Snakelike high-voltage line deicing robot

Abstract

The utility model discloses a snake-shaped high-voltage line deicing robot which comprises two fixing units, the two fixing units are fixedly connected through a driving unit, and deicing units are fixedly connected to the ends, away from the driving unit, of the two fixing units respectively. According to the snakelike high-voltage line deicing robot provided by the utility model, the deicing cutter head which is pushed in a rotating manner is arranged, so that an ice layer on a high-voltage line can be accurately and quickly removed; a power system of the robot is clamped and driven by a plurality of air cylinders to generate a movement effect, and the robot walks and advances in a snake-shaped movement mode, so that the operation cost is reduced; the robot is made of a cold-resistant material, so that normal operation under the extremely cold condition is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of deicing equipment, and in particular relates to a serpentine high-voltage wire deicing robot. Background Art

[0002] In traditional deicing methods, manual cleaning is mainly relied on. However, for ice in high altitudes or dangerous areas, manual cleaning is not only difficult, but also poses safety hazards. In addition, some deicing equipment may not work properly in low temperature environments, resulting in poor deicing effects. Therefore, it is particularly important to develop an efficient, safe, and intelligent serpentine high-voltage line deicing robot that can adapt to various environments. The serpentine high-voltage line deicing robot is a product of this trend. It aims to achieve automated deicing of high-voltage transmission lines by simulating the flexible movement of snakes, thereby improving work efficiency, reducing labor costs, and ensuring the safety of workers.

[0003] In the field of robotics, snake-like robots have attracted widespread attention due to their flexibility and adaptability. The design concept of this robot is to imitate the movement of snakes, so that it can move freely in complex environments and complete deicing tasks. However, there are still some challenges in the application of existing snake-like robot technology in high-voltage line deicing. For example, how to ensure the stability of the robot on the high-voltage line, how to improve the deicing efficiency, and how to design a control system that can maintain good working performance at low temperatures. Utility Model Content

[0004] The utility model aims to provide a serpentine high-voltage wire deicing robot, which improves deicing efficiency and reduces deicing cost.

[0005] The technical solution adopted by the utility model is that the serpentine high-voltage wire deicing robot comprises two fixing units, the two fixing units are fixedly connected via a driving unit, and one end of the two fixing units away from the driving unit is respectively fixedly connected with a deicing unit.

[0006] The utility model is also characterized in that:

[0007] The fixing unit includes a base, on which a roller unit and a clamping unit are provided, and also includes a lower shell and an upper shell. The lower shell and the upper shell are semi-cylindrical, and the lower shell and the upper shell are fixed by a plurality of first bolts. The lower shell and the upper shell are both fixedly connected to the driving unit, and the base is fixedly connected to the deicing unit. Corresponding semicircular through holes are opened on both sides of the lower shell and the upper shell, and the deicing unit is arranged in the through holes.

[0008] The roller unit comprises a roller mounting seat, the roller mounting seat is penetrated by the base, roller mounting shafts are arranged at both ends of the roller mounting seat, rollers are penetrated on the two roller mounting shafts, and two rollers are arranged on both sides of the base.

[0009] The card-connecting unit includes a card-connecting support seat, which is fixedly connected to the base and arranged between the roller mounting seat and the de-icing unit. The card-connecting support seat is provided with a first cylinder and a second cylinder. The corresponding ends of the first cylinder and the second cylinder are provided with ice-clearing grippers, and the two ice-clearing grippers cooperate with each other.

[0010] The driving unit comprises a third cylinder and a fourth cylinder, wherein the third cylinder is fixedly connected to the lower shell, and the fourth cylinder is fixedly connected to the upper shell.

[0011] The deicing unit includes an electric motor, which is fixed to the base. A gear is sleeved on the output end of the motor. The gear is arranged on the outside of the lower shell. The gear is meshed with a deicing gear plate. The deicing gear plate is arranged at the through hole. A deicing blade head is fixed to the side of the deicing gear plate away from the clamping support seat.

[0012] The deicing gear plate comprises a left deicing gear plate and a right deicing gear plate, and the left deicing gear plate and the right deicing gear plate are fixedly connected by two second bolts.

