Shell of deicing robot and deicing robot for power transmission line

Abstract

The utility model relates to a shell of a deicing robot and a deicing robot for a power transmission line, and the shell of the deicing robot comprises a top frame, a first side plate, a second side plate, a driving wheel assembly and an anti-clamping assembly. The cross section of the top frame is U-shaped, and the two sides of the top frame are connected with the first side plate and the second side plate respectively; the first side plate and the second side plate are oppositely and obliquely arranged outwards; the driving wheel assembly is rotatably arranged in the top frame, and the bottom of the driving wheel assembly is flush with the bottom of the top frame; the anti-clamping assembly comprises wedge-shaped anti-clamping blocks which are symmetrically arranged on the tops of the first side plate and the second side plate, and the width of the anti-clamping assembly is larger than or equal to the width of the gap between the driving wheel assembly and the top frame. According to the shell of the deicing robot, the risk that a power transmission line is clamped by a driving wheel can be effectively reduced, and the stability and reliability of deicing operation are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of power transmission line deicing devices, in particular to a shell of a deicing robot and a deicing robot for power transmission lines. Background Art

[0002] With the continuous expansion of power transmission lines, the problem of icing on these lines is becoming increasingly serious. In severe cases, this can lead to line damage, tripping, and even large-scale power outages. To ensure the safe and stable operation of transmission lines in icing environments, transmission line de-icing robots have emerged as an important alternative to manual de-icing operations. Existing transmission line de-icing robots mostly use an active roller structure. They are clamped to the transmission lines via rollers, allowing them to move autonomously and perform de-icing operations. They have the advantages of high efficiency, safety, and strong adaptability. However, in actual application, it has been discovered that existing roller-type de-icing robots have technical defects. When the robot moves along the transmission line to de-ice, the roller edges often interfere with the side panels or frame of the robot housing during the rolling process. The roller edges can easily get stuck with the transmission line, causing the robot's movement to be obstructed or even stopped, seriously affecting the continuity and reliability of the de-icing operation.

[0003] Therefore, how to provide a structure that can effectively reduce the risk of the driving wheel getting stuck in the transmission line and improve the stability and reliability of the de-icing operation is a technical problem that needs to be solved urgently in this field. Utility Model Content

[0004] In order to solve at least one of the above technical problems, the present invention provides a housing of a de-icing robot, comprising: a top frame, a first side plate, a second side plate, a driving wheel assembly and an anti-stuck assembly;

[0005] The top frame has a "U"-shaped cross section, and its two sides are connected to the first side plate and the second side plate respectively;

[0006] The first side plate and the second side plate are arranged opposite to each other and tilted outwards;

[0007] A driving wheel assembly is rotatably disposed in the top frame, with its bottom flush with the bottom of the top frame;

[0008] The anti-stuck component includes a wedge-shaped anti-stuck block, which is symmetrically arranged on the top of the first side plate and the second side plate, and the width of the anti-stuck component is greater than or equal to the gap width between the driving wheel component and the top frame.

[0009] Furthermore, the driving wheel assembly includes: a first driving wheel component and a second driving wheel component symmetrically arranged in the top frame;

[0010] The first driving wheel component and the second driving wheel component have the same structure, both comprising: a protective shell, a driving component and a driving wheel connected to the driving component;

[0011] The protective shell is centrally and symmetrically arranged on the left and right outer sides of the top frame, surrounding the internal driving component.

[0012] Furthermore, the rolling side of the driving wheel is concave in the middle and relatively raised at both ends, forming a concave arc shape;

[0013] On the rolling side surface of the driving wheel, anti-skid grooves are arranged at intervals along the circumferential direction.

[0014] Furthermore, the two end surfaces of the driving wheel are symmetrically provided with gradually expanding guide plates;

[0015] The guide plate is extended radially outward along the end surface edge of the driving wheel, and the slope is arranged at a preset angle relative to the rolling side surface of the driving wheel.

[0016] Furthermore, the anti-jamming assembly includes: anti-jamming blocks symmetrically arranged on both sides of the driving wheels of the first driving wheel component and the second driving wheel component;

[0017] The anti-stuck block has a first side connected to the first side plate or the second side plate, a second side which is an inclined surface, and a slope of the second side inclined surface which is consistent with the slope of the guide plate.

[0018] Furthermore, the top surface of the anti-stuck block is an arc-shaped structure that matches the end surface of the driving wheel.

