby improving the working efficiency of the striking hammer 224.

[0037] When the de-icing robot needs to cross obstacles such as anti-vibration hammers on power lines, the lead screw 211 drives the movable seat 212 to move in front of the robot's center of gravity, i.e., behind the front U-shaped wheel 12. Then, the two hammers 224 grip the power line. At this time, the threaded rod 214 can press the lifting seat 213 downward. The reaction force makes the movable seat 212 and the lifting seat 213 move away from each other. At this time, the movable seat 212 lifts the front of the de-icing robot, so that the front U-shaped wheel 12 of the de-icing robot moves away from the power line. At this time, the rear U-shaped wheel 12 drives the de-icing robot to move forward. At the same time, the lead screw 211 drives the movable seat 212 to move closer to the rear U-shaped wheel 12, so that the front U-shaped wheel 12 crosses the anti-vibration hammer. Then, the threaded rod 214 is reset, so that the movable seat 212 and the lifting seat 213 move closer to each other, so that the front U-shaped wheel 12 falls back onto the power line and crosses the anti-vibration hammer.

[0038] When the rear U-shaped wheel 12 needs to cross the anti-vibration hammer, the screw 211 can drive the moving seat 212 to move behind the center of gravity of the de-icing robot, that is, in front of the rear U-shaped wheel 12. As the de-icing robot moves forward, the anti-vibration hammer moves from the front U-shaped wheel 12 to the rear U-shaped wheel 12. When the anti-vibration hammer is between the moving seat 212 and the rear U-shaped wheel 12, the two striking hammers 224 hug the power line in front of the anti-vibration hammer. At this time, the threaded rod 214 can squeeze the lifting seat 213 downward. The reaction force makes the moving seat 212 and the lifting seat 213 move away from each other. At this time, the moving seat 212 lifts the rear of the de-icing robot, so that the rear U-shaped wheel 12 of the de-icing robot moves away from the power line. At this time, the front U-shaped wheel 12 drives the de-icing robot to move forward, and at the same time, the screw 211 drives the moving seat 212 to move closer to the rear U-shaped wheel 12, so that the rear U-shaped wheel 12 crosses the anti-vibration hammer.

[0039] The swing arm 222 and the hammer 224 are rotatably connected by the support shaft 223, so that when the hammer 224 is holding the power line, the front and rear sections of the de-icing robot can be lifted separately. This allows the front U-shaped wheel 12 and the rear U-shaped wheel 12 to cross the obstruction of the anti-vibration hammer, without having to use a drone to lift the de-icing robot when encountering an obstacle, thus improving the continuous working capability of the de-icing robot.

[0040] It should be noted that when the front U-shaped wheel 12 is lifted away from the power line, the rear U-shaped wheel 12 drives the de-icing robot to move forward, and the lead screw 211 drives the moving seat 212 to move closer to the rear U-shaped wheel 12. At the same time, the threaded rod 214 gradually moves upward, so that the moving seat 212 and the lifting seat 213 gradually move closer. By controlling the motion coupling of the three, the front U-shaped wheel 12 can pass over the anti-vibration hammer with a stable lifting height and lifting angle. Similarly, the rear U-shaped wheel 12 can also pass over the anti-vibration hammer by controlling the motion coupling of the three.

[0041] Example 2, refer to Figures 1-8 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0042] Specifically, the movable component 21 also includes a threaded sleeve 216 rotatably connected to the movable seat 212. The threaded sleeve 216 and the threaded rod 214 are rotatably connected by threads. The surface of the threaded rod 214 is provided with a groove 214-1. A slider 217 is fixed in the movable seat 212. The slider 217 slides in the groove 214-1, so that the slider 217 limits the threaded rod 214, preventing the threaded rod 214 from rotating in the movable seat 212. At this time, the rotation of the threaded sleeve 216 can drive the threaded rod 214 to move up and down, so that the threaded rod 214 can press down on the lifting seat 213. When the hammer 224 is performing normal de-icing on the transmission line, the threaded rod 214 does not contact the lifting seat 213, avoiding damage to the threaded rod 214 caused by the impact force fed back by the hammer 224.

