CN110588820A - Ice breaking robot - Google Patents
Ice breaking robot Download PDFInfo
- Publication number
- CN110588820A CN110588820A CN201910791976.8A CN201910791976A CN110588820A CN 110588820 A CN110588820 A CN 110588820A CN 201910791976 A CN201910791976 A CN 201910791976A CN 110588820 A CN110588820 A CN 110588820A
- Authority
- CN
- China
- Prior art keywords
- chassis
- ice breaking
- robot
- ice
- sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000001179 sorption measurement Methods 0.000 claims abstract description 16
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000003302 ferromagnetic material Substances 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 239000002184 metal Substances 0.000 description 21
- 238000010586 diagram Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/02—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by distortion, beating, or vibration of the surface to be cleaned
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention provides an ice breaking robot which comprises a chassis, wherein wheels are arranged on the chassis and driven by a first power device, at least one ice breaking mechanism is arranged at the front end of the chassis, at least two clamping mechanisms are arranged on the chassis at intervals along the front-back direction, each clamping mechanism comprises a first clamping arm and a second clamping arm, the first clamping arms and the second clamping arms are hinged to the left side and the right side of the chassis and symmetrically arranged, a first electromagnet is horizontally arranged at the upper end of each first clamping arm, first adsorption blocks which are arranged opposite to the first electromagnets and can be attracted by the first electromagnets after the first electromagnets are electrified are arranged at the upper ends of the second clamping arms, and an elastic piece is arranged between the upper ends of the first clamping arms and the upper ends of the second clamping arms to enable the lower ends of the first clamping arms and the second clamping arms to be tightened towards the inner side of the chassis, so that the technical problem of deicing of.
Description
Technical Field
The invention relates to an ice breaking robot.
Background
The pole tower is one of basic devices in an overhead distribution line, is a support for supporting a transmission line, and can be divided into a wood pole, a cement pole and a metal pole according to the used materials. The pole tower made of metal is usually used in the long-distance high-voltage power transmission network, however, the metal pole tower is very easy to condense an ice layer attached to the surface of the metal pole tower due to cold weather in winter, so that the maintainer is not easy to climb or even cause safety accidents, and therefore the pole tower needs to be deiced before the maintainer climbs the pole tower.
Disclosure of Invention
The invention provides an ice breaking robot, which aims to solve the technical problem of deicing of the surface of a metal tower.
The technical scheme of the invention is realized as follows: the utility model provides an icebreaking robot, includes the chassis, the chassis is equipped with the wheel, the wheel passes through the drive of first power device, its characterized in that, the chassis front end is equipped with at least one icebreaking mechanism, the chassis is equipped with two at least clamping mechanism along the fore-and-aft direction interval, clamping mechanism is including articulating the first clamp arm that the chassis left and right sides just symmetry set up, the first clamp arm upper end horizontally is equipped with first electro-magnet, the second presss from both sides the first clamp arm upper end and is equipped with the first absorption piece that can be placed with first electro-magnet opposition, be attracted by first electro-magnet after first electro-magnet circular telegram, be equipped with the elastic component between first clamp arm upper end, the second clamp arm upper end so that first clamp arm, second clamp arm lower extreme tighten up to the chassis inboard.
Furthermore, the ice breaking mechanism comprises a hammer body, the hammer body is hinged to the chassis through a support, the hammer body is provided with an ice breaking tip, one end, far away from the ice breaking tip, of the hammer body is provided with a compression spiral spring, one end, close to the ice breaking tip, of the hammer body is provided with a second power device, and an output shaft of the second power device is provided with a cam to push the hammer body to enable the ice breaking tip at one end of the hammer body to move upwards.
Further, the chassis is provided with a sleeve, the sleeve penetrates through the chassis, the upper end of the sleeve is provided with a second electromagnet, a second adsorption block which can be attracted by the second electromagnet after the second electromagnet is electrified is arranged in the sleeve in a sliding mode, and a sucker is arranged at the lower end of the second adsorption block.
Furthermore, the sleeve can rotate relative to the chassis, the chassis is provided with a third power device, the third power device drives the sleeve to rotate, and the sleeve is provided with a water gun rotating along with the sleeve.
Furthermore, the wheel contact surface is provided with a miniature sucker to increase the friction force of the wheel contact surface.
Further, the elastic member is a spring.
Further, the first power device, the second power device and the third power device are all motors.
Furthermore, the first clamping arm and the second clamping arm are both L-shaped.
Furthermore, the first adsorption block and the second adsorption block are both made of ferromagnetic materials capable of being attracted by a magnet.
