Deicing robot capable of crossing obstacles

Abstract

The utility model relates to the technical field of deicing robots, in particular to a deicing robot capable of crossing obstacles, which comprises an adjusting track, an anti-icing spray box, a control box and a pump case, a first adjusting component is arranged on the outer side of the adjusting track, and a transmission component is arranged on the upper side of the first adjusting component. Deicing components are installed on the two sides of the upper end of the control box, a second adjusting component is arranged at one end of the outer side of the adjusting rail, a spraying ring is arranged on the upper side of the second adjusting component, a water pumping pipe is arranged on one side of the anti-icing spraying agent box, and a water pump is installed at one end of the water pumping pipe. According to the deicing robot, obstacles are spanned through the first adjusting component and the transmission component, the deicing speed of the overhead line is kept, use convenience is facilitated, anti-icing spray is sprayed to the deiced overhead line through the spraying ring, the overhead line is prevented from being iced again, and the deicing effect of the deicing robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of de-icing robot technology, specifically a de-icing robot capable of crossing obstacles. Background Technology

[0002] De-icing robots are multi-functional de-icing devices developed for power transmission lines. They are typically mounted on top of power transmission lines by heavy-duty drones and then use various methods such as cutting, impact, crushing, knocking, and vibration to de-ic the iced conductors. De-icing robots can cross obstacles and towers on overhead lines, improving the convenience of de-icing operations.

[0003] Chinese patent discloses a de-icing robot (authorization announcement number CN214506490U). This patented technology enables the de-icing robot to climb the steel structure of the iron tower through the coordinated movement of two gripper mechanisms and a telescopic mechanism, reducing the labor intensity of construction workers. However, the aforementioned de-icing robot stops moving when it encounters obstacles, affecting the de-icing speed of the overhead lines, or requiring manual intervention to change the de-icing position, which is not conducive to its ease of use. After de-icing, the overhead lines are prone to re-icing, which is detrimental to the de-icing effect of the robot. Therefore, those skilled in the art have provided a de-icing robot that can cross obstacles to solve the problems mentioned in the background art. Utility Model Content

[0004] The purpose of this invention is to provide a de-icing robot that can cross obstacles, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An obstacle-crossing de-icing robot includes an adjustable track, an anti-icing spray tank, a control box, and a pump box. The anti-icing spray tank is located at one end of the lower side of the adjustable track, the control box is located on one side of the anti-icing spray tank, and the pump box is located on the other side of the anti-icing spray tank. A first adjusting component is provided on the outer side of the adjustable track, and a transmission component is provided on the upper side of the first adjusting component. De-icing components are installed on both sides of the upper end of the control box. A second adjusting component is provided at one end of the outer side of the adjustable track, and a spray ring is provided on the upper side of the second adjusting component. A water suction pipe is provided on one side of the anti-icing spray tank, and a water pump is installed at one end of the water suction pipe. A water outlet pipe is provided on the lower side of the spray ring.

[0007] As a further embodiment of this utility model: the de-icing component includes a fixing plate, a first motor is installed on one side of the fixing plate, a first rotating arm is provided at one end of the first motor, a second motor is installed on one side of the first rotating arm, and a striking plate is provided at one end of the second motor.

[0008] As a further embodiment of this utility model: both the first adjusting component and the second adjusting component include a transmission frame. A first mounting plate is provided on the upper side of the transmission frame. A third motor is installed on one side of the first mounting plate. A second rotating arm is provided at one end of the third motor. A first electric telescopic rod is installed at the upper end of the second rotating arm. A transmission roller is provided inside the transmission frame. A fourth motor is installed on the front side of the transmission frame corresponding to the position of the transmission roller. The transmission component includes a second mounting plate. A third mounting plate is provided on both sides of the upper end of the second mounting plate. A second electric telescopic rod is installed inside the third mounting plate. A first transmission wheel is provided on the rear side of the second mounting plate. A fifth motor is installed on the front side of the second mounting plate corresponding to the position of the first transmission wheel. A fourth mounting plate is provided at the upper end of the second electric telescopic rod. A pressure block is provided on the inner side of the fourth mounting plate. A second transmission wheel is provided on the rear side of the pressure block.

