A power transmission line ice breaking robot

Abstract

The utility model provides a kind of transmission line ice breaking robot, including frame, walking module and ice breaking component;The frame is constituted by first half body and second half body connected by hinge, so that the frame can be opened and closed to half, to be sleeved in transmission line from side;Walking mechanism is arranged on the frame, for driving robot moves along transmission line;Ice breaking mechanism is arranged at the front end of the frame, for the ice on transmission line is broken;The effect of being able to improve overall deicing efficiency.

Description

Technical Field

[0001] This invention relates to a power transmission line ice-breaking robot, belonging to the field of power transmission line ice-breaking technology. Background Technology

[0002] Icing on power transmission lines is one of the major natural disasters threatening the safe operation of the power grid. To remove icing and ensure power supply safety, the industry has developed various de-icing technologies. Existing technologies can be mainly categorized into thermal de-icing and mechanical de-icing.

[0003] Thermal de-icing technologies, such as those using short-circuit current to melt ice or installing resistance heating elements, work by increasing the temperature of the line or auxiliary device to melt the ice layer. While this method is effective at de-icing, it has significant drawbacks: First, it consumes extremely high energy, making it particularly uneconomical for long-distance lines; second, if the water generated during ice melting is not removed promptly, it will re-condense on the line surface at low temperatures, forming a harder and more difficult-to-remove secondary icing layer, which may even cause the line to vibrate due to uneven adhesion.

[0004] Mechanical de-icing technology includes methods such as striking, scraping, and cutting to directly break down the ice layer. For example, a robot carrying blades walks along the cable and cuts it, or external force is used to impact the cable. The disadvantages of these methods are: the force is applied directly to the cable, which can easily cause hidden or visible damage such as scratches and dents to the cable sheath, internal optical fibers, or metal strands, affecting the long-term lifespan of the line; at the same time, a single striking or scraping action is difficult to completely remove ice crystals, especially those attached to the bottom, which may leave residue; in addition, violent impacts may cause significant vibration of the cable, posing a safety hazard. Summary of the Invention

[0005] To address the aforementioned problems in existing technologies, this invention provides a power transmission line ice-breaking robot that can improve overall de-icing efficiency.

[0006] The technical solution of the present invention is as follows: A power transmission line ice-breaking robot includes a frame, a walking module, and an ice-breaking component. The frame consists of a first half and a second half connected by hinges, allowing the frame to open and close in half to be fitted onto the power transmission line from the side. A walking mechanism is mounted on the frame to drive the robot to move along the power transmission line. An ice-breaking mechanism is located at the front end of the frame to break up ice on the power transmission line. The walking mechanism includes a drive wheel and two driven wheels, each with a groove on its surface that conforms to the contour of the power transmission line. A second drive motor is fixed inside a rotating cylinder, and the output shaft of the second drive motor is connected to the drive wheel. The driven wheels are mounted on a wheel frame, and an electric push rod is mounted on the wheel frame to push the driven wheels closer to or away from the drive wheel.

[0007] The ice-breaking mechanism includes a transmission assembly and an ice-crushing claw connected to the transmission assembly. The transmission assembly includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is connected to a drive source. The second bevel gear has a through mounting hole at its center. The central shaft of the ice-crushing claw is slidably inserted into the mounting hole. A slider is provided on the central shaft. The inner wall of the mounting hole has a groove that cooperates with the slider. A telescopic spring is provided in the groove. One end of the telescopic spring abuts against the bottom of the slider. The axle of the first bevel gear extends to form an extension shaft. An ice-crushing cam is detachably fitted on the extension shaft. The outline of the ice-crushing cam abuts against the end of the central shaft of the ice-crushing claw.

[0008] The system also includes a rotating cylinder, which is rotatably mounted inside the frame via a drive assembly. The walking module is located inside the rotating cylinder. A heating belt is fixedly connected to the wheel frame and electrically connected to a power supply and control device. The surfaces of the driving and driven wheels are covered with a water-absorbing cotton layer. The ice-breaking assembly includes an ice-breaking cone that is axially movable at the front end of the rotating cylinder via a dynamic guide mechanism. The front end of the rotating cylinder is provided with a dynamic sealing assembly, so that when the ice-breaking cone moves axially, a sealed heating cavity can still be formed inside the rotating cylinder, and at least a portion of the ice-breaking cone is located inside the heating cavity to absorb heat from the heating belt.