Furthermore, gear transmission is adopted between the third power device and the sleeve.
By adopting the technical scheme, the invention has the beneficial effects that: in order to ensure that the ice breaking robot is attached to the metal inclined rod, the chassis of the ice breaking robot is provided with at least two clamping mechanisms at intervals along the front-back direction, the lower ends of a first clamping arm and a second clamping arm of each clamping mechanism are tightened towards the inner side of the chassis, so that the first clamping arm and the second clamping arm hold the metal inclined rod, wheels of the ice breaking robot are fully attached to the metal inclined rod, and the ice breaking robot can move on the metal inclined rod; and in the process that the ice breaking robot moves upwards along the metal inclined rod, the ice breaking mechanism positioned at the front end of the chassis breaks and removes the ice layer on the road on which the ice breaking robot moves forwards.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an ice breaking robot climbing a tower according to the invention;
FIG. 2 is a schematic structural diagram of the ice breaking robot of the present invention;
FIG. 3 is a schematic structural diagram of the ice breaking robot with the shell removed;
FIG. 4 is a front view of the ice-breaking robot of the present invention after removing the shell;
fig. 5 is a bottom view of the ice breaking robot of the present invention after removing the outer shell.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
An embodiment 1 of an ice breaking robot is shown in fig. 1-5 and comprises a chassis 1, wherein wheels 2 are arranged on the chassis and driven by a first power device 3, at least one ice breaking mechanism 4 is arranged at the front end of the chassis, at least two clamping mechanisms 5 are arranged on the chassis at intervals in the front-back direction, each clamping mechanism comprises a first clamping arm 6 and a second clamping arm 7 which are hinged to the left side and the right side of the chassis and symmetrically arranged, a first electromagnet 8 is horizontally arranged at the upper end of each first clamping arm, a first adsorption block 9 which is arranged opposite to the first electromagnet and can be attracted by the first electromagnet after the first electromagnet is electrified is arranged at the upper end of each second clamping arm, and an elastic piece 10 is arranged between the upper ends of the first clamping arm and the second clamping arm so that the lower ends of the first clamping arm and the second clamping arm are tightened towards the inner side of the chassis. As shown in fig. 1, the outer side of a tower I is a metal diagonal rod which is inclined upwards, an ice breaking robot II climbs upwards along the metal diagonal rod when climbing the tower I, and in order to ensure that the ice breaking robot is attached to the metal diagonal rod, the chassis of the ice breaking robot is provided with at least two clamping mechanisms at intervals along the front-rear direction, and the lower ends of a first clamping arm and a second clamping arm of each clamping mechanism are tightened towards the inner side of the chassis, so that the metal diagonal rod is embraced by the first clamping arm and the second clamping arm, wheels of the ice breaking robot are fully attached to the metal diagonal rod, and the ice breaking robot can move on the metal diagonal rod; and in the process that the ice breaking robot moves upwards along the metal inclined rod, the ice breaking mechanism positioned at the front end of the chassis breaks and removes the ice layer on the road on which the ice breaking robot moves forwards.
An embodiment 2 of an ice breaking robot is shown in fig. 1-5 and comprises a chassis 1, wheels 2 are arranged on the chassis, the wheels are driven by a first power device 3, at least one ice breaking mechanism 4 is arranged at the front end of the chassis, at least two clamping mechanisms 5 are arranged on the chassis at intervals along the front-back direction, each clamping mechanism comprises a first clamping arm 6 and a second clamping arm 7 which are hinged to the left side and the right side of the chassis and are symmetrically arranged, a first electromagnet 8 is horizontally arranged at the upper end of each first clamping arm, a first adsorption block 9 which is arranged opposite to the first electromagnet and can be attracted by the first electromagnet after the first electromagnet is electrified is arranged at the upper end of each second clamping arm, an elastic piece 10 is arranged between the upper ends of the first clamping arm and the second clamping arm so that the lower ends of the first clamping arm and the second clamping arm are tightened towards the inner side of the chassis, each ice breaking mechanism comprises a hammer body 11, and the hammer body is hinged, the hammer body is provided with an icebreaking tip 13, one end of the hammer body, far away from the icebreaking tip, is provided with a compression spiral spring 14, one end of the hammer body, near the icebreaking tip, is provided with a second power device 15, and an output shaft of the second power device is provided with a cam 16 for pushing the hammer body to enable the icebreaking tip at one end of the hammer body to move upwards. After the cam rotates to jack up one end, close to the ice breaking tip, of the hammer body, one end, far away from the ice breaking tip, of the hammer body moves downwards and compresses the compression spiral spring, and after the cam continues to rotate, one end, close to the ice breaking tip, of the hammer body moves downwards under the action of the compression spiral spring and beats an ice layer to break the ice layer.