[0009] As a further embodiment of this utility model: the first adjusting member and the transmission member are provided in three sets, and all three sets of the first adjusting member and the transmission member are installed on the upper side of the adjusting track, and the lower end of the first adjusting member slides on the upper side of the adjusting track.

[0010] As a further embodiment of this utility model: the lower end of the second adjusting member slides on the upper side of the adjusting track, the lower end of the anti-icing spray box is connected to the input end of the water pump, the output end of the water pump is connected to the input end of the water pump, the output end of the water pump is connected to the input end of the water outlet pipe, and the output end of the water outlet pipe is connected to the input end of the spray ring.

[0011] As a further embodiment of this utility model: the lower end of the first rotating arm is rotated to one side of the fixed plate by the first motor, the striking plate is rotated to one side of the first rotating arm by the second motor, and the fixed plate is fixed to the outside of the control box.

[0012] As a further embodiment of this utility model: the second rotating arm rotates to one side of the first mounting plate via a third motor; the transmission roller rotates to the inside of the transmission frame via a fourth motor; the transmission roller is located on the upper side of the adjusting track; the lower end of the transmission frame slides on the outer side of the adjusting track; the transmission component slides on the upper side of the second rotating arm via a first electric telescopic rod; the spray ring slides on the upper side of the second rotating arm via a first electric telescopic rod; the first transmission wheel rotates to the rear side of the second mounting plate via a fifth motor; the fourth mounting plate slides on the upper side of the third mounting plate via a second electric telescopic rod; and the second transmission wheel rotates to the rear side of the pressure block.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] This utility model discloses an obstacle-crossing de-icing robot that crosses obstacles by using a first adjustment component and a transmission component to cross obstacles, maintain the de-icing speed of overhead lines, and eliminates the need for manual intervention to change the de-icing position, which is beneficial to the ease of use.

[0015] By spraying anti-icing agent onto the de-iced overhead lines through a spray ring, the overhead lines are prevented from icing again, thus improving the de-icing effect of the de-icing robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a de-icing robot capable of crossing obstacles.

[0017] Figure 2 A perspective view of an ice-removing robot capable of traversing obstacles;

[0018] Figure 3 This is a structural diagram of a de-icing component in a de-icing robot capable of crossing obstacles.

[0019] Figure 4 This is a schematic diagram of the first adjusting component in a de-icing robot capable of crossing obstacles.

[0020] Figure 5 This is a schematic diagram of the transmission component in an obstacle-crossing de-icing robot.

[0021] In the diagram: 1. Adjusting track; 2. Anti-icing spray tank; 3. Control box; 4. Pump housing; 5. First adjusting component; 6. Transmission component; 7. De-icing component; 8. Second adjusting component; 9. Spray ring; 10. Water suction pipe; 11. Water pump; 12. Water outlet pipe; 13. Fixing plate; 14. First motor; 15. First rotating arm; 16. Second motor; 17. Striking plate; 18. Transmission frame; 19. First mounting plate; 20. Third motor; 21. Second rotating arm; 22. First electric telescopic rod; 23. Transmission roller; 24. Fourth motor; 25. Second mounting plate; 26. Third mounting plate; 27. Second electric telescopic rod; 28. First transmission wheel; 29. ​​Fifth motor; 30. Fourth mounting plate; 31. Pressure block; 32. Second transmission wheel. Detailed Implementation