[0009] The sliding guide mechanism includes a base fixed inside the rotating cylinder and a linear actuator mounted on the base; the ice-breaking cone is connected to the drive end of the linear actuator, so that the ice-breaking cone can move axially in the rotating cylinder.

[0010] The ice-breaking cone is a hollow frustum shape with a central hole running through its center along its axis. The central hole is used for the transmission line to pass through. The inner diameter of the front end face of the frustum-shaped ice-breaking cone is the same as the diameter of the central hole, so that its front end forms an annular scraper structure. Spiral heat-conducting strips are provided on the outer conical surface of the ice-breaking cone along its generatrix direction. The heat-conducting strips have cutting edges facing the direction of rotation.

[0011] The rotating cylinder has an external gear ring on its outer cylindrical surface; a first drive motor is fixedly installed inside the frame, and a drive gear that meshes with the external gear ring is fixedly installed on the output shaft of the first drive motor to drive the rotating cylinder to rotate around its axis.

[0012] The dynamic sealing assembly includes a receiving groove with an opening at the front end of the rotating cylinder, and a plurality of sector plates are slidably connected in the receiving groove. The sector plates have a wedge-shaped surface that matches the outer cone surface of the icebreaker on the side facing the icebreaker. A spring is fixedly connected between the receiving groove and the sector plates.

[0013] The electric actuator is equipped with a displacement sensor for detecting the travel of its drive rod; a pressure sensor for detecting the clamping force is installed on the axle of the driven wheel.

[0014] It also includes a control system, which is electrically connected to the first drive motor, the second drive motor, the electric push rod, the heating belt, the linear actuator, and each sensor.

[0015] The present invention has the following beneficial effects: This invention achieves a composite motion by setting up a transmission component consisting of a meshing first bevel gear and a second bevel gear, an ice crusher that slides with the second bevel gear, and an ice crusher cam set on the axle of the first bevel gear. This allows a single drive source to simultaneously drive the ice crusher to revolve around the power transmission line and reciprocate along its axial direction at high frequency. This enables comprehensive and dynamic breaking of ice layers at various points around the cable circumference, thereby improving the uniformity and efficiency of mechanical de-icing.

[0016] This invention improves overall de-icing efficiency by setting up a rotating cylinder and its internal walking module and heating belt, and cooperating with an axially movable ice-breaking cone. The heating belt first melts the ice layer in the contact area of ​​the wheel assembly to ensure stable walking, and then the linear actuator drives the ice-breaking cone with a spiral heat-conducting strip to radially expand and rotate to break the ice.

[0017] This invention achieves immediate adsorption and active discharge of liquid water generated by thermal de-icing by wrapping a water-absorbing cotton layer around the wheel surface of the wheel assembly and utilizing the centrifugal force generated when the rotating cylinder rotates and the squeezing force of the wheel assembly during rotation. This prevents water from remaining on the cable surface and avoids the risk of secondary icing.

[0018] This invention effectively prevents hot air leakage from the rotating cylinder by setting a dynamic sealing structure consisting of a fan-shaped plate and a spring at the front end of the rotating cylinder, ensuring that its wedge-shaped surface always elastically abuts against the outer conical surface of the extended ice-breaking cone. Simultaneously, the heat-conducting strips of the ice-breaking cone retained inside the rotating cylinder continuously absorb heat and transfer it to the front end, thereby improving thermal energy utilization and enabling the ice-breaking cone's front end to continuously provide thermally assisted softening of the ice layer during operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the transmission component structure of the present invention; Figure 2 This is a schematic diagram of the ice-crushing cam structure of the present invention; Figure 3 This is a schematic diagram of the structure of the crampon of the present invention; Figure 4 This is a half-sectional view of the rotating cylinder structure of the present invention; Figure 5This is a side view of the ice-breaking cone of the present invention; Figure 6 This is a front view of the rotating cylinder of the present invention.

