Power transmission line deicing robot

Abstract

The utility model discloses a power transmission line deicing robot, and relates to the technical field of power transmission line operation, the power transmission line deicing robot comprises two outer plates, the two outer plates are symmetrically arranged front and back, the left parts and the right parts of the adjacent sides of the two outer plates are fixedly provided with side plates, and the top walls of the two outer plates are provided with the same walking system. According to the power transmission line deicing robot, a stepped cutter parallel to a power transmission line is adopted in a deicing part, the robot can be suitable for ice layers of different thicknesses, and the robot can be used for deicing of the power transmission line; secondly, the cutters are parallel to the power transmission line, so that damage to the power transmission line can be reduced, the damage force to ice coating is increased, the cutters comprise the main cutter and the auxiliary cutter, the main cutter is mainly responsible for breaking ice, the auxiliary cutter is mainly responsible for removing residual ice coating, and 360-degree ice coating layer cleaning is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to power transmission line operation technical field, concretely is a power transmission line deicing robot. BACKGROUND

[0002] The power transmission line deicing robot is a device specially designed for removing accumulated ice on the power transmission line, aiming to improve the deicing efficiency and safety, reduce the risk and labor intensity of manual deicing, and the power transmission line deicing robot is an automatic device that can autonomously operate on the high-voltage power transmission line and remove accumulated ice through physical or thermal means.

[0003] In the patent No. CN202211453580.0, a deicing device and method for a power transmission line ground wire deicing robot are disclosed, wherein the deicing device includes a rack and a traveling mechanism and a knocking and cleaning deicing system provided on the rack. The traveling mechanism includes correspondingly arranged traveling wheels and clamping wheels, and traveling wheel drive motors and clamping wheel drive motors corresponding to the traveling wheels and clamping wheels. The knocking and cleaning deicing system includes a deicing hammer and a power mechanism for driving the deicing hammer to knock and clean the ice. The deicing hammer is provided with a hammer head, and the deicing hammer head includes a side tip portion and a top brush portion. The side tip portion is used for side knocking of the ice layer on the power transmission line ground wire, and the brush portion is used for cleaning the residual ice on the power transmission line ground wire. The deicing device of the utility model mainly uses knocking and auxiliary rolling and cleaning to clean the residual ice on the power transmission line ground wire, effectively realizes deicing through relatively simple structure design, and reduces the energy consumption of the deicing robot.

[0004] The above device has certain deficiencies when in use: the patent deicing is mainly through the knocking method, and the thickness of the ice layer cannot be judged during the knocking process, which is easy to cause damage to the power transmission line, and the knocking mechanism is located below the power transmission line, which cannot be deiced in 360°. Utility model content

[0005] In view of the deficiencies of the prior art, the utility model provides a power transmission line deicing robot, which solves the problems of knocking ice blocks during deicing, which is easy to cause damage to the power transmission line, and cannot deice in 360°.

[0006] In order to achieve the above object, the utility model discloses a power transmission line deicing robot, including two outer sheets, two the outer sheet symmetry arrangement, two the outer sheet adjacent one side left part and right part are fixedly installed with the side plate, two the outer sheet top wall all are installed with same walking system, the walking system right side wall is installed with the ice breaking system, two the outer sheet adjacent one side is installed with the elevating system, the walking system rear wall is installed with the unloading assembly,

[0007] The ice breaking system comprises an upper cutter seat, the upper cutter seat is fixedly installed on the right side wall of the walking system, a lower cutter seat is rotatably installed on the rear wall of the upper cutter seat through a fixed check bolt, an upper main cutter is fixedly installed in the middle of the right side wall of the upper cutter seat, a lower main cutter is fixedly installed in the middle of the right side wall of the lower cutter seat, an upper auxiliary cutter is fixedly installed on the right side wall of the upper cutter seat and located at the front and rear of the upper main cutter, and a lower auxiliary cutter is fixedly installed on the right side wall of the lower cutter seat and located at the front and rear of the lower main cutter.