[0043] The movable component 21 also includes a worm gear 218 fixed to the surface of the threaded sleeve 216. A drive shaft 219 is rotatably connected inside the movable seat 212. A drive motor is provided at the end of the drive shaft 219. A worm 2110 is fixed to the surface of the drive shaft 219. The worm gear 218 and the worm 2110 mesh. By rotating the drive shaft 219, the worm 2110 can be driven to rotate, so that the worm 2110 drives the worm gear 218 and the threaded sleeve 216 to rotate, thereby driving the threaded rod 214 to move up and down.

[0044] The movable component 21 also includes a pressure rod 2111 fixed inside the lifting seat 213. The pressure rod 2111 is located below the threaded rod 214. A first spring 2112 is fixed inside the lifting seat 213. The other end of the first spring 2112 is fixed inside the movable seat 212. The first spring 2112 is in a stretched state and is used to pull the lifting seat 213 so that the top of the lifting seat 213 is inside the housing 11. When the threaded rod 214 moves downward, it can press the pressure rod 2111 downward, so that the movable seat 212 and the lifting seat 213 move away from each other.

[0045] The cleaning component 22 also includes a drive rod 225 rotatably connected to the lifting seat 213. A rotating disk 226 is fixed to one end of the drive rod 225, and a drive motor is fixed to the other end of the drive rod 225. A pressing rod 227 is fixed to one side of the rotating disk 226. A lifting plate 228 slides inside the lifting seat 213. A pressing groove 228-1 is opened in the lifting plate 228. The pressing rod 227 slides in the pressing groove 228-1. By rotating the rotating disk 226, the pressing rod 227 can press the pressing groove 228-1, thereby causing the lifting plate 228 to move up and down within the lifting seat 213.

[0046] The cleaning component 22 also includes a connecting rod 229 rotatably connected to one side of the lifting plate 228. The other end of the connecting rod 229 is rotatably connected to a drive arm 2210. The other end of the drive arm 2210 is fixed to the surface of the rotating shaft 221. When the lifting plate 228 moves up and down, the connecting rod 229 and the drive arm 2210 can drive the rotating shaft 221 to rotate, thereby causing the swing arm 222 on the surface of the rotating shaft 221 to swing back and forth, so that the hammer 224 at the end of the swing arm 222 can repeatedly strike the ice on the surface of the power transmission line.

[0047] Example 3, referring to Figures 1-8 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0048] Specifically, the robotic arm cleaning assembly 2 also includes an adjusting component 23 disposed on the swing arm 222. The adjusting component 23 includes a rod 231 that slides within the swing arm 222. A second spring 232 is fixed inside the rod 231. The other end of the second spring 232 is fixed inside the swing arm 222. The second spring 232 is in a compressed state. A slot 223-1 is provided on the surface of the support shaft 223. The rod 231 can be inserted into the slot 223-1. This prevents the support shaft 223 from rotating relative to the swing arm 222 during normal knocking de-icing of the cleaning component 22, thereby preventing the hammer 224 from rotating relative to the swing arm 222.

[0049] Adjusting component 23 also includes a push block 233 that slides within the lifting seat 213. A third spring 234 is fixed inside the push block 233, with the other end of the third spring 234 fixed inside the lifting seat 213. The third spring 234 is in a compressed state. A pressure plate 235 is fixed to the bottom of the moving seat 212. The pressure plate 235 is located above the push block 233 and presses the push block 233 downward. A moving groove 213-1 is provided on one side of the lifting seat 213. When the two hammers 224 are close together on the power transmission line, the side of the plug rod 231... The drive column is inserted into the moving slot 213-1, and the end of the drive column is located above the push block 233. When the moving seat 212 and the lifting seat 213 move away from each other, the moving seat 212 drives the pressure plate 235 away from the push block 233, releasing the pressure on the push block 233, so that the push block 233 can push the drive column, thereby causing the drive column to drive the insertion rod 231 away from the slot 223-1, so that the hammer 224 can rotate relative to the swing arm 222, thereby allowing the two ends of the de-icing robot to be raised, thus overcoming the obstacle of the anti-vibration hammer.

[0050] The main component 1 also includes a lifting frame 14 and a vision component 15 fixed to the top of the housing 11. The lifting frame 14 is used for the drone to hoist the de-icing robot. Vision components 15 are provided on both the front and rear sides of the de-icing robot for real-time monitoring of the operation of the de-icing robot.