[0020] The reference numerals in the figure are as follows: 1. Frame; 2. Rotating cylinder; 5. Permanent magnet; 11. First drive motor; 12. Drive gear; 21. External gear ring; 22. Receiving groove; 23. Sector plate; 24. Spring; 31. Wheel frame; 32. Heating belt; 33. Water-absorbing cotton layer; 34. Driving wheel; 35. Driven wheel; 37. Electric push rod; 41. Base; 42. Linear actuator; 43. Ice-breaking cone; 44. Heat-conducting strip; 411. Center hole; 6. First bevel gear; 7. Second bevel gear; 8. Ice crusher; 9. Ice crushing cam; 71. Slide groove; 72. Telescopic spring; 81. Central shaft; 82. Slider; 61. Extension shaft; 91. Cam tooth block; 83. Ice crushing column. Detailed Implementation

[0021] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0022] Please see Figures 1 to 6 The invention provides a technical solution: Example 1: The power transmission line ice-breaking robot of this embodiment includes a frame 1, a walking module, and an ice-breaking component. The frame 1 is composed of a first half and a second half connected by a hinge, allowing the frame 1 to be opened and closed in half to be fitted onto the power transmission line from the side. A walking mechanism is disposed on the frame 1 to drive the robot to move along the power transmission line. An ice-breaking mechanism is disposed at the front end of the frame 1 to break up the ice on the power transmission line. The walking mechanism includes a drive wheel 34 and two driven wheels 35. The surfaces of the drive wheel 34 and the driven wheels 35 are provided with grooves that are adapted to the contour of the power transmission line. A second drive motor is fixed inside the rotating cylinder 2, and the output shaft of the second drive motor is connected to the drive wheel 34 for transmission. The driven wheels 35 are mounted on a wheel frame 31, and an electric push rod 37 is mounted on the wheel frame 31 to push the driven wheels 35 closer to or away from the drive wheel 34.

[0023] The ice-breaking mechanism includes a transmission assembly and an ice crusher 8 connected to the transmission assembly. The transmission assembly includes a first bevel gear 6 and a second bevel gear 7 that mesh with each other. The first bevel gear 6 is connected to a drive source. The center of the second bevel gear 7 is provided with a through mounting hole. The central shaft 81 of the ice crusher 8 is slidably inserted into the mounting hole. A slider 82 is provided on the central shaft 81. The inner wall of the mounting hole is provided with a groove 71 that cooperates with the slider 82. A telescopic spring 72 is provided in the groove 71. One end of the telescopic spring 72 abuts against the bottom of the slider 82. The axle of the first bevel gear 6 extends to form an extension shaft 61. An ice crushing cam 9 is detachably fitted on the extension shaft 61. The outline of the ice crushing cam 9 abuts against the end of the central shaft 81 of the ice crusher 8.

[0024] The drive source drives the first bevel gear 6 to rotate. This rotational motion is transmitted synchronously through two paths: First, through the meshing of the first bevel gear 6 and the second bevel gear 7, the central shaft 81 of the second bevel gear 7 and the ice crusher 8 in its mounting hole is driven to revolve around the power transmission line, so that the striking rod 25 of the ice crusher 8 can circumferentially cover the ice layer around the cable; Second, through the rotation of the ice crushing cam 9 fixed on the extension shaft 61 of the first bevel gear 6, its specific contour periodically pushes against the end of the central shaft 81 of the ice crusher 8, overcoming the elastic force of the telescopic spring 72, forcing the ice crusher 8 to generate a high-frequency, reciprocating impact motion along its axial direction, i.e., towards the cable. Therefore, the ice crusher 8 has two composite motions during operation: revolving around the cable and axial impact. Its revolving motion ensures that the ice layer at all points around the cable is fully impacted and scraped off by rotation, while the axial impact acts directly on the ice layer, causing it to break and peel off due to instantaneous stress.

[0025] Preferably, the outline of the ice-crushing cam 9 is formed by circumferentially splicing multiple detachable cam tooth blocks 91. By replacing cam tooth blocks 91 with different protrusion heights, widths, or outline shapes, the overall outer outline of the ice-crushing cam 9 can be changed.

[0026] When the drive source speed is constant, replacing the cam tooth block 91 with one having more and larger protrusions increases the number of times and the amplitude of the impact between the ice-crushing cam 9 and the end of the central shaft 81 of the ice-crushing claw 8 per revolution, thereby increasing the axial impact frequency of the ice-crushing claw 8. This is suitable for crushing ice layers with high hardness that require high-frequency impact. Conversely, replacing the cam tooth block 91 with one having fewer protrusions reduces the impact frequency and increases the single impact energy, making it suitable for handling thick or loose ice layers. This design allows the impact frequency and characteristics to be flexibly and conveniently adjusted according to the ice conditions on site, significantly enhancing the robot's adaptability to working conditions and its de-icing efficiency.

