CN115663736B - Obstacle-surmounting deicing robot, obstacle-surmounting method and deicing method thereof - Google Patents
Obstacle-surmounting deicing robot, obstacle-surmounting method and deicing method thereof Download PDFInfo
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Abstract
The invention discloses an obstacle crossing deicing robot and an obstacle crossing deicing method and a deicing method thereof, wherein the obstacle crossing deicing robot comprises a frame 1, an impact deicing mechanism, an obstacle crossing mechanism, a monitoring mechanism, a control system and a power supply system, the impact deicing mechanism is arranged above the frame in a sliding manner, the impact deicing mechanism comprises a deicing punch, a transmission shaft used for connecting the deicing punch and a rotation shaft used for realizing rotation of the deicing punch, the obstacle crossing mechanism comprises a travelling mechanism and a clamping and fixing mechanism arranged below the travelling mechanism, the travelling mechanism comprises a travelling wheel and a travelling wheel driving motor, the clamping and fixing mechanism comprises a clamping wheel assembly and an electric push rod, and the obstacle crossing mechanism is matched with the impact deicing mechanism to remove cable ice. The obstacle-surmounting deicing robot, the obstacle-surmounting deicing method and the deicing method thereof have good deicing effects, prevent the obstacle-surmounting deicing robot from being blocked in the deicing process, realize effective obstacle surmounting, and are beneficial to keeping the stability of the obstacle-surmounting deicing robot on a ground wire.
Description
Technical Field
The invention relates to the technical field of power line fault maintenance, in particular to an obstacle-surmounting deicing robot, an obstacle-surmounting method and a deicing method.
Background
In recent years, the icing disasters of the large-area power transmission line in China frequently occur, and the power transmission line is seriously iced by extreme weather such as wind, snow, freezing rain and the like in Guizhou, jiangxi, zhejiang, henan, shaanxi and the like, so that accidents such as broken lines, collapse, icing flashover and the like are caused. At present, under the condition of icing, the direct-current deicing mode is adopted to effectively solve the problem that the wire icing can be effectively solved, and the ground wire cannot be solved by adopting the direct-current deicing mode due to different connection modes, and only natural deicing and manual deicing modes can be adopted. If the weather condition is poor or ice is continuously covered, the ground wire is extremely likely to be broken, so that the circuit is out of service, and the rush repair is difficult and the process is complex. For severe wire icing, manual online deicing is generally most effective, but manual deicing is very dangerous and has low efficiency. Therefore, the ground wire deicing robot has great application prospect and can bring social benefit and economic benefit.
At present, different types of transmission line deicing robots exist at home and abroad, can complete deicing tasks to a certain extent, have certain obstacle crossing capability, but still have the problems of blocking or poor deicing effect when facing serious ice coating of the ground wire, and can not effectively cross obstacles when facing the problems of double hanging points, triangular connecting plates, incapability of rigidly connecting adjacent ground wires and the like in the obstacle crossing process, so that the problem is imperative to be solved in order to improve the maintenance efficiency and the intelligent degree of the power line.
Disclosure of Invention
The invention provides the obstacle crossing deicing robot, the obstacle crossing deicing method and the deicing method thereof, which have good deicing effects, avoid the obstacle crossing deicing robot from being blocked in the deicing process, realize effective obstacle crossing and are beneficial to keeping the stability of the obstacle crossing deicing robot on the ground wire.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
an obstacle-surmounting deicing robot comprises a frame,
the impact deicing mechanism is arranged above the frame in a sliding manner and comprises a deicing punch, a transmission shaft used for connecting the deicing punch and a rotation shaft used for realizing the rotation of the deicing punch;
the obstacle crossing mechanism comprises a traveling mechanism and a clamping and fixing mechanism arranged below the traveling mechanism, the traveling mechanism comprises a traveling wheel arranged at the top of the frame, the clamping and fixing mechanism comprises a clamping wheel assembly and an electric push rod for driving the clamping wheel assembly to slide on the frame, the traveling wheels are arranged in pairs, the impact deicing mechanism is arranged between the two traveling wheels in pairs, and the obstacle crossing mechanism and the impact deicing mechanism are matched to remove cable ice;
The driving system comprises a deicing driving assembly for driving the deicing mechanism and a traveling wheel driving motor for driving the traveling wheel to rotate;
the monitoring mechanism comprises a camera fixed on the frame;
the control system is used for controlling the working states of the obstacle surmounting mechanism and the impact deicing mechanism;
and the power supply system is used for providing power supply for the impact deicing mechanism, the obstacle surmounting structure, the monitoring mechanism, the control system and the driving system.