[0008] The walking system comprises a main plate and a vice plate, main-vice plate supports are uniformly fixedly installed on the adjacent side of the main plate and the vice plate, a plurality of hexagonal supports are uniformly fixedly installed on the adjacent side of the main plate and the vice plate, a driving wheel is rotatably installed on the right part of the adjacent side of the main plate and the vice plate through a rotating shaft, a driven wheel is rotatably installed on the left part of the adjacent side of the main plate and the vice plate through a rotating shaft, synchronous wheels are fixedly installed on the vice plate through bearings and the rotating shafts, a synchronous belt is transmissionally installed on the outer walls of the two synchronous wheels, a walking motor is fixedly installed on the rear wall of the main plate, a speed reducer is fixedly installed on the right side of the walking motor on the rear wall of the main plate, and a gear box is fixedly installed on the right side of the speed reducer on the rear wall of the main plate.

[0009] Further, the movable connection portions of the upper cutter seat and the lower cutter seat are movably connected through a movable bolt.

[0010] Further, the main plate and the vice plate are symmetrically arranged front and back, the bottom walls of the main plate and the vice plate are fixedly connected with the top wall of the elevating system through a mortise and tenon structure, the rear wall of the main plate is fixedly connected with the unloading assembly, the right side wall of the main-vice plate support located at the rightmost side is fixedly connected with the left side wall of the upper cutter seat, the power shaft of the walking motor is fixedly connected with the driving shaft of the speed reducer, the driving shaft of the speed reducer is fixedly connected with the internal gear through the gear box and the bearing, the rotating shaft located on the driving wheel is fixedly connected with the corresponding gear through the gear box and the bearing in sequence, and the outer walls of the two connecting rods located in the middle are fixedly installed with handles.

[0011] Further, the middle-located main-vice-plate supporting side wall is fixedly installed with an intermediate camera, the rightmost-located main-vice-plate supporting side wall is fixedly installed with a camera main support, and the rightmost-located main-vice-plate supporting top wall is fixedly installed with a camera auxiliary support, and the inner wall of the camera auxiliary support is rotatably installed with a front camera.

[0012] Further, the lifting system comprises two lifting plates, the adjacent sides of the two lifting plates are connected through a hexagonal support, the two lifting plates are located between the two outer plates, the left and right sides of the bottom of the two outer plates are provided with roller grooves one, the left and right sides of the top of the two lifting plates are rotatably installed with clamping wheels, the left and right sides of the adjacent sides of the two lifting plates are provided with roller grooves two, and the bottoms of the two lifting plates and the outer plates are provided with guide grooves.

[0013] Further, the adjacent sides of the two lifting plates are installed with the same scissor arm, the front and rear walls of the scissor arm are installed with guide shafts at the intersecting positions, the two guide shafts are slidably connected to the inner walls of the corresponding guide grooves, the front and rear walls of the scissor arm are rotatably installed with scissor arm movable shafts at the four corners, the outer walls of the scissor arm movable shafts are fixedly installed with rollers, the outer walls of the rollers located at the bottom are rollingly connected to the inner walls of the corresponding roller grooves one, and the outer walls of the rollers located at the top are rollingly connected to the inner walls of the corresponding roller grooves two.

[0014] Further, the right sides of the bottoms of the scissor arms are installed with spring grooves, the inside of the two spring grooves is installed with a stress spring, and the left sides of the bottoms of the scissor arms are hingedly installed with an electric push rod through a connecting seat.

[0015] Further, the outer plate located at the front is installed with an electrical box, and the side plate located at the right is fixedly installed with a lifting ring.

[0016] Further, the force relieving assembly comprises two bolt supports, the two bolt supports are symmetrically arranged upward and downward, the front walls of the two bolt supports are fixedly connected to the rear walls of the outer plates located at the rear, the installation positions of the two bolt supports correspond to the positions of the guide grooves of the outer plates located at the rear, and the adjacent sides of the two bolt supports are installed with the same spring bolt.