[0019] Furthermore, the top frame further comprises: ice shields respectively provided at the front and rear ends of the top frame;

[0020] The height of the ice guard is less than the distance between the rotating shaft of the driving wheel and the top frame.

[0021] Furthermore, the top of the top frame is provided with a mounting hole running through the front and back;

[0022] The front and rear ends of the mounting hole are respectively provided with a first visual component and a second visual component.

[0023] Furthermore, a third visual component is rotatably provided at the front end of the lower side of the first side panel;

[0024] A fourth visual component is rotatably provided at the rear end of the lower side of the second side panel.

[0025] A deicing robot for transmission lines, comprising: a robot housing, a driving device and a deicing device;

[0026] The driving device and the de-icing device are both arranged on the robot housing;

[0027] a driving device connected to the deicing device and driving the deicing device to perform deicing operations;

[0028] The robot shell is the shell of any of the above-mentioned deicing robots.

[0029] In this embodiment, a shell of a de-icing robot is provided. By providing a top frame with a "U"-shaped cross-section, internal space is provided for the driving wheel assembly. The driving wheel assembly is installed inside the top frame and is flush with the bottom of the top frame to prevent the driving wheel assembly from digging too deep, resulting in the center of gravity of the shell structure being too high and instability on the transmission line. The anti-stuck assembly is symmetrically arranged on the top of the first side plate and the second side plate. The width of the anti-stuck assembly is greater than or equal to the width of the gap between the driving wheel assembly and the top frame. When the robot rolls along the transmission line, if the transmission line deviates or fluctuates, the anti-stuck assembly adopts a wedge-shaped anti-stuck block structure, which uses its own geometric wedge-shaped features to form a spatial barrier in the gap area near the roller and the top frame. At the same time, this structure can play a passive limiting and deflecting role on the transmission line without the need for additional sensors or drive devices, guiding the transmission line back to the driving wheel assembly, greatly reducing the risk of jamming during operation. The first and second side panels are disposed on either side of the top frame and are arranged to be tilted outward in opposing directions. This provides greater lateral tolerance and envelope space when the de-icing robot is slightly tilted, swaying, or experiencing slight line swing, reducing the possibility of "going off-line" or tipping over after an offset, and helping to maintain the robot's center of gravity within a reasonable trajectory. In summary, the present application provides a de-icing robot housing that can effectively reduce the risk of the driving wheel getting stuck in the power transmission line and improve the stability and reliability of de-icing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be derived based on the structures shown in these drawings without inventive effort. In the drawings, the same parts are marked with the same reference numerals. The drawings are not drawn to scale.

[0031] Figure 1 This is a front view of an embodiment of a housing of a de-icing robot according to the present invention;

[0032] Figure 2 A bottom view of an embodiment of a housing of a deicing robot according to the present invention;

[0033] Figure 3 This is a schematic diagram of an embodiment of a housing of a de-icing robot according to the present invention;

[0034] Figure 4 for Figure 1 A schematic diagram of an embodiment in a top-down direction;

[0035] Figure 5This is a left view of an embodiment of a shell of a deicing robot according to the present invention. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] It should be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0038] It should also be noted that if the embodiments of the present invention involve directional indications, such as up, down, left, right, front, back, etc., then the directional indications are only used to explain the relative positional relationship and movement of the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly. In addition, if the embodiments of the present invention involve descriptions such as "first, second", "S1, S2", "step one, step two", etc., such descriptions are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features or indicating the execution order of the method, etc. Those skilled in the art can understand that anything that does not violate the key points of the utility model under the technical concept of the utility model should be included in the scope of protection of the utility model.

[0039] The utility model provides a shell of a de-icing robot, referring to Figure 1-5 , including: a top frame 1, a first side plate 2, a second side plate 3, a driving wheel assembly 4 and an anti-stuck assembly 5;

[0040] The top frame 1 has a U-shaped cross section, and its two sides are connected to the first side plate 2 and the second side plate 3 respectively;

[0041] The first side panel 2 and the second side panel 3 are arranged opposite to each other and tilted outwards;

[0042] The driving wheel assembly 4 is rotatably arranged in the top frame 1, and the bottom thereof is flush with the bottom of the top frame 1;

[0043] The anti-stuck component 5 is symmetrically arranged on the top of the first side plate 2 and the second side plate 3 , and its width is greater than or equal to the gap width between the driving wheel component 4 and the top frame 1 .

