A double-split wire flying de-icing robot

Abstract

This utility model relates to the field of power transmission line de-icing technology, specifically a flying de-icing robot for double-split power lines. It includes: a body; a flight mechanism mounted on the body for moving the body onto and off the power line; a displacement mechanism mounted on the body for driving the body to move along the power line; and an avoidance mechanism mounted on the body, which is equipped with a de-icing mechanism. The avoidance mechanism is used to move the de-icing mechanism closer to or away from the power line. When it is necessary to move the body onto or off the power line, the flight mechanism can propel the body to fly above the designated double-split power line. Then, the flight mechanism is driven to descend, allowing the displacement mechanism to land on the power line. Simultaneously, the avoidance mechanism can move the de-icing mechanism away from the double-split power line, avoiding interference with the landing of the displacement mechanism.

Description

Technical Field

[0001] This utility model relates to the field of power transmission line de-icing technology, and in particular to a flying de-icing robot for double-split conductors. Background Technology

[0002] In ultra-high voltage transmission lines, split conductors are generally used to suppress corona discharge and reduce line reactance, with double-split conductors being the most common. Due to weather conditions, icing frequently occurs on transmission lines in winter, particularly in northern and colder southern regions. Icing can cause conductor galloping, tower tilting, collapse, wire breaks, and insulator flashover, severely impacting the normal operation of power facilities.

[0003] Due to the inherent structure of double-split conductors, corresponding splitters are typically installed on them. These splitters ensure uniform spacing between the sub-conductors, preventing excessively high local electric field strength caused by uneven conductor spacing. This effectively reduces corona loss, improves transmission efficiency, and also reduces radio interference, improving the electromagnetic environment. Therefore, de-icing robots for double-split conductors need to be equipped with devices capable of crossing splitters, such as the de-icing robot in patent publication number CN110233460A. This robot uses two pulleys to hold the conductor, enabling movement. The two pulleys are connected by a tension spring, which elastically adjusts the distance between the pulleys when encountering a splitter, allowing the pulley assembly to pass. However, because this robot requires holding the conductor with two pulleys, manual installation is necessary when loading and unloading the robot. Since conductors are typically quite high, manual loading and unloading of the de-icing robot is difficult. Therefore, a de-icing robot capable of remote operation for loading and unloading is urgently needed. Utility Model Content

[0004] To address the aforementioned shortcomings, the purpose of this invention is to propose a double-split wire flying de-icing robot, which solves the problem of difficulties in launching and de-icing the robot.

[0005] To achieve this objective, the present invention adopts the following technical solution: a double-split wire flying de-icing robot, comprising:

[0006] Organism;

[0007] The flight mechanism is installed on the fuselage and is used to drive the fuselage up and down;

[0008] The displacement mechanism is installed on the machine body and is used to drive the machine body to move along the guide wire;

[0009] An avoidance mechanism is installed on the machine body, and the avoidance mechanism is equipped with a de-icing mechanism. The avoidance mechanism is used to move the de-icing mechanism closer to or away from the wire.

[0010] Preferably, the avoidance mechanism includes a mounting base and a moving unit. The mounting base is mounted on the machine body, and the height direction of the mounting base is perpendicular to the conductor. The moving unit is mounted inside the mounting base, and the de-icing mechanism is connected to the moving unit. The moving unit is used to move the de-icing mechanism along the height direction of the mounting base.

[0011] Preferably, the mounting base has a central space for installation, which extends along the height of the mounting base. The mounting base also has an opening that extends along the height of the installation space.

[0012] The moving unit includes an upper bearing, a lower bearing, a lead screw, a lead screw nut, and a first motor;

[0013] The upper bearing and the lower bearing are respectively installed at both ends of the installation space, and the upper and lower ends of the lead screw are respectively installed in the upper bearing and the lower bearing. The first motor is installed at the end of the mounting base and is connected to the lead screw for driving the lead screw to rotate.

[0014] The lead screw nut is sleeved on the surface of the lead screw, and a connecting bracket extends from the outer surface of the lead screw nut. The connecting bracket passes through the opening and is fixedly connected to the de-icing mechanism.

