A power line de-icing robot

Abstract

The utility model discloses a power transmission line deicing robot, include: frame, walking deicing mechanism, walking deicing mechanism set up on frame, walking deicing mechanism includes a plurality of walking ice breaking wheel and a plurality of walking drive mechanism, every walking ice breaking wheel is by a walking drive mechanism single drive, ice breaking mechanism, ice breaking mechanism sets up the end of frame, and ice breaking mechanism includes a plurality of ice breaking flywheel and a plurality of flywheel drive mechanism, and every ice breaking flywheel is by a flywheel drive mechanism single drive, and ice breaking flywheel includes protection portion and a plurality of ice breaking tooth. The utility model can improve deicing efficiency.

Description

Technical Field

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

[0002] In cold regions during winter, transmission lines (including conductors and ground wires) are highly susceptible to icing. Icing significantly increases line load, leading to increased ground wire sag, line galloping, and even serious accidents such as line breaks and tower collapses, threatening the safe and stable operation of the power grid. Therefore, timely and efficient removal of ice from ground wires is a significant challenge in power grid operation and maintenance.

[0003] Traditional de-icing methods mainly include manual de-icing, thermal de-icing, and mechanical de-icing robots. Manual de-icing is inefficient and dangerous; thermal de-icing (such as DC de-icing) consumes a lot of energy and is not suitable for unenergized overhead ground wires (OPGW or ordinary ground wires). In recent years, ground wire de-icing robots have become a research hotspot due to their automation, efficiency, and safety. However, existing ground wire de-icing robots usually have problems such as limited de-icing methods, insufficient obstacle-crossing ability, and the risk of damaging the ground wire. Utility Model Content

[0004] This invention provides a power transmission line de-icing robot, which can improve de-icing efficiency.

[0005] To solve the above-mentioned technical problems, this utility model provides a power transmission line de-icing robot, comprising: frame, The traveling de-icing mechanism is mounted on the frame and includes several traveling ice-breaking wheels and several traveling drive mechanisms, with each traveling ice-breaking wheel being driven by a single traveling drive mechanism. An ice-breaking mechanism is provided at the end of the frame. The ice-breaking mechanism includes several ice-breaking flywheels and several flywheel drive mechanisms. Each ice-breaking flywheel is driven by a flywheel drive mechanism. Each ice-breaking flywheel includes a protective part and several ice-breaking teeth.

[0006] As a preferred embodiment of the above technical solution, the frame further includes an obstacle-crossing mechanism, which includes a sliding plate and an obstacle-crossing drive mechanism. The sliding plate is used to mount the walking de-icing mechanism and the ice-breaking mechanism. The number of sliding plates is even, and several sliding plates are symmetrically arranged on the frame. The obstacle-crossing drive mechanism is used to drive the sliding plate to reciprocate along the width direction of the frame.

[0007] As a preferred embodiment of the above technical solution, the obstacle-crossing drive mechanism further includes an obstacle-crossing screw and an obstacle-crossing motor. The obstacle-crossing motor is connected to the obstacle-crossing screw in a transmission manner. The obstacle-crossing screw is provided with two threaded segments with opposite screw directions. The two symmetrically arranged sliding plates are respectively threadedly connected to the two threaded segments with opposite screw directions. The obstacle-crossing motor is used to drive the two symmetrically arranged sliding plates to move towards each other and away from each other.

[0008] As a preferred embodiment of the above technical solution, the obstacle-crossing mechanism further includes a slide rail, which extends along the width of the frame, and the slide plate is slidably mounted on the slide rail.

[0009] As a preferred embodiment of the above technical solution, the outer surface of the walking ice-breaking wheel is provided with a number of ice-breaking protrusions.

[0010] As a preferred embodiment of the above technical solution, the ice-breaking flywheels are divided into two groups, and the two groups of ice-breaking flywheels are symmetrically arranged at the end of the frame. Each group of ice-breaking flywheels includes a fixed ice-breaking flywheel and two adjustable ice-breaking flywheels. The fixed ice-breaking flywheel is rotatably mounted on the frame, and the two adjustable ice-breaking flywheels are rotatably mounted on two symmetrically arranged slides.

[0011] As a preferred embodiment of the above technical solution, the ice-breaking flywheel includes a protective disc, the outer surface of which forms the protective part, and an ice-breaking gear is provided on the side of the protective disc away from the frame. The ice-breaking gear has a plurality of ice-breaking teeth, and the outer diameter of the ice-breaking gear is less than or equal to the outer diameter of the protective disc.