[0013] The deicing blade head comprises four deicing blades, which are evenly arranged on the deicing gear plate along the circumference, and the four deicing blades are fixedly connected to the deicing gear plate through screws.

[0014] An infrared distance sensor is arranged at one end of the upper shell close to the de-icing blade head.

[0015] The beneficial effects of the utility model are:

[0016] The utility model provides a serpentine high-voltage line deicing robot, which can accurately and quickly remove ice on high-voltage lines by providing a rotating and propelling deicing blade head; the robot's power system relies on multiple cylinders to clamp and drive to produce a motion effect, imitating the serpentine motion mode to walk and propel, thereby reducing operating costs; the robot is made of cold-resistant materials to ensure normal operation under extremely cold conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the utility model snake-shaped high-voltage wire deicing robot;

[0018] Figure 2 It is a schematic diagram of the connection of the fixing unit of the utility model;

[0019] Figure 3 It is a schematic diagram of the structure of the deicing unit of the utility model.

[0020] In the figure, 1. fixing unit, 2. driving unit, 3. deicing unit, 4. base, 5. lower shell, 6. upper shell, 7. first bolt, 8. roller mounting seat, 9. roller mounting shaft, 10. roller, 11. clamping support seat, 12. first cylinder, 13. second cylinder, 14. ice-clearing gripper, 15. third cylinder, 16. fourth cylinder, 17. motor, 18. gear, 19. deicing gear plate, 20. deicing blade head, 21. left deicing gear plate, 22. right deicing gear plate, 23. second bolt, 24. deicing blade, 25. screw, 26. infrared distance sensor. DETAILED DESCRIPTION

[0021] The utility model is described in detail below with reference to the accompanying drawings and specific implementation modes.

[0022] The utility model provides a snake-shaped high-voltage wire deicing robot, such as Figure 1 As shown, it includes two fixing units 1, which are fixedly connected by a driving unit 2. The driving unit 2 provides power for the robot to walk, and the ends of the two fixing units 1 away from the driving unit 2 are respectively fixedly connected to a deicing unit 3. Figure 2As shown, the fixing unit 1 includes a base 4, on which a roller unit and a clamping unit are arranged, and also includes a lower shell 5 and an upper shell 6, the lower shell 5 and the upper shell 6 are semi-cylindrical, the lower shell 5 and the upper shell 6 are fixed by a plurality of first bolts 7, the lower shell 5 and the upper shell 6 are both fixedly connected to the driving unit 2, the base 4 is fixedly connected to the deicing unit 3, and corresponding semi-circular through holes are opened on both sides of the lower shell 5 and the upper shell 6, and the deicing unit 3 is arranged in the through holes; the roller unit includes a roller mounting seat 8, the roller mounting seat 8 passes through the base 4, and roller mounting wheels are arranged at both ends of the roller mounting seat 8 Axle 9, rollers 10 are passed through the two roller mounting shafts 9, and the two rollers 10 are arranged on both sides of the base 4; the clamping unit includes a clamping support seat 11, the clamping support seat 11 is fixedly connected to the base 4, the clamping support seat 11 is arranged between the roller mounting seat 8 and the deicing unit 3, and the clamping support seat 11 is provided with a first cylinder 12 and a second cylinder 13, and the first cylinder 12 and the second cylinder 13 are provided with ice-clearing grippers 14 at one end corresponding to the first cylinder 12 and the second cylinder 13, and the two ice-clearing grippers 14 cooperate; the driving unit 2 includes a third cylinder 15 and a fourth cylinder 16, and the third cylinder 15 is fixedly connected to the lower shell 5, The fourth cylinder 16 is fixedly connected to the upper shell 6; the de-icing unit 3 includes a motor 17, the motor 17 is fixedly connected to the base 4, the output end of the motor 17 is sleeved with a gear 18, the gear 18 is arranged on the outside of the lower shell 5, the gear 18 is meshed with a de-icing gear plate 19, the de-icing gear plate 19 is arranged at the through hole, and the de-icing gear plate 19 is fixedly connected to the side of the de-icing gear plate 19 away from the clamping support seat 11. The motor 17 provides power for the rotation of the gear 18, and the rotation of the gear 18 drives the de-icing gear plate 19 to rotate, thereby driving the de-icing blade head 20 to rotate; the de-icing gear plate 19 includes a left de-icing gear The wheel 21 and the right de-icing gear disc 22, the left de-icing gear disc 21 and the right de-icing gear disc 22 are fixedly connected by two second bolts 23; the de-icing blade head 20 includes four de-icing blades 24, which are evenly arranged on the de-icing gear disc 19 along the circumference, and the four de-icing blades 24 are fixedly connected to the de-icing gear disc 19 by screws 25; an infrared distance sensor 26 is provided at one end of the upper shell 6 close to the de-icing blade head 20, which is convenient for detecting obstacles on the high-voltage line in the direction of travel, and an ultrasonic sensor is installed above the de-icing blade head 20 to accurately measure the distance between the de-icing blade head 20 and the electric pole. Lightweight, cold-resistant and high-lightweight materials are selected, the structural design is optimized, and the overall weight of the robot is reduced.