[0022] Please see Figures 1-5In this embodiment of the invention, an obstacle-crossing de-icing robot includes an adjusting track 1, an anti-icing spray tank 2, a control box 3, and a pump box 4. The anti-icing spray tank 2 is located at one lower end of the adjusting track 1, the control box 3 is located on one side of the anti-icing spray tank 2, and the pump box 4 is located on the other side of the anti-icing spray tank 2. A first adjusting member 5 is provided on the outer side of the adjusting track 1, and a transmission member 6 is provided on the upper side of the first adjusting member 5. De-icing members 7 are installed on both sides of the upper end of the control box 3. A second adjusting member 8 is provided at one outer end of the adjusting track 1, and a spray ring 9 is provided on the upper side of the second adjusting member 8. A water suction pipe 10 is provided on one side of the anti-icing spray tank 2, and a water pump is installed at one end of the water suction pipe 10. 11. A water outlet pipe 12 is provided on the lower side of the spray ring 9. Three sets of first adjusting components 5 and transmission components 6 are provided. All three sets of first adjusting components 5 and transmission components 6 are installed on the upper side of the adjusting track 1. The lower end of the first adjusting component 5 slides on the upper side of the adjusting track 1, and the lower end of the second adjusting component 8 slides on the upper side of the adjusting track 1. The lower end of the anti-icing spray tank 2 is connected to the input end of the water pump 10, the output end of the water pump 10 is connected to the input end of the water pump 11, the output end of the water pump 11 is connected to the input end of the water outlet pipe 12, and the output end of the water outlet pipe 12 is connected to the input end of the spray ring 9. First, anti-icing spray is added into the anti-icing spray tank 2. A de-icing robot that can cross obstacles is hoisted to the location where de-icing is needed. On the icy overhead line, the transmission component 6 moves and engages with the outside of the overhead line. Then, an obstacle-crossing de-icing robot is activated. The de-icing component 7 strikes the overhead line to remove ice. The transmission component 6 slides on the outside of the overhead line, moving the obstacle-crossing de-icing robot. The first adjusting component 5 engages with the outside of the overhead line, and the second adjusting component 8 adjusts the height of the spray ring 9. The water pump 11 draws anti-icing spray from the anti-icing spray tank 2 through the water pipe 10. The anti-icing spray is introduced into the spray ring 9 through the water pump 11 and the outlet pipe 12. The spray ring 9 sprays the anti-icing spray onto the overhead line to prevent it from icing again. When encountering an obstacle, the first adjusting component 5 and the transmission component 6 move away from the overhead line. During the movement away... The transmission component 6 moves away from the outside of the overhead line. The first adjusting component 5 moves, driving the transmission component 6 to move and adjust its height. The first adjusting component 5 moves, driving the transmission component 6 away from the outside of the overhead line. The obstacle-crossing de-icing robot continues to move. The first set of first adjusting components 5 and transmission components 6 crosses the obstacle. The first adjusting component 5 drives the transmission component 6 to rotate, and the transmission component 6 is locked onto the outside of the overhead line. The second set of first adjusting components 5 and transmission components 6 move away from the outside of the overhead line. When crossing the obstacle, the second set of first adjusting components 5 and transmission components 6 is locked onto the outside of the overhead line. The obstacle-crossing de-icing robot moves again. The third set of first adjusting components 5 and transmission components 6 move away from the outside of the overhead line. When crossing the obstacle...The third set of first adjusting components 5 and transmission components 6 engages with the outside of the overhead line. The second adjusting component 8 and spray ring 9 follow the first adjusting component 5 and transmission component 6 in performing the aforementioned operation, thus completing the obstacle crossing.

[0023] exist Figure 1 , 3 In the middle: the de-icing component 7 includes a fixed plate 13, a first motor 14 is installed on one side of the fixed plate 13, a first rotating arm 15 is provided at one end of the first motor 14, a second motor 16 is installed on one side of the first rotating arm 15, and a striking plate 17 is provided at one end of the second motor 16. The lower end of the first rotating arm 15 is rotated by the first motor 14 to a position on one side of the fixed plate 13, and the striking plate 17 is rotated by the second motor 16 to a position on one side of the first rotating arm 15. The fixed plate 13 is fixed to the outside of the control box 3. When a de-icing robot that can cross obstacles is activated, the first motor 14 drives the first rotating arm 15 to rotate on one side of the fixed plate 13, and the striking plate 17 moves to a position near the overhead line. The second motor 16 drives the striking plate 17 to rotate on one side of the first rotating arm 15, and the striking plate 17 strikes the overhead line to remove ice.

