CN112474616A - Deicing robot - Google Patents
Deicing robot Download PDFInfo
- Publication number
- CN112474616A CN112474616A CN202011171707.0A CN202011171707A CN112474616A CN 112474616 A CN112474616 A CN 112474616A CN 202011171707 A CN202011171707 A CN 202011171707A CN 112474616 A CN112474616 A CN 112474616A
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- China
- Prior art keywords
- deicing
- cable
- ice
- energy storage
- assembly
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
Abstract
The invention relates to the technical field of deicing devices, and provides a deicing robot which comprises a deicing device, a deicing adjusting device and a walking device, wherein the deicing device, the deicing adjusting device and the walking device are sequentially arranged along the axial direction of a cable. The deicing device comprises a blade set and a frame. The ice skate blade set comprises a plurality of ice skate blades, each ice skate blade can independently move along the radial direction of a cable, the deicing adjusting device comprises a driving mechanism, a guide rail, a telescopic deformation energy storage assembly and a transmission assembly, and one end, far away from the transmission assembly, of the telescopic deformation energy storage assembly is connected to the frame. The enclosing range of each sub ice blade is adjusted according to the diameter of the cable, so that the universality of the deicing robot is improved. The flexible deformation energy storage subassembly can follow the flexible deformation of guide rail direction and carry out the energy storage, and when the secondary was strikeed, the energy storage release to increase each son skates and to the impact on ice layer, improve deicing efficiency greatly, and can face the ice layer of different hardness.
Description
Technical Field
The invention relates to the technical field of deicing devices, and particularly provides a deicing robot.
Background
The cable surface of the cable-stayed bridge in a cold area is easy to freeze, icing can not only damage the cable, but also cause safety threat to vehicles and pedestrians on the bridge due to accidental falling of the ice skate, and therefore the cable-stayed bridge needs to be periodically deiced. The deicing robot can replace workers to perform deicing maintenance work, and the working efficiency is greatly improved.
However, the existing deicing robot has the following disadvantages: firstly, the ice skate blade can not be adjusted to the impact force size of icing, and deicing is inefficient when icing is harder, and secondly, cable diameter size nonconformity, deicing robot are difficult to adapt to and deposit clean dead angle, finally lead to the deicing not thorough.
Disclosure of Invention
The invention aims to provide a deicing robot, and aims to solve the problems of low deicing efficiency and poor deicing adaptability of the conventional deicing robot.
In order to achieve the purpose, the invention adopts the technical scheme that: a deicing robot comprises a deicing device, a deicing adjusting device and a walking device which are sequentially arranged along the axial direction of a cable, the deicing device comprises an ice blade group sleeved on the circumferential outer wall of the cable and a frame which is arranged around the ice blade group and connected with the ice blade group, the ice skate blade group comprises a plurality of sub ice skate blades which are circumferentially distributed by taking the central axis of the cable as a central line, each sub ice skate blade can independently move along the radial direction of the cable, the deicing adjusting device comprises a driving mechanism and a guide rail which are fixedly connected with the walking device, a telescopic deformation energy storage assembly which is connected with the guide rail in a sliding way, and a transmission assembly of which one end is connected with the telescopic deformation energy storage assembly and the other end is connected with the driving mechanism, the telescopic deformation direction of the telescopic deformation energy storage assembly is parallel to the long edge direction of the guide rail, and one end of the telescopic deformation energy storage assembly, which is far away from the transmission assembly, is connected to the frame.
In one embodiment, the telescopic deformation energy storage assembly comprises a first sliding block and a second sliding block which are arranged at intervals and are both connected to the guide rail in a sliding mode, and a deformation telescopic piece arranged between the first sliding block and the second sliding block, wherein the first sliding block is fixedly connected to the frame, and the second sliding block is connected to the transmission assembly.
In one embodiment, the transmission assembly includes a crank connected to the driving mechanism and a connecting rod having one end connected to the crank and the other end connected to the second slider.
In one embodiment, the sub-ice blade includes an ice blade body and a deicing structure provided on the ice blade, the deicing structure extending in an axial direction of the cable.
In one embodiment, the deicing device includes a distance adjustment mechanism for connecting the corresponding ice blades, the distance adjustment mechanism includes a first guide post disposed on the frame, a first guide plate sleeved on the first guide post, and a first adjusting screw having one end screwed to the first guide plate and the other end penetrating through the frame to the outside, and the first guide plate is connected to the corresponding ice blade.