[0017] Further, the outer wall of the spring bolt is installed with a force relieving pull ring, and the force relieving pull ring is fixedly connected to the corresponding guide shaft.

[0018] The utility model has the following beneficial effects:

[0019] (1) the transmission line deicing robot, the deicing part adopts the ladder type cutter parallel to the transmission line, can be suitable for different thickness of ice layer, secondly, the cutter parallel to the transmission line can reduce the damage to the transmission line, increase the damage degree to the ice, the cutter is divided into main cutter and auxiliary cutter, the main cutter is mainly responsible for ice breaking, and the auxiliary cutter is mainly responsible for removing residual ice, and 360 ° ice layer is cleaned.

[0020] (2) the transmission line deicing robot, the lifting part adopts electric technology, improves the efficiency, avoids the worker after placing the robot on the transmission line still needing manual lifting, reduces the risk coefficient, and is more intelligent.

[0021] (3) the transmission line deicing robot, increase one-key pulling force device, while retaining electric lifting, can also avoid some sudden conditions caused by self-locking to make the robot in the locked hovering state, increase the risk processing coefficient.

[0022] (4) the transmission line deicing robot, the up and down walking part adopts the spanning support structure, can ensure that the robot will not be separated from the transmission line in the clamping state, improve the system stability and safety.

[0023] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the external structure front view of the utility model;

[0025] Figure 2 It is the internal structure schematic diagram of the utility model Figure One ;

[0026] Figure 3 It is the internal structure schematic diagram of the utility model Figure Two ;

[0027] Figure 4 It is the external structure rear view of the utility model;

[0028] Figure 5 It is the external structure rear view of the lifting system of the utility model;

[0029] Figure 6 It is the external structure schematic diagram of the ice breaking system of the utility model;

[0030] Figure 7 It is the ice breaking system opening schematic diagram of the utility model.

[0031] In the figure, 1, outer plate; 2, side plate; 3, walking system; 31, main plate; 32, auxiliary plate; 33, main and auxiliary plate support; 34, hexagonal support; 35, rotating shaft; 36, driving wheel; 37, driven wheel; 38, synchronous wheel; 39, synchronous belt; 310, walking motor; 311, speed reducer; 312, gear box; 313, middle camera; 314, camera main support; 315, camera auxiliary support; 316, front camera; 4, ice breaking system; 41, upper tool holder; 42, lower tool holder; 43, upper main tool; 44, lower main tool; 45, upper auxiliary tool; 46, lower auxiliary tool; 47, movable bolt; 5, lifting system; 51, lifting plate; 52, roller groove one; 53, clamping wheel; 54, roller groove two; 55, guide groove; 56, scissor arm; 57, guide shaft; 58, scissor arm movable wheel shaft; 59, roller; 510, spring groove; 511, electric push rod; 6, force relieving assembly; 61, bolt support; 62, spring bolt; 63, force relieving pull ring; 7, handle; 8, lifting ring; 9, electrical box. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0033] In the description of the utility model, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery" and the like indicate the orientation or positional relationship, which are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0034] Please refer to Figures 1-7 The utility model embodiment provides a kind of technical scheme: a kind of transmission line deicing robot, including two outer plates 1, two outer plates 1 are symmetrically arranged front and back, two outer plates 1 adjacent side left part and right part are fixedly installed with side plate 2, two outer plates 1 top wall are installed with same walking system 3, walking system 3 right side wall is installed with ice breaking system 4, two outer plates 1 adjacent side are installed with lifting system 5, walking system 3 rear wall is installed with force relieving assembly 6;

[0035] The ice breaking system 4 comprises an upper cutter seat 41, the upper cutter seat 41 is fixedly installed on the right side wall of the walking system 3, the rear wall of the upper cutter seat 41 is rotatably installed with a lower cutter seat 42 through a fixed check bolt, the middle part of the right side wall of the upper cutter seat 41 is fixedly installed with an upper main cutter 43, the middle part of the right side wall of the lower cutter seat 42 is fixedly installed with a lower main cutter 44, the right side wall of the upper cutter seat 41 and located in front and rear of the upper main cutter 43 are fixedly installed with an upper auxiliary cutter 45, the right side wall of the lower cutter seat 42 and located in front and rear of the lower main cutter 44 are fixedly installed with a lower auxiliary cutter 46;