[0023] The serpentine high-voltage line deicing robot provided by the utility model has the following working principle: the third cylinder 15 and the fourth cylinder 16 provide power for the two fixed units 1 and the deicing unit 3. When moving forward, the third cylinder 15 and the fourth cylinder 16 provide thrust to the front fixed unit 1 to push the front fixed unit 1. The third cylinder 15 and the fourth cylinder 16 provide pulling force to the rear fixed unit 1 to pull the rear fixed unit 1. The first cylinder 12 and the second cylinder 13 in front push the two ice-clearing grippers 14 without providing pressure. The two ice-clearing grippers 14 releases the high-voltage wire, and the first cylinder 12 and the second cylinder 13 at the rear are pushed by the first cylinder 12 and the second cylinder 13 at the rear, so that the two ice-clearing grippers 14 clamp the high-voltage wire together, so that it creeps forward a unit length. During this process, the motor 17 provides power for the rotation of the gear 18, and the rotation of the gear 18 drives the de-icing gear plate 19 to rotate, and then drives the de-icing blade head 20 to rotate, thereby achieving the purpose of de-icing. Repeating this process can remove ice forward; similarly, when moving in the opposite direction, the rear becomes the front, and the purpose of de-icing can also be achieved.

[0024] Example 1

[0025] The serpentine high-voltage wire deicing robot proposed in this embodiment is as follows: Figure 1 As shown, it includes two fixing units 1 , which are fixedly connected via a driving unit 2 , and the ends of the two fixing units 1 away from the driving unit 2 are respectively fixedly connected with a deicing unit 3 .

[0026] Example 2

[0027] The serpentine high-voltage wire deicing robot proposed in this embodiment is as follows: Figure 1 As shown, it includes two fixing units 1, which are fixedly connected by a driving unit 2, and the ends of the two fixing units 1 away from the driving unit 2 are respectively fixedly connected to a deicing unit 3. Figure 2As shown, the fixing unit 1 includes a base 4, on which a roller unit and a clamping unit are arranged, and also includes a lower shell 5 and an upper shell 6, the lower shell 5 and the upper shell 6 are semi-cylindrical, the lower shell 5 and the upper shell 6 are fixed by a plurality of first bolts 7, the lower shell 5 and the upper shell 6 are both fixedly connected to the driving unit 2, the base 4 is fixedly connected to the deicing unit 3, and corresponding semi-circular through holes are opened on both sides of the lower shell 5 and the upper shell 6, and the deicing unit 3 is arranged in the through holes; the roller unit includes a roller mounting seat 8, and the roller mounting seat 8 is penetrated by the bottom The base 4 has roller mounting shafts 9 at both ends of the roller mounting base 8, rollers 10 are passed through the two roller mounting shafts 9, and the two rollers 10 are arranged on both sides of the base 4; the clamping unit includes a clamping support base 11, the clamping support base 11 is fixedly connected to the base 4, the clamping support base 11 is arranged between the roller mounting base 8 and the deicing unit 3, the clamping support base 11 is provided with a first cylinder 12 and a second cylinder 13, and the first cylinder 12 and the second cylinder 13 are provided with ice-clearing grippers 14 at the corresponding ends, and the two ice-clearing grippers 14 cooperate with each other.