In one embodiment, the traveling device includes a housing sleeved outside the cable, a traveling mechanism disposed in the housing and abutting against the cable, and an adjusting component mounted on the housing and having one end connected to the corresponding traveling mechanism, wherein the adjusting component drives the traveling mechanism to move toward or away from the cable.
In one embodiment, the walking device further comprises a buffer component, one end of the buffer component is connected to the adjusting component, and the other end of the buffer component is connected to the walking mechanism.
In one embodiment, the running mechanism includes two fixing plates arranged along the axial direction of the cable at intervals, rollers pivoted on the corresponding fixing plates, a belt wound between the two rollers, a running driving mechanism arranged between the two fixing plates, and a running transmission mechanism with one end connected to the output end of the running driving mechanism, and the other end of the running transmission mechanism is connected to one of the rollers.
In one embodiment, the traveling transmission mechanism includes a gear box connected to an output end of the traveling drive mechanism, a first synchronous pulley connected to an output end of the gear box, a second synchronous pulley rotating coaxially with one of the rollers, a transmission belt wound around the first synchronous pulley and the second synchronous pulley, and a tension pulley for adjusting tightness of the transmission belt, and the tension pulley abuts against the transmission belt.
In one embodiment, the deicing robot further comprises a video acquisition mechanism for acquiring deicing image information of each sub-ice blade, and the video acquisition mechanism is mounted on the shell.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions 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 it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a deicing robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a deicing regulating device of a deicing robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a deicing device of a deicing robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a sub-blade of the deicing robot according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a walking device of the deicing robot according to the embodiment of the invention;
FIG. 6 is a schematic structural diagram of a walking mechanism and an adjusting assembly of the deicing robot according to the embodiment of the invention;
fig. 7 is an exploded view of a traveling mechanism of the deicing robot according to the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating 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 the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 4, a deicing robot according to the present application includes a deicing device 10, a deicing adjustment device 20, and a traveling device 30, which are sequentially arranged in an axial direction of a cable 100. The deicing device 10 includes an ice blade set 11 sleeved on the circumferential outer wall of the cable 100 and a frame 12 surrounding the ice blade set 11 and connected to the ice blade set 11. Here, the frame 12 is used to fixedly support the iceblade set 11 so that it can be stably enclosed in the circumferential outer wall of the cable 100. The ice blade set 11 comprises a plurality of sub ice blades 111 which are circumferentially distributed by taking the central axis of the cable 100 as a central line, each sub ice blade 111 can independently move along the radial direction of the cable 100, the deicing adjusting device 20 comprises a driving mechanism 21 and a guide rail 22 which are fixedly connected to the walking device 30, a telescopic deformation energy storage assembly 23 which is slidably connected to the guide rail 22 and a transmission assembly 24 of which one end is connected to the telescopic deformation energy storage assembly 23 and the other end is connected to the driving mechanism 21, the telescopic deformation direction of the telescopic deformation energy storage assembly 23 is parallel to the long edge direction of the guide rail 22, and one end, far away from the transmission assembly 24, of the telescopic deformation energy storage assembly 23 is connected to the frame. As can be appreciated, the energy storage assembly 23 can compress to store kinetic energy and extend to release kinetic energy in the guiding direction of the guide rail 22, so as to increase the impact force of the corresponding sub-ice blade 111 on the ice layer to adapt to the ice layers with different hardness.
The deicing robot provided by the invention works as follows: the deicing robot is installed on a cable 100 to be deiced, the deicing device 10 is located at the front end of the overall apparatus, the traveling device 30 is the rear end of the overall apparatus, and the deicing adjustment device 20 is used to connect the deicing device 10 and the traveling device 30. When the deicing robot is installed, each sub-ice blade 111 of the ice blade set 11 is arranged around the circumferential outer wall of the cable 100, and the arrangement range of each sub-ice blade 111 can be adjusted according to the diameter of the cable 100, so that the universality of the deicing robot is improved. During the deicing process, the traveling device 30 provides a driving force, and the deicing adjustment device 20 provides a deicing power of the ice blade 111. Specifically, under actuating mechanism 21's power take off, transmission assembly 24 transmits power to flexible deformation energy storage assembly 23, flexible deformation energy storage assembly 23 transmits to the sub-skates 111 that corresponds again, make sub-skates 111 obtain the impact force of assaulting the ice sheet, thereby cause the destruction to the ice sheet that condenses on cable 100, however, when ice sheet hardness is higher, each sub-skates 111 can't accomplish under an impact action and break ice, so, flexible deformation energy storage assembly 23 can follow the flexible deformation of guide rail 22 direction and carry out the energy storage, when the secondary is strikeed, the energy storage release, thereby increase the impact of each sub-skates 111 to the ice sheet, improve deicing efficiency greatly, and can face the ice sheet of different hardnesses.