[0044] In this embodiment, a shell of a de-icing robot is provided, which provides internal layout space for the driving wheel assembly by setting a top frame with a "U"-shaped cross-section. The driving wheel assembly is installed inside the top frame and is flush with the bottom of the top frame to prevent the driving wheel assembly from digging too deep, resulting in the center of gravity of the shell structure being too high and instability on the transmission line. The anti-stuck assembly is symmetrically arranged on the top of the first side plate and the second side plate, and its width is greater than or equal to the width of the gap between the driving wheel assembly and the top frame. When the robot rolls along the transmission line, if the transmission line deviates or fluctuates, the anti-stuck assembly adopts a wedge-shaped anti-stuck block structure, which uses its own geometric wedge-shaped features to form a spatial barrier in the gap area near the roller and the top frame. At the same time, this structure can play a passive limiting and deflecting role on the transmission line without the need for additional sensors or drive devices, guiding the transmission line back to the driving wheel assembly, greatly reducing the risk of jamming during operation. The first and second side panels are disposed on either side of the top frame and are arranged to be tilted outward in opposing directions. This provides greater lateral tolerance and envelope space when the de-icing robot is slightly tilted, swaying, or experiencing slight line swing, reducing the possibility of "going off-line" or tipping over after an offset, and helping to maintain the robot's center of gravity within a reasonable trajectory. In summary, the present application provides a de-icing robot housing that can effectively reduce the risk of the driving wheel getting stuck in the power transmission line and improve the stability and reliability of de-icing operations.

[0045] Preferably, reference Figure 2 、 Figure 3 and Figure 4 The driving wheel assembly 4 includes a first driving wheel member 41 and a second driving wheel member 42 symmetrically arranged in the top frame 1;

[0046] The first driving wheel member 41 and the second driving wheel member 42 have the same structure, both comprising: a protective shell 411, a driving member and a driving wheel 412 connected to the driving member;

[0047] The protective shell 411 is centrally symmetrically arranged on the left and right outer sides of the top frame 1 to surround the internal driving component.

[0048] In this embodiment, after the driving wheel outputs power through the driving member, it rolls forward along the power transmission line and is driven by the first and second driving wheel members on both sides to achieve stable movement of the robot. The provision of the protective shell not only effectively prevents the driving member from being exposed to the outside and thus avoids damage to it due to environmental factors such as ice accumulation, rain and snow erosion; at the same time, Figure 4 The central symmetrical layout of the protective shell 411 helps to balance the overall mass distribution of the robot and enhance the walking balance of the robot.

[0049] Preferably, reference Figure 3 , the rolling side of the driving wheel 412 is concave in the middle and relatively raised at both ends, forming a concave arc shape;

[0050] On the rolling side surface of the driving wheel 412 , anti-skid grooves 413 are arranged at intervals along the circumferential direction.

[0051] In this embodiment, the rolling side of the driving wheel is in the shape of a concave arc, which not only enhances the contact area between the rolling side and the power transmission line and improves the friction, but also has a good self-correcting function. During the operation of the robot, if the robot is slightly deflected due to line jitter, environmental disturbance or center of gravity shift, the raised edges on both sides of the driving wheel will form an asymmetric contact torque, and through geometric adaptation, the robot will automatically return to the center position of the line, thereby avoiding the risk of side slipping, deviation or overturning during operation. On the rolling side of the driving wheel, a plurality of anti-skid grooves are arranged at intervals along the circumferential direction, which can generate strong friction during the rolling of the driving wheel, further enhance the starting or climbing performance, and prevent the de-icing robot from slipping or spinning on the surface of the power transmission line. More preferably, the anti-skid grooves are transverse grooves or serrated grooves to further enhance the friction.

[0052] Preferably, reference Figure 3 , the two end surfaces of the driving wheel 412 are symmetrically provided with gradually expanding guide plates 414;

[0053] The guide plate 414 extends radially outward along the edge of the end surface of the driving wheel 412 , and the slope is arranged at a preset angle relative to the rolling side surface of the driving wheel 412 .

[0054] In this embodiment, guide plates are symmetrically arranged at the edges of the driving wheel's rolling side, tilted radially outward to form a V-shaped opening along the driving wheel's rolling side. The inner sides of the guide plates are attached to and connected to the rolling side of the driving wheel's end face. These gradually expanding guide plates, on the one hand, increase the effective contact area between the driving wheel and the power transmission line, thereby breaking ice and assisting in escaping obstacles when encountering ice, debris, or small obstacles remaining on the transmission line. On the other hand, the guide plates extend radially outward along the end face of the driving wheel, with a slope set at a predetermined angle relative to the rolling side of the driving wheel. This further widens the edge space of the driving wheel and provides additional correction assistance if the driving wheel deviates beyond the concave range of the rolling side. This, in conjunction with the concave arc-shaped structure of the driving wheel's rolling side, enhances stable operation. Specifically, the guide plates have a predetermined slope of 10° to 30° relative to the rolling side of the driving wheel, forming a gradually expanding guide slope.

[0055] Preferably, reference Figure 3 , the anti-stuck component 5 includes: anti-stuck blocks 5a symmetrically arranged on both sides of the driving wheels of the first driving wheel member and the second driving wheel member;

[0056] The anti-stuck block 5 a has a first side connected to the first side plate 2 or the second side plate 3 , and a second side that is an inclined surface, and the slope of the second inclined surface is consistent with the slope of the guide plate 414 .

[0057] In this embodiment, the anti-jam block, with its inclined surfaces on either side of the driving wheel, effectively guides the power transmission line, preventing it from becoming stuck or entangled with the top frame during operation. Especially when the transmission line is too small, the anti-jam block redirects the line back to the center, preventing foreign objects or the transmission line from entering the gap between the driving wheel assembly and the top frame, potentially causing problems such as clamping or jamming.

[0058] More preferably, the top surface of the anti-stuck block is an arc-shaped structure that matches the end surface of the driving wheel; this further expands the coverage of the anti-stuck block on the edges of both ends of the driving wheel, further reducing the risk of transmission line jamming.

[0059] Preferably, reference Figure 3 , the top frame 1 also includes: ice guards 11 respectively arranged at the front and rear ends of the top frame 1;

[0060] The height of the ice-blocking plate 11 is smaller than the distance between the rotation axis of the driving wheel 412 and the top frame 1 .

[0061] In this embodiment, the ice guards at the front and rear ends of the top frame act as passive protective structures, blocking ice debris and other debris from the environment during the de-icing robot's forward and reverse movements, preventing them from directly impacting or being drawn into the driving wheels, potentially causing jamming or wear. The height of the ice guards is less than the distance between the driving wheel's axis and the top frame. In other words, limiting the height of the ice guards above the driving wheel's axis prevents interference between the ice guards and the driving wheel while ensuring sufficient clearance beneath the wheel for operation.

[0062] Preferably, reference Figure 3 , the top of the top frame 1 is provided with a mounting hole 12 running through the front and back;

[0063] The first visual component and the second visual component are respectively provided at the front and rear ends of the mounting hole 12 .

[0064] In this embodiment, a mounting hole extending from front to back is provided at the top of the top frame. The first and second visual elements are integrated within the mounting hole, enabling unified installation and positioning of the front and rear first and second visual elements, thereby improving the compactness of the structural layout. Furthermore, the first and second visual elements, facing the robot's forward and backward directions, respectively, provide bidirectional sensing capabilities for forward prediction and backward monitoring. This ensures the de-icing robot's operational safety and efficiency, particularly when performing delicate tasks (such as positioning and determining ice cover patterns) or reversing to avoid obstacles in narrow routes. Notably, the key to this application lies in providing a housing for the de-icing robot that mechanically reduces the risk of the de-icing robot becoming stuck on power lines. The first and second visual elements, along with the third and fourth visual elements described later, can be devices with visual sensing capabilities, such as cameras, laser rangefinders, or infrared sensors. The specific sensing methods, path recognition algorithms, and obstacle prediction algorithms can be implemented using existing technologies and are not further elaborated here.

[0065] More preferably, refer to Figure 4 and Figure 5 , a third visual member 6 is rotatably provided at the front end of the lower side of the first side panel 2;

[0066] A fourth visual component 7 is rotatably provided at the rear end of the lower side of the second side panel 3 .

[0067] In this embodiment, the third and fourth visual elements are located at the lower front end of the first side panel and the lower rear end of the second side panel, respectively. They can rotate within a certain range to adjust their visual range, providing real-time supplementary monitoring of the de-icing robot and the area below the power transmission lines. Together with the first and second visual elements, the third and fourth visual elements form a four-way combined perception system, building a complete spatial perception network that enables the de-icing robot to perceive its surroundings in all directions, effectively filling in blind spots.