[0028] Example 3

[0029] The serpentine high-voltage wire deicing robot proposed in this embodiment is as follows: Figure 1 As shown, it includes two fixing units 1, which are fixedly connected by a driving unit 2, and the ends of the two fixing units 1 away from the driving unit 2 are respectively fixedly connected to a deicing unit 3. Figure 2 As shown, the fixing unit 1 includes a base 4, on which a roller unit and a clamping unit are arranged, and also includes a lower shell 5 and an upper shell 6, the lower shell 5 and the upper shell 6 are semi-cylindrical, the lower shell 5 and the upper shell 6 are fixed by a plurality of first bolts 7, the lower shell 5 and the upper shell 6 are both fixedly connected to the driving unit 2, the base 4 is fixedly connected to the deicing unit 3, and corresponding semicircular through holes are opened on both sides of the lower shell 5 and the upper shell 6, and the deicing unit 3 is arranged in the through holes; the roller unit includes a roller mounting seat 8, the roller mounting seat 8 passes through the base 4, roller mounting shafts 9 are arranged at both ends of the roller mounting seat 8, rollers 10 are passed through the two roller mounting shafts 9, and the two rollers 10 are arranged on both sides of the base 4; the clamping unit includes a clamping support seat 11, and the clamping support seat 11 is fixedly connected to the base 4 The clamping support seat 11 is arranged between the roller mounting seat 8 and the deicing unit 3, and the first cylinder 12 and the second cylinder 13 are provided on the clamping support seat 11. The ends corresponding to the first cylinder 12 and the second cylinder 13 are each provided with an ice-clearing gripper 14, and the two ice-clearing grippers 14 cooperate with each other; the driving unit 2 includes a third cylinder 15 and a fourth cylinder 16, the third cylinder 15 is fixedly connected to the lower shell 5, and the fourth cylinder 16 is fixedly connected to the upper shell 6; the deicing unit 3 includes a motor 17, the motor 17 is fixedly connected to the base 4, and a gear 18 is sleeved on the output end of the motor 17, and the gear 18 is arranged on the outside of the lower shell 5. The gear 18 is meshed with a deicing gear disk 19, and the deicing gear disk 19 is arranged at the through hole. The deicing blade head 20 is fixedly connected to the side of the deicing gear disk 19 away from the clamping support seat 11.

[0030] Example 4

[0031] The serpentine high-voltage wire deicing robot proposed in this embodiment is as follows: Figure 1 As shown, it includes two fixing units 1, which are fixedly connected by a driving unit 2, and the ends of the two fixing units 1 away from the driving unit 2 are respectively fixedly connected to a deicing unit 3. Figure 2 As shown, the fixing unit 1 includes a base 4, on which a roller unit and a clamping unit are arranged, and also includes a lower shell 5 and an upper shell 6, the lower shell 5 and the upper shell 6 are semi-cylindrical, the lower shell 5 and the upper shell 6 are fixed by a plurality of first bolts 7, the lower shell 5 and the upper shell 6 are both fixedly connected to the driving unit 2, the base 4 is fixedly connected to the deicing unit 3, and corresponding semi-circular through holes are opened on both sides of the lower shell 5 and the upper shell 6, and the deicing unit 3 is arranged in the through holes; the roller unit includes a roller mounting seat 8, and the roller The mounting seat 8 passes through the base 4, and roller mounting shafts 9 are provided at both ends of the roller mounting seat 8. Rollers 10 are passed through the two roller mounting shafts 9, and the two rollers 10 are arranged on both sides of the base 4; the clamping unit includes a clamping support seat 11, which is fixed to the base 4, and the clamping support seat 11 is arranged between the roller mounting seat 8 and the deicing unit 3. The clamping support seat 11 is provided with a first cylinder 12 and a second cylinder 13, and the ends corresponding to the first cylinder 12 and the second cylinder 13 are both provided with ice-clearing grippers 14, two ice-clearing grippers 14 cooperate; the driving unit 2 includes a third cylinder 15 and a fourth cylinder 16, the third cylinder 15 is fixedly connected to the lower shell 5, and the fourth cylinder 16 is fixedly connected to the upper shell 6; the deicing unit 3 includes a motor 17, the motor 17 is fixedly connected to the base 4, and the output end of the motor 17 is sleeved with a gear 18, the gear 18 is arranged on the outside of the lower shell 5, and the gear 18 is meshed with a deicing gear plate 19, the deicing gear plate 19 is arranged at the through hole, and the deicing gear plate 19 is away from the clamping support seat 11 A de-icing blade head 20 is fixedly connected to one side; the de-icing gear plate 19 includes a left de-icing gear plate 21 and a right de-icing gear plate 22, and the left de-icing gear plate 21 and the right de-icing gear plate 22 are fixedly connected by two second bolts 23; the de-icing blade head 20 includes four de-icing blades 24, and the four de-icing blades 24 are evenly arranged on the de-icing gear plate 19 along the circumference, and the four de-icing blades 24 are fixedly connected to the de-icing gear plate 19 by screws 25; an infrared distance sensor 26 is provided at one end of the upper shell 6 close to the de-icing blade head 20.