[0024] exist Figure 1 , 4In section 5: Both the first adjusting component 5 and the second adjusting component 8 include a transmission frame 18. A first mounting plate 19 is provided on the upper side of the transmission frame 18. A third motor 20 is mounted on one side of the first mounting plate 19. A second rotating arm 21 is provided at one end of the third motor 20. A first electric telescopic rod 22 is mounted on the upper end of the second rotating arm 21. A transmission roller 23 is provided inside the transmission frame 18. A fourth motor 24 is installed on the front side of the transmission frame 18 at the position corresponding to the transmission roller 23. The transmission component 6 includes a second mounting plate 25. A third mounting plate 26 is provided on both sides of the upper end of the second mounting plate 25. A second electric telescopic rod 27 is installed inside the third mounting plate 26. A first transmission wheel 28 is provided on the rear side of the second mounting plate 25. A fifth motor 29 is installed at the position corresponding to the first transmission wheel 28 on the front side. A fourth mounting plate 30 is provided at the upper end of the second electric telescopic rod 27. A pressure block 31 is provided on the inner side of the fourth mounting plate 30. A second transmission wheel 32 is provided on the rear side of the pressure block 31. The second rotating arm 21 is rotated to one side of the first mounting plate 19 by a third motor 20. The transmission roller 23 is rotated to the inner position of the transmission frame 18 by a fourth motor 24. The transmission roller 23 is located on the upper side of the adjusting track 1. The lower end of the transmission frame 18 slides on the outer side of the adjusting track 1. The transmission component 6 slides on the upper side of the second rotating arm 21 by the first electric telescopic rod 22. The spray ring 9 slides on the upper side of the second rotating arm 21 by the first electric telescopic rod 22. A drive wheel 28 rotates at the rear of the second mounting plate 25 via a fifth motor 29. A fourth mounting plate 30 slides on the upper side of the third mounting plate 26 via a second electric telescopic rod 27. A second drive wheel 32 rotates at the rear of the pressure block 31. Anti-icing spray is added to the anti-icing spray tank 2. An obstacle-crossing de-icing robot is hoisted onto the overhead line requiring de-icing. The second electric telescopic rod 27 drives the fourth mounting plate 30 to slide on the upper side of the third mounting plate 26. The fourth mounting plate 30 drives the pressure block 31 to move downward. The first drive wheel 28 and the second drive wheel 32 are engaged on the outside of the overhead line. Then, the obstacle-crossing de-icing robot is activated, and the de-icing component 7 operates to perform de-icing. The fifth motor 29 drives the first drive wheel 28 to rotate on the upper side of the third mounting plate 26. The drive wheel 28 rotates behind the second mounting plate 25, the first transmission wheel 28 rolls outside the overhead line, and the second transmission wheel 32 rotates behind the pressure block 31, moving a de-icing robot capable of crossing obstacles. The third motor 20 drives the second rotating arm 21 to rotate on one side of the first mounting plate 19. The spray ring 9 is engaged with the outside of the overhead line. The first electric telescopic rod 22 adjusts the height of the spray ring 9. The water pump 11 operates to draw anti-icing spray from the anti-icing spray tank 2 through the water pipe 10. The anti-icing spray is introduced into the spray ring 9 through the water pump 11 and the water outlet pipe 12. The spray ring 9 sprays anti-icing spray onto the overhead line to prevent it from icing again. When encountering an obstacle, the first set of first adjusting components 5 and transmission components 6 move away from the overhead line. During the movement away...The second electric telescopic rod 27 operates, causing the fourth mounting plate 30 to slide on the upper side of the third mounting plate 26. The fourth mounting plate 30 causes the pressure block 31 to move upward. The first transmission wheel 28 and the second transmission wheel 32 move away from the outside of the overhead line. The first electric telescopic rod 22 operates, causing the transmission component 6 to move and adjusting the height of the transmission component 6. The third motor 20 operates, causing the second rotating arm 21 to rotate on one side of the first mounting plate 19. The transmission component 6 moves away from the outside of the overhead line. An obstacle-crossing de-icing robot continues to move. The first set of first adjustment components 5 and transmission components 6 cross the obstacle. The first adjustment component 5... The transmission component 6 rotates, engaging with the outside of the overhead line. The second set of first adjusting components 5 and transmission component 6 move away from the outside of the overhead line. When crossing an obstacle, the second set of first adjusting components 5 and transmission component 6 engage with the outside of the overhead line again. The obstacle-crossing de-icing robot moves again. The third set of first adjusting components 5 and transmission component 6 move away from the outside of the overhead line. When crossing an obstacle, the third set of first adjusting components 5 and transmission component 6 engages with the outside of the overhead line. The second adjusting component 8 and spray ring 9 follow the first adjusting components 5 and transmission component 6 in the above operation, completing the obstacle crossing.