[0015] Preferably, the de-icing mechanism includes a mounting section, a second motor, and a de-icing wheel;

[0016] The mounting part is fixedly connected to the connecting bracket, and the second motor and the de-icing wheel are respectively mounted on the two end faces of the mounting part;

[0017] The second motor is connected to the de-icing wheel via a drive.

[0018] Preferably, the mounting part is a plate-shaped structure, with a de-icing wheel provided on the front end face of the plate-shaped structure and a second motor provided on the rear end face. The output end of the second motor passes through the mounting part and is connected to the de-icing wheel for transmission.

[0019] Preferably, the bottom of the mounting part extends out two mounting sub-plates forming a "∧" shape, and the de-icing wheel is installed at the end of each mounting sub-plate;

[0020] The de-icing wheel of the mounting section and the de-icing wheel of the mounting sub-plate form a triangular structure, with the wire located in the middle of the triangular structure.

[0021] Preferably, it also includes a timing pulley, which is mounted on the mounting sub-plate or mounting part. The de-icing wheel passes through the mounting sub-plate or mounting part and is connected to the axis of the timing pulley. The second motor is driven by any of the timing pulleys, and a timing belt is tensioned between adjacent timing pulleys.

[0022] Preferably, the displacement mechanism includes a hinge frame and a traveling unit. Hinge seats are respectively provided on both sides of the machine body. The middle part of the hinge frame is hinged to the hinge seat. The traveling unit is detachably installed at both ends of the hinge frame.

[0023] The middle part of the hinge frame bends upward to form a bend-avoidance section.

[0024] Preferably, the walking unit includes a fourth motor mounted on both sides of the articulated frame and walking wheels. The output end of the fourth motor passes through the articulated frame and is connected to the first gear. The articulated frame is hinged with a second gear that meshes with the first gear. The walking wheels are coaxially connected to the second gear.

[0025] Preferably, it also includes a guide rod, which is mounted on one side of the walking unit;

[0026] The guide rod includes a fixed end and a free end. The fixed end of the guide rod is located inside the walking unit. The rod body of the guide rod is bent along the outer contour of the walking unit. The free end of the guide rod is located outside the walking unit. The free end of the guide rod extends obliquely downward in a direction away from the walking unit, forming a guide section.

[0027] One of the above technical solutions has the following advantages or beneficial effects: 1. When it is necessary to go online or offline, the aircraft can be propelled by a flight mechanism to fly above the designated double-split guide wire. Then, the flight mechanism is driven to descend, allowing the displacement mechanism to land on the guide wire. At the same time, the avoidance mechanism can move the de-icing mechanism away from the double-split guide wire, avoiding affecting the landing of the displacement mechanism.

[0028] 2. When the de-icing mechanism passes the splitter, the avoidance mechanism moves the de-icing mechanism away from the conductor, thus keeping it away from the splitter and preventing damage. After the de-icing mechanism passes the splitter, the avoidance mechanism resets, and the de-icing mechanism continues to de-ice the conductor. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0030] Figure 2 This is a cross-sectional view of one embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the avoidance mechanism, de-icing mechanism, and displacement mechanism in one embodiment of the present invention.

[0032] Figure 4 This is a schematic diagram of the avoidance mechanism, de-icing mechanism, and displacement mechanism in one embodiment of the present invention after one of the walking wheels has been disassembled.

[0033] Including: Airframe 1, Flight mechanism 2

[0034] Displacement mechanism 3, articulated frame 31, bend avoidance section 311, walking unit 32, fourth motor 321, walking wheel 322, first gear 323, second gear 324.

[0035] Avoidance mechanism 4, mounting base 41, opening 411, moving unit 42, lead screw 421, lead screw nut 422, first motor 423, connecting bracket 424.

[0036] De-icing mechanism 5, mounting part 51, second motor 52, de-icing wheel 53, mounting sub-plate 531, synchronous pulley 6, synchronous belt 7, guide rod 8, guide section 81. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0041] like Figures 1-4 As shown, a double-split wire flying de-icing robot includes:

[0042] Body 1;

[0043] Flight mechanism 2 is installed on the body 1 and is used to drive the body 1 up and down;

[0044] The displacement mechanism 3 is installed on the body 1 and is used to drive the body 1 to move along the conductor.

[0045] The avoidance mechanism 4 is installed on the body 1, and the avoidance mechanism 4 is equipped with a de-icing mechanism 5. The avoidance mechanism 4 is used to move the de-icing mechanism 5 closer to or away from the wire.