Preferably, deicing punches are arranged at two ends of the transmission shaft, the deicing driving assembly comprises a first deicing motor used for driving the transmission shaft to rotate and a second deicing motor used for driving the rotation shaft to rotate, and the second deicing motor drives the rotation shaft to rotate so that the angle of the deicing punches changes.
Preferably, the frame includes camera support, protection subassembly, and protection subassembly includes electric box, protection upper plate, the protection upper plate is located electric box top, protection upper plate slope sets up.
Preferably, the travelling wheels comprise a first travelling wheel and a second travelling wheel, the travelling wheel driving motor comprises a first driving motor for driving the first travelling wheel and a second driving motor for driving the second travelling wheel, and the first travelling wheel and the second travelling wheel are respectively arranged on two sides of the impact deicing mechanism.
Preferably, the first travelling wheel and the second travelling wheel are respectively provided with an inner layer groove and an outer layer groove, the inner layer grooves are used for wrapping the ground wires, and the outer layer grooves are used for being matched with the clamping and fixing mechanism to clamp the cables.
Preferably, the clamping wheel assembly comprises a first clamping wheel assembly arranged below the first travelling wheel and a second clamping wheel assembly arranged below the second travelling wheel, the electric push rod comprises a first electric push rod used for pushing the first clamping wheel assembly to slide on the frame and a second electric push rod used for pushing the second clamping wheel assembly to slide on the frame, the first clamping wheel assembly comprises a first clamping wheel and a first supporting seat, the first clamping wheel is arranged in pairs, the first supporting seat is used for fixing the first clamping wheel, and the second clamping wheel assembly comprises a second clamping wheel and a second supporting seat, the second clamping wheel is arranged in pairs, and the second supporting seat is used for fixing the second clamping wheel.
Preferably, the obstacle-surmounting deicing robot further comprises an obstacle-surmounting auxiliary clamping mechanism, the obstacle-surmounting auxiliary clamping mechanism comprises an auxiliary support, a third clamping wheel assembly and a linkage structure, the third clamping wheel assembly is arranged on the auxiliary support in a sliding mode, the linkage structure comprises a first connecting rod and a rotating rod, the auxiliary support is provided with a sliding rail, two ends of the first connecting rod are respectively connected with the third clamping wheel assembly and the second clamping wheel assembly in a rotating mode, one end of the rotating rod is connected to the first connecting rod in a rotating mode, the other end of the rotating rod is arranged in the sliding rail of the auxiliary support in a sliding mode, and an elastic clamping piece used for clamping the rotating rod is arranged at the upper end of the sliding rail.
Preferably, when the second clamping wheel rises to a state of being embedded in the second travelling wheel, the rotating rod is clamped at the upper end of the sliding rail through the elastic clamping piece, and the third clamping wheel assembly rises along with the falling of the second clamping wheel assembly or falls along with the rising of the second clamping wheel assembly.
In order to achieve the aim of the invention, the invention adopts another technical scheme that: a deicing method of an obstacle surmounting deicing robot is provided, and deicing work is carried out by the obstacle surmounting deicing robot, and the method comprises the following steps:
step one: the obstacle crossing deicing robot enters an ice-covered ground wire, and the impact deicing mechanism adjusts an inclination angle according to the thickness of ice covered below the ground wire detected by the monitoring mechanism;
step two: the obstacle-surmounting deicing robot enters a deicing working state;
step three: the first travelling wheel enters the ground wire, the whole obstacle-surmounting deicing robot is completely suspended on the ground wire, and the angle of the impact deicing mechanism is adjusted to enable the deicing punch to vertically impact the ice layer below the ground wire;
step four: the second travelling wheel enters the ground wire, and the second clamping wheel assembly ascends through the second electric push rod to be matched with an external groove of the second travelling wheel to clamp the ground wire, so that the obstacle-surmounting deicing robot is kept stable;
Step five: the first travelling wheel provides power to drive the obstacle surmounting deicing robot to advance, and the residual ice layer on the surface of the ground wire is rolled and deicing through the second travelling wheel, so that deicing work on the ice-covered ground wire is completed.