[0068] A deicing robot for transmission lines, comprising: a robot housing, a driving device and a deicing device;

[0069] The driving device and the de-icing device are both arranged on the robot housing;

[0070] a driving device connected to the deicing device and driving the deicing device to perform deicing operations;

[0071] The robot shell is the shell of any of the above-mentioned deicing robots.

[0072] This embodiment provides a de-icing robot for power transmission lines. The robot's housing utilizes the housing of any of the aforementioned de-icing robots. The robot uses the housing to navigate along power transmission lines, while a drive mechanism drives the de-icing device to perform de-icing operations. This housing effectively prevents jamming or interference between the driving wheel assembly and the power transmission line due to swaying or excessively thin transmission lines, significantly improving de-icing efficiency and the robot's reliability. The robot is particularly suitable for use in complex environments with severe ice and snow accumulation.

[0073] The above-described deicing robot for power transmission lines is based on the housing of the aforementioned deicing robot. Its technical effects and features are not described in detail here. The above-described embodiments merely represent a few implementations of the present invention. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that those skilled in the art will be able to devise numerous variations and improvements without departing from the concept of the present invention, and these variations and improvements are fully within the scope of protection of the present invention.

Claims

1. A housing of a de-icing robot, characterized in that: include: Top frame, first side plate, second side plate, driving wheel assembly and anti-stuck assembly; The top frame has a "U"-shaped cross section, and its two sides are connected to the first side plate and the second side plate respectively; The first side plate and the second side plate are arranged opposite to each other and tilted outwards; A driving wheel assembly is rotatably disposed in the top frame, with its bottom flush with the bottom of the top frame; The anti-stuck component includes a wedge-shaped anti-stuck block, which is symmetrically arranged on the top of the first side plate and the second side plate, and the width of the anti-stuck component is greater than or equal to the gap width between the driving wheel component and the top frame.

2. The housing of the de-icing robot according to claim 1, characterized in that: The driving wheel assembly includes: a first driving wheel component and a second driving wheel component symmetrically arranged in the top frame; The first driving wheel component and the second driving wheel component have the same structure, both comprising: a protective shell, a driving component and a driving wheel connected to the driving component; The protective shell is centrally and symmetrically arranged on the left and right outer sides of the top frame, surrounding the internal driving component.

3. The housing of the de-icing robot according to claim 2, characterized in that: The rolling side of the driving wheel is concave in the middle and relatively raised at both ends, forming a concave arc shape; On the rolling side surface of the driving wheel, anti-skid grooves are arranged at intervals along the circumferential direction.

4. The housing of the de-icing robot according to claim 3, characterized in that: Gradually expanding guide plates are symmetrically arranged on both end faces of the driving wheel; The guide plate is extended radially outward along the end surface edge of the driving wheel, and the slope is arranged at a preset angle relative to the rolling side surface of the driving wheel.

5. The housing of the de-icing robot according to claim 4, characterized in that: The anti-jamming assembly includes: anti-jamming blocks symmetrically arranged on both sides of the driving wheels of the first driving wheel component and the second driving wheel component; The anti-stuck block has a first side connected to the first side plate or the second side plate, a second side which is an inclined surface, and a slope of the second side inclined surface which is consistent with the slope of the guide plate.

6. The housing of the de-icing robot according to claim 5, characterized in that: The top surface of the anti-stuck block is an arc-shaped structure that matches the end surface of the driving wheel.

7. The housing of the de-icing robot according to claim 6, characterized in that: The top frame further includes: ice shields respectively arranged at the front and rear ends of the top frame; The height of the ice guard is less than the distance between the rotating shaft of the driving wheel and the top frame.

8. The housing of the de-icing robot according to claim 7, characterized in that: The top of the top frame is provided with mounting holes running through the front and back; The front and rear ends of the mounting hole are respectively provided with a first visual component and a second visual component.

9. The housing of the de-icing robot according to claim 8, characterized in that: A third visual component is rotatably provided at the front end of the lower side of the first side panel; A fourth visual component is rotatably provided at the rear end of the lower side of the second side panel.

10. A deicing robot for power transmission lines, characterized in that: include: robot housing, drive units, and de-icing devices; The driving device and the de-icing device are both arranged on the robot housing; a driving device connected to the deicing device and driving the deicing device to perform deicing operations; The robot shell is the shell of the deicing robot according to any one of claims 1 to 9.

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