[0046] In this invention, to enable the de-icing robot to remotely connect and disconnect without human intervention, an avoidance mechanism 4 and a flight mechanism 2 are installed on the body 1. When connection or disconnection is required, the flight mechanism 2 propels the body 1 to fly above the designated double-split conductor. Then, the flight mechanism 2 descends, allowing the displacement mechanism 3 to land on the conductor. Simultaneously, the avoidance mechanism 4 moves the de-icing mechanism 5 away from the double-split conductor, preventing interference with the landing of the displacement mechanism 3.

[0047] like Figure 1 As shown, using a parallel double-split conductor as the de-icing target, during the deployment process, flight mechanism 2 directly propels the body 1 to fly above the conductor. Then, with the assistance of visual recognition, flight mechanism 2 is controlled to descend and land, allowing displacement mechanism 3 to come into contact with the conductor. Once displacement mechanism 3 is controlled to fall onto the conductor, avoidance mechanism 4 drives de-icing mechanism 5 to approach the conductor, allowing the de-icing robot to firmly grip the double-split conductor, completing the deployment operation of the de-icing robot.

[0048] At this point, the de-icing mechanism 5 and the displacement mechanism 3 can be driven to move and remove ice from the conductor, achieving ice removal through impact crushing. When the displacement mechanism 3 reaches the splitter, it can directly press against the splitter as it passes. The de-icing mechanism 5 is mounted on the avoidance mechanism 4. When the de-icing mechanism 5 passes the splitter, the avoidance mechanism 4 drives the de-icing mechanism 5 to move away from the conductor, thus keeping the de-icing mechanism 5 away from the splitter and preventing damage. After the de-icing mechanism 5 passes the splitter, the avoidance mechanism 4 resets, and the de-icing mechanism 5 continues to de-ice the conductor.

[0049] After the displacement mechanism 3 finishes its movement, the avoidance mechanism 4 moves the de-icing mechanism 5 away from the guide wire, and the flight mechanism 2 restarts, causing the body 1 to take off upwards, completing the de-icing robot's roll-off. This process requires no human intervention, greatly improving the intelligence level of the de-icing robot.

[0050] The flight mechanism 2 includes arms and a propeller unit. The arms are installed at the four corners of the fuselage, and the propeller unit is located at the end of each arm. Wiring can be routed inside the arms to connect the propeller unit to a power source and drive the propeller unit. The propeller unit is a combination of a propeller and a motor.

[0051] Preferably, the avoidance mechanism 4 includes a mounting base 41 and a moving unit 42. The mounting base 41 is mounted on the body 1, and the height direction of the mounting base 41 is perpendicular to the conductor. The moving unit 42 is mounted inside the mounting base 41. The de-icing mechanism 5 is connected to the moving unit 42, and the moving unit 42 is used to move the de-icing mechanism 5 along the height direction of the mounting base 41.

[0052] In one embodiment of this utility model, the height direction of the mounting base 41 is perpendicular to the conductor. When the moving unit 42 moves along the height direction of the mounting base 41, the de-icing mechanism 5 can move away from or closer to the conductor. In actual operation, the conductor may sag to different degrees due to various factors (such as temperature changes, load changes, etc.). The design of the avoidance mechanism 4 allows the de-icing mechanism 5 to be flexibly adjusted according to the actual position of the conductor, always maintaining a suitable distance from the conductor, adapting to the de-icing needs under different working conditions, and enhancing the versatility and adaptability of the de-icing equipment.

[0053] Preferably, the mounting base 41 has an installation space in the middle, the installation space extends along the height direction of the mounting base 41, and the mounting base 41 also has an opening 411, the opening 411 extends along the height direction of the installation space.

[0054] The moving unit 42 includes an upper bearing, a lower bearing, a lead screw 421, a lead screw nut 422, and a first motor 423;

[0055] The upper bearing and the lower bearing are respectively installed at both ends of the installation space. The upper and lower ends of the lead screw 421 are respectively installed in the upper bearing and the lower bearing. The first motor 423 is installed at the end of the mounting base 41. The first motor 423 is connected to the lead screw 421 for driving the lead screw 421 to rotate.