[0036] The walking system 3 comprises a main plate 31 and a vice plate 32, the adjacent side of the main plate 31 and the vice plate 32 is uniformly fixedly installed with a main-vice plate support 33, the adjacent side of the main plate 31 and the vice plate 32 is uniformly fixedly installed with a plurality of hexagonal supports 34, the right part of the adjacent side of the main plate 31 and the vice plate 32 is rotatably installed with a driving wheel 36 through an axis 35, the left part of the adjacent side of the main plate 31 and the vice plate 32 is rotatably installed with a driven wheel 37 through an axis 35, the two axes 35 are fixedly installed with a synchronous wheel 38 through a bearing penetrating the vice plate 32, the outer walls of the two synchronous wheels 38 are transmissionally installed with a same synchronous belt 39, the rear wall of the main plate 31 is fixedly installed with a walking motor 310, the rear wall of the main plate 31 and located at the right side of the walking motor 310 is fixedly installed with a speed reducer 311, the rear wall of the main plate 31 and located at the right side of the speed reducer 311 is fixedly installed with a gear box 312.

[0037] In the embodiment, the setting of the ice breaking system 4 can break the ice blocks condensed on the surface of the power transmission line in 360 degrees, can break the ice layer with different thickness, and can clean the ice blocks through the upper auxiliary cutter 45 and the lower auxiliary cutter 46, so that the ice blocks on the surface of the power transmission line are cleaned more thoroughly, the setting of the walking system 3 enables the whole robot to move on the power transmission line, and the driving of the driving wheel 36 and the driven wheel 37 on the power transmission line is driven by the walking motor 310, the speed reducer 311 and the gear box 312 through mutual cooperation, and is driven through the synchronous wheel 38 and the synchronous belt 39.

[0038] Specifically, the movable connection part of the upper cutter seat 41 and the lower cutter seat 42 is movably connected through a movable bolt 47.

[0039] In the embodiment, the upper cutter seat 41 and the lower cutter seat 42 are opened and closed by plugging and unplugging the movable bolt 47.

[0040] Specifically, the main plate 31 and the auxiliary plate 32 are symmetrically arranged front and back, the bottom walls of the main plate 31 and the auxiliary plate 32 are fixedly connected with the top wall of the lifting system 5 through the mortise and tenon structure and the plug-in bolt, the rear wall of the main plate 31 is fixedly connected with the force relieving assembly 6, the right side wall of the main and auxiliary plate support 33 located at the rightmost side is fixedly connected with the left side wall of the upper tool holder 41, the power shaft of the walking motor 310 is fixedly connected with the driving shaft of the speed reducer 311, the driving shaft of the speed reducer 311 is fixedly connected with the internal gear through the bearing and the gear box 312, the rotating shaft 35 located on the driving wheel 36 is fixedly connected with the corresponding gear through the bearing and sequentially penetrating the main plate 31 and the gear box 312, and the outer walls of the two connecting rods located in the middle are fixedly installed with the handle 7.

[0041] In the embodiment, the handle 7 can be used to pull the whole deicing robot, and the walking motor 310, the speed reducer 311 and the gear box 312 are cooperated to drive the synchronous wheel 38 and the synchronous belt 39.

[0042] Specifically, the side wall of the main and auxiliary plate support 33 located in the middle is installed with the intermediate camera 313, the side wall of the main and auxiliary plate support 33 located at the rightmost side is fixedly installed with the camera main support 314, the top wall of the main and auxiliary plate support 33 located at the rightmost side is fixedly installed with the camera auxiliary support 315, and the inner wall of the camera auxiliary support 315 is rotatably installed with the front camera 316.