The obstacle crossing deicing robot is used for performing obstacle crossing work, and comprises the following steps:
s1: an auxiliary obstacle crossing track is arranged on the tangent tower and comprises a section A, a section B, a section C, a section D and a section E;
s2: in the climbing stage, the obstacle-crossing deicing robot passes through the section A of an auxiliary obstacle-crossing track which is not mechanically connected with the ground wire, a first clamping wheel and a second clamping wheel are respectively embedded in a first travelling wheel and a second travelling wheel, and a first driving motor and a second driving motor respectively drive the first travelling wheel and the second travelling wheel to rotate so as to enable the first travelling wheel and the second travelling wheel to provide power;
s3: in the turning stage, the obstacle crossing deicing robot needs to cross the B section of the auxiliary obstacle crossing track, bending radians exist at the joint of the A section and the B section and the joint of the B section and the C section, and the first electric push rod and the second electric push rod respectively control the first clamping wheel assembly and the second clamping wheel assembly to descend so as to conveniently cross an obstacle;
S4: in the straight line stage, the obstacle-crossing deicing robot needs to cross the C section of the auxiliary obstacle-crossing track, and forward power is provided by the first traveling wheel and the second traveling wheel;
s5: in the turning stage, the obstacle-crossing deicing robot needs to cross the D section of the auxiliary obstacle-crossing track, and bending radians exist at the joint of the C section and the D section and the joint of the D section and the E section, and the first travelling wheel and the second travelling wheel provide advancing power;
s6: and in the line entering stage, the obstacle-surmounting deicing robot surmounts the E section of the auxiliary obstacle-surmounting track, enters the ground line again and surmounts the obstacle.
Therefore, the invention has the following beneficial effects:
(1) The deicing robot has good deicing effect, avoids the jam of the obstacle-surmounting deicing robot in the deicing process, and realizes effective obstacle surmounting;
(2) The travelling wheel adopts a double-groove anti-skid design, the travelling wheel is provided with a double-layer groove, the inner-layer groove is used for effectively wrapping the ground wire, and the outer-layer groove and the clamping wheel are used for wrapping and clamping the ground wire ice covering body together, so that the deicing robot can be stably suspended on the ground wire for removing ice covering, and can also be stably suspended on the ground wire for removing ice covering or no ice, and no wire falling and normal travelling can be caused; in addition, the travelling wheel can grind off the ice layer on the upper layer of the ground wire by utilizing the characteristics of large depth of the inner groove and anti-skid lines on the surface, and has a deicing function;
(3) A certain inclination angle is formed between the protective upper plate and the top plate of the electric box body, and an ice layer falling off by the ground wire can slide along the protective upper plate of the frame, so that the falling ice layer is prevented from being accumulated on the obstacle surmounting deicing robot, the weight of the obstacle surmounting deicing robot is reduced, and the load of the ground wire is further reduced;
(4) The deicing punch of the impact deicing mechanism adopts a flat-mouth design, so that the contact area between the deicing punch and the surface of an ice layer is increased, the acting force can be increased, and the acting force of the knocking mode is different from the knocking mode of other spring impact deicing mechanisms, and has the characteristics of discontinuous size and unstable direction;
(5) The deicing punch is acted below the ground wire, vertically impacts the ice layer below the ground wire, most of the ice layer can be removed by utilizing the ice coating mechanical property of the ground wire, and the rest ice layer on the upper surface of the ground wire is ground by the travelling wheel, so that a combined deicing method combining impact deicing and grinding deicing is realized; under the condition that the lower surface of the ground wire is severely covered with ice, the impact deicing mechanism can rotate by an angle, so that the deicing robot is conveniently on line, and the deicing robot is prevented from being blocked on the ground wire;
(6) The clamping mechanism keeps the deicing robot stable, the travelling mechanism provides advancing power to provide a stable deicing environment for the impact deicing mechanism, and the three mechanisms are mutually matched to jointly complete deicing work;
(7) The linkage structure enables the third clamping wheel assembly and the second clamping wheel assembly to achieve synchronous lifting through the linkage structure, when an obstacle is encountered, the second clamping wheel assembly descends firstly, and under the action of the linkage structure, the third clamping wheel assembly ascends until the third clamping wheel assembly and the second travelling wheel are clamped in an up-down staggered mode, so that stability of the obstacle-surmounting deicing robot on a ground wire or an auxiliary obstacle-surmounting mechanism is maintained.