[0056] The lead screw nut 422 is sleeved on the surface of the lead screw 421, and a connecting bracket 424 extends from the outer surface of the lead screw nut 422. The connecting bracket 424 passes through the opening 411 and is fixedly connected to the de-icing mechanism 5.

[0057] When it is necessary to move the de-icing mechanism 5 away from or closer to the wire, the first motor 423 can be driven to rotate in the forward or reverse direction, thereby controlling the rotation direction of the lead screw 421. The lead screw nut 422 sleeved on the surface of the lead screw 421 can achieve lifting and lowering displacement, thereby realizing the position adjustment of the de-icing mechanism 5. The left and right ends of the connecting bracket 424 abut against the left and right inner walls of the opening 411, respectively, realizing the left and right limiting effect of the connecting bracket 424, so that the connecting bracket 424 can stably drive the de-icing mechanism 5 to move.

[0058] Preferably, the de-icing mechanism 5 includes a mounting part 51, a second motor 52, and a de-icing wheel 53;

[0059] The mounting part 51 is fixedly connected to the connecting bracket 424, and the second motor 52 and the de-icing wheel 53 are respectively mounted on the two end faces of the mounting part;

[0060] The second motor 52 is connected to the de-icing wheel 53 via a transmission.

[0061] The mounting part 51 can be a plate-shaped structure or a rod-shaped structure. The shape of the mounting part 51 can be selected according to the installation position of the de-icing mechanism 5. In one embodiment, such as... Figure 3 As shown, the mounting part 51 is a plate-shaped structure. A de-icing wheel 53 is mounted on the front end of the plate-shaped structure, and a second motor 52 is mounted on the rear end. The output end of the second motor 52 passes through the mounting part 51 and is connected to the de-icing wheel 53 for transmission. After the de-icing robot is put into operation, the de-icing wheel 53 abuts against the wire. The second motor 52 drives the de-icing wheel 53 to rotate, and the de-icing wheel 53 drills and breaks up the ice, causing the ice to fall off the wire. The contour of the de-icing wheel 53 can adopt a conical spiral groove design for better removal of ice.

[0062] Preferably, the bottom of the mounting part 51 extends out two mounting sub-plates 531 forming a "∧" shaped structure, and the de-icing wheel 53 is installed at the end of each mounting sub-plate 531;

[0063] The de-icing wheel 53 of the mounting part 51 and the de-icing wheel 53 of the mounting sub-plate 531 form a triangular structure, with the wire located in the middle of the triangular structure.

[0064] In one embodiment, the number of de-icing wheels 53 can be increased by installing a sub-plate 531, allowing the de-icing wheels 53 to surround the conductor and penetrate the ice on the conductor from multiple angles. This significantly increases the coverage area and force of de-icing, effectively improving the thoroughness and efficiency of de-icing, and enabling faster and more comprehensive removal of the ice layer on the conductor. The two de-icing wheels 53 located on the mounting sub-plate 531 are positioned on either side of the conductor, better fixing the conductor's position as the machine moves forward, preventing the conductor from shaking or shifting during de-icing. This not only helps the de-icing wheels 53 to contact and remove the ice layer more stably, but also reduces damage to the de-icing mechanism 5 and the conductor itself caused by conductor shaking.

[0065] Preferably, it also includes a timing pulley 6, which is mounted on the mounting sub-plate 531 or the mounting part 51. The de-icing wheel 53 passes through the mounting sub-plate 531 or the mounting part 51 and is connected to the axis of the timing pulley 6. The second motor 52 is connected to any of the timing pulleys 6 for transmission. A timing belt 7 is tensioned between adjacent timing pulleys 6.

[0066] In some embodiments of this invention, multiple de-icing wheels 53 are provided, and each de-icing wheel 53 requires a second motor 52 to drive it. The second motor 52 is typically positioned facing the body 1. In this case, the installation position of the second motor 52 can easily conflict with the positions of components on the body 1, making it impossible to install the second motor 52. Therefore, this invention provides a synchronous pulley 6. When the installation position of the second motor 52 conflicts with the position of a component on the body 1, the corresponding de-icing wheel 53 and adjacent de-icing wheels 53 can be installed on the synchronous pulley 6. A synchronous belt 7 is tensioned on the synchronous pulley 6, connecting the second motor 52 to the adjacent synchronous pulley 6 for transmission, driving the synchronous pulley 6 to rotate. The synchronous pulley 6, through the synchronous belt 7, drives the adjacent synchronous pulley 6 to rotate, allowing the adjacent de-icing wheels 53 to rotate and remove ice. Through the cooperation of the synchronous pulley 6 and the synchronous belt 7, the number of second motors 52 used can be reduced, avoiding interference problems between installation positions. It is understood that in the de-icing mechanism 5 of this utility model, one de-icing wheel 53 may be configured with one second motor 52, or several de-icing wheels 53 may be configured with one second motor 52 through synchronous belt drive, or a combination of the two methods mentioned above may be used.

[0067] Of course, when there is no interference from the installation position, the optimal solution is for each de-icing wheel 53 to be powered directly by the second motor 52, which can ensure that the de-icing wheel 53 has sufficient torque for de-icing.

[0068] Preferably, the displacement mechanism 3 includes a hinge frame 31 and a walking unit 32. Hinge seats are respectively provided on both sides of the machine body. The middle part of the hinge frame 31 is hinged to the hinge seat. The walking unit 32 is detachably installed at both ends of the hinge frame 31.

[0069] The middle part of the hinge frame 31 bends upward to form an avoidance bending part 311.

[0070] To better reduce the impact of the displacement mechanism 3 on the splitter, the walking unit 32 is not directly mounted on the machine body 1 in this invention. Instead, the walking unit 32 is mounted on the hinge frame 31, with the center of the hinge frame 31 hinged to the machine body 1. The walking unit 32 can rotate around the hinge point, enabling it to rise and fall. When the walking unit 32 in front needs to pass the splitter, it can rotate upwards due to the hinge frame 31, allowing it to smoothly cross obstacles or the splitter. This avoids the collision or interference that might occur with the direct mounting on the machine body 1, effectively reducing the impact on the splitter and ensuring the normal operation of the equipment.

[0071] Meanwhile, the articulated frame 31 bends upward at the middle to form an avoidance bend 311. When the forward walking unit 32 passes the splitter, the avoidance bend 311 can avoid the splitter, preventing the articulated frame 31 from colliding with the splitter during movement. In addition, the avoidance bend 311 also disperses the stress generated by the de-icing robot during movement to a certain extent, enhancing the overall stability of the equipment.

[0072] Preferably, the walking unit 32 includes a fourth motor 321 and a walking wheel 322 mounted on both sides of the articulated frame 31. The output end of the fourth motor 321 passes through the articulated frame 31 and is connected to the first gear 323 for transmission. The articulated frame 31 is hinged with a second gear 324 that meshes with the first gear 323. The walking wheel 322 is coaxially connected with the second gear 324.

[0073] In one embodiment of this utility model, the walking unit 32 is a combination of a walking wheel 322 and a fourth motor 321. Driven by the fourth motor 321, the walking wheel 322 moves along the guide wire. Since the de-icing robot of this utility model has a relatively compact structure, the installation position of the fourth motor 321 may overlap with the installation positions of other devices. Therefore, through the cooperation of the first gear 323 and the second gear 324, the fourth motor 321 drives the first gear 323, which meshes with the second gear 324. The second gear 324 is coaxially connected to the walking wheel 322, thereby decoupling the spatial positions of the walking wheel 322 and the fourth motor 321 and avoiding installation interference.

[0074] In some embodiments, the walking wheel 322 is an H-shaped cross-section roller, the groove surface of the roller is made of anti-slip material and has raised dots. The overall weight of the de-icing robot is transferred to the wire through the walking wheel 322, and the walking wheel 322 can also perform secondary crushing and de-icing on the wire while rolling.

[0075] Preferably, it also includes a guide rod 8, which is mounted on one side of the walking unit 32;

[0076] The guide rod 8 includes a fixed end and a free end. The fixed end of the guide rod 8 is located inside the walking unit 32, and the rod body of the guide rod 8 is bent along the outer contour of the walking unit 32. The free end of the guide rod 8 is located outside the walking unit 32, and the free end of the guide rod 8 extends obliquely downward in a direction away from the walking unit 32, extending into a guide section 81. It is worth mentioning that the bent contour of the guide rod 8 also serves to clean ice chips or foreign objects from the surface of the walking wheel 322.