Claims

1. The serpentine high-voltage wire deicing robot is characterized by: It comprises two fixing units (1), the two fixing units (1) being fixedly connected via a driving unit (2), and one end of the two fixing units (1) away from the driving unit (2) being respectively fixedly connected to a deicing unit (3); The fixing unit (1) comprises a base (4), a roller unit and a clamping unit are provided on the base (4), and further comprises a lower shell (5) and an upper shell (6), the lower shell (5) and the upper shell (6) are semi-cylindrical, the lower shell (5) and the upper shell (6) are fixed by a plurality of first bolts (7), the lower shell (5) and the upper shell (6) are both fixedly connected to the driving unit (2), the base (4) is fixedly connected to the deicing unit (3), and corresponding semi-circular through holes are provided on both sides of the lower shell (5) and the upper shell (6), and the deicing unit (3) is arranged in the through holes; The roller unit comprises a roller mounting seat (8), the roller mounting seat (8) passes through the base (4), roller mounting shafts (9) are provided at both ends of the roller mounting seat (8), rollers (10) are provided on the two roller mounting shafts (9), and the two rollers (10) are provided on both sides of the base (4); The clamping unit comprises a clamping support seat (11), the clamping support seat (11) is fixedly connected to the base (4), the clamping support seat (11) is arranged between the roller mounting seat (8) and the deicing unit (3), a first cylinder (12) and a second cylinder (13) are arranged on the clamping support seat (11), and an ice-clearing gripper (14) is arranged at one end corresponding to the first cylinder (12) and the second cylinder (13), and the two ice-clearing grippers (14) cooperate with each other; The driving unit (2) comprises a third cylinder (15) and a fourth cylinder (16), wherein the third cylinder (15) is fixedly connected to the lower housing (5), and the fourth cylinder (16) is fixedly connected to the upper housing (6); The deicing unit (3) comprises a motor (17), the motor (17) being fixedly connected to the base (4), the output end of the motor (17) being sleeved with a gear (18), the gear (18) being arranged outside the lower housing (5), the gear (18) being meshed with a deicing gear plate (19), the deicing gear plate (19) being arranged at the through hole, and a deicing blade head (20) being fixedly connected to a side of the deicing gear plate (19) away from the clamping support seat (11); The deicing gear plate (19) comprises a left deicing gear plate (21) and a right deicing gear plate (22), wherein the left deicing gear plate (21) and the right deicing gear plate (22) are fixedly connected via two second bolts (23); The deicing blade head (20) comprises four deicing blades (24), the four deicing blades (24) being evenly arranged on the deicing gear plate (19) along the circumference, and the four deicing blades (24) being fixedly connected to the deicing gear plate (19) via screws (25); An infrared distance sensor (26) is provided at one end of the upper housing (6) close to the de-icing blade head (20).

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