Drawings
FIG. 1 is a schematic structural view of an obstacle surmounting deicing robot;
FIG. 2 is a schematic view of the structure of the obstacle surmounting deicing robot after removal of the electrical enclosure;
FIG. 3 is a front view of the obstacle-surmounting deicing robot;
FIG. 4 is a side view of an obstacle detouring deicing robot;
FIG. 5 is a schematic view of a partial structure of the obstacle-surmounting deicing robot at the travel wheel;
FIG. 6 is a schematic structural view of an impact deicing mechanism;
fig. 7 is a schematic structural view of the obstacle-surmounting deicing robot in embodiment 5;
fig. 8 is an enlarged view of a portion a of fig. 7;
FIG. 9 is a schematic illustration of the junction of the third pinch wheel assembly and the second pinch wheel assembly of FIG. 7;
FIG. 10 is a schematic diagram of the structure of the obstacle detouring deicing robot when entering an auxiliary obstacle detouring track;
in the figure: 1. the device comprises a frame 101, a camera bracket 102, an electric box 103, a protective upper plate 104, a first linear guide 105, a second linear guide 2, an impact deicing mechanism 201, a deicing punch 202, a transmission shaft 203, a first deicing motor 204, a second deicing motor 205, a rotating shaft 301, a first traveling wheel 302, a second traveling wheel 303, a first driving motor 304, a second driving motor 401, a first clamping wheel assembly 4011, a first clamping wheel 4012, a first supporting seat 402, a second clamping wheel assembly 4021, a second clamping wheel 4022, a second supporting seat 403, a first electric push rod 404, a second electric push rod 5, a camera 6, a power supply system 7, an auxiliary obstacle crossing rail 701, a connecting rod 8, an auxiliary bracket 801, a sliding chute 802, an elastic block 803, an elastic clamping piece 804, a sliding rail 9, a third clamping wheel assembly 901, a third bracket 902, a third clamping wheel 10, a linkage structure 1001, a first connecting rod 1002, a second connecting rod 1003, a third connecting rod 1004, a rotating rod 11, and a ground wire.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
Example 1:
as shown in fig. 1 and 2, the obstacle detouring deicing robot comprises a frame 1, an impact deicing mechanism 2, an obstacle detouring mechanism, a monitoring mechanism, a control system and a power supply system 6. Frame 1 is used for supporting whole obstacle-surmounting deicing robot, frame 1 includes camera support 101, protection subassembly includes electric box 102, protection upper plate 103, wherein control system and electrical power system 6 all locate in the electric box 102, protection upper plate 103 locates electric box 102 top, protection upper plate 103 slope sets up, form certain inclination between the roof of protection upper plate 103 and electric box 102, the ice sheet that ground wire 11 dropped can be along frame 1 protection upper plate 103 landing, the ice sheet that avoids dropping is piled up on obstacle-surmounting deicing robot, reduce obstacle-surmounting deicing robot's weight and then reduce ground wire 11's burden.
As shown in fig. 6, the impact deicing mechanism 2 is slidably arranged on the frame 1, the impact deicing mechanism 2 is arranged in the middle of the frame 1, the impact deicing mechanism 2 comprises a deicing punch 201 and a deicing driving assembly, the deicing driving assembly comprises a transmission shaft 202 and a first deicing motor 203 for realizing impact deicing of the deicing punch 201, the transmission shaft 202 is connected with the deicing punch 201, and the first deicing motor 203 is used for driving the transmission shaft 202; the deicing driving assembly further comprises a rotating shaft 205 and a second deicing motor 204, and the second deicing motor 204 drives the rotating shaft 205 to rotate so that the angle of the deicing punch 201 changes, and the obstacle-surmounting deicing robot is prevented from being blocked by an ice layer in the deicing process. The two ends of the transmission shaft 202 are respectively provided with a deicing punch 201 for realizing bidirectional deicing, the deicing punches 201 are designed to increase the contact area with the surface of the ice layer by adopting a flat mouth, the acting force is increased, the deicing effect is improved, and the transmission shaft 202 is used for rotating the deicing punches 201 to change the angle of the flat mouth.
As shown in fig. 3 and 4, the obstacle detouring mechanism comprises a travelling mechanism and a clamping and fixing mechanism, wherein the travelling mechanism provides advancing power for the obstacle detouring deicing robot, and the clamping and fixing mechanism is matched with the travelling mechanism so as to keep the obstacle detouring deicing robot stable on the ground wire 11.
As shown in fig. 5, the travelling mechanism comprises a travelling wheel, the travelling wheel is connected with the frame 1 through a base, the travelling wheel is provided with a double-layer groove, namely, the travelling wheel is provided with an inner-layer groove and an outer-layer groove, the inner-layer groove is used for wrapping the ground wire 11, the outer-layer groove is matched with the clamping fixing mechanism to wrap the clamping cable, the cable in the embodiment is the ground wire 11, and the obstacle-surmounting deicing robot can be stably suspended above the ground wire 11 for removing ice, can also be stably suspended above the ground wire 11 for removing ice or without ice, and cannot be off-line and normally walked. The traveling wheel is provided with a binding structure which is long enough to enable the traveling wheel to directly roll over obstacles such as a damper and the like on the ground wire 11. In addition, the surface that advances the wheel and the ground wire 11 contact still is equipped with anti-skidding line, and the frictional force between wheel and the ground wire 11 of advancing has been improved in the setting of anti-skidding line, reduces the probability that advances the wheel and skid on the ground wire 11, and the setting of anti-skidding line is still favorable to advancing the wheel to grind the ice sheet on the ground wire 11 simultaneously.