[0043] In the embodiment, the intermediate camera 313 and the front camera 316 are cooperated to enable the worker to observe the deicing process and the working state in real time during deicing.

[0044] Specifically, the lifting system 5 includes two lifting plates 51, the adjacent sides of the two lifting plates 51 are connected through the hexagonal support 34, the two lifting plates 51 are located between the two outer plates 1, the bottom left and right sides of the two outer plates 1 are provided with the roller groove one 52, the left and right sides of the adjacent sides of the two lifting plates 51 are rotatably installed with the clamping wheel 53, the left and right sides of the adjacent sides of the two lifting plates 51 are provided with the roller groove two 54, and the bottoms of the two lifting plates 51 and the outer plates 1 are provided with the guide groove 55.

[0045] In the embodiment, the clamping wheel 53 and the driving wheel 36 and the driven wheel 37 clamp and increase the friction force of the power transmission line, so that the robot can move on the power transmission line with a large slope.

[0046] Specifically, the same scissor arm 56 is installed on the side adjacent to the two lifting plates 51, the guide shaft 57 is installed on the front and back walls of the scissor arm 56, the two guide shafts 57 are slidingly connected to the inner walls of the corresponding guide grooves 55, the scissor arm movable shaft 58 is rotatably installed on the four corners of the front and back walls of the scissor arm 56, the rollers 59 are fixedly installed on the outer walls of the scissor arm movable shaft 58, the outer walls of the rollers 59 located at the bottom are rollingly connected to the inner walls of the corresponding roller grooves one 52, and the outer walls of the rollers 59 located at the top are rollingly connected to the inner walls of the corresponding roller grooves two 54.

[0047] In the embodiment, the rollers 59 are rolled in the inner walls of the roller grooves one 52 and the roller grooves two 54 through the extension and contraction of the scissor arm 56, and the guide shafts 57 are slidingly connected in the inner walls of the guide grooves 55, so that the accurate lifting limiting effect is good.

[0048] Specifically, the spring grooves 510 are installed on the right bottom of the scissor arm 56, the force springs are installed in the two spring grooves 510, the electric push rod 511 is hingedly installed on the left bottom of the scissor arm 56 through the connecting seat, and the movable end of the electric push rod 511 is connected to the inner wall of the spring groove 510 through the connecting shaft.

[0049] In the embodiment, the force springs with large bearing capacity are installed in the spring grooves 510, when the machine collides with ice, the machine receives the reaction force, the rebound of the force springs reduces the impact of the reaction force on the machine as a whole, and the service life of the machine is increased.

[0050] Specifically, the electrical box 9 is installed on the front outer plate 1, and the lifting eye 8 is fixedly installed on the right side plate 2.

[0051] In the embodiment, the electrical box 9 is mainly used for electrically connecting the electrical equipment inside the robot.

[0052] Specifically, the force relieving assembly 6 includes two bolt supports 61, the two bolt supports 61 are symmetrically arranged upward and downward, the front walls of the two bolt supports 61 are fixedly connected to the rear wall of the outer plate 1 located at the rear, the installation positions of the two bolt supports 61 correspond to the positions of the guide grooves 55 of the outer plate 1 located at the rear, and the same spring bolt 62 is installed on the side adjacent to the two bolt supports 61.

[0053] In the embodiment, when the walking motor 310 and the electric push rod 511 are powered off or fail due to some unexpected situations and various uncertain factors, the spring bolt 62 is pulled out to pull the force relieving pull ring 63, so that the lifting plate 51 can be lowered by a distance and will not be rapidly lowered, and the walking motor 310 can be released from the clamped state through the force relieving pull ring 63, so that the strain of unexpected situations is increased.

[0054] Specifically, the spring latch 62 is provided with a force relief pull ring 63, which is movable with the corresponding guide shaft 57, and can release the clamping state in an emergency.

[0055] In this embodiment, the force relief pull ring 63 drives the guide shaft 57 to descend and the scissor arm 56 to descend.