[0025] The working principle of this utility model is as follows: First, anti-icing spray is added into the anti-icing spray tank 2. An obstacle-crossing de-icing robot is then hoisted onto the overhead line requiring de-icing. The second electric telescopic rod 27 drives the fourth mounting plate 30 to slide above the third mounting plate 26. The fourth mounting plate 30 drives the pressure block 31 to move downwards, and the first transmission wheel 28 and the second transmission wheel 32 engage with the outside of the overhead line. Then, the obstacle-crossing de-icing robot is activated. The first motor 14 drives the first rotating arm 15 to rotate on one side of the fixed plate 13, and the striking plate 17 moves to a position near the overhead line. The second motor 16 drives the striking plate 17 to rotate on one side of the first rotating arm 15. The striking plate 17 strikes the overhead line to remove ice. The fifth motor 29 drives the first transmission wheel 28 to rotate behind the second mounting plate 25. The first transmission wheel 28 rolls on the outside of the overhead line. The second transmission wheel 32 rotates behind the pressure block 31, moving an obstacle-crossing de-icing robot. The third motor 20 drives the second rotating arm 21 to rotate on one side of the first mounting plate 19. The spray ring 9 is engaged with the outside of the overhead line. The first electric telescopic rod 22 adjusts the height of the spray ring 9. The water pump 11 operates to draw anti-icing spray from the anti-icing spray tank 2 through the water pipe 10. The anti-icing spray is introduced into the spray ring 9 through the water pump 11 and the water outlet pipe 12. The spray ring 9 sprays out the anti-icing spray. Icing spray is applied to the overhead power line to prevent it from icing again. When encountering an obstacle, the first adjusting component 5 and the transmission component 6 move away from the overhead power line. During this movement, the second electric telescopic rod 27 moves, causing the fourth mounting plate 30 to slide on the upper side of the third mounting plate 26. The fourth mounting plate 30 moves the pressure block 31 upward, and the first transmission wheel 28 and the second transmission wheel 32 move away from the outside of the overhead power line. The first electric telescopic rod 22 moves, causing the transmission component 6 to move and adjusting its height. The third motor 20 moves, causing the second rotating arm 21 to rotate on one side of the first mounting plate 19. The transmission component 6 moves away from the outside of the overhead power line, and the obstacle-crossing de-icing robot continues to move. A first set of adjusting components 5 and transmission components 6 crosses the obstacle. The first adjusting component 5 drives the transmission component 6 to rotate, and the transmission component 6 is engaged with the outside of the overhead line. The second set of first adjusting components 5 and transmission components 6 moves away from the outside of the overhead line. When crossing the obstacle, the second set of first adjusting components 5 and transmission components 6 is engaged with the outside of the overhead line. An obstacle-crossing de-icing robot moves again. The third set of first adjusting components 5 and transmission components 6 moves away from the outside of the overhead line. When crossing the obstacle, the third set of first adjusting components 5 and transmission components 6 is engaged with the outside of the overhead line. The second adjusting component 8 and spray ring 9 follow the first adjusting components 5 and transmission components 6 to perform the above operations, completing the obstacle crossing.

[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A deicing robot capable of crossing obstacles, comprising an adjusting track (1), an anti-icing spray tank (2), a control tank (3) and a pump tank (4), the anti-icing spray tank (2) is located at the lower side of the adjusting track (1) at one end position, the control tank (3) is located at one side of the anti-icing spray tank (2) at a position, and the pump tank (4) is located at the other side of the anti-icing spray tank (2) at a position, characterized in that, The outer side of the adjusting track (1) is provided with a first adjusting member (5), the upper side of the first adjusting member (5) is provided with a transmission member (6), the upper end of the control box (3) is provided with a deicing member (7) on both sides, one end of the outer side of the adjusting track (1) is provided with a second adjusting member (8), the upper side of the second adjusting member (8) is provided with a spray ring (9), one side of the anti-icing spray tank (2) is provided with a water suction pipe (10), one end of the water suction pipe (10) is provided with a water pump (11), the lower side of the spray ring (9) is provided with a water outlet pipe (12).

2. A traversing obstacle ice-melting robot according to claim 1, characterized in that, The deicing member (7) comprises a fixed plate (13), one side of the fixed plate (13) is provided with a first motor (14), one end of the first motor (14) is provided with a first rotating arm (15), one side of the first rotating arm (15) is provided with a second motor (16), one end of the second motor (16) is provided with a knocking plate (17).

3. The over-obstacle de-icing robot according to claim 1, wherein, The first adjusting member (5) and the second adjusting member (8) both comprise a transmission frame (18), the upper side of the transmission frame (18) is provided with a first mounting plate (19), one side of the first mounting plate (19) is provided with a third motor (20), one end of the third motor (20) is provided with a second rotating arm (21), the upper end of the second rotating arm (21) is provided with a first electric telescopic rod (22), the inside of the transmission frame (18) is provided with a transmission roller (23), the front side of the transmission frame (18) is provided with a fourth motor (24) corresponding to the position of the transmission roller (23), the transmission member (6) comprises a second mounting plate (25), the upper end of the second mounting plate (25) is provided with a third mounting plate (26) on both sides, the inside of the third mounting plate (26) is provided with a second electric telescopic rod (27), the rear side of the second mounting plate (25) is provided with a first transmission wheel (28), the front side of the second mounting plate (25) is provided with a fifth motor (29) corresponding to the position of the first transmission wheel (28), the upper end of the second electric telescopic rod (27) is provided with a fourth mounting plate (30), the inside of the fourth mounting plate (30) is provided with a pressing block (31), the rear side of the pressing block (31) is provided with a second transmission wheel (32).

4. The over-obstacle de-icing robot of claim 1, wherein, The first adjusting member (5) and the transmission member (6) are provided with three groups, the first adjusting member (5) and the transmission member (6) are both installed on the upper side of the adjusting track (1), and the lower end of the first adjusting member (5) slides on the upper side of the adjusting track (1).

5. The over-obstacle de-icing robot of claim 1, wherein, The lower end of the second adjusting member (8) slides on the upper side of the adjusting track (1), the lower end of the anti-icing spray tank (2) penetrates the input end of the water suction pipe (10), the output end of the water suction pipe (10) penetrates the input end of the water pump (11), the output end of the water pump (11) penetrates the input end of the water outlet pipe (12), and the output end of the water outlet pipe (12) penetrates the input end of the spray ring (9).

6. The over- obstacle ice-melting robot according to claim 2, wherein, The lower end of the first rotating arm (15) is rotated at a side position of the fixed plate (13) by a first motor (14), the knocking plate (17) is rotated at a side position of the first rotating arm (15) by a second motor (16), and the fixed plate (13) is fixed at an outer side position of the control box (3).

7. The over- obstacle ice-melting robot according to claim 3, wherein, The second rotating arm (21) is rotated at a side position of the first mounting plate (19) by a third motor (20), the transmission roller (23) is rotated at an inner position of the transmission frame (18) by a fourth motor (24), the transmission roller (23) is located at an upper side position of the adjusting track (1), the lower end of the transmission frame (18) is slid at an outer side position of the adjusting track (1), the transmission member (6) is slid at an upper side position of the second rotating arm (21) by a first electric telescopic rod (22), the spraying ring (9) is slid at an upper side position of the second rotating arm (21) by the first electric telescopic rod (22), the first transmission wheel (28) is rotated at a rear side position of the second mounting plate (25) by a fifth motor (29), the fourth mounting plate (30) is slid at an upper side position of the third mounting plate (26) by a second electric telescopic rod (27), and the second transmission wheel (32) is rotated at a rear side position of the pressing block (31).

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