The travelling wheels are arranged in pairs, the travelling wheels comprising a first travelling wheel 301 and a second travelling wheel 302, and the impact deicing mechanism 2 is arranged between the first travelling wheel 301 and the second travelling wheel 302. The traveling wheel driving motor includes a first driving motor 303 and a second driving motor 304, and the first driving motor 303 and the second driving motor 304 are used to drive the first traveling wheel 301 and the second traveling wheel 302, respectively.
The clamping and fixing mechanism comprises clamping wheel assemblies and electric push rods, wherein the clamping wheel assemblies and the electric push rods are arranged in pairs, the electric push rods are used for driving the clamping wheels to slide on the frame 1, in the embodiment of the market, the clamping and fixing mechanism specifically comprises a first clamping wheel assembly 401, a second clamping wheel assembly 402, a first electric push rod 403 and a second electric push rod 404, the first clamping wheel assembly 401 and the second clamping wheel assembly 402 are respectively arranged below two paired travelling wheels, a first linear guide rail 104 and a second linear guide rail 105 are arranged on the frame 1, the first clamping wheel assembly 401 is arranged on the first linear guide rail 104 in a sliding mode, the second clamping wheel assembly 402 is arranged on the second linear guide rail 105 in a sliding mode, and the first electric push rod 403 is connected to the bottom of the first clamping wheel assembly 401 so as to drive the first clamping wheel assembly 401 to slide on the first linear guide rail 104, and accordingly lifting of the first clamping wheel assembly 401 is achieved; the second electric push rod 404 is connected to the bottom of the second clamping wheel assembly 402 to drive the second clamping wheel assembly 402 to slide on the second linear guide rail 105, so as to realize lifting of the second clamping wheel assembly 402.
The first clamping wheel assembly 401 comprises first clamping wheels 4011 arranged in pairs, first supporting seats 4012 used for fixing the first clamping wheels 4011, the two first clamping wheels 4011 in pairs are respectively arranged on two sides of the first supporting seats 4012, first sliding blocks matched with the first linear guide rails 104 are arranged on the back of the first supporting seats 4012, and the first clamping wheel assembly 401 is arranged on the first linear guide rails 104 in a sliding mode through the first sliding blocks. The outer layer groove is formed in the first travelling wheel 301, so that the first clamping wheel 4011 is completely embedded into the travelling wheel to clamp the ground wire 11, and the stability of the obstacle surmounting deicing robot is maintained.
The second clamping wheel assembly 402 comprises a second clamping wheel 4021 arranged in pairs and a second supporting seat 4022 used for fixing the second clamping wheel 4021, the two second clamping wheels 4021 in pairs are respectively arranged on two sides of the second supporting seat 4022, a second sliding block matched with the second linear guide 105 is arranged on the back of the second supporting seat 4022, and the second clamping wheel assembly 402 is arranged on the second linear guide 105 in a sliding mode through the second sliding block. The second traveling wheel 302 is also provided with an outer layer groove, so that the second clamping wheel 4021 is completely embedded into the traveling wheel to clamp the ground wire 11, and the stability of the obstacle surmounting deicing robot is maintained.
The monitoring mechanism comprises a camera 5, the camera 5 is arranged on a camera bracket 101, and the camera 5 is used for checking the icing condition of the ground wire 11 and the deicing effect of the ice maker robot in real time; the control system is used for being matched with the monitoring mechanism to control the running state of the obstacle-surmounting deicing robot so as to realize man-machine interaction; the power supply system 6 is used for providing power supply for the impact deicing mechanism 2, the obstacle surmounting structure, the monitoring mechanism and the control system, and in the embodiment, the power supply system 6 adopts three large-capacity lithium batteries, so that the cruising ability is improved.
In addition, in this embodiment, the control system is further configured to control each driving component, that is, the control system controls the first deicing motor 203 and the second deicing motor 204 to rotate, so as to cause the impact deicing robot to perform deicing operation; the control system controls the running wheel driving assembly to run so as to drive the running wheels to rotate, and forward power is provided for the obstacle-surmounting deicing robot; the control system also controls the first and second electric pushers 403 and 404 to drive the first and second clamping assemblies to slide on the frame 1.
Example 2:
embodiment 2 is a deicing method of the obstacle-surmounting deicing robot in embodiment 1, comprising the steps of:
step one: the obstacle crossing deicing robot enters the ice-covered ground wire 11, and the impact deicing mechanism 2 adjusts the inclination angle according to the ice-covered thickness below the ground wire 11 detected by the monitoring mechanism;
Step two: the obstacle-surmounting deicing robot enters a deicing working state;
step three: the first travelling wheel 301 enters the ground wire 11, the whole obstacle-surmounting deicing robot is completely suspended on the ground wire 11, and the angle of the impact deicing mechanism 2 is adjusted to enable the deicing punch 201 to vertically impact an ice layer below the ground wire 11;
step four: the second travelling wheel 302 enters the ground wire 11, and the second clamping wheel assembly 402 is lifted through the second electric push rod 404 to be matched with an external groove of the second travelling wheel 302 to clamp the ground wire 11, so that the obstacle surmounting deicing robot is kept stable;
step five: the first travelling wheel 301 provides power to drive the obstacle surmounting deicing robot to advance, and the residual ice layer on the surface of the ground wire 11 is crushed and deicing through the second travelling wheel 302, so that deicing work on the ice-covered ground wire 11 is completed.
In the above deicing method, the impact deicing mechanism 2 provides impact force for breaking ice and deicing, namely, the deicing punch 201 acts under the ground wire 11, vertically impacts the ice layer under the ground wire 11, most of the ice layer can be removed by utilizing the ice coating mechanical property of the ground wire 11, the rest ice layer on the upper surface of the ground wire 11 is ground by the travelling wheel, the combined deicing method combining impact deicing and grinding deicing is realized, the ice coating of the ground wire 11 is effectively removed, and in the technical scheme, the three mechanisms are mutually matched, namely, the travelling wheel is utilized for providing forward power, the clamping fixing mechanism is utilized for providing clamping force to keep balance of the obstacle crossing deicing robot, and stable deicing conditions are provided for the impact deicing mechanism 2.
In the first step, under the condition that the ground wire 11 is seriously covered with ice, the obstacle surmounting deicing robot is conveniently on line through impacting the rotation angle of the deicing mechanism 2, the obstacle surmounting deicing robot is prevented from being blocked on the ground wire 11, and the deicing working state can be immediately entered.
In step three, when the first travelling wheel 301 enters the ground wire 11, the whole deicing robot is completely suspended above the ground wire 11, and at this time, the angle of the impact deicing mechanism 2 is adjusted again, so that the deicing punch 201 can vertically impact the ice layer below the ground wire 11. In addition, in this embodiment, the ice covered on the ground wire 11 is impact-removed by the impact deicing mechanism 2, and in the prior art, the impact mode of the spring impact deicing mechanism 2 has the characteristics of discontinuous size and unstable direction of the impact mode acting force, and besides the ice layer under the vertical impact ground wire 11 is deicing, the deicing punch 201 can rotate at a high speed by controlling the rotating shaft 205 through the motor, so that continuous and stable impact force is generated, and a good deicing effect is achieved.
In step four, the height of the clamping wheel assembly can be adjusted by the electric push rod, when the second travelling wheel 302 enters the ground wire 11, the second electric push rod 404 pushes the second clamping wheel assembly 402 to ascend until the second clamping wheel 4021 is embedded into the second travelling wheel 302, so that the ground wire 11 is clamped, the obstacle-surmounting deicing robot is stable, and meanwhile, the residual ice layer on the ground wire 11 is removed, and the robot is balanced.
In step five, when the impact deicing robot is rotationally locked to the ground wire 11, the obstacle surmounting deicing robot is driven to move backward by the traveling mechanism, and the rotation shaft 205 is driven to rotate by the second deicing motor 204 to change the impact angle, so that the impact deicing robot is prevented from being locked.
Example 3:
as shown in fig. 10, embodiment 3 is an obstacle surmounting method of the obstacle surmounting deicing robot in embodiment 1, in this embodiment, the obstacle surmounting deicing robot surmounting the tangent tower, the obstacle surmounting deicing robot is in an obstacle surmounting working state, the characteristics of double hanging points and triangular connecting plates and the suspension characteristics of the tension tower are aimed at the tangent tower, and the obstacle surmounting function of the tangent tower and the tension tower can be realized by mutually matching the edge covering of the travelling wheel and the lifting action of the clamping wheel through the auxiliary obstacle surmounting track which is not mechanically connected with the ground wire 11. The obstacle surmounting method of the obstacle surmounting deicing robot specifically comprises the following steps:
s1: an auxiliary obstacle crossing track is arranged on the tangent tower and comprises a section A, a section B, a section C, a section D and a section E;
s2: in the climbing stage, the obstacle-surmounting deicing robot is surmounted on the section A of the auxiliary obstacle-surmounting track which is not mechanically connected with the ground wire 11, the first clamping wheel 4011 and the second clamping wheel 4021 are respectively embedded in the first traveling wheel 301 and the second traveling wheel 302, and the first driving motor 303 and the second driving motor 304 respectively drive the first traveling wheel 301 and the second traveling wheel 302 to rotate so as to enable the first traveling wheel 301 and the second traveling wheel 302 to provide power;
S3: in the turning stage, the obstacle crossing deicing robot needs to cross the B section of the auxiliary obstacle crossing track, bending radians exist at the joint of the A section and the B section and the joint of the B section and the C section, and the first electric push rod 403 and the second electric push rod 404 respectively control the first clamping wheel assembly 401 and the second clamping wheel assembly 402 to enable the first clamping wheel assembly and the second clamping wheel assembly to descend so as to conveniently cross an obstacle;
s4: in the straight line stage, the obstacle-crossing deicing robot needs to cross the C section of the auxiliary obstacle-crossing track, and forward power is provided by the first traveling wheel 301 and the second traveling wheel 302;
s5: in the turning stage, the obstacle-crossing deicing robot needs to cross an auxiliary obstacle-crossing track D section, and bending radians exist at the joint of the C section and the D section and the joint of the D section and the E section, and the first travelling wheel 301 and the second travelling wheel 302 provide advancing power;
s6: and in the line entering stage, the obstacle-surmounting deicing robot surmounts the auxiliary obstacle-surmounting track E section, reenters the ground line 11, and surmounts the obstacle.
In the step S1, two ends of the auxiliary obstacle crossing track 7 are slightly higher than the ground wire 11, the middle part of the auxiliary obstacle crossing track is parallel to the ground wire 11 and is not mechanically connected with the ground wire 11, the original mechanical characteristics and electrical characteristics of the ground wire 11 are not changed, the auxiliary obstacle crossing track 7 comprises an a section, a B section, a C section, a D section and an E section, wherein the a section track extends upwards from the ground wire 11, namely the height of the a section track is slightly higher than the ground wire 11, so that the obstacle crossing deicing robot breaks away from the ground wire 11, the B section track extends in a direction away from a tangent tower, and a bending radian exists at the joint of the B section track and the a section track; the C section track is parallel to the ground wire 11; the D section track extends towards the direction close to the ground wire 11, and the D section track horizontally extends towards the direction close to the ground wire 11, or the D section track obliquely extends downwards towards the direction close to the ground wire 11, so that the D section track has a slight descending gradient; the height of the E section track is slightly higher than that of the ground wire 11, and the E section track extends obliquely downwards towards the ground wire 11, so that the obstacle surmounting deicing robot returns to the ground wire 11. In addition, in order to realize the fixation of the auxiliary obstacle crossing rail 7 and the tangent tower, the bottom of the junction of the section A rail and the section B rail, the bottom of the junction of the section B rail and the section C rail, the bottom of the junction of the section C rail and the section D rail, and the bottom of the junction of the section D rail and the section E rail are all provided with connecting rods 701 for connecting the tangent tower.
In the step S2, the height of the section a track is slightly higher than the ground line 11, and the step S2 mainly includes the following steps:
s21: the first travelling wheel 301 passes through the junction of the ground wire 11 and the auxiliary obstacle crossing track 7 and enters the section A track, at the moment, the first electric push rod 403 controls the paired two first clamping wheels 4011 to be completely embedded into the external grooves of the first travelling wheel 301, so that the obstacle crossing deicing robot is kept balanced and not derailed, and the first travelling wheel 301 provides power through the first driving motor 303;
s22: the second travelling wheel 302 enters the section A track, the second electric push rod 404 controls the paired two second clamping wheels 4021 to be completely embedded into the groove outside the second travelling wheel 302, the obstacle-surmounting deicing robot is kept balanced and not derailed, and the second travelling wheel 302 is powered by the second driving motor 304.
In step S21, the wrapping structure of the second traveling wheel 302 completely wraps the gap between the auxiliary obstacle detouring rail and the ground wire 11, and no problem of derailment or wire derailment occurs.
In one embodiment, when the obstacle-surmounting deicing robot can be kept stable on the auxiliary obstacle-surmounting track, in the step S3, the first electric push rod 403 and the second electric push rod 404 sequentially control the first clamping wheel 4011 and the second clamping wheel 4021 to descend so as to be convenient for surmounting the obstacle (i.e. the connecting rod 701), and the step S3 specifically includes the following steps:
S31: the first travelling wheel 301 enters the junction of the section A track and the section B track, the first electric push rod 403 controls the first clamping wheel assembly 401 to descend, and the first travelling wheel 301 continues to provide advancing power and enters the section B track;
s32: the second travelling wheel 302 enters the junction of the section A track and the section B track, the second electric push rod 404 controls the second clamping wheel assembly 402 to descend, and the second travelling wheel 302 continues to provide advancing power and enters the section B track;
s33: the obstacle-surmounting deicing robot surmounts the section B track, the first clamping wheel assembly 401 and the second clamping wheel assembly 402 keep a descending state, and the first travelling wheel 301 and the second travelling wheel 302 directly surmount the junction of the section B track and the section C track.
In this embodiment, in the steps S4, S5, and S6, the first clamping assembly and the second clamping assembly are always kept in the state after being lowered, that is, the travelling mechanism and the clamping fixing mechanism are always in a separated state, in the step S6, the obstacle-surmounting deicing robot needs to surmount the auxiliary obstacle surmounting track E section, enter the ground wire 11 again, the process clamping fixing mechanism is located under the frame 1, the travelling wheels 301 and the second travelling wheels 302 provide the advancing power, a gap exists between the ground wire 11 and the auxiliary obstacle surmounting track, and the edge wrapping of the travelling wheels can be rolled without the occurrence of the condition of wire derailment or derailment.
In another embodiment of the present application, when the obstacle-surmounting deicing robot is difficult to maintain stability on the auxiliary obstacle-surmounting track, the step S3 includes the steps of:
s3a: the first travelling wheel 301 enters the junction of the section A track and the section B track, the first electric push rod 403 controls the first clamping wheel assembly 401 to descend, and the first travelling wheel 301 continues to provide advancing power and enters the section B track;
s3b: the second travelling wheel 302 enters the junction of the section A track and the section B track, the second electric push rod 404 controls the second clamping wheel assembly 402 to descend, meanwhile, the first electric push rod 403 controls the first clamping wheel assembly 401 to ascend until the first clamping wheel assembly 401 is embedded into the first travelling wheel 301, the clamping auxiliary obstacle crossing track keeps the obstacle crossing deicing robot stable on the auxiliary obstacle crossing track, and the first travelling wheel 301 and the second travelling wheel 302 continuously provide advancing power and enter the section B track;
s3c: after the second obstacle-surmounting deicing robot enters the section B track, the second electric push rod 404 controls the second clamping wheel assembly 402 to ascend until the second clamping wheel assembly 402 is embedded into the second traveling wheel 302, and the clamping auxiliary obstacle-surmounting track keeps the obstacle-surmounting deicing robot stable on the auxiliary obstacle-surmounting track.
Under this condition, in step S4, the obstacle-surmounting deicing robot needs to surmount the auxiliary obstacle-surmounting track C, and at this time, the first clamping wheel 4011 is embedded in the first traveling wheel 301, and the second clamping wheel 4021 is embedded in the second traveling wheel 302, that is, the traveling mechanism and the clamping and fixing mechanism always clamp the auxiliary obstacle-surmounting track to keep the obstacle-surmounting deicing robot stable.
In step S5, when the obstacle-surmounting deicing robot crosses the junction of the C section and the D section and the junction of the D section and the E section, the actions of the first clamping wheel assembly 401 and the second clamping wheel assembly 402 are the same as in step S3, that is, when crossing the junction of the C section and the D section, the first travelling wheel 301 enters the junction of the C section track and the D section track, the first electric push rod 403 firstly controls the first clamping wheel assembly 401 to descend, the first travelling wheel 301 continues to provide advancing power and enters the D section track, the second travelling wheel 302 enters the junction of the C section track and the D section track, the second electric push rod 404 controls the second clamping wheel assembly 402 to descend, and meanwhile, the first electric push rod 403 controls the first clamping wheel assembly 401 to ascend until the first clamping wheel assembly 401 is embedded into the first travelling wheel 301, and the clamping auxiliary obstacle-surmounting track keeps the obstacle-surmounting deicing robot stable on the auxiliary obstacle-surmounting track, and the first travelling wheel 301 continues to provide advancing power and enters the D section track; after the second obstacle-surmounting deicing robot enters the section D of track, the second electric push rod 404 controls the second pinch wheel assembly 402 to rise until the second pinch wheel assembly 402 is embedded in the second travel wheel 302.
When crossing the junction of the section D and the section E, the first travelling wheel 301 enters the junction of the section D track and the section E track, the first electric push rod 403 firstly controls the first clamping wheel assembly 401 to descend, the first travelling wheel 301 continues to provide advancing power and enters the section E track, the second travelling wheel 302 enters the junction of the section D track and the section E track, the second electric push rod 404 controls the second clamping wheel assembly 402 to descend, meanwhile, the first electric push rod 403 controls the first clamping wheel assembly 401 to ascend until the first clamping wheel assembly 401 is embedded into the first travelling wheel 301, and the clamping auxiliary obstacle crossing track keeps the obstacle crossing deicing robot stable on the auxiliary obstacle crossing track, and the first travelling wheel 301 and the second travelling wheel 302 continue to provide advancing power and enter the section E track; after the second obstacle-surmounting deicing robot enters the section E of track, the second electric push rod 404 controls the second pinch wheel assembly 402 to rise until the second pinch wheel assembly 402 is embedded in the second travel wheel 302.
In step S6, the obstacle-surmounting deicing robot needs to surmount the auxiliary obstacle-surmounting track E, enