Low-temperature environment self-adaptive ice melting and breaking intelligent robot

Abstract

This invention relates to the field of de-icing robot technology, specifically disclosing a low-temperature environment adaptive de-icing and ice-disrupting intelligent robot, comprising: a de-icing robot, a first chute, wheels, a detection mechanism, and a secondary de-icing mechanism. The first chute is arc-shaped at the rear right end of the de-icing robot. Several wheels are arranged on the left side of the robot's inner cavity and connected to its power module. The detection mechanism is located on the right side of the robot's inner cavity. The secondary de-icing mechanism is located within the robot's inner cavity and is used for secondary de-icing of cables. The device can detect the cable de-icing effect in real time, accurately locate the de-icing failure point, automatically implement secondary de-icing, and effectively filter interference from unilateral ice layers. It achieves closed-loop, efficient, and non-contact removal of stubborn ice layers, significantly improving the reliability and intelligence level of de-icing operations on transmission lines in extremely cold environments.

Description

Technical Field

[0001] This invention relates to the field of de-icing robot technology, specifically to a low-temperature environment adaptive ice melting and ice-disrupting intelligent robot. Background Technology

[0002] As power transmission networks extend to high-altitude, high-latitude, and extremely cold regions, the problem of icing on transmission lines in winter is becoming increasingly severe. Icing not only increases the static load on lines, causing towers to tilt or collapse, but also triggers accidents such as conductor galloping and insulator flashover, seriously threatening the safe and stable operation of the power grid. To address this challenge, various de-icing robots have emerged. Existing low-temperature environment adaptive de-icing and ice-disrupting intelligent robots typically integrate a walking mechanism, a heating and de-icing module, or a mechanical impact mechanism, enabling them to move autonomously along transmission cables and perform de-icing operations, thus reducing the risks and labor intensity of manual de-icing to a certain extent. However, cable icing in actual working conditions is often complex and uneven. Due to factors such as cable routing, wind speed, and ambient temperature, ice layers of varying thickness and extremely stubborn adhesion often form on the cable surface. Against this backdrop, existing technologies still have the following significant shortcomings: First, the de-icing effect lacks an effective closed-loop detection mechanism. Most existing robots adopt an "open-loop" operation mode, that is, they de-ic according to a preset power or speed, and cannot perceive the residual ice layer on the cable surface in real time. When encountering stubborn ice layers with high hardness or strong adhesion, conventional de-icing or a single impact often cannot completely remove them, resulting in residual ice remaining on the cable even after the robot has passed by. Second, it is impossible to accurately locate and reprocess the location of de-icing failure. Due to the lack of location feedback and residual ice layer confirmation capabilities, when de-icing is incomplete, the robot often continues to move forward, leaving potential hazards behind. Even if ice is later found on the line, it is difficult to accurately trace back to the failure section, often requiring manual intervention for secondary inspection and re-de-icing, which significantly reduces the reliability and efficiency of automated de-icing. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent robot for low-temperature environment adaptive de-icing and ice-disrupting, so as to at least solve the problems in the prior art that the de-icing effect cannot be detected in real time and that it is difficult to accurately locate and automatically de-ic the incompletely de-iced areas.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a low-temperature environment adaptive de-icing and ice-disrupting intelligent robot, comprising: a de-icing robot, a first chute, wheels, a detection mechanism, and a secondary de-icing mechanism. The first chute is provided along an arc at the rear right end of the de-icing robot. The number of wheels is several, and all the wheels are disposed on the left side of the inner cavity of the de-icing robot. The wheels are connected to the power module of the de-icing robot. The detection mechanism is disposed on the right side of the inner cavity of the de-icing robot. The secondary de-icing mechanism is disposed in the inner cavity of the de-icing robot and is used for secondary de-icing of cables.

[0005] Preferably, the detection mechanism includes: a support frame, a second slide groove, a first rotating shaft, grippers, rotating rods, rollers, and first springs. The support frame is located at the rear right end of the inner cavity of the de-icing robot. The inner cavity of the support frame has second slide grooves on both the front and rear sides along the left and right directions. The front and rear ends of the first rotating shaft are respectively located at the right ends of the front and rear sides of the inner cavity of the support frame. There are four grippers, which are arranged in pairs, forming two groups. The right ends of the two grippers in each group are rotatably mounted on the front and rear sides of the outer wall of the first rotating shaft via bearings. There are two rotating rods, whose rear outer walls are respectively located on the left side of the two groups of grippers. The rollers are rotatably sleeved on the front outer wall of the rotating rods via bearings, and the positions of the rollers correspond to the positions of the walking wheels. There are two first springs, whose upper and lower ends are respectively engaged with the inner sides of the two groups of grippers.

[0006] Preferably, the detection mechanism further includes: a trigger component, a support component, an arc-shaped positioning frame, and a positioning groove. The trigger component is disposed in the inner cavity of the support frame, the support component is disposed on the rear side of the de-icing robot, the arc-shaped positioning frame is disposed on the rear side of the inner cavity of the de-icing robot, the arc-shaped positioning frame is located in the inner cavity of the support frame, and the front side of the arc-shaped positioning frame has a front-to-back through positioning groove along an arc. The position of the positioning groove corresponds to and is exactly the same as the position of the first sliding groove, and the center of the positioning groove is the same as the center of the first rotating shaft.

[0007] Preferably, the triggering component includes: a first slider, a third slide groove, a first guide rod, a second slider, a second rotating shaft, a pull rod, a push rod, and an actuating structure. The first slider is slidably fitted into the inner cavity of the second slide groove. The third slide groove is formed on the inner side of the first slider along the left-right direction. The left and right ends of the first guide rod are respectively disposed on the left and right sides of the inner cavity of the third slide groove. The second slider is slidably fitted into the left side of the inner cavity of the third slide groove. The second slider is slidably fitted into the outer wall of the first guide rod. The front and rear ends of the second rotating shaft are rotatably disposed on the inner sides of the two second sliders through bearings. There are two pull rods. The middle parts of the two pull rods are respectively fixedly disposed on the front and rear sides of the outer wall of the second rotating shaft. The upper and lower ends of the two pull rods are located in the inner cavity of the arc-shaped positioning frame. There are two push rods. The front and rear ends of the two push rods are respectively disposed on the inner left end of the two grippers in each group. The outer wall of the push rod is slidably fitted into the inner cavity of the positioning groove. The actuating structure is disposed on the outer wall of the first slider.

[0008] Preferably, a screw is also provided in the inner cavity of the second slide groove. The left end of the screw is rotatably disposed on the left side of the inner cavity of the second slide groove via a bearing, and the right end of the screw extends rotatably out of the right side of the de-icing robot. The first slider is screwed to the outer wall of the screw.

[0009] Preferably, the actuating structure includes: a mounting bracket, a first piston cylinder, a first vent, a first piston, a first piston rod, and a second spring. The mounting bracket is disposed on the inner left end of the first slider. The first piston cylinder is disposed in the inner cavity of the mounting bracket. The left side of the first piston cylinder has several first vents communicating with its inner cavity. The first piston is slidably fitted into the left side of the inner cavity of the first piston cylinder. The first piston rod is disposed on the right side of the first piston. The right end of the first piston rod slidably extends out of the inner cavity of the first piston cylinder. The right ends of the two first piston rods are respectively rotatably sleeved on the front and rear sides of the outer wall of the second rotating shaft through bearings. The second spring is sleeved on the outer wall of the first piston rod. One end of the second spring is engaged with the outer wall of the first piston, and the other end of the second spring is engaged with the inner wall of the first piston cylinder.

[0010] Preferably, the actuating structure further includes: a second piston cylinder, a second vent, a second piston, a second piston rod, a third spring, and a push switch. The second piston cylinder is located on the top right side of the mounting bracket. A plurality of second vents communicating with its inner cavity are opened on the left side of the second piston cylinder. The right side of the inner cavity of the second piston cylinder is connected to the right side of the inner cavity of the first piston cylinder via a pipe. The second piston is slidably fitted into the right side of the inner cavity of the second piston cylinder. The right end of the second piston rod is located on the left side of the second piston, and the left end of the second piston rod slidably extends out of the left side of the inner cavity of the second piston cylinder. The third spring is sleeved on the outer wall of the second piston rod. One end of the third spring is engaged with the left side of the second piston, and the other end of the third spring is engaged with the inner wall of the second piston cylinder. The push switch is located on the top left side of the mounting bracket, and the position of the push switch corresponds to the position of the second piston rod.

[0011] Preferably, the support assembly includes: a support rod, a connecting rod, a linking rod, and a drive structure. There are two support rods, with their outer walls slidably fitted into the inner cavities of the first sliding groove and the positioning groove, respectively. The outer walls of the support rods contact the inner sides of the grippers. One end of the connecting rod is located at the rear end of the support rod. The linking rod is located at the rear right end of the de-icing robot. The other ends of both connecting rods are rotatably sleeved onto the outer wall of the linking rod via bearings. The drive structure is located at the rear of the de-icing robot and is used to drive the support rods to rotate. Preferably, the cable is clamped by two rollers. When the cable de-icing effect is poor, the diameter of the cable increases, which in turn pushes the gripper to rotate around the first rotating shaft. This causes the push rod to slide along the inner cavity of the positioning groove. The push rod pushes the pull rod to move the second rotating shaft to the right, thereby triggering the execution structure. The execution structure then starts the secondary de-icing mechanism to perform secondary de-icing on the cable.

[0012] The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot proposed in this invention has the following advantages: 1. In the equipment initialization and cable adaptation stages, the present invention precisely adjusts the position of the first slider by rotating the screw, and uses an electric telescopic rod to drive the support rod to push the gripper to open or close to adapt to cables of different diameters. This allows for rapid adaptation to the universality of cables of different specifications, and the adjustment process is continuous and controllable, ensuring the benchmark accuracy of subsequent testing and avoiding misjudgments caused by improper initial gaps.

[0013] 2. In the normal walking and unilateral ice layer interference filtering stages, the robot moves along the cable by relying on its walking wheels. When encountering asymmetrical icing where there is ice only above or below, the unilateral push rod will push the pull rod to rotate, but it cannot push the second rotating shaft to translate. By utilizing the rotation-translation conversion characteristics of the pull rod, the unilateral false triggering phenomenon caused by uneven ice layer distribution is effectively filtered out. This ensures that the robot will only trigger a secondary action when the de-icing completely fails and the overall cable diameter exceeds the standard, thus improving the reliability of detection.

[0014] 3. In the stubborn ice layer detection and mechanical triggering stage, when the overall diameter of the cable increases due to poor de-icing effect at a certain point, the upper and lower grippers open simultaneously, driving the two push rods to slide along the arc-shaped positioning groove and jointly push the pull rod, forcing the second rotating shaft to move to the right. Then, the pneumatic actuator squeezes and presses the switch, thereby accurately converting the physical change in cable diameter into mechanical displacement and switch signal, realizing accurate positioning of the de-icing failure location. Moreover, the dual push rod series confirmation mechanism completely solves the false alarm problem caused by unilateral interference.

[0015] 4. In the automatic execution stage of secondary de-icing, after the switch is pressed, the main control system immediately stops the power of the walking wheels, causing the robot to stop at the failed position. At the same time, the pulse generator is activated, and the high-frequency control solenoid valve cuts the high-pressure gas in the gas tank into continuous pulses, which are then directed to break the stubborn ice layer through the nozzle. This achieves on-site stopping and immediate secondary processing after de-icing failure, preventing the robot from continuing to move forward. The non-contact high-pressure gas pulse shock wave de-icing method has a significant effect on breaking hard ice layers without damaging cables. At the same time, the energy consumption is controllable and it can be reused.

[0016] 5. In the automatic reset and continued operation phase of this invention, after the ice layer is removed and the cable diameter returns to normal, the first spring pulls the gripper to reset, the push rod and pull rod separate, the push switch automatically disconnects under the action of the spring force, the secondary de-icing mechanism is closed, the power of the walking wheels is restored, and the robot continues to move forward, thus forming a complete "detection-pause-de-icing-reset" closed-loop control. The entire process requires no manual intervention, has a high degree of automation, and can immediately resume line patrol operation after reset, greatly improving de-icing efficiency.

[0017] 6. This device can detect the cable de-icing effect in real time, accurately locate the de-icing failure point, automatically implement secondary de-icing, and effectively filter interference from unilateral ice layers. It achieves closed-loop, efficient, and non-contact removal of stubborn ice layers, significantly improving the reliability and intelligence level of power transmission line de-icing operations in extremely cold environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is the front view of the present invention; Figure 3 This is a schematic diagram of the first chute. Figure 4 This is the front view of the secondary de-icing mechanism; Figure 5 This is a schematic diagram of the testing organization's structure; Figure 6 A schematic diagram of the supporting components; Figure 7 Exploded view of the testing agency; Figure 8 An exploded view of the actuator; Figure 9 An exploded view of the supporting components; Figure 10 for Figure 6 Enlarged view of point A; Figure 11 for Figure 6 Enlarged view of point B; Figure 12 for Figure 7 Enlarged view of point C; Figure 13 for Figure 9 Enlarged view of point D.

[0019] In the diagram: 1. De-icing robot; 2. First chute; 3. Walking wheel; 4. Detection mechanism; 41. Support frame; 42. Second chute; 43. First rotating shaft; 44. Gripper; 45. Rotating rod; 46. Roller; 47. First spring; 48. Trigger assembly; 481. Screw; 482. First slider; 483. Third chute; 484. First guide rod; 485. Second slider; 486. Second rotating shaft; 487. Pull rod; 488. Push rod; 489. Actuation structure; 4891. Mounting frame; 4892. First piston cylinder; 4893. First air vent; 4894. Second piston cylinder; 4895. Second air vent; 4896. 4897. First piston; 4898. First piston rod; 4899. Second spring; 4890. Second piston; 48910. Second piston rod; 48911. Third spring; 48912. Push switch; 49. Support assembly; 491. Support rod; 492. Connecting rod; 493. Connecting rod; 494. Drive structure; 4941. Gear; 4942. Support plate; 4943. Second guide rod; 4944. Rack; 4945. Electric telescopic rod; 410. Arc-shaped positioning frame; 411. Positioning groove; 5. Secondary de-icing mechanism; 51. Air tank; 52. Solenoid valve; 53. Pulse tank; 54. Nozzle; 55. Pulse generator. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-13 This invention provides a low-temperature environment adaptive de-icing and ice-disrupting intelligent robot technical solution, including: a de-icing robot 1, a first chute 2, wheels 3, a detection mechanism 4, and a secondary de-icing mechanism 5. The first chute 2 is provided along the arc shape on the rear right end of the de-icing robot 1. The de-icing robot 1 is existing technology and will not be described in detail here. The de-icing robot 1 is the carrier of the whole machine, used to de-ice the cable while walking along it, and to carry the detection mechanism and the secondary de-icing mechanism. There are several wheels 3, all of which are set on the left side of the inner cavity of the de-icing robot 1. The wheels 3 are connected to the power module of the de-icing robot 1. Next, the walking wheel 3 is existing technology and will not be described in detail here. The walking wheel 3 is used to drive the whole machine to move along the cable and to stop under control during the secondary de-icing, ensuring that the de-icing robot 1 stays at the de-icing failure position. The detection mechanism 4 is set on the right side of the inner cavity of the de-icing robot 1. The detection mechanism 4 is used to sense the change in cable diameter in real time, and when it detects that the cable diameter exceeds the standard due to stubborn ice layer, it triggers the secondary de-icing mechanism. The secondary de-icing mechanism 5 is set in the inner cavity of the de-icing robot 1. The secondary de-icing mechanism 5 is used to perform secondary de-icing on the cable. The secondary de-icing mechanism 5 is used to break the stubborn ice layer remaining on the surface of the cable in a non-contact manner.

[0022] The secondary de-icing mechanism 5 includes: a gas storage tank 51, a solenoid valve 52, a pulse tank 53, a nozzle 54, and a pulse generator 55. The gas storage tank 51 is located at the rear left end of the inner cavity of the de-icing robot 1. The gas storage tank 51 stores high-pressure gas as the energy source for pulse de-icing and can be refilled. The solenoid valve 52 is located at the rear of the inner cavity of the de-icing robot 1 and is connected to the gas storage tank 51 via a pipeline. The solenoid valve 52 is existing technology and will not be described in detail here. The solenoid valve 52 is controlled by the pulse generator 55 to open and close rapidly at high frequency, cutting the continuous airflow into bursts of instantaneous high-pressure gas. The pulse tank 53 is located in the inner cavity of the de-icing robot 1 and is connected to the solenoid valve 52 via a pipeline. The pulse tank 53 is existing technology and will not be described in detail here. The pulse tank 53 is used to receive… The high-pressure gas released by the solenoid valve 52 is briefly accumulated, causing a pressure spike in the gas within the cavity, thereby generating a high-intensity shock wave pulse. The nozzle 54 is located at the bottom of the pulse tank 53, and its position corresponds to that of the roller 46. The nozzle 54 is existing technology and will not be described in detail here. The nozzle 54 is used to direct and shoot the high-pressure gas pulse formed in the pulse tank 53 onto the ice layer on the cable surface at high speed, controlling the range and incident angle of the shock wave. The pulse generator 55 is located on the rear side of the inner cavity of the de-icing robot 1. The pulse generator 55 is electrically connected to the solenoid valve 52. The pulse generator 55 is existing technology and will not be described in detail here. The pulse generator 55 is used to generate a square wave electrical signal with an adjustable frequency, precisely controlling the opening and closing rhythm of the solenoid valve 52, thereby determining the frequency and intensity of the pulse de-icing.

[0023] As a preferred embodiment, the detection mechanism 4 further includes: a support frame 41, a second slide groove 42, a first rotating shaft 43, a gripper 44, a rotating rod 45, a roller 46, a first spring 47, a trigger assembly 48, a support assembly 49, an arc-shaped positioning frame 410, and a positioning groove 411. The support frame 41 is located at the rear right end of the inner cavity of the de-icing robot 1. The second slide groove 42 is provided on both the front and rear sides of the inner cavity of the support frame 41 in the left-right direction. The support frame 41 serves as the mounting base for the detection mechanism 4. The front and rear ends of the first rotating shaft 43 are respectively located at the front and rear right ends of the inner cavity of the support frame 41. The first rotating shaft 43 serves as the rotation fulcrum of the gripper 44, enabling the gripper 44 to rotate around its axis, thereby responding to the cable's direction. The diameter changes, and there are four grippers 44. The four grippers 44 are arranged in pairs, forming two groups. The right ends of the two grippers 44 in each group are rotatably mounted on the front and rear sides of the outer wall of the first rotating shaft 43 via bearings. The grippers 44 are used to transmit the displacement of the roller 46 to the trigger assembly 48, realizing the amplification and transmission of mechanical signals. There are two rotating rods 45. The rear side of the outer wall of the two rotating rods 45 is respectively set on the left side of the two groups of grippers 44. The rotating rods 45 are used to connect the grippers 44 and the roller 46, converting the rotational motion of the roller 46 into the position change of the grippers 44. The roller 46 is rotatably sleeved on the front side of the outer wall of the rotating rod 45 via bearings. The position of the roller 46 and the position of the traveling wheel 3 are related. Correspondingly, roller 46 is used to roll in contact with the cable surface, sensing changes in cable diameter in real time and driving the gripper 44 to rotate synchronously. There are two first springs 47, with their upper and lower ends respectively engaged with the inner sides of the two sets of grippers 44. The first springs 47 are rotary springs; they undergo elastic deformation after being compressed or stretched by external force and return to their initial state after the external force is removed. The first springs 47 provide continuous clamping force, ensuring that roller 46 remains pressed against the cable surface and automatically pulling the gripper 44 back to its original position after the ice layer is removed. A trigger component 48 is located inside the support frame 41. The trigger component 48 receives the displacement signal generated by the rotation of the gripper 44 and converts it into a trigger for secondary clamping. The mechanical action or electrical signal of the ice mechanism 5, the support component 49 is set on the rear side of the de-icing robot 1, the support component 49 is used to assist the gripper 44 to open during the initialization stage to facilitate the insertion of the cable, and to provide auxiliary support for the gripper 44 during the operation. The arc-shaped positioning frame 410 is set on the rear side of the inner cavity of the de-icing robot 1. The arc-shaped positioning frame 410 is located in the inner cavity of the support frame 41. The front side of the arc-shaped positioning frame 410 is provided with a positioning groove 411 that runs through the front and rear along the arc. The position of the positioning groove 411 corresponds to the position of the first sliding groove 2 and is exactly the same. The center of the positioning groove 411 is the same as the center of the first rotating shaft 43. The arc-shaped positioning frame 410 is used to provide a precise arc-shaped motion trajectory for the push rod 488.

[0024] As a preferred embodiment, the triggering component 48 further includes: a screw 481, a first slider 482, a third slide groove 483, a first guide rod 484, a second slider 485, a second rotating shaft 486, a pull rod 487, a push rod 488, and an actuation structure 489. The left end of the screw 481 is rotatably disposed on the left side of the inner cavity of the second slide groove 42 via a bearing, and the right end of the screw 481 rotatably extends out to the right side of the de-icing robot 1. The screw 481 is used to drive the first slider 482 to slide along the second slide groove 42 by rotation, so as to achieve precise adjustment of the overall position of the triggering component 48 to accommodate cables of different diameters. The first slider 482 is slidably and appropriately inserted into the inner cavity of the second slide groove 42. The first slider 482 has a third groove 483 on its inner side along the left-right direction. The first slider 482 is screwed to the outer wall of the screw 481. The first slider 482 is used to drive the entire actuator 489 to translate under the drive of the screw 481. It is the actuator for sensitivity adjustment. The left and right ends of the first guide rod 484 are respectively set on the left and right sides of the inner cavity of the third groove 483. The first guide rod 484 is used to guide the second slider 485 to slide smoothly along the third groove 483, ensuring the straightness and stability of the second rotating shaft 486 when it moves. The second slider 485 is slidably fitted into the left side of the inner cavity of the third groove 483. The second slider 485 is slidably fitted into the first guide rod 483. The outer wall of the second slider 485 supports the second rotating shaft 486 and drives it to move along the third slide groove 483, transmitting the displacement of the pull rod 487 to the actuator 489. The front and rear ends of the second rotating shaft 486 are rotatably mounted on the inner sides of the two second sliders 485 via bearings. The second rotating shaft 486 connects the two pull rods 487 and moves to the right under the push of the pull rods 487, while allowing the pull rods 487 to rotate around the axis. There are two pull rods 487, with the middle parts of the two pull rods 487 fixedly mounted on the front and rear sides of the outer wall of the second rotating shaft 486, respectively. The upper and lower ends of the two pull rods 487 are located in the inner cavity of the arc-shaped positioning frame 410. The pull rods 487 are used to connect the two pull rods 487 to the actuator 489. The push rod 488 is pushed by the force of the push rod and rotates around the second rotating shaft 486 when subjected to force on one side, and pushes the second rotating shaft 486 to translate when subjected to force on both sides. There are two push rods 488. The front and rear ends of the two push rods 488 are respectively set on the inner left end of the two grippers 44 in each group. The outer wall of the push rod 488 is slidably adapted to be inserted into the inner cavity of the positioning groove 411. The push rod 488 is used to slide along the arc-shaped positioning groove 411 as the gripper 44 rotates and transmits the displacement of the gripper 44 to the pull rod 487. The actuation structure 489 is set on the outer wall of the first slider 482. The actuation structure 489 is used to receive the displacement signal from the second rotating shaft 486 and convert it into an electrical signal to start the secondary de-icing mechanism 5.

[0025] As a preferred embodiment, the actuating structure 489 further includes: a mounting bracket 4891, a first piston cylinder 4892, a first vent 4893, a second piston cylinder 4894, a second vent 4895, a first piston 4896, a first piston rod 4897, a second spring 4898, a second piston 4899, a second piston rod 48910, a third spring 48911, and a push switch 48912. The mounting bracket 4891 is located on the inner left end of the first slider 482 and serves as the mounting base for the actuating structure 489. The first piston cylinder 4892 is located within the inner cavity of the mounting bracket 4891. Several first vents 4893 communicating with its inner cavity are provided on the left side of the first piston cylinder 4892. The first piston 4896 is used to accommodate and cooperate with the first piston 4896 to form an air chamber, converting mechanical displacement into air pressure changes. The first piston 4896 is slidably fitted into the left side of the inner cavity of the first piston cylinder 4892. The first piston 4896 is used to compress air under the push of the first piston rod 4897, converting mechanical displacement into air pressure signals. The first piston rod 4897 is located on the right side of the first piston 4896, and the right end of the first piston rod 4897 slidably extends out of the inner cavity of the first piston cylinder 4892. The right ends of the two first piston rods 4897 are respectively rotatably sleeved on the front and rear sides of the outer wall of the second rotating shaft 486 through bearings. The first piston rod 4897 is used to transmit the translational displacement of the second rotating shaft 486 to the first piston 4896. 96. The second spring 4898 is sleeved on the outer wall of the first piston rod 4897. One end of the second spring 4898 is engaged with the outer wall of the first piston 4896, and the other end is engaged with the inner wall of the first piston cylinder 4892. The second spring 4898 is a rotary spring, which undergoes elastic deformation after being compressed or stretched by external force, and returns to its initial state after the external force is removed. The second spring 4898 is used to push the first piston 4896 to reset and return to its initial state after the thrust of the first piston rod 4897 disappears. The second piston cylinder 4894 is located on the top right side of the mounting bracket 4891. Several second air holes 4895 communicating with its inner cavity are opened on the left side of the second piston cylinder 4894. The right side of the inner cavity of the second piston cylinder 4894 is connected by a pipe. The path is connected to the right side of the inner cavity of the first piston cylinder 4892. The second piston cylinder 4894 is used to accommodate the second piston 4899 and convert the air pressure change back into mechanical displacement. The second piston 4899 is slidably fitted into the right side of the inner cavity of the second piston cylinder 4894. The second piston 4899 is used to move to the left under the action of air pressure, converting the air pressure signal into the mechanical displacement of the second piston rod 48910. The right end of the second piston rod 48910 is located on the left side of the second piston 4899, and the left end of the second piston rod 48910 slidably extends out of the left side of the inner cavity of the second piston cylinder 4894. The second piston rod 48910 is used to move to the left under the action of the second piston 4899 and squeeze the press switch 48912, triggering the secondary de-icing action.The third spring 48911 is sleeved on the outer wall of the second piston rod 48910. One end of the third spring 48911 is engaged with the left side of the second piston 4899, and the other end is engaged with the inner wall of the second piston cylinder 4894. The third spring 48911 is a rotary spring, which undergoes elastic deformation after being compressed or stretched by external force, and returns to its initial state after the external force is removed. The third spring 48911 is used to push the second piston 4899 to reset after the air pressure disappears, so that the second piston rod 48910 disengages from the press switch 48912. The press switch 48912 is located on the top left side of the mounting bracket 4891, and its position corresponds to the position of the second piston rod 48910. The press switch 48912 is existing technology and will not be described in detail here. The press switch 48912 is used to generate an electrical signal after being pressed by the second piston rod 48910, notifying the main control system to start the secondary de-icing mechanism 5.

[0026] As a preferred embodiment, the support assembly 49 further includes: a support rod 491, a connecting rod 492, a connecting rod 493, and a drive structure 494. There are two support rods 491, whose outer walls are slidably fitted into the inner cavities of the first sliding groove 2 and the positioning groove 411, respectively. The outer walls of the support rods 491 contact the inner side of the gripper 44. The support rods 491 are used to push the gripper 44 open during the initialization phase to facilitate cable insertion. One end of the connecting rod 492 is located at the rear end of the support rod 491. The connecting rod 492 is used to transmit the power from the drive structure 494 to the support rod 491, driving the support rod 491 along... The robot oscillates in an arc trajectory. The connecting rod 493 is located at the rear right end of the de-icing robot 1. The other ends of the two connecting rods 492 are rotatably sleeved on the outer wall of the connecting rod 493 through bearings. The connecting rod 493 is the common rotation axis of the two connecting rods 492, enabling the two connecting rods 492 to rotate synchronously around it, ensuring the consistency of the actions of the two support rods 491. The drive structure 494 is located at the rear of the de-icing robot 1. The drive structure 494 is used to drive the support rods 491 to rotate. During the initialization phase, the gripper 44 is controlled to open and close, realizing the adaptation of cables of different diameters.

[0027] The drive structure 494 includes: a gear 4941, a support plate 4942, a second guide rod 4943, a rack 4944, and an electric telescopic rod 4945. There are two gears 4941, each located on the right side of one of the two connecting rods 492. The gears 4941 convert the linear motion of the rack 4944 into the rotational motion of the connecting rods 492, thereby driving the support rod 491 to swing. The support plate 4942 is located at the rear right end of the de-icing robot 1 and serves as the mounting base for the drive structure 494. There are two second guide rods 4943, with their left and right ends located on the left and right sides of the bottom of the support plate 4942, respectively. The second guide rods 4943 guide the rack 4944 to slide in a straight line, ensuring the rack... The stability and directionality of the movement of rack 4944 are ensured by the presence of two racks 4944, which are slidably located on the left and right sides of the outer walls of the two second guide rods 4943. The racks 4944 are used to move linearly along the second guide rods 4943 under the drive of the electric telescopic rods 4945, thereby driving the gear 4941 to rotate. There are two electric telescopic rods 4945, both of which are located on the left side of the support plate 4942. The right ends of the two electric telescopic rods 4945 are respectively located on the left side of the two racks 4944. The electric telescopic rods 4945 are existing technology and will not be described in detail here. The electric telescopic rods 4945 are used to provide driving force to push the racks 4944 to reciprocate along the second guide rods 4943, thereby realizing the electric control of the opening and closing of the gripper 44.

[0028] As a preferred option, the cable is further clamped by two rollers 46. When the cable de-icing effect is poor, the diameter of the cable increases, which in turn pushes the gripper 44 to rotate around the first rotating shaft 43. This causes the push rod 488 to slide along the inner cavity of the positioning groove 411. The push rod 488 pushes the pull rod 487 to move the second rotating shaft 486 to the right, thereby triggering the execution structure 489. The execution structure 489 then starts the secondary de-icing mechanism 5 to perform secondary de-icing on the cable.

[0029] Its detailed connection method is a well-known technology in this field. The following mainly introduces the working principle and process, and the specific work is as follows.

[0030] Step 1: During use, rotate the screw 481 according to the diameter of the cable to be de-iced. The rotational force generated by the screw 481 causes the first slider 482 to move the second rotating shaft 486, the pull rod 487, and the mounting bracket 4891 until the pull rod 487 is moved to the appropriate position. Then, activate the two electric telescopic rods 4945. One electric telescopic rod 4945 pushes the rack 4944 to the right, and the other electric telescopic rod 4945 pulls the rack 4944 to the left. This, in turn, uses the rack 4944 and gear 4941 to drive the two connecting rods 492 to rotate the two support rods 491 in opposite directions. This, in turn, uses the support rods 491 to push the gripper 44 to open, causing the two rollers 46 to separate and stretching the first spring 47 to undergo elastic deformation until the cable moves. Move the cable to be de-iced to the appropriate position, through the front of the de-icing robot 1 into the inner cavity of the de-icing robot 1, and make the cable position between the two rollers 46. At the same time, use several walking wheels 3 to clamp the cable. Start the electric telescopic rod 4945 to move in the opposite direction, so that the support rod 491 can be returned to the initial position. The gripper 44 loses the support of the support rod 491, and under the elastic force of the first spring 47, it can pull the gripper 44 to rotate in the opposite direction until the rollers 46 contact the cable. Under the elastic force of the first spring 47, the two rollers 46 can clamp and fix the cable. Start the de-icing robot 1, so that the walking wheels 3 rotate, thereby driving the de-icing robot 1 to move along the cable to the right and use the de-icing robot 1 to de-ice the cable. Step Two: As the de-icing robot 1 moves to the right, when there is a thick layer of ice remaining above or below the cable, when the roller 46 moves to this position, the thicker ice layer above or below the cable will increase the distance between the two rollers 46, thus causing the rotating rod 45 to rotate the two sets of grippers 44. The upper gripper 44 will rotate clockwise, and the lower gripper 44 will rotate counterclockwise. This stretches the first spring 47, causing it to elastically deform, thereby driving... Push rod 488 slides along the inner cavity of positioning groove 411. Since the volume of residual ice at this position has reached the expected standard, only the ice layer above or below the cable is thicker. This will cause the upper or lower gripper 44 to rotate at a larger angle and contact the top or bottom of pull rod 487. When only push rod 488 contacts and pushes pull rod 487, it will only push pull rod 487 to drive the second rotating shaft 486 to rotate, but will not push the second rotating shaft 486 to move to the right. The de-icing robot 1 can continue to walk along the cable to the right to de-ice. Step 3: When there is a stubborn layer of ice on the cable, resulting in poor de-icing effect of the de-icing robot 1, the diameter of the cable at that location is relatively large. When the roller 46 moves to this location, the distance between the two rollers 46 increases under the support of the cable. This causes the rotating rod 45 to drive the two sets of grippers 44 to rotate, causing the upper gripper 44 to rotate clockwise and the lower gripper 44 to rotate counterclockwise. This stretches the first spring 47, causing elastic deformation, which in turn drives the push rod 488 to slide along the inner cavity of the positioning groove 411. Because the diameter of the cable at this location is relatively large, the two push rods 488 will contact the upper and lower ends of the pull rod 487 respectively, pushing the pull rod 487. As the push rods 488 slide along the inner cavity of the positioning groove 411, Then, the push rod 488 will push the pull rod 487 to move the second rotating shaft 486 to the right. The movement of the second rotating shaft 486 to the right will cause the second slider 485 to move to the right along the inner cavity of the third sliding groove 483. The movement of the second rotating shaft 486 to the right will pull the first piston rod 4897 to move the first piston 4896 to the right, and squeeze the second spring 4898 to undergo elastic deformation. The movement of the first piston 4896 to the right will squeeze air to flow into the inner cavity of the second piston cylinder 4894. Under the action of air pressure, the second piston 4899 will be pushed to move the second piston rod 48910 to the left, and squeeze the third spring 48911 to undergo elastic deformation, until the second piston rod 48910 contacts the push switch 48912 and squeezes the push switch 48912. Step 4: The two push-button switches 48912 are activated, transmitting signals to the main control system. The main control system shuts down the power module of the walking wheel 3, causing the walking wheel 3 to stop rotating. This stops the de-icing robot 1 from moving, ensuring it remains stationary where the de-icing effect is not yet satisfactory. The pulse generator 55 is then activated. Because the gas tank 51 contains high-pressure gas, the pulse generator 55 controls the solenoid valve 52 to open and close rapidly dozens of times per second, cutting the continuous airflow from the gas tank 51 into bursts of instantaneous high-pressure gas. These cut high-pressure gases enter the pulse chamber and are then concentrated and shot at high speed towards the ice layer from the nozzle 54. This pulsed shock wave impacts the ice layer, its energy penetrating the ice and reflecting off the interface between the ice and the cable, producing a reflective wave. Due to the extremely poor tensile strength of ice, it will be torn from the inside by the tensile force, and then collapse, thus completing the secondary de-icing. After the remaining ice layer at this position is removed from the cable, the two grippers 44 will be pulled to rotate in the opposite direction under the elastic force of the first spring 47, thereby causing the push rod 488 to separate from the pull rod 487, releasing the pressure of the push rod 488 on the pull rod 487. Then, under the elastic force of the third spring 48911 and the second spring 4898, the second piston rod 48910 and the first piston rod 4897 can be pushed back to the initial position, thereby releasing the pressure of the second piston rod 48910 on the press switch 48912. At this time, the secondary de-icing mechanism 5 is closed, and the walking wheels 3 are started, thereby driving the de-icing robot 1 to continue moving along the cable.

[0031] In summary, this invention can detect the cable de-icing effect in real time, accurately locate the de-icing failure point, automatically implement secondary de-icing, and effectively filter interference from unilateral ice layers. It achieves closed-loop, efficient, and non-contact removal of stubborn ice layers, significantly improving the reliability and intelligence level of power transmission line de-icing operations in extremely cold environments.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A low-temperature environment adaptive ice melting and ice-disrupting intelligent robot, characterized in that, include: The de-icing robot (1) has a first chute (2) formed along the arc at the rear right end. Walking wheels (3), the number of walking wheels (3) is several, and several walking wheels (3) are all located on the left side of the inner cavity of the de-icing robot (1); The detection mechanism (4) is located on the right side of the inner cavity of the de-icing robot (1); Secondary de-icing mechanism (5), the secondary de-icing mechanism (5) is set in the inner cavity of the de-icing robot (1), the secondary de-icing mechanism (5) is used to perform secondary de-icing on the cable; The testing organization (4) includes: Support frame (41) is located at the rear right end of the inner cavity of the de-icing robot (1). The inner cavity of the support frame (41) has a second sliding groove (42) on both the front and rear sides along the left and right directions. The first rotating shaft (43) has its front and rear ends respectively located on the right ends of the front and rear sides of the inner cavity of the support frame (41); The number of grippers (44) is four. The four grippers (44) are divided into two groups of two. The right ends of the two grippers (44) in each group are rotatably set on the front and rear sides of the outer wall of the first rotating shaft (43) through bearings. Two rotating rods (45) are provided on the rear side of the outer wall of the two rotating rods (45) respectively on the left side of the two sets of grippers (44); Roller (46), the roller (46) is rotatably sleeved on the front side of the outer wall of the rotating rod (45) through a bearing, and the position of the roller (46) corresponds to the position of the traveling wheel (3); The first spring (47) has two parts, and the upper and lower ends of the two first springs (47) are respectively engaged with the inner sides of two sets of grippers (44).

2. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 1, characterized in that, The testing facility (4) also includes: A trigger component (48) is disposed in the inner cavity of the support frame (41); Support assembly (49) is disposed on the rear side of the de-icing robot (1); An arc-shaped positioning frame (410) is located on the rear side of the inner cavity of the de-icing robot (1). The arc-shaped positioning frame (410) is located in the inner cavity of the support frame (41). The front side of the arc-shaped positioning frame (410) is provided with a positioning groove (411) that runs through the front and back. The position of the positioning groove (411) corresponds to and is exactly the same as the position of the first sliding groove (2). The center of the positioning groove (411) is the same as the center of the first rotating shaft (43).

3. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 2, characterized in that, The triggering component (48) includes: The first slider (482) is slidably adapted to be inserted into the inner cavity of the second slide groove (42), and the inner side of the first slider (482) is provided with a third slide groove (483) in the left-right direction. The first guide rod (484) has its left and right ends respectively located on the left and right sides of the inner cavity of the third slide groove (483); The second slider (485) is slidably adapted to be inserted into the left side of the inner cavity of the third slide groove (483), and the second slider (485) is slidably adapted to be inserted into the outer wall of the first guide rod (484). The second rotating shaft (486) is rotatably mounted on the inner side of the two second sliders (485) via bearings at its front and rear ends. Pull rod (487), there are two pull rods (487), the middle parts of the two pull rods (487) are respectively fixed on the front and rear sides of the outer wall of the second rotating shaft (486), and the upper and lower ends of the two pull rods (487) are located in the inner cavity of the arc-shaped positioning frame (410); Push rod (488), there are two push rods (488), the front and rear ends of the two push rods (488) are respectively set on the inner left side of the two grippers (44) in each group, and the outer wall of the push rod (488) is slidably adapted to be inserted into the inner cavity of the positioning groove (411); An execution structure (489) is disposed on the outer wall of the first slider (482).

4. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 3, characterized in that, The inner cavity of the second slide groove (42) is also provided with a screw (481). The left end of the screw (481) is rotatably disposed on the left side of the inner cavity of the second slide groove (42) through a bearing. The right end of the screw (481) extends rotatably out to the right side of the de-icing robot (1). The first slider (482) is screwed to the outer wall of the screw (481).

5. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 4, characterized in that, The execution structure (489) includes: Mounting bracket (4891), which is disposed on the inner left end of the first slider (482); The first piston cylinder (4892) is disposed in the inner cavity of the mounting bracket (4891), and a plurality of first air holes (4893) communicating with its inner cavity are provided on the left side of the first piston cylinder (4892). The first piston (4896) is slidably and compatiblely inserted into the left side of the inner cavity of the first piston cylinder (4892); The first piston rod (4897) is located on the right side of the first piston (4896). The right end of the first piston rod (4897) extends slidably out of the inner cavity of the first piston cylinder (4892). The right ends of the two first piston rods (4897) are respectively rotatably sleeved on the front and rear sides of the outer wall of the second rotating shaft (486) through bearings. The second spring (4898) is sleeved on the outer wall of the first piston rod (4897), one end of the second spring (4898) is engaged with the outer wall of the first piston (4896), and the other end of the second spring (4898) is engaged with the inner wall of the first piston cylinder (4892).

6. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 5, characterized in that, The execution structure (489) also includes: The second piston cylinder (4894) is located on the top right side of the mounting bracket (4891). The left side of the second piston cylinder (4894) is provided with several second air holes (4895) that communicate with its inner cavity. The right side of the inner cavity of the second piston cylinder (4894) is connected to the right side of the inner cavity of the first piston cylinder (4892) through a pipeline. The second piston (4899) is slidably and compatiblely inserted into the right side of the inner cavity of the second piston cylinder (4894); The right end of the second piston rod (48910) is located on the left side of the second piston (4899), and the left end of the second piston rod (48910) extends slidably out of the left side of the inner cavity of the second piston cylinder (4894). The third spring (48911) is sleeved on the outer wall of the second piston rod (48910), one end of the third spring (48911) is engaged with the left side of the second piston (4899), and the other end of the third spring (48911) is engaged with the inner wall of the second piston cylinder (4894). A push switch (48912) is located on the top left side of the mounting bracket (4891), and the position of the push switch (48912) corresponds to the position of the second piston rod (48910).

7. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 6, characterized in that, The support component (49) includes: Support rod (491), there are two support rods (491), the outer walls of the two support rods (491) are respectively slidably adapted to be inserted into the inner cavity of the first sliding groove (2) and the positioning groove (411), and the outer wall of the support rod (491) is in contact with the inner side of the gripper (44); Link (492), one end of which is disposed at the rear end of support rod (491); Connecting rod (493), the connecting rod (493) is located at the rear right end of the de-icing robot (1), and the other ends of the two connecting rods (492) are rotatably sleeved on the outer wall of the connecting rod (493) through bearings; A drive structure (494) is provided on the rear side of the de-icing robot (1), and the drive structure (494) is used to drive the support rod (491) to rotate.

8. The low-temperature environment adaptive ice melting and ice-disrupting intelligent robot according to claim 7, characterized in that, The cable is clamped by the two rollers (46). When the cable de-icing effect is poor, the diameter of the cable increases, which in turn pushes the gripper (44) to rotate around the first rotating shaft (43) as the axis, thereby driving the push rod (488) to slide along the inner cavity of the positioning groove (411). The push rod (488) pushes the pull rod (487) to drive the second rotating shaft (486) to move to the right, thereby triggering the execution structure (489). The execution structure (489) is used to start the secondary de-icing mechanism (5) to perform secondary de-icing on the cable.

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