An embodiment 3 of an ice breaking robot is shown in fig. 1-5, and comprises a chassis 1, wherein the chassis is provided with wheels 2, the wheels are driven by a first power device 3, the front end of the chassis is provided with at least one ice breaking mechanism 4, the chassis is provided with at least two clamping mechanisms 5 at intervals along the front-back direction, the clamping mechanisms comprise a first clamping arm 6 and a second clamping arm 7 which are hinged at the left side and the right side of the chassis and are symmetrically arranged, the upper end of the first clamping arm is horizontally provided with a first electromagnet 8, the upper end of the second clamping arm is provided with a first adsorption block 9 (not shown in the figure) which is arranged opposite to the first electromagnet and can be attracted by the first electromagnet after the first electromagnet is electrified, an elastic part 10 is arranged between the upper end of the first clamping arm and the upper end of the second clamping arm so that the lower ends of the first clamping arm and the second clamping arm are tightened towards the inner side of the chassis, the ice breaking mechanism comprises a hammer body, the hammer body is provided with an icebreaking tip 13, one end of the hammer body, far away from the icebreaking tip, is provided with a compression coil spring 14, one end of the hammer body, near the icebreaking tip, is provided with a second power device 15, an output shaft of the second power device is provided with a cam 16 for pushing the hammer body to enable the icebreaking tip at one end of the hammer body to move upwards, the chassis is provided with a sleeve 17, the sleeve penetrates through the chassis, the upper end of the sleeve is provided with a second electromagnet 18, a second adsorption block 19 (not shown in the figure) capable of being attracted by the second electromagnet after the second electromagnet is electrified is arranged in the sleeve in a sliding mode, and the lower. When the sucker is adsorbed on the metal inclined rod, the position of the ice breaking robot on the metal inclined rod can be fixed more stably, and the ice breaking robot is prevented from sliding on the metal inclined rod; when the second electromagnet is electrified, the second adsorption block can be adsorbed, so that the second adsorption block drives the sucker to move upwards, and the sucker is separated from the metal inclined rod.
An embodiment 4 of the ice breaking robot is different from embodiments 1-3 in that a sleeve can rotate relative to a chassis, the chassis is provided with a third power device 21, the third power device drives the sleeve to rotate, and the sleeve is provided with a water gun 22 rotating along with the sleeve.
An embodiment 5 of the ice breaking robot is different from the embodiments 1 to 4 in that a micro sucker is arranged on a wheel contact surface to increase the friction force of the wheel contact surface,
in other embodiments, the elastic member is a spring, the first power device, the second power device and the third power device are all motors, the first clamping arm and the second clamping arm are all L-shaped, the first adsorption block and the second adsorption block are all made of ferromagnetic materials capable of being attracted by a magnet, and the third power device and the sleeve are in gear transmission.
In other embodiments, a housing 23 is provided between the chassis and the water gun to prevent liquid sprayed from the water gun from splashing onto the chassis.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides an icebreaking robot, includes the chassis, the chassis is equipped with the wheel, the wheel passes through the drive of first power device, its characterized in that, the chassis front end is equipped with at least one icebreaking mechanism, the chassis is equipped with two at least clamping mechanism along the fore-and-aft direction interval, clamping mechanism is including articulating the first clamp arm that the chassis left and right sides just symmetry set up, the first clamp arm upper end horizontally is equipped with first electro-magnet, the second presss from both sides the first clamp arm upper end and is equipped with the first absorption piece that can be placed with first electro-magnet opposition, be attracted by first electro-magnet after first electro-magnet circular telegram, be equipped with the elastic component between first clamp arm upper end, the second clamp arm upper end so that first clamp arm, second clamp arm lower extreme tighten up to the chassis inboard.
2. The ice breaking robot as claimed in claim 1, wherein the ice breaking mechanism includes a hammer body, the hammer body is hinged to the chassis through a support, the hammer body is provided with an ice breaking tip, a compression coil spring is arranged at one end of the hammer body, which is far away from the ice breaking tip, a second power device is arranged at one end of the hammer body, which is close to the ice breaking tip, and an output shaft of the second power device is provided with a cam for pushing the hammer body to move the ice breaking tip at one end of the hammer body upwards.