[0027] Similarly, preferably, the bottom of the ice crusher 8 is provided with several holes, and several ice crushers 83 can be selectively inserted into the holes. The handle of the ice crusher 83 is fixed to the holes by a detachable method such as tight fit, threaded connection or quick buckle. Its core purpose is to enable the same ice crusher to be adapted to power transmission lines of different diameters. To accommodate cables of different diameters, ice crushers 83 of various lengths can be provided. When working on larger diameter lines, a longer ice crusher 83 should be selected to ensure that its striking point can effectively reach and break the outermost layer of ice on the cable; when working on smaller diameter lines, a shorter ice crusher 83 should be selected to prevent it from being too long and interfering with the cable or other structures.

[0028] Example 2: The power transmission line ice-breaking robot of this embodiment includes a frame 1, a rotating cylinder 2, a walking module, and ice-breaking components.

[0029] The rotating cylinder 2 is rotatably mounted inside the frame 1 via a drive assembly, allowing the rotating cylinder 2 to rotate relative to the frame 1 around its own axis. The walking module, located inside the rotating cylinder 2, is used to drive the robot to walk along the power transmission line and includes a wheel set and a wheel frame 31.

[0030] A heating belt 32 is fixedly connected to the wheel frame 31. The heating belt 32 is electrically connected to a built-in power supply and control device. Its function is to gently heat the water-absorbing cotton layer 33 wrapped around the surface of the wheel assembly before or in the initial stage of the robot's movement. This heating serves two purposes: first, to melt the thin ice or frost on the contact surface between the wheel assembly and the power line, ensuring sufficient friction between the drive wheel 34 and the power transmission line to prevent slippage; second, to pre-soften the ice layer using low-temperature heat, reducing the resistance to subsequent ice breaking.

[0031] The heating temperature is controlled within a safe range to prevent overheating from causing thermal damage to the insulation or metal body of the transmission line.

[0032] The wheel frame 31 is connected to a clamping drive, which is an electric push rod 37. The ice-breaking assembly includes an ice-breaking cone 43 and a sliding guide mechanism. The clamping drive is electrically connected to the sliding guide mechanism. When the electric push rod 37 drives the driven wheel 35 to clamp the line, it can trigger the sliding guide mechanism to drive the ice-breaking cone 43 to perform the ice-breaking action.

[0033] Specifically, the electrical connection between the clamping drive and the sliding guide mechanism is to achieve a gradual initial ice-breaking start-up process.

[0034] Considering that in the initial stage of operation, the ice layer covering the power transmission line prevents the frame 1, rotating cylinder 2, and other structures from fully fitting the line, and that the annular scraper structure at the front end of the ice-breaking cone 43 is not embedded in the bottom of the ice layer, directly subjecting the ice-breaking cone 43 to full force or the machine to full speed poses two risks: first, the robot's grip on the line may become unstable due to vibration; second, if the annular scraper structure at the front end of the ice-breaking cone 43 fails to effectively cut into the bottom of the ice layer, a large amount of ice residue will remain, affecting the de-icing effect.

[0035] Therefore, the specific solution is as follows: when the electric push rod 37 initially drives the driven wheel 35 to clamp the line, the ice-breaking cone 43 is not immediately triggered to perform its maximum ice-breaking action. Instead, the sliding guide mechanism is first triggered to drive the ice-breaking cone 43 to move forward slightly with a small preload, so that its front scraper just contacts and slightly presses into the ice surface. At the same time, the heating belt 32 on the wheel frame 31 simultaneously begins to heat the water-absorbing cotton layer 33 and the contact area at a low temperature.

[0036] Once the internal ice layer is melted by the temperature, the scraper edge of the ice-breaking cone 43 can cut into the ice layer, while the frame 1 and the rotating cylinder 2 are completely stabilized on the power transmission line.

[0037] This ensures that the ice-breaking action can start from the bottom of the ice layer, so as to form a radial cracking force from the bottom outward, thus better completing the ice-breaking operation.