[0056] When working, the main plate 31 is connected with the auxiliary plate 32 through the main and auxiliary plate supports 33 and the hexagonal supports 34, and the front, middle and rear of the main plate 31 are connected through the main and auxiliary plate supports 33 to increase the overall strength of the machine. The main drive wheel 36 and the driven wheel 37 are installed between the main plate 31 and the auxiliary plate 32. The front camera 316 and the middle camera 313 are installed on the front side and the middle of the main plate 31 respectively. The front camera 316 observes the front of the line, and the middle camera 313 observes the clamping condition of the line. The handle 7 is installed between the main plate 31 and the auxiliary plate 32 to facilitate the robot carrying. The side plate 2 is installed below the front of the main plate 31. The two side plates 2 are connected with the outer plate 1. The lifting eye 8 is installed on the top of the side plate 2. The side plate 2 is inserted with the main plate 31 and the outer plate 1 through the mortise and tenon structure and is fixed through bolts to increase the strength. The ice breaking system 4 is connected through the main and auxiliary plate supports 33. The ice breaking system 4 mainly includes the upper main cutter 43, the upper auxiliary cutter 45, the lower main cutter 44 and the lower auxiliary cutter 46 which are parallel to the power transmission line. The upper main cutter 43 and the lower main cutter 44 adopt a stepped structure to adapt to different ice layers for deicing. The upper auxiliary cutter 45 and the lower auxiliary cutter 46 can clean small ice blocks to prevent the motor from being blocked. The lifting plate 51 is installed between the main plate 31 and the outer plate 1. The inside and outside of the lifting plate 51 are connected through the hexagonal supports 34. The two outer plates 1 are provided with the roller groove one 52 on the left and right sides of the bottom. The lifting plate 51 is provided with the roller groove two 54 on the left and right sides of the middle. The outer walls of the several rollers 59 located at the bottom are rolling connected with the inner walls of the corresponding roller groove one 52. The outer walls of the several rollers 59 located at the top are rolling connected with the inner walls of the corresponding roller groove two 54. The electric push rod 511 provides power to move the rollers 59 in the roller groove one 52 and the roller groove two 54, and the guide shaft 57 moves in the guide groove 55 to achieve accurate lifting and limiting. The spring groove 510 is installed with a stress spring with large bearing capacity. When the machine collides with ice, the machine receives a reaction force. The rebound of the stress spring reduces the impact of the reaction force on the machine as a whole, increases the service life of the machine, and connects the unloading pull ring 63 with the guide shaft 57. The unloading pull ring 63 is limited through the spring latch 62 outside the outer plate 1. The spring latch 62 is fixed on the latch bracket 61. When the lifting plate 51 rises to the working position, the motor and the electric push rod 511 are powered off or fail due to some sudden situations and various uncertain factors. The spring latch 62 is pulled out, the unloading pull ring 63 is manually pulled, the lifting plate 51 is lowered by a distance and will not drop rapidly, the walking motor 310 is released from the clamping state through the unloading pull ring 63 to increase the sudden situation resistance, the controller controls the electric push rod 511 to be in the extended state, and the lifting part is at the lowest point. At this time, the movable latch 47 of the ice breaking system 4 is pulled out manually, so that the ice breaking system 4 is in an open and closed state. At this time, the robot is placed on the power transmission line, the robot is mounted on the power transmission line, the ice breaking system 4 is manually closed, and the movable latch 47 is inserted into the latch hole. Since the main drive wheel 36 and the driven wheel 37 are X-shaped, they are stuck on the power transmission line,The power transmission line automatically slides into the center position of the driving wheel 36 and the driven wheel 37, the controller controls the electric push rod 511 to retract to drive the scissor arm 56 to start rising, the movable wheel shaft 58 of the scissor arm drives the rollers 59 to roll in the roller groove one 52 and the roller groove two 54, so that the lifting system 5 is lifted, when the clamping wheel 53 contacts the power transmission line during the lifting process, the artificial or the front camera 316 judges the clamping state, when the clamping wheel 53 is clamped, the electric box 9 is powered off to the electric push rod 511, the lifting system 5 is self-locked, the driving wheel 36 and the driven wheel 37 clamp the power transmission line with the clamping wheel 53, at this time, the intermediate camera 313 can make a second judgment on the clamping state to complete the clamping of the robot on the line, so as to prevent the robot from falling from the line, and increase the friction force of the driving wheel 36 and the driven wheel 37 on the line to facilitate climbing, when the robot clamps the power transmission line, the robot starts to work through the controller, and the robot moves in the direction of the ice cover, when the robot cannot move forward due to the thick ice layer, the robot retreats to impact the ice cover again by using acceleration, and the robot moves back and forth, when the deicing is completed, the robot returns to the starting point under the control of the artificial, at this time, the electric push rod 511 is controlled to extend, the lifting mechanism is lowered, the movable bolt 47 of the ice breaking system 4 is pulled out by the artificial, the ice breaking system 4 is opened, and the robot is taken off from the power transmission line.