Referring to fig. 1 to 3, in an embodiment, the telescopic deformation energy storage assembly 23 includes a first slider 231 and a second slider 232 that are disposed at intervals and are both slidably connected to the guide rail 22, and a deformation telescopic member 233 disposed between the first slider 231 and the second slider 232, wherein the first slider 231 is fixedly connected to the frame 12, and the second slider 232 is connected to the transmission assembly 24. It can be understood that the power driving the driving mechanism 21 is output to the second slider 232 through the transmission assembly 24, and then the second slider 232 transmits the power to the first slider 231 through the deformable telescopic member 233, and finally, drives each of the sub-blades 111 in the frame 12 to move toward the ice layer. Here, the deformable telescopic member 233 includes a guide post 2331 and an elastic member 2332 sleeved outside the guide post 2331, for example, the elastic member 2332 is a spring, and here, the guide post 2331 and the elastic member 2332 are both elastically deformable in the guide direction of the guide rail 22, so that the requirement of energy storage by the elastic deformation is satisfied
Specifically, referring to fig. 1 to 3, in one embodiment, the transmission assembly 24 includes a crank 241 connected to the driving mechanism 21 and a connecting rod 242 having one end connected to the crank 241 and the other end connected to the second slider 232. It will be appreciated that the transmission assembly 24 is a crank-link mechanism, the driving mechanism 21 is a motor, and the crank 241 is connected to the output end of the motor, and the connecting rod 242 converts the axial rotation of the output end of the motor into the linear movement of the second slider 232 along the guide rail 22. Specifically, the crank 241 rotates one circle around the axial direction of the output end of the motor, and the connecting rod 242 pushes the second slider 232 to slide on the guide rail 22 for one stroke, and the stroke is transmitted to the first slider 231 through the deformation expansion piece 233, so that the frame 12 drives the corresponding sub-ice blade 111 to impact the ice layer, which is one impact cycle. When the ice layer is hard, when the ice layer can not be broken through in an impact period, the crank 241 drives the connecting rod 242 to pull back the second slider 232, the deformation telescopic piece 233 and the first slider 231, namely, the second slider is far away from the ice layer, and in the pulling back process, the deformation telescopic piece 233 is extruded, so that in the next impact period, the kinetic energy stored by the telescopic piece is released, and the impact force of each sub ice skate 111 is increased to deal with the ice layer with the higher hardness. Of course, the driving mechanism 21 may be a cylinder extending and contracting along the guiding direction of the guide rail 22, and the transmission mechanism may be a transmission rod disposed along the guiding direction of the guide rail 22. Namely, one telescopic action of the output end of the air cylinder is one impact period.
Referring to fig. 1 to 4, in one embodiment, the sub-ice blade 111 includes an ice blade body 1111 and an ice removing structure 1112 provided on the ice blade, and the ice removing structure 1112 extends along the axial direction of the cable 100. As can be appreciated, since the ice blade body 1111 surrounds the circumferential outer wall of the cable 100, the ice blade body 1111 has an arc shape in order to ensure the degree of fit with the cable 100. Since the sub-ice blade 111 impacts the ice layer in the axial direction of the cable 100, the deicing structure 1112 is provided at an end of the blade body 1111 toward the ice layer, i.e., at a front end thereof, and a rear end thereof where the deicing structure 1112 is not provided. Since the ice layer is broken by the impact force, the deicing structure 1112 has a needle-like structure, and the ice layer is broken by the piercing force of the needle-like structure, which may be a shovel-like structure. Preferably, referring to the drawings, the height from the front end of the ice blade body 1111 to the cable 100 is less than the height from the rear end of the ice blade body 1111 to the cable 100, so that the ice blade group 11 enclosed by the ice blade bodies 1111 has a structure of small front and large rear, and when ice is removed, once the front end of the ice blade body 1111 is inserted into the ice layer, the ice layer can be arched from the cable 100 by using the inclined ice blade body 1111, that is, an outward force is applied to the ice layer in the radial direction of the cable 100, thereby further improving the ice removal effect.
Referring to fig. 1 to 3, in an embodiment, the deicing device 10 includes a distance adjustment mechanism 13 for connecting the corresponding ice blades 111, the distance adjustment mechanism 13 includes a first guide post 131 disposed on the frame 12, a first guide plate 132 sleeved on the first guide post 131, and a first adjusting screw 133 having one end screwed to the first guide plate 132 and the other end screwed to the frame 12, the first guide plate 132 is connected to the corresponding ice blade 111. It will be appreciated that the pitch adjustment mechanism 13 enables the corresponding sub-skates 111 to be moved in a radial direction along the cable 100, thereby accommodating cables 100 of different diameters. Specifically, each first guide post 131 is disposed along the radial direction of the cable 100, the first guide plate 132 is moved toward or away from the cable 100 under the guidance of each first guide post 131, thereby moving the sub-ice blade 111, and, in terms of power, the first guide plate 132 is slid along the guiding direction by rotating the first adjusting screw 133, and under the limiting action of the first guide post 131, the first guide plate 132 does not rotate with the first adjusting screw 133 but moves along the guiding direction, similar to a screw rod structure. Meanwhile, in order to improve the rotation accuracy of the first adjusting screw 133, an adjusting handle is provided at one end of the first adjusting screw 133.
Preferably, referring to fig. 1 and 3, in the present embodiment, the ice blade set 11 is formed by two sub-ice blades 111, that is, the two sub-ice blades 111 are mirror-symmetrical, so as to enclose the ice blade set 11 in a hollow structure. Of course, according to actual needs, the number of the sub-blades 111 may be increased, and the distance adjusting mechanism 13 corresponding to each sub-blade 111 may also be increased correspondingly.
Optionally, referring to fig. 3, in the present embodiment, the frame 12 is enclosed by a plurality of frame plates 121 to form a closed structure. Here, the frame plate 121 provides a supporting function for the pitch adjusting assembly, and thus, in order to accommodate a plurality of pitch adjusting assemblies, the number of frame plates 121 may also be increased.
Referring to fig. 1, 2, 5 and 6, in one embodiment, the traveling device 30 includes a housing 31 sleeved outside the cable 100, a traveling mechanism 32 disposed in the housing 31 and abutting against the cable 100, and an adjusting component 33 mounted on the housing 31 and having one end connected to the corresponding traveling mechanism 32, wherein the adjusting component 33 drives the traveling mechanism 32 to move toward or away from the cable 100. It will be appreciated that the housing 31 is hollow to accommodate walking requirements and has openings at each end for the cables 100 to pass through. Meanwhile, the running gear 32 is installed in the housing 31, and the distance from the corresponding running gear 32 to the cable 100 is changed by the adjusting assembly 33, thereby accommodating the cables 100 of different diameters. Thus, the entire running gear 30 is moved forward or backward on the cable 100 by the friction force between the running gear 32 and the cable 100. Here, the adjusting unit 33 may have the same structure as the distance adjusting unit or may have a different structure. In this embodiment, the adjusting assembly 33 includes a second guide post 331 disposed on the housing 31, a second guide plate 332 sleeved on the second guide post 331, and a second adjusting screw 333 having one end screwed to the second guide plate 332 and the other end screwed to the housing 31, wherein the second guide plate 332 is connected to the corresponding traveling mechanism 32. It will be appreciated that the adjustment mechanism enables the corresponding running gear 32 to move in a radial direction along the cable 100, thereby accommodating cables 100 of different diameters. Specifically, each second guide post 331 is disposed along the radial direction of the cable 100, the second guide plate 332 moves towards or away from the cable 100 under the guidance of each second guide post 331 so as to drive the traveling mechanism 32 to move, and, in terms of power, the second guide plate 332 slides along the guidance direction by rotating the second adjusting screw 333, and under the limiting action of the second guide post 331, the second guide plate 332 does not rotate along with the second adjusting screw 333, but moves along the guidance direction, similar to a screw rod structure. Meanwhile, in order to improve the rotation accuracy of the second adjustment screw 333, an adjustment knob is provided at one end of the second adjustment screw 333.
Referring to fig. 5 and 6, in one embodiment, the walking device 30 further includes a buffer assembly 34, one end of the buffer assembly 34 is connected to the adjusting assembly 33 and the other end is connected to the walking mechanism 32. Here, the buffer assembly 34 includes a buffer column 341 and a buffer member 342, wherein one end of the buffer column 341 is connected to the traveling mechanism 32, and the other end of the buffer column is directed to the second guide plate 332, and one end of the buffer member 342 is connected to the second guide plate 332, and the other end of the buffer member is connected to the buffer column 341. Thus, the buffer 342 prevents the traveling mechanism 32 and the adjusting assembly 33 from being in hard contact with each other and damaged.