[0038] It is worth mentioning that, in order to avoid interference between the front end of the ice-breaking cone 43 and the power line during the movement, a certain distance can be maintained between it and the power line, but this distance should not be too large; in this way, the remaining thin ice will be gently melted by the continuous heating belt when the robot moves into the rotating cylinder 2, and will be absorbed and carried away by the rotating water-absorbing cotton layer.

[0039] The wheel set includes a driving wheel 34 and two driven wheels 35. The surfaces of the driving wheel 34 and the driven wheels 35 are provided with grooves that are adapted to the contour of the power transmission line to ensure stable clamping and increase the contact area.

[0040] A second drive motor is fixed inside the rotating cylinder 2, and its output shaft is connected to the drive wheel 34 to provide the robot with walking power.

[0041] The driven wheel 35 is mounted on the movable wheel frame 31, and the output end of the electric push rod 37 is fixed on the wheel frame 31. It is used to push the driven wheel 35 closer to or away from the driving wheel 34, thereby clamping or releasing the power transmission line located therebetween.

[0042] Optionally, drainage holes may be preferably provided on the housing of the frame 1 and / or the rotating cylinder 2. These holes allow the broken ice fragments to melt into water during the de-icing process, some of which is absorbed by the absorbent cotton layer 33.

[0043] When the rotating drum 2 is driven to rotate, the centrifugal force generated will throw the water in and attached to the water-absorbing cotton layer 33 outward, while the wheel set and the line are squeezed together. At the same time, the continuous rotation of the rotating drum 2 can also make the wheel set wrapped with the water-absorbing cotton layer 33 wipe the surface of the line evenly and continuously, remove residual water film or ice fragments, and prevent secondary icing.

[0044] The icebreaker cone 43 is a hollow frustum shape with a central hole 411 running through its center along the axis. The central hole 411 is used for the transmission line to pass through, and the diameter of the central hole 411 is larger than the diameter of the line, leaving a safety clearance for operation. The inner diameter of the front end face of the frustum-shaped icebreaker cone 43 is the same as the diameter of the central hole 411, so that its front end forms an annular scraper structure. When the icebreaker cone 43 is pushed in the axial direction, the annular edge can cut into and act on the front end of the ice layer covering the entire circumference of the line like a shovel. The outer cone surface of the icebreaker cone 43 is provided with a spirally extending heat-conducting strip 44 along its generatrix direction. The heat-conducting strip 44 has a cutting edge facing the direction of rotation.

[0045] When the rotating cylinder 2 is driven to rotate by the first drive motor 11, thereby causing the ice-breaking cone 43 to revolve, the spirally extended heat-conducting strip 44 rotates accordingly. During the rotational motion, the spiral inclined surface will generate a force on the ice layer it contacts, which can be decomposed into tangential and radial components.

[0046] The radial component of the force, perpendicular to the ice surface and pointing outward, is the radial expansion force. This force acts from the interface between the ice and the cable, effectively breaking down the ice's adhesion, causing cracks and eventual peeling. This differs from traditional surface tapping or scraping, resulting in more thorough breakage with minimal direct impact on the cable itself.

[0047] The heat-conducting strip 44 is made of a material with good thermal conductivity (such as aluminum alloy or copper alloy), and can maintain a certain temperature during operation.

[0048] When it rotates and cuts into the cold and hard ice layer, its heat can slightly melt the ice at the contact point, significantly reducing the hardness of the ice and the cutting resistance, making it easier for the spiral cutting edge to cut in and produce expansion and cracking, thus solving the contradiction of high mechanical de-icing resistance and high thermal de-icing energy consumption in the existing technology.

[0049] The frustum-shaped outer cone surface causes the diameter of the ice-breaking cone 43 to gradually increase from the front end to the rear end. During operation, the annular scraper at the front end first breaks the ice surface, and then the cone surface with the gradually increasing diameter and the spiral heat-conducting strip 44 gradually squeeze into the ice layer. The resulting radial expansion force also changes dynamically and expands outward, thus enabling efficient breaking of ice layers of different thicknesses.

[0050] Specifically, after the robot is installed with the power line, the heating belt 32 is activated, gradually melting the ice layer; the electric push rod 37 moves, driving the driven wheel 35 and the driving wheel 34 to clamp the line; the second drive motor drives the driving wheel 34, causing the robot to start walking along the line; at the same time, the first drive motor 11 can drive the rotating cylinder 2 to rotate slowly, causing the walking module inside and the ice-breaking cone 43 at the front end to revolve around the line together; the ice-breaking cone 43 is driven by the linear actuator 42 to push axially, and the spiral heat-conducting strip 44 on its outer cone surface cuts the ice layer during rotation, and directs some of the heat generated by the heating belt 32 to the contact part of the ice layer, realizing the combined ice breaking of thermal and mechanical forces; the generated melt water is absorbed by the water-absorbing cotton layer 33, and then discharged under the action of centrifugal force generated by the rotation of the rotating cylinder and the squeezing of the rotation.

[0051] The sliding guide mechanism includes a base 41 fixed inside the rotating cylinder 2 and a linear actuator 42 mounted on the base 41; the ice-breaking cone 43 is connected to the drive end of the linear actuator 42, so that the ice-breaking cone 43 can move axially in the rotating cylinder 2; the electric push rod 37 is equipped with a displacement sensor for detecting the stroke of its drive rod; a pressure sensor for detecting the clamping force is provided on the axle of the driven wheel 35; and a control system is also included, which is electrically connected to the first drive motor 11, the second drive motor, the clamping drive component, the heating belt 32, the linear actuator 42, and each sensor.

[0052] In the initial installation state, the power transmission line is surrounded by a layer of ice, preventing the drive wheel 34 and driven wheel 35 from directly and tightly contacting the cable body. At this time, the control system instructs the electric push rod 37 to output a preset initial thrust, pushing the wheel frame 31 and driven wheel 35 against the ice. A pressure sensor located on the axle of the driven wheel 35 monitors the clamping force in real time. Because the ice has a certain degree of compressibility, this initial thrust, combined with the water-absorbing cotton layer 33, is sufficient to provide the wheel assembly with adequate friction. Combined with the engagement of the wheel surface grooves with the ice, this ensures that the robot will not fall off the line even when rotating in the initial state, thus solving the initial stability problem after installation.

[0053] Simultaneously, the heating band 32 activates to melt the ice layer in the wheel contact area. As the ice gradually melts, the gap between the cable body and the wheel assembly decreases. To maintain the optimal clamping force set by the control system (its value is adjusted in real-time by feedback from a pressure sensor), the electric actuator 37 automatically retracts and adjusts. The displacement sensor built into the electric actuator 37 precisely detects the real-time travel of its drive rod.

[0054] When the displacement sensor detects that the stroke of the electric push rod 37 has shortened and stabilized within a certain preset threshold range, the control system can determine that the ice layer in the area contacted by the wheel assembly has fully melted, and the driving wheel 34 and the driven wheel 35 have achieved stable contact with the exposed power line surface. Only then does the robot reach the working reference state.

[0055] Only after the above-mentioned fit-ready state is met will the control system unlock and instruct the linear actuator 42 to operate. The linear actuator 42 will then push the icebreaker cone 43 axially according to the program.

[0056] This prevents the icebreaker from being forcibly extended in an unstable state where the ice has not yet melted and there is a gap between the wheel assembly and the cable. The latter could cause problems such as robot shaking, uneven force on the icebreaker leading to damage, or impact damage to the cable.

[0057] The frame 1, the rotating cylinder 2 located inside the frame 1, and the ice-breaking cone 43 installed at the front end of the rotating cylinder 2 are all divided in half along the axial direction and connected by hinges to form an openable first half and a second half. When the first half and the second half are closed, the mating surfaces of the frame 1, the rotating cylinder 2 and the ice-breaking cone 43 are in contact with each other. On each mating surface, a number of permanent magnets 5 are embedded. When the first half and the second half are engaged, the permanent magnets 5 attract each other and provide magnetic force to maintain closure. In the initial installation phase, when the line is covered with a thick layer of ice, the first and second halves cannot completely close. The strong magnetic attraction generated by the permanent magnet 5 overcomes the resistance of the ice layer, initially attracting the first and second halves together and ensuring that the robot is stably held on the line, forming a relatively closed working cavity. As the internal heating belt 32 is activated and melts the ice layer inside the cavity, under the continuous magnetic force, the first and second halves are further tightly fitted together until they are completely closed, thus providing a stable and reliable foundation for subsequent heating, ice melting, and rotary crushing operations.