[0057] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0058] The preferred embodiments of the above disclosed utility model are only used to help explain the utility model. The preferred embodiments do not describe all the details and limit the utility model to the specific embodiments. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that the persons skilled in the art can well understand and utilize the utility model. The utility model is limited by the claims and the whole scope and equivalents thereof.

Claims

1. A power transmission line de-icing robot, comprising two outer plates (1), characterized in that: The two outer panels (1) are arranged symmetrically front and back. Side panels (2) are fixedly installed on the left and right sides of the two outer panels (1) adjacent to each other. The same walking system (3) is installed on the top wall of the two outer panels (1). An ice-breaking system (4) is installed on the right side wall of the walking system (3). A lifting system (5) is installed on the side of the two outer panels (1) adjacent to each other. A force-relieving component (6) is installed on the rear wall of the walking system (3). The ice-breaking system (4) includes an upper cutter holder (41), which is fixedly installed on the right side wall of the walking system (3). A lower cutter holder (42) is rotatably installed on the rear wall of the upper cutter holder (41) by a fixed anti-loosening bolt. An upper main cutter (43) is fixedly installed in the middle of the right side wall of the upper cutter holder (41). A lower main cutter (44) is fixedly installed in the middle of the right side wall of the lower cutter holder (42). An upper auxiliary cutter (45) is fixedly installed on the right side wall of the upper cutter holder (41) and in front of and behind the upper main cutter (43). A lower auxiliary cutter (46) is fixedly installed on the right side wall of the lower cutter holder (42) and in front of and behind the lower main cutter (44). The walking system (3) includes a main board (31) and a secondary board (32). Main and secondary board supports (33) are evenly fixedly installed on the adjacent side of the main board (31) and the secondary board (32). Several hexagonal supports (34) are evenly fixedly installed on the adjacent side of the main board (31) and the secondary board (32). A drive wheel (36) is rotatably installed on the right side of the adjacent side of the main board (31) and the secondary board (32) via a rotating shaft (35). The left side of the adjacent side of the main board (31) and the secondary board (32) is rotatably installed via a rotating shaft (35). A driven wheel (37) is installed. Both shafts (35) are fixedly mounted with synchronous pulleys (38) through the bearing through the sub-plate (32). The outer walls of the two synchronous pulleys (38) are driven by the same synchronous belt (39). A walking motor (310) is fixedly mounted on the rear wall of the main plate (31). A reducer (311) is fixedly mounted on the rear wall of the main plate (31) and to the right of the walking motor (310). A gearbox (312) is fixedly mounted on the rear wall of the main plate (31) and to the right of the reducer (311).

2. The power transmission line de-icing robot according to claim 1, characterized in that: The upper tool holder (41) and the lower tool holder (42) are movably connected by a movable pin (47).