[0051] The housing 11 is equipped with a control mechanism that can identify obstacles such as anti-vibration hammers and spacers through the vision component 15, automatically pause de-icing, adjust the walking speed, and control the several drive motors on the de-icing robot to perform actions, so that the de-icing robot can autonomously cross obstacles such as anti-vibration hammers and spacers.

[0052] The de-icing robot uses servo motors, which can control the rotation angle of the motor output.

[0053] A support frame 16 is provided below the housing 11. The support frame 16 is used to support the housing 11 and also serves as a counterweight for the de-icing robot, so that the center of gravity of the de-icing robot is located below the power line, preventing the de-icing robot from falling off the power line.

[0054] The housing 11 and lifting frame 14 are made of anodized aluminum alloy, making the whole machine lighter and significantly reducing the extra load on the power transmission line when it is covered with ice. The hammer 224 is made of polyurethane elastomer coated metal core, which will not damage the power transmission line. The groove of the U-shaped wheel 12 is lined with a high-friction rubber layer that will not harden at -40℃ and tightly wraps the surface of the power transmission line to prevent slippage. The front and rear U-shaped wheels 12 are driven independently by motors to ensure traction when walking on ice.

[0055] In use, the ground-controlled drone hooks onto the lifting frame 14 of the main component 1 to lift the robot to the target high-voltage power line; the drone's attitude is adjusted so that the robot's U-shaped wheel 12 is precisely engaged with the surface of the high-voltage conductor, the drone detaches and returns, and the robot completes the high-altitude wire hanging; the bottom support frame 16 provides counterweight to stabilize the center of gravity of the whole machine below the conductor and prevent it from falling off.

[0056] Two sets of U-shaped wheels 12, driven by independent servo motors, drive the machine body to move at a constant speed along the wire; the ice-breaking mechanism 13 located at the front end of the housing 11 pre-breaks the thick ice on the surface of the wire through an ice-breaking saw and an ice-breaking shovel. Simultaneously, the cleaning component 22 is activated, the drive rod 225 drives the rotating disk 226 to rotate, and the squeezing rod 227 slides in the squeezing groove 228-1 of the lifting plate 228, driving the lifting plate 228 to reciprocate up and down; the lifting plate 228 drives the rotating shaft 221 to rotate through the connecting rod 229 and the drive arm 2210, causing the swing arm 222 to drive the hammer 224 to swing back and forth, knocking away the residual ice on the wire. The broken ice is discharged through the ice discharge groove 224-1 of the hammer 224, avoiding the accumulation of broken ice and preventing damage to the wire throughout the process.

[0057] When the vision component 15 detects the anti-vibration hammer obstacle, the robot automatically pauses de-icing and initiates the obstacle crossing process. First, it crosses the obstacle on the front wheel. The lead screw 211 of the moving part 21 rotates, driving the moving seat 212 to move to the front of the machine's center of gravity, that is, behind the front wheel U-shaped wheel, so that the two side hammers 224 hug the wire. The drive shaft 219 drives the worm 2110 and worm wheel 218 to rotate, driving the threaded sleeve 216 to drive the threaded rod 214 to move down, squeezing the pressure rod 2111 so that the moving seat 212 moves up relative to the lifting seat 213. During this process, the moving seat 212 and the lifting seat 213 move away from each other, so that the adjusting part 23 is unlocked. The moving seat 212 uses the reaction force to lift the front of the machine body, and the front wheel U-shaped wheel 12 is lifted off the wire. The rear wheel U-shaped wheel 12 and the lead screw 211 cooperate to drive the machine body forward, completing the front wheel crossing.

[0058] For the rear wheel to cross the obstacle, the lead screw 211 drives the moving seat 212 to move to the rear of the machine's center of gravity, that is, in front of the rear wheel U-shaped wheel; repeat the clamping and lifting action to lift the rear of the machine body, the rear wheel U-shaped wheel 12 is lifted off the guide wire, the front wheel U-shaped wheel 12 and the lead screw 211 cooperate to drive the machine body forward and complete the rear wheel crossing; After overcoming the obstacle, the threaded rod 214 resets, the first spring 2112 pulls the lifting seat 213 back to its original position, the adjusting component 23 locks the hammer 224, and the robot resumes the de-icing operation.

[0059] After a single-gap de-icing operation is completed, the drone hooks onto the lifting frame 14 again to lift the robot to the next work point to continue de-icing, or it can be directly lifted and retrieved to the ground to complete the entire operation process.