Referring to fig. 5 to 7, in an embodiment, the traveling mechanism 32 includes two fixing plates 321 disposed along the axial direction of the cable 100 at intervals, rollers 322 pivoted to the corresponding fixing plates 321, a belt 323 wound between the two rollers 322, a traveling driving mechanism 324 disposed between the two fixing plates 321, and a traveling transmission mechanism 325 having one end connected to an output end of the traveling driving mechanism 324, wherein the other end of the traveling transmission mechanism 325 is connected to one of the rollers 322. It can be understood that the walking driving mechanism 324 outputs power to the roller 322 through the walking transmission mechanism 325, so as to drive the roller 322 to rotate, and finally drive the belt 323 to rotate around the two rollers 322, wherein the belt 323 directly contacts with the cable 100 and moves relatively.
Preferably, referring to fig. 5, in the present embodiment, the number of the traveling mechanisms 32 is three, and the traveling mechanisms are circumferentially and equally spaced around the central axis of the cable 100. Thus, the forces applied to the cable 100 by the traveling mechanisms 32 are equal, so that the entire traveling device 30 is kept parallel to the proceeding direction of the cable 100, thereby improving the stability during traveling. Of course, the number of travel mechanisms 32 may be increased or decreased depending on the actual use requirements.
Referring to fig. 5 to 7, in one embodiment, the walking transmission mechanism 325 includes a gear box 3251 connected to an output end of the walking driving mechanism 324, a first timing pulley 3252 connected to an output end of the gear box 3251, a second timing pulley 3253 coaxially rotating with one of the rollers 322, a driving belt 3254 wound around the first timing pulley 3252 and the second timing pulley 3253, and a tension pulley 3255 for adjusting tightness of the driving belt 3254, wherein the tension pulley 3255 abuts against the driving belt 3254. It will be appreciated that the power of the travel drive mechanism 324 is transmitted to the first timing pulley 3252 through the gear box 3251, where the advantage of the gear box 3251 can change the output direction of the travel drive mechanism 324. The first timing pulley 3252 transmits power to the second timing pulley 3253 via a transmission belt 3254, and finally rotates one of the rollers 322. The tension pulley 3255 can transmit the degree of tightness of the belt 3254. Specifically, a tension pulley 3255 is mounted on the gear case 3251.
Referring to fig. 1, in an embodiment, the deicing robot further includes a video capturing mechanism 40 for capturing deicing image information of each sub-blade 111, and the video capturing mechanism 40 is mounted on the housing 31. In order to remotely monitor the whole deicing process, video image information in the deicing process is acquired through the video acquisition mechanism 40, and especially when special conditions occur, the walking device 30 can be remotely controlled to move forwards or backwards, or the output power of the driving mechanism 21 of the deicing regulating device 20 can be remotely controlled.
Referring to fig. 1, in one embodiment, the deicing robot includes a power pack 50, the power pack 50 being disposed on the housing 31 and supplying power to the walking device 30 and the deicing adjustment device 20.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A deicing robot, characterized in that: comprises a deicing device, a deicing adjusting device and a walking device which are sequentially arranged along the axial direction of a cable, the deicing device comprises an ice blade group sleeved on the circumferential outer wall of the cable and a frame which is arranged around the ice blade group and connected with the ice blade group, the ice skate blade group comprises a plurality of sub ice skate blades which are circumferentially distributed by taking the central axis of the cable as a central line, each sub ice skate blade can independently move along the radial direction of the cable, the deicing adjusting device comprises a driving mechanism and a guide rail which are fixedly connected with the walking device, a telescopic deformation energy storage assembly which is connected with the guide rail in a sliding way, and a transmission assembly of which one end is connected with the telescopic deformation energy storage assembly and the other end is connected with the driving mechanism, the telescopic deformation direction of the telescopic deformation energy storage assembly is parallel to the long edge direction of the guide rail, and one end of the telescopic deformation energy storage assembly, which is far away from the transmission assembly, is connected to the frame.
2. Deicing robot according to claim 1, characterized in that: flexible deformation energy storage subassembly sets up and equal sliding connection including the interval in first slider and second slider on the guide rail, locate first slider with deformation extensible member between the second slider, first slider fixed connection in the frame, the second slider connect in transmission assembly.
3. Deicing robot according to claim 2, characterized in that: the transmission assembly comprises a crank connected to the driving mechanism and a connecting rod, one end of the connecting rod is connected to the crank, and the other end of the connecting rod is connected to the second sliding block.
4. Deicing robot according to claim 1, characterized in that: the sub ice skate comprises an ice skate body and a deicing structure arranged on the ice skate, and the deicing structure extends along the axial direction of the cable.
5. Deicing robot according to claim 1, characterized in that: the deicing device comprises a distance adjusting mechanism used for being connected with the corresponding ice skates, the distance adjusting mechanism comprises a first guide post arranged on the frame, a first guide plate sleeved on the first guide post and a first adjusting screw rod, one end of the first adjusting screw rod is in threaded connection with the first guide plate, the other end of the first adjusting screw rod penetrates through the frame to the outside, and the first guide plate is connected with the corresponding ice skates.
6. Deicing robot according to any one of claims 1 to 5, characterized in that: the walking device comprises a shell sleeved on the outer side of the cable, a walking mechanism arranged in the shell and abutted against the cable, and an adjusting component arranged on the shell, wherein one end of the adjusting component is connected with the corresponding walking mechanism, and the adjusting component drives the walking mechanism to move towards or away from the cable.
7. Deicing robot according to claim 6, characterized in that: the walking device further comprises a buffer assembly, one end of the buffer assembly is connected to the adjusting assembly, and the other end of the buffer assembly is connected to the walking mechanism.
8. Deicing robot according to claim 6, characterized in that: the running mechanism comprises two fixing plates which are arranged along the axial direction of the cable at intervals, rollers which are pivoted on the corresponding fixing plates, a belt wound between the two rollers, a running driving mechanism arranged between the two fixing plates and a running transmission mechanism, one end of the running transmission mechanism is connected with the output end of the running driving mechanism, and the other end of the running transmission mechanism is connected with one of the rollers.
9. Deicing robot according to claim 8, characterized in that: the walking transmission mechanism comprises a gear box connected to the output end of the walking driving mechanism, a first synchronous pulley connected to the output end of the gear box, a second synchronous pulley coaxially rotating with one of the rollers, a transmission belt wound around the first synchronous pulley and the second synchronous pulley, and a tension pulley used for adjusting the tightness of the transmission belt, wherein the tension pulley abuts against the transmission belt.
10. Deicing robot according to claim 6, characterized in that: the deicing robot further comprises a video acquisition mechanism for acquiring deicing image information of the sub ice blades, and the video acquisition mechanism is mounted on the shell.
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| CN202011171707.0A CN112474616A (en) | 2020-10-28 | 2020-10-28 | Deicing robot |
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| CN202011171707.0A CN112474616A (en) | 2020-10-28 | 2020-10-28 | Deicing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113595013A (en) * | 2021-09-30 | 2021-11-02 | 启东晶尧光电科技有限公司 | Cable deicing equipment |
| CN114006340A (en) * | 2021-11-11 | 2022-02-01 | 中国南方电网有限责任公司超高压输电公司百色局 | Electric wire deicing device |
| CN114657899A (en) * | 2022-02-23 | 2022-06-24 | 湖北工业大学 | Cable deicing robot |
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| KR20200062880A (en) * | 2018-11-27 | 2020-06-04 | 동아대학교 산학협력단 | Robot for Removing Ice And Snow on Transmission Line |
| CN109449857A (en) * | 2018-12-29 | 2019-03-08 | 国家电网有限公司 | Transmission line deicer |
| CN110924300A (en) * | 2019-12-10 | 2020-03-27 | 中国科学院深圳先进技术研究院 | Deicing robot |
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| CN113595013A (en) * | 2021-09-30 | 2021-11-02 | 启东晶尧光电科技有限公司 | Cable deicing equipment |
| CN113595013B (en) * | 2021-09-30 | 2021-12-07 | 启东晶尧光电科技有限公司 | Cable deicing equipment |
| CN114006340A (en) * | 2021-11-11 | 2022-02-01 | 中国南方电网有限责任公司超高压输电公司百色局 | Electric wire deicing device |
| CN114006340B (en) * | 2021-11-11 | 2024-04-02 | 中国南方电网有限责任公司超高压输电公司百色局 | Wire deicing device |
| CN114657899A (en) * | 2022-02-23 | 2022-06-24 | 湖北工业大学 | Cable deicing robot |
| CN114657899B (en) * | 2022-02-23 | 2024-01-30 | 湖北工业大学 | Cable deicing robot |
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