3. The power transmission line de-icing robot according to claim 1, characterized in that: The main board (31) and the auxiliary board (32) are arranged symmetrically front and back. The bottom walls of the main board (31) and the auxiliary board (32) are fixed to the top wall of the lifting system (5) by tenon and mortise structure plug bolts. The rear wall of the main board (31) is fixedly connected to the unloading component (6). The right side wall of the main and auxiliary board support (33) located on the far right is fixedly connected to the left side wall of the upper tool holder (41). The power shaft of the walking motor (310) is fixedly connected to the drive shaft of the reducer (311). The drive shaft of the reducer (311) is fixedly connected to the internal gear through the gearbox (312) via the bearing. The rotating shaft (35) located on the drive wheel (36) passes through the main board (31) and the gearbox (312) in sequence via the bearing and is fixedly connected to the corresponding gear. The two connecting rods in the middle are fixedly installed with handles (7) on their outer walls.

4. The power transmission line de-icing robot according to claim 1, characterized in that: A middle camera (313) is installed on the side wall of the main and auxiliary plate support (33) located in the middle. A camera main bracket (314) is fixedly installed on the side wall of the main and auxiliary plate support (33) located on the far right. A camera auxiliary bracket (315) is fixedly installed on the top wall of the main and auxiliary plate support (33) located on the far right. A front camera (316) is rotatably installed on the inner wall of the camera auxiliary bracket (315).

5. The power transmission line de-icing robot according to claim 1, characterized in that: The lifting system (5) includes two lifting plates (51). The two lifting plates (51) are connected on adjacent sides by hexagonal supports (34). The two lifting plates (51) are located between the two outer plates (1). Roller grooves (52) are provided on the left and right sides of the bottom of the two outer plates (1). Clamping wheels (53) are rotatably installed on the left and right sides of the top of the two lifting plates (51). Roller grooves (54) are provided on the left and right sides of the adjacent sides of the two lifting plates (51). Guide grooves (55) are provided at the bottom of the two lifting plates (51) and the outer plates (1).

6. A power transmission line de-icing robot according to claim 5, characterized in that: The same scissor arm (56) is installed on the adjacent side of the two lifting plates (51). Guide shafts (57) are installed at the intersection of the front and rear walls of the scissor arm (56). The two guide shafts (57) are slidably connected in the inner wall of the corresponding guide groove (55). Scissor arm movable wheel shafts (58) are rotatably installed at the four corners of the front and rear walls of the scissor arm (56). Rollers (59) are fixedly installed on the outer walls of several scissor arm movable wheel shafts (58). The outer walls of several rollers (59) at the bottom are slidably connected in the inner wall of the corresponding roller groove one (52). The outer walls of several rollers (59) at the top are slidably connected in the inner wall of the corresponding roller groove two (54).

7. A power transmission line de-icing robot according to claim 6, characterized in that: Spring grooves (510) are installed on the bottom right side of each scissor arm (56), and force springs are installed inside the two spring grooves (510). An electric push rod (511) is hinged to the bottom left side of the scissor arm (56) through a connecting seat. The movable end of the electric push rod (511) is connected to the inner wall of the spring groove (510) through a connecting shaft.

8. The power transmission line de-icing robot according to claim 1, characterized in that: An electrical box (9) is installed on the outer panel (1) at the front, and a lifting ring (8) is fixedly installed on the side panel (2) on the right side.

9. A power transmission line de-icing robot according to claim 1, characterized in that: The unloading assembly (6) includes two pin brackets (61), which are arranged symmetrically in the upper and lower parts. The front walls of the two pin brackets (61) are fixedly connected to the rear wall of the outer plate (1) located at the rear. The installation positions of the two pin brackets (61) correspond to the positions of the guide grooves (55) located on the rear outer plate (1). The same spring pin (62) is installed on the adjacent side of the two pin brackets (61).

10. A power transmission line de-icing robot according to claim 9, characterized in that: The spring pin (62) is fitted with a stress relief ring (63) on its outer wall, and the stress relief ring (63) is fixedly connected to the corresponding guide shaft (57).

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