[0077] When the flight mechanism 2 descends on the guide wire, it may not be able to accurately land the walking unit 32 on the guide wire. Therefore, in one embodiment, a guide rod 8 is provided, which includes a guide section 81. The upper end of the guide section 81 is level with the bottom edge of the walking wheel 322, and the distance between the guide rod 8 and the walking wheel 322 is less than the diameter of the guide wire. The guide section 81 provides guidance for the landing of the walking unit 32. When the guide wire contacts the guide section 81, it can be smoothly guided to below the walking wheel 322, ensuring the accuracy and stability of the contact between the walking unit 32 and the guide wire, and facilitating the subsequent normal walking operation of the walking unit 32 on the guide wire.

[0078] Specifically, in one embodiment, the operation process of the flying de-icing robot is as follows:

[0079] Step S1: The flight mechanism 2 is activated, propelling the main body 1 into flight above the designated double-split guide line. Then, with visual recognition assistance and guidance from the guide rod 11, the flight mechanism 2 is controlled to descend and land, allowing the traveling unit 32 of the displacement mechanism 3 to land on the upper guide line.

[0080] Step S2: Grab the wire, and the moving unit 42 of the avoidance mechanism 4 drives the de-icing mechanism 5 to descend, so that the de-icing wheel 53 of the de-icing mechanism 5 comes into contact with the wire.

[0081] Step S3: De-icing the wire. Drive the walking unit 32 and the de-icing mechanism 5's de-icing wheel 53. While the flying de-icing robot walks and moves on the wire, it impacts and crushes the ice covering the wire.

[0082] Step S4: Obstacle crossing. If the flying de-icing robot travels to the area where the splitter is located, it will perform an obstacle crossing step. After completing the obstacle crossing, the flying de-icing robot will continue to execute step S3.

[0083] Step S41: Release the wire, and the moving unit 42 of the avoidance mechanism 4 drives the de-icing mechanism 5 to rise, so that the de-icing mechanism 5 is away from the wire.

[0084] Step S42: Front wheel obstacle crossing. When the front walking unit 32 needs to pass the splitter, the front walking unit 32 stops operating, the rear walking unit 32 is driven forward, the articulated frame 31 rotates backward, and the front walking unit 32 is raised and passes over the splitter.

[0085] Step S43: Rear wheel obstacle crossing. When the rear walking unit 32 needs to pass the splitter, the rear walking unit 32 stops operating, the front walking unit 32 is driven forward, the articulated frame 31 rotates forward, and the rear walking unit 32 is raised and crosses the splitter.

[0086] Step S44: Grab the wire, and the moving unit 42 of the avoidance mechanism 4 drives the de-icing mechanism 5 to descend, so that the de-icing wheel 53 of the de-icing mechanism 5 comes into contact with the wire.

[0087] Step S5: Offline. After the flying de-icing robot finishes its journey, the avoidance mechanism 4 drives the de-icing mechanism 5 away from the wire, the flight mechanism 2 restarts and drives the body 1 to take off upwards, completing the offline process of the de-icing robot.

[0088] It should be added that the above-described operation procedure is the process of a flying de-icing robot performing one de-icing operation on a set of double-split conductors. After takeoff, the flying de-icing robot can remotely observe via camera, visually recognize, or preset the number of de-icing cycles to determine the de-icing effect on the set of double-split conductors, and then select to perform multiple de-icing operations. When power permits, the flying de-icing robot can sequentially complete the de-icing work on multiple sets of double-split conductors of overhead transmission lines before returning to the ground.

[0089] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0090] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A double-bundle flight de-icing robot, characterized by, include: Body (1); The flight mechanism (2) is installed on the body (1) and is used to drive the body (1) to go up and down; The displacement mechanism (3) is installed on the body (1) and is used to drive the body (1) to move on the conductor; An avoidance mechanism (4) is installed on the body (1). The avoidance mechanism (4) is equipped with a de-icing mechanism (5). The avoidance mechanism (4) is used to drive the de-icing mechanism (5) to approach or move away from the wire.

2. The double-split wire flying de-icing robot according to claim 1, characterized in that, The avoidance mechanism (4) includes a mounting base (41) and a moving unit (42). The mounting base (41) is mounted on the body (1). The height direction of the mounting base (41) is perpendicular to the conductor. The moving unit (42) is mounted inside the mounting base (41). The de-icing mechanism (5) is connected to the moving unit (42). The moving unit (42) is used to move the de-icing mechanism (5) along the height direction of the mounting base (41).

3. The double-split wire flying de-icing robot according to claim 2, characterized in that, The mounting base (41) has an empty mounting space in the middle, which extends along the height direction of the mounting base (41). The mounting base (41) also has an opening (411), which extends along the height direction of the mounting space. The moving unit (42) includes an upper bearing, a lower bearing, a lead screw (421), a lead screw nut (422), and a first motor (423); The upper bearing and the lower bearing are respectively installed at both ends of the installation space. The upper and lower ends of the lead screw (421) are respectively installed in the upper bearing and the lower bearing. The first motor (423) is installed at the end of the mounting base (41). The first motor (423) is connected to the lead screw (421) for driving the lead screw (421) to rotate. The lead screw nut (422) is sleeved on the surface of the lead screw (421), and a connecting bracket (424) extends from the outer surface of the lead screw nut (422). The connecting bracket (424) passes through the opening (411) and is fixedly connected to the de-icing mechanism (5).

4. The double-split wire flying de-icing robot according to claim 3, characterized in that, The de-icing mechanism (5) includes an installation part (51), a second motor (52), and a de-icing wheel (53); The mounting part (51) is fixedly connected to the connecting bracket (424), and the second motor (52) and the de-icing wheel (53) are respectively mounted on the two end faces of the mounting part; The second motor (52) is connected to the de-icing wheel (53) via a transmission.

5. A double-split wire flying de-icing robot according to claim 4, characterized in that, The mounting part (51) is a plate-shaped structure. An ice-removing wheel (53) is provided on the front end face of the plate-shaped structure, and a second motor (52) is provided on the rear end face. The output end of the second motor (52) passes through the mounting part (51) and is connected to the ice-removing wheel (53) for transmission.

6. A dual-bundle aerial de-icing robot according to claim 4, wherein, The bottom of the mounting part (51) extends out two mounting sub-plates (531) forming a "∧" shaped structure, and the de-icing wheel (53) is installed at the end of each mounting sub-plate (531). The de-icing wheel (53) of the mounting part (51) and the de-icing wheel (53) of the mounting subplate (531) form a triangular structure, with the wire located in the middle of the triangular structure.

7. A double-split wire flying de-icing robot according to claim 6, characterized in that, It also includes a synchronous pulley (6), which is mounted on the mounting sub-plate (531) or mounting part (51). The de-icing wheel (53) passes through the mounting sub-plate (531) or mounting part (51) and is connected to the axis of the synchronous pulley (6). The second motor (52) is connected to any of the synchronous pulleys (6) for transmission. A synchronous belt (7) is tensioned between adjacent synchronous pulleys (6).

8. A dual-bipolar flight de-icing robot according to any one of claims 1 to 7, characterized in that, The displacement mechanism (3) includes a hinge frame (31) and a walking unit (32). The two sides of the body (1) are respectively provided with hinge seats. The middle part of the hinge frame (31) is hinged to the hinge seat. The two ends of the hinge frame (31) are respectively detachably installed with the walking unit (32). The middle part of the hinge frame (31) bends upward to form a bend-avoiding section (311).

9. A dual-bundle flight de-icing robot according to claim 8, wherein, The walking unit (32) includes a fourth motor (321) installed on both sides of the articulated frame (31) and a walking wheel (322). The output end of the fourth motor (321) passes through the articulated frame (31) and is connected to the first gear (323) for transmission. The articulated frame (31) is hinged with a second gear (324) that meshes with the first gear (323). The walking wheel (322) is coaxially connected with the second gear (324).

10. The dual-bundle aerial de-icing robot of claim 8, wherein, It also includes a guide rod (8), which is mounted on one side of the walking unit (32); The guide rod (8) includes a fixed end and a free end. The fixed end of the guide rod (8) is located inside the walking unit (32). The rod body of the guide rod (8) is bent along the outer contour of the walking unit (32). The free end of the guide rod (8) is located outside the walking unit (32). The free end of the guide rod (8) extends obliquely downward in a direction away from the walking unit (32) to form a guide section (81).

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