[0012] As a preferred embodiment of the above technical solution, an equipotential brush is provided on the frame.

[0013] As a preferred embodiment of the above technical solution, the frame is provided with a plurality of supporting guide wheels, which are distributed along the length of the frame.

[0014] As a preferred embodiment of the above technical solution, the frame is provided with two symmetrically arranged legs, forming a space between the two legs for cables to pass through, and guide plates are symmetrically arranged on the inner sides of the two legs.

[0015] As a preferred embodiment of the above technical solution, the frame is provided with a handle.

[0016] This utility model provides a power transmission line de-icing robot, including: a frame, a walking de-icing mechanism, and an ice-breaking mechanism. The walking drive mechanism is a walking drive motor, and the flywheel drive mechanism is a flywheel drive motor. In use, the power transmission line de-icing robot is transported to the location of the line to be worked on via drone or other means, ensuring that the power transmission line is located within the walking channel formed by several walking ice-breaking wheels and between several ice-breaking flywheels. The walking de-icing mechanism is activated to drive the robot to move along the power transmission line, and the flywheel drive motor is activated to rotate the ice-breaking flywheels. The ice-breaking teeth impact and break the ice. The protective part can prevent the ice-breaking teeth from directly contacting the cable to avoid damaging the surface of the conductor, thereby improving operational safety and reducing the risk of damage to the surface of the power transmission line. During the movement, the walking ice-breaking wheels crush and break the remaining thin ice, forming a secondary de-icing operation, thereby further improving the thoroughness and efficiency of de-icing.

[0017] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a power transmission line de-icing robot according to an embodiment of the present utility model; Figure 2 This is a three-dimensional structural diagram of the internal structure of a power transmission line de-icing robot according to an embodiment of the present utility model; Figure 3 This is a structural schematic diagram of a power transmission line de-icing robot from another perspective in an embodiment of this utility model; Figure 4 This is a three-dimensional structural diagram of the walking de-icing mechanism in an embodiment of this utility model; Figure 5 This is a three-dimensional structural diagram of the ice-breaking mechanism and obstacle-crossing mechanism in the embodiments of this utility model; Figure 6 This is a schematic diagram of the ice-breaking mechanism in an embodiment of the present utility model; In the diagram: 1. Frame; 2. Walking de-icing mechanism; 3. Ice-breaking mechanism; 4. Obstacle-crossing mechanism; 101. Support guide wheel; 102. Leg; 103. Guide plate; 104. Handle; 105. Equipotential brush; 201. Walking ice-breaking wheel; 202. Walking drive mechanism; 203. Ice-breaking protrusion; 301. Ice-breaking flywheel; 302. Flywheel drive mechanism; 303. Protective part; 304. Ice-breaking teeth; 305. Fixed ice-breaking flywheel; 306. Adjustable ice-breaking flywheel; 307. Protective disc; 308. Ice-breaking gear; 401. Slide plate; 402. Obstacle-crossing drive mechanism; 403. Obstacle-crossing screw; 404. Obstacle-crossing motor; 405. Slide rail. Detailed Implementation

[0019] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] See Figures 1 to 6 This utility model embodiment provides a power transmission line de-icing robot, comprising: Rack 1, The walking de-icing mechanism 2 is mounted on the frame 1. The walking de-icing mechanism 2 includes a plurality of walking ice-breaking wheels 201 and a plurality of walking drive mechanisms 202. Each walking ice-breaking wheel 201 is driven by one walking drive mechanism 202. An ice-breaking mechanism 3 is disposed at the end of the frame 1. The ice-breaking mechanism 3 includes a plurality of ice-breaking flywheels 301 and a plurality of flywheel drive mechanisms 302. Each ice-breaking flywheel 301 is driven by a flywheel drive mechanism 302. The ice-breaking flywheel 301 includes a protective part 303 and a plurality of ice-breaking teeth 304.

[0021] This utility model provides a power transmission line de-icing robot, including: a frame 1, a walking de-icing mechanism 2, and an ice-breaking mechanism 3. The walking drive mechanism 202 is a walking drive motor, and the flywheel drive mechanism 302 is a flywheel drive motor. In use, the power transmission line de-icing robot is transported to the location of the line to be worked on by means of drone transport, etc., and it is ensured that the power transmission line is located in the walking channel formed by several walking ice-breaking wheels 201 and between several ice-breaking flywheels 301. The walking de-icing mechanism 2 is started to drive the robot to move along the power transmission line, and the flywheel drive motor is started to make the ice-breaking flywheels 301 rotate. The ice-breaking teeth 304 are used to impact and break the ice. The protective part 303 can prevent the ice-breaking teeth 304 from directly contacting the cable to avoid damaging the surface of the conductor, thereby improving the safety of operation and reducing the risk of damage to the surface of the power transmission line. During the movement, the walking ice-breaking wheels 201 crush the residual thin ice to form a secondary de-icing operation, thereby further improving the thoroughness and efficiency of de-icing.

[0022] In a further embodiment of this invention, the frame 1 further includes an obstacle-crossing mechanism 4, which includes a sliding plate 401 and an obstacle-crossing drive mechanism 402. The sliding plate 401 is used to mount the walking de-icing mechanism 2 and the ice-breaking mechanism 3. The number of sliding plates 401 is even, and several sliding plates 401 are symmetrically arranged on the frame 1. The obstacle-crossing drive mechanism 402 is used to drive the sliding plates 401 to reciprocate along the width direction of the frame 1.

[0023] In this embodiment, the obstacle-crossing mechanism 4 includes a sliding plate 401 and an obstacle-crossing drive mechanism 402. Specifically, the obstacle-crossing mechanism 4 includes four sliding plates 401 and two obstacle-crossing drive mechanisms 402. The four sliding plates 401 are symmetrically arranged on both sides of the frame 1. The two symmetrically arranged sliding plates 401 are synchronously driven by the same obstacle-crossing drive mechanism 402 to realize the synchronous reciprocating motion of the two sliding plates 401, thereby adjusting the relative position between the walking de-icing mechanism 2 and the ice-breaking mechanism 3 installed on the sliding plates 401 to adapt to power transmission lines of different diameters. When encountering obstacles such as large ice lumps, vibration dampers, and joints, the obstacle-crossing drive mechanism 402 is controlled to drive the sliding plates 401 to move outward, widening the walking channel and the spacing between the ice-breaking flywheels 301, so that the robot can smoothly cross the obstacle. After passing through, the sliding plates 401 are reset and the normal de-icing operation continues, ensuring the continuity and safety of the operation and effectively improving the de-icing efficiency.

[0024] In a further embodiment of this invention, the obstacle-crossing drive mechanism 402 further includes an obstacle-crossing screw 403 and an obstacle-crossing motor 404. The obstacle-crossing motor 404 is connected to the obstacle-crossing screw 403. The obstacle-crossing screw 403 is provided with two threaded segments with opposite directions of rotation. The two symmetrically arranged slide plates 401 are respectively threadedly connected to the two threaded segments with opposite directions of rotation. The obstacle-crossing motor 404 is used to drive the two symmetrically arranged slide plates 401 to move towards each other and away from each other.

[0025] In this embodiment, when the obstacle-crossing motor 404 is activated, it drives the two symmetrically arranged sliding plates 401 to move synchronously towards or away from each other via the obstacle-crossing screw 403. This allows the walking de-icing mechanism 2 and the ice-breaking mechanism 3 mounted on the sliding plates 401 to adjust their spacing in real time according to changes in the transmission line diameter or the position of the obstacle, achieving adaptive clamping and releasing. When encountering obstacles such as large ice lumps, vibration dampers, or joints, the sliding plates 401 drive the walking ice-breaking wheels 201 and ice-breaking flywheels 301 to open synchronously during their outward movement, avoiding scraping against the obstacles and effectively reducing the risk of jamming. After passing the obstacle, the obstacle-crossing motor 404 reverses its rotation, causing the sliding plates 401 to reset and restore the standard working spacing, ensuring the continuity and stability of the de-icing operation and further improving the robot's obstacle-crossing ability and overall operational safety.

[0026] In a further embodiment of this invention, the obstacle-crossing mechanism 4 further includes a slide rail 405, which extends along the width of the frame 1, and the slide plate 401 is slidably mounted on the slide rail 405.

[0027] In this embodiment, a slider is provided on the slide plate 401. The slider slides in cooperation with the slide rail 405, so that the slide plate 401 moves stably along the width direction of the frame 1, which effectively improves the motion accuracy and load-bearing capacity and avoids jamming or deformation caused by off-center loading.

[0028] In a further embodiment of this invention, the outer surface of the walking ice-breaking wheel 201 is provided with a plurality of ice-breaking protrusions 203.

[0029] In this embodiment, the outer surface of the walking ice-breaking wheel 201 is provided with a plurality of ice-breaking protrusions 203. The plurality of ice-breaking protrusions 203 are evenly distributed circumferentially. When they are in contact with the surface of the power transmission line, they can increase the friction and cut into the ice layer, thereby improving the ice-breaking efficiency. At the same time, during the obstacle crossing process, the ice-breaking protrusions 203 move outward synchronously with the sliding plate 401 to avoid interference with obstacles and ensure smooth passage. Moreover, after resetting, they quickly restore the effective ice-breaking contact surface to ensure consistent de-icing quality.

[0030] In a further feasible implementation of this embodiment, several of the ice breaking flywheels 301 are divided into two groups. The two groups of ice breaking flywheels 301 are symmetrically arranged at the end of the frame 1. Each group of the ice breaking flywheels 301 includes a fixed ice breaking flywheel 305 and two adjustable ice breaking flywheels 306. The fixed ice breaking flywheel 305 is rotatably arranged on the frame 1, and the two adjustable ice breaking flywheels 306 are respectively rotatably arranged on two symmetrically arranged sliding plates 401.

[0031] In this embodiment, each group of the ice breaking flywheels 301 includes a fixed ice breaking flywheel 305 and two adjustable ice breaking flywheels 306. The three ice breaking flywheels 301 are arranged in a triangular "pin" shape as a whole, forming a three-point surrounding ice breaking structure with the outer periphery of the power transmission line during operation, which enhances the ice breaking stability. When crossing obstacles, the adjustable ice breaking flywheels 306 move outward along with the sliding plates 401, increasing the distance from the fixed ice breaking flywheel 305 to achieve radial avoidance. After passing the obstacle, the obstacle crossing motor 404 drives them to reset, quickly restoring the standard ice breaking operation posture to ensure continuous and efficient deicing. Several of the ice breaking flywheels 301 are divided into two groups, and the two groups of ice breaking flywheels 301 are symmetrically arranged at the end of the frame 1, so that the power transmission line deicing robot has the same obstacle crossing capability and ice breaking effect no matter moving forward or backward, improving operation flexibility and environmental adaptability.

[0032] In a further feasible implementation of this embodiment, the ice breaking flywheel 301 includes a protective disc 307. The outer side surface of the protective disc 307 forms the protective part 303. An ice breaking gear 308 is disposed on the side of the protective disc 307 away from the frame 1. The ice breaking gear 308 is provided with a plurality of the ice breaking teeth 304, and the outer diameter of the ice breaking gear 308 is less than or equal to the outer diameter of the protective disc 307.

[0033] In this embodiment, the ice breaking flywheel 301 includes a protective disc 307, and the ice breaking gear 308 is disposed on the side of the protective disc 307 away from the frame 1. The outer diameter of the ice breaking gear 308 is less than or equal to the outer diameter of the protective disc 307, so that the protective disc 307 forms a circle of protective edge outside the ice breaking gear 308, which effectively prevents the ice breaking teeth 304 from directly colliding with obstacles or the power transmission line during operation, reduces the risk of wear of the ice breaking teeth 304 and damage to the power transmission line, while maintaining the efficient crushing capacity of the ice breaking teeth 304 for ice coating, thereby improving the reliability and safety of ice breaking operations.

[0034] In a further feasible implementation of this embodiment, an equipotential brush 105 is disposed on the frame.

[0035] In this embodiment, an equipotential brush 105 is installed on the frame 1. When the power line de-icing robot is mounted on the power line, the equipotential brush 105 remains in contact with the surface of the power line, ensuring that the frame 1 and the power line are at the same potential. This effectively prevents static electricity buildup and discharge caused by potential differences, ensuring safe operation of the equipment. By installing the equipotential brush 105, the power line de-icing robot has the ability to operate under power conditions, enabling efficient removal of ice from power lines without power interruption, significantly reducing economic losses and power supply risks associated with power outages.

[0036] In a further embodiment of this invention, the frame 1 is provided with a plurality of support guide wheels 101, which are distributed along the length of the frame 1.

[0037] In this embodiment, the frame 1 is equipped with a plurality of supporting guide wheels 101, which are evenly distributed along the length of the frame 1. These wheels are used to maintain real-time contact with the surface of the power transmission line during movement, providing stable support and guidance to ensure the power transmission line de-icing robot runs smoothly along the power transmission line. When transporting the power transmission line de-icing robot to the location of the line to be worked on using methods such as drones, it is necessary to ensure that the supporting guide wheels 101 land on the power transmission line and accurately engage with the grooves in the supporting guide wheels 101, ensuring the smooth operation of the power transmission line de-icing robot along the power transmission line.

[0038] In a further embodiment of this invention, the frame 1 is provided with two symmetrically arranged legs 102, and a space for cables to pass through is formed between the two legs 102. Guide plates 103 are symmetrically arranged on the inner side of the two legs 102.

[0039] In this embodiment, the two legs 102 form a figure-eight structure, which facilitates the smooth crossing of the cable by the equipment. At least two guide plates 103 are provided on the legs 102. The two guide plates 103 cooperate to form a guide opening. The included angle of the guide plates is consistent with the opening direction of the figure-eight legs 102. This can play an automatic guiding role when the cable enters the equipment, prevent the cable from deviating or getting stuck, and thus improve the work efficiency.

[0040] In a further embodiment of this invention, a handle 104 is provided on the frame 1.

[0041] In this embodiment, the frame 1 is provided with a handle 104 to facilitate the overall handling of the equipment and lifting during high-altitude operations. In use, it can be transported to the target work area by drone, thereby improving the equipment deployment efficiency.

[0042] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "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. Furthermore, the described specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0043] 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 indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A power transmission line de-icing robot, characterized in that, include: frame; The traveling de-icing mechanism is installed inside the frame and includes several traveling ice-breaking wheels and several traveling drive mechanisms. Each traveling ice-breaking wheel is driven by one of the traveling drive mechanisms. An ice-breaking mechanism is provided at the end of the frame. The ice-breaking mechanism includes several ice-breaking flywheels and several flywheel drive mechanisms. Each ice-breaking flywheel is driven by a flywheel drive mechanism. Each ice-breaking flywheel includes a protective part and several ice-breaking teeth.

2. The power transmission line de-icing robot according to claim 1, characterized in that, The frame includes an obstacle-crossing mechanism, which includes a sliding plate and an obstacle-crossing drive mechanism. The sliding plate is used to mount the walking de-icing mechanism and the ice-breaking mechanism. The number of sliding plates is even, and several sliding plates are symmetrically arranged on the frame. The obstacle-crossing drive mechanism is used to drive the sliding plate to reciprocate along the width direction of the frame.

3. The power transmission line de-icing robot according to claim 2, characterized in that, The obstacle-crossing drive mechanism includes an obstacle-crossing screw and an obstacle-crossing motor. The obstacle-crossing motor is connected to the obstacle-crossing screw. The obstacle-crossing screw has two threaded segments with opposite directions of rotation. The two symmetrically arranged sliding plates are respectively threaded to the two threaded segments with opposite directions of rotation. The obstacle-crossing motor is used to drive the two symmetrically arranged sliding plates to move towards each other and away from each other.

4. The power transmission line de-icing robot according to claim 3, characterized in that, The obstacle-crossing mechanism also includes a slide rail that extends along the width of the frame, and the slide plate is slidably mounted on the slide rail.

5. The power transmission line de-icing robot according to claim 1, characterized in that, The outer surface of the walking ice-breaking wheel is provided with several ice-breaking protrusions.

6. The power transmission line de-icing robot according to claim 2, characterized in that, The ice-breaking flywheels are divided into two groups, and the two groups of ice-breaking flywheels are symmetrically arranged at the end of the frame. Each group of ice-breaking flywheels includes a fixed ice-breaking flywheel and two adjustable ice-breaking flywheels. The fixed ice-breaking flywheel is rotatably mounted on the frame, and the two adjustable ice-breaking flywheels are rotatably mounted on two symmetrically arranged slides.

7. The power transmission line de-icing robot according to claim 6, characterized in that, The ice-breaking flywheel includes a protective disc, the outer surface of which forms the protective part. An ice-breaking gear is provided on the side of the protective disc away from the frame. The ice-breaking gear has a plurality of ice-breaking teeth, and the outer diameter of the ice-breaking gear is less than or equal to the outer diameter of the protective disc.

8. The power transmission line de-icing robot according to claim 1, characterized in that, An equipotential brush is installed on the frame.

9. The power transmission line de-icing robot according to claim 1, characterized in that, The frame is provided with a number of support guide wheels, which are distributed along the length of the frame.

10. The power transmission line de-icing robot according to claim 1, characterized in that, The frame is equipped with two symmetrically arranged legs, forming a space between the two legs for cables to pass through. Guide plates are symmetrically arranged on the inner side of the two legs, and a handle is provided on the frame.

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