[0058] An external gear ring 21 is provided on the outer cylindrical surface of the rotating cylinder 2; a first drive motor 11 is fixedly installed inside the frame 1, and a drive gear 12 that meshes with the external gear ring 21 is fixedly provided on the output shaft of the first drive motor 11 for driving the rotating cylinder 2 to rotate around its axis.

[0059] The front opening of the rotating cylinder 2 is provided with a receiving groove 22, and several sector plates 23 are slidably connected in the receiving groove 22. The side of the sector plate 23 facing the ice-breaking cone 43 is provided with a wedge-shaped surface that matches the outer cone surface of the ice-breaking cone 43. A spring 24 is fixedly connected between the receiving groove 22 and the sector plate 23.

[0060] First, its core function is to reduce heat leakage. It is worth mentioning that the radial depth (i.e., length) of the receiving groove 22 is designed to be smaller than the radial length of the bottom of the ice-breaking cone 43.

[0061] The significance of this design is that even when the icebreaker 43 is driven to its maximum extended position by the linear actuator 42, a portion of the bottom of the icebreaker 43 remains inside the internal cavity of the rotating cylinder 2. Under the preload of the spring 24, the wedge-shaped surface at the end of the sector plate 23 always elastically abuts against the exposed surface of the icebreaker 43.

[0062] When the heating belt 32 heats the inside of the rotating cylinder 2, this structure can effectively prevent the large amount of hot air inside from being lost rapidly from the front opening, keeping the heat inside as much as possible, thereby improving the efficiency of thermal energy utilization and reducing energy consumption.

[0063] Secondly, since a portion of the bottom of the ice-breaking cone 43 is always located inside the rotating cylinder 2, the root of the spiral heat-conducting strip 44 on its surface can continuously absorb heat through the wheel frame 31 in the heating environment inside the rotating cylinder 2. This heat is continuously transported to the front end along its spiral path due to the excellent thermal conductivity of the heat-conducting strip 44 itself.

[0064] This allows the cutting edge of the icebreaker 43 to maintain a high temperature after it extends, while simultaneously rotating and cracking the ice layer in front of it, thus applying a continuous thermal effect.

[0065] Based on the detailed description of the two embodiments above, those skilled in the art will understand that the technical concepts of Embodiment 1 and Embodiment 2 of the present invention are not mutually exclusive, but can be combined to form a more comprehensive unified technical solution.

[0066] Specifically, the transmission components (including the first bevel gear 6, the second bevel gear 7, and the ice-crushing cam 9) and the ice-crushing claws 8 described in Embodiment 1 can be selectively integrated into the interior or front end of the rotating cylinder 2 described in Embodiment 2 as an independent mechanical striking module. In this combination, the rotating cylinder 2 serves both as a walking drive component (its internal wheel set is driven by the second drive motor) and as a shared support and movement platform for the mechanical striking module and the thermally assisted ice-breaking module. When the first drive motor 11 drives the rotating cylinder 2 to rotate, it can synchronously drive the internal ice-crushing claws 8 to revolve, while an independent drive source (such as another motor) drives the ice-crushing claws 8 to perform axial reciprocating striking through the transmission components. At the same time, the heating belt 32 inside the rotating cylinder 2 can heat the wheel set area and the internal space, providing a heat source for the ice-breaking cone 43 and assisting in softening the ice layer.

[0067] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A power transmission line ice-breaking robot, characterized in that: The system includes a frame (1), a walking module, and an ice-breaking component. The frame (1) is composed of a first half and a second half connected by a hinge, allowing the frame (1) to be opened and closed in half to be fitted onto the power transmission line from the side. The walking mechanism is mounted on the frame (1) and is used to drive the robot to move along the power transmission line. The ice-breaking mechanism is located at the front end of the frame (1) and is used to break up the ice on the power transmission line. The walking mechanism includes a drive wheel (34) and two driven wheels (35), and the surfaces of the drive wheel (34) and the driven wheels (35) are provided with grooves that are adapted to the contour of the power transmission line. A second drive motor is fixed inside the rotating cylinder (2), and the output shaft of the second drive motor is connected to the drive wheel (34) for transmission. The driven wheels (35) are mounted on a wheel frame (31), and an electric push rod (37) is mounted on the wheel frame (31) to push the driven wheels (35) closer to or away from the drive wheel (34).