[0060] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the present invention.

Claims

1. A high-voltage line de-icing robot for extremely cold conditions, characterized in that: include, The main component includes a housing, inside which a U-shaped wheel is provided, and at the front end of the housing is an ice-breaking mechanism; A robotic arm cleaning assembly includes a movable component disposed within the housing. The movable component includes a lead screw rotatably connected to the housing. A movable seat is connected to the surface of the lead screw via a threaded drive. A lifting seat is slidably disposed on the movable seat. A threaded rod capable of moving up and down is disposed within the movable seat. The threaded rod is located above the lifting seat. The lifting seat is provided with a cleaning component, which includes a rotating shaft rotatably connected to the left and right sides of the lifting seat. A swing arm is fixed to the surface of the rotating shaft, and a support shaft is rotatably connected to the end of the swing arm away from the rotating shaft. A hammer is fixed to the surface of the support shaft, and an ice-removing groove is provided on the hammer. The movable component further includes a threaded sleeve rotatably connected to the movable seat. The threaded sleeve and the threaded rod are connected by a threaded drive. A groove is provided on the surface of the threaded rod along the axial direction. A slider is fixed in the movable seat and slides in the groove. When the de-icing robot needs to cross an obstacle on the power line, the lead screw drives the moving seat to move in front of or behind the center of gravity of the de-icing robot. The two hammers hug the power line, and the threaded rod pushes the lifting seat downward. The reaction force makes the moving seat and the lifting seat move away from each other. At this time, the moving seat lifts the front or rear of the de-icing robot. The robotic arm cleaning assembly also includes an adjusting component, which includes a rod that slides within the swing arm. A second spring is fixed to the head end of the rod, and the other end of the second spring is fixed within the swing arm. A slot is provided on the surface of the support shaft, and the tail end of the rod can be inserted into the slot. The adjusting component also includes a push block that slides within the lifting seat. A third spring is fixed inside the push block, and the other end of the third spring is fixed inside the lifting seat. A pressure plate is fixed at the bottom of the movable seat, and the pressure plate is located above the push block. A movable groove is provided on one side of the lifting seat. When the movable seat and the lifting seat move away from each other, the movable seat drives the pressure plate away from the push block, releasing the pressure on the push block, so that the push block pushes the drive column, thereby causing the drive column to drive the insertion rod away from the slot, and causing the hammer and the swing arm to rotate relative to each other.

2. The high-voltage line de-icing robot under extremely cold conditions as described in claim 1, characterized in that: The movable component also includes a worm gear fixed to the surface of the threaded sleeve, a drive shaft is rotatably connected inside the movable seat, a worm is fixed to the surface of the drive shaft, and the worm gear and the worm mesh.

3. The high-voltage line de-icing robot under extremely cold conditions as described in claim 1, characterized in that: The movable component also includes a pressure rod fixed inside the lifting seat. The pressure rod extends into the movable seat and is located directly below the threaded rod. A first spring is fixed inside the lifting seat, and the other end of the first spring is fixed inside the movable seat.

4. The high-voltage line de-icing robot under extremely cold conditions as described in claim 1, characterized in that: The cleaning component also includes a drive rod rotatably connected to the lifting seat. A rotating disk is fixed to the end of the drive rod. An extrusion rod is eccentrically arranged on the rotating disk. A lifting plate slides inside the lifting seat. An extrusion groove is opened in the lifting plate. The extrusion rod slides in the extrusion groove.

5. The high-voltage line de-icing robot under extremely cold conditions as described in claim 4, characterized in that: The cleaning component also includes a connecting rod rotatably connected to one side of the lifting plate, and a drive arm rotatably connected to the other end of the connecting rod, with the other end of the drive arm fixed to the surface of the rotating shaft.

6. The high-voltage line de-icing robot under extremely cold conditions as described in claim 1, characterized in that: The main component also includes a lifting frame and a vision component fixed to the top of the housing, and a support frame is provided below the housing.

7. The high-voltage line de-icing robot under extremely cold conditions as described in claim 6, characterized in that: The housing and the lifting frame are made of anodized aluminum alloy, the hammer is made of a metal core coated with polyurethane elastomer, and the groove of the U-shaped wheel is covered with a rubber layer.

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