3. The ice breaking robot according to claim 2, wherein the chassis is provided with a sleeve, the sleeve penetrates through the chassis, the upper end of the sleeve is provided with a second electromagnet, a second adsorption block which can be attracted by the second electromagnet after the second electromagnet is electrified is slidably arranged in the sleeve, and a suction disc is arranged at the lower end of the second adsorption block.
4. A robot as claimed in claim 3, wherein the sleeve is rotatable relative to the chassis, the chassis being provided with a third power means for rotating the sleeve, the sleeve being provided with a water gun for rotation therewith.
5. An ice-breaking robot as claimed in claim 4, wherein the wheel contact surface is provided with micro suction cups to increase the friction of the wheel contact surface.
6. The ice-breaking robot as claimed in claim 5, wherein the elastic member is a spring.
7. The ice-breaking robot as claimed in claim 6, wherein the first power device, the second power device and the third power device are all motors.
8. The ice-breaking robot of claim 7, wherein the first and second gripping arms are L-shaped.
9. The ice breaking robot of claim 8, wherein the first and second adsorption blocks are made of ferromagnetic material capable of being attracted by a magnet.
10. The ice breaking robot of claim 9, wherein the third power device is in gear transmission with the sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910791976.8A CN110588820A (en) | 2019-08-26 | 2019-08-26 | Ice breaking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910791976.8A CN110588820A (en) | 2019-08-26 | 2019-08-26 | Ice breaking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110588820A true CN110588820A (en) | 2019-12-20 |
Family
ID=68855592
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910791976.8A Pending CN110588820A (en) | 2019-08-26 | 2019-08-26 | Ice breaking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110588820A (en) |
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|---|---|---|---|---|
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
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| CN103269049A (en) * | 2013-06-09 | 2013-08-28 | 平顶山学院 | Power type ice removal device of electric power line |
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| CN107700417A (en) * | 2017-09-27 | 2018-02-16 | 成都灵感元素科技有限公司 | A kind of high efficiency road ice removing machine |
| CN107867343A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of double firefighting robots of creeping |
| CN107867346A (en) * | 2017-11-30 | 2018-04-03 | 国网河南省电力公司西峡县供电公司 | A kind of climbing level robot |
| CN207646678U (en) * | 2017-11-16 | 2018-07-24 | 熊训祥 | A kind of trash ice vehicle for road maintenance |
| CN108755553A (en) * | 2018-06-27 | 2018-11-06 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of road-surface cleaner device people |
| CN109808854A (en) * | 2018-12-27 | 2019-05-28 | 国家海洋局第一海洋研究所 | A kind of quick device for removing snow and ice of ship deck |
| CN211336221U (en) * | 2019-08-26 | 2020-08-25 | 国网河南省电力公司三门峡供电公司 | Ice breaking robot |
-
2019
- 2019-08-26 CN CN201910791976.8A patent/CN110588820A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1886904A2 (en) * | 2006-08-11 | 2008-02-13 | Ascend RMM, S.L. | Climbing cleaning robot |
| CN101195119A (en) * | 2008-01-02 | 2008-06-11 | 武汉理工大学 | Upright post cleaning robot |
| CN201750112U (en) * | 2010-07-16 | 2011-02-16 | 高帅 | High-voltage line deicer |
| CN103269049A (en) * | 2013-06-09 | 2013-08-28 | 平顶山学院 | Power type ice removal device of electric power line |
| CN204507049U (en) * | 2015-03-27 | 2015-07-29 | 湖北工业大学 | A kind of ceramic tile wall climbing robot |
| CN105128969A (en) * | 2015-07-30 | 2015-12-09 | 华中农业大学 | Pole-climbing robot |
| CN105620571A (en) * | 2016-02-23 | 2016-06-01 | 广西大学 | Climbing robot mechanism |
| TWM524893U (en) * | 2016-03-21 | 2016-07-01 | Nat Univ Chin Yi Technology | Device capable of crawling smooth vertical plane |
| CN107867343A (en) * | 2016-09-28 | 2018-04-03 | 广西大学 | A kind of double firefighting robots of creeping |
| CN106864620A (en) * | 2017-04-05 | 2017-06-20 | 西南大学 | A kind of omni-directional wheel Combined type wall surface climbing robot |
| CN107700417A (en) * | 2017-09-27 | 2018-02-16 | 成都灵感元素科技有限公司 | A kind of high efficiency road ice removing machine |
| CN207646678U (en) * | 2017-11-16 | 2018-07-24 | 熊训祥 | A kind of trash ice vehicle for road maintenance |
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