2. The power transmission line ice-breaking robot as described in claim 1, characterized in that: The ice-breaking mechanism includes a transmission assembly and an ice-crushing claw (8) connected to the transmission assembly. The transmission assembly includes a first bevel gear (6) and a second bevel gear (7) that mesh with each other. The first bevel gear (6) is connected to a drive source. The center of the second bevel gear (7) is provided with a through mounting hole. The central shaft (81) of the ice-crushing claw (8) is slidably inserted into the mounting hole. A slider (82) is provided on the central shaft (81). The inner wall of the mounting hole is provided with a groove (71) that cooperates with the slider (82). A telescopic spring (72) is provided in the groove (71). One end of the telescopic spring (72) abuts against the bottom of the slider (82). The axle of the first bevel gear (6) extends to form an extension shaft (61). An ice-crushing cam (9) is detachably fitted on the extension shaft (61). The outline of the ice-crushing cam (9) abuts against the end of the central shaft (81) of the ice-crushing claw (8).

3. The power transmission line ice-breaking robot as described in claim 1, characterized in that: It also includes a rotating cylinder (2), which is rotatably mounted inside the frame (1) by a drive assembly. The walking module is located inside the rotating cylinder (2). A heating belt (32) is fixedly connected to the wheel frame (31). The heating belt (32) is electrically connected to a power supply and control device. The surfaces of the driving wheel (34) and the driven wheel (35) are covered with a water-absorbing cotton layer (33). The ice-breaking assembly includes an ice-breaking cone (43) that is axially movable at the front end of the rotating cylinder (2) through a dynamic guide mechanism. The front end of the rotating cylinder (2) is provided with a dynamic sealing assembly, so that when the ice-breaking cone (43) moves axially, a sealed heating cavity can still be formed inside the rotating cylinder (2), and at least a part of the cone of the ice-breaking cone (43) is located in the heating cavity to absorb heat from the heating belt (32).

4. The power transmission line ice-breaking robot as described in claim 3, characterized in that: The sliding guide mechanism includes a base (41) fixed inside the rotating cylinder (2) and a linear actuator (42) mounted on the base (41); the icebreaker (43) is connected to the drive end of the linear actuator (42), so that the icebreaker (43) can move in the axial direction of the rotating cylinder (2).

5. The power transmission line ice-breaking robot as described in claim 3, characterized in that: The ice-breaking cone (43) is a hollow frustum shape with a central hole (411) through its center along the axis. The central hole (411) is used for the transmission line to pass through. The inner diameter of the front end face of the frustum-shaped ice-breaking cone (43) is the same as the diameter of the central hole (411), so that its front end forms an annular scraper structure. The outer cone surface of the ice-breaking cone (43) is provided with a spirally extending heat-conducting strip (44) along its generatrix direction. The heat-conducting strip (44) has a cutting edge facing the direction of rotation.

6. The power transmission line ice-breaking robot as described in claim 4, characterized in that: An external gear ring (21) is provided on the outer cylindrical surface of the rotating cylinder (2); a first drive motor (11) is fixedly installed inside the frame (1), and a drive gear (12) that meshes with the external gear ring (21) is fixedly provided on the output shaft of the first drive motor (11) for driving the rotating cylinder (2) to rotate around its axis.

7. The power transmission line ice-breaking robot as described in claim 3, characterized in that: The dynamic sealing assembly includes a receiving groove (22) with an opening at the front end of the rotating cylinder (2). Several fan-shaped plates (23) are slidably connected in the receiving groove (22). The side of the fan-shaped plate (23) facing the icebreaker (43) is provided with a wedge-shaped surface that matches the outer cone surface of the icebreaker (43). A spring (24) is fixedly connected between the receiving groove (22) and the fan-shaped plate (23).

8. The power transmission line ice-breaking robot as described in claim 6, characterized in that: The electric actuator (37) is equipped with a displacement sensor for detecting the travel of its drive rod; a pressure sensor for detecting the clamping force is provided on the axle of the driven wheel (35).

9. The power transmission line ice-breaking robot as described in claim 8, characterized in that: It also includes a control system, which is electrically connected to the first drive motor (11), the second drive motor, the electric push rod (37), the heating belt (32), the linear actuator (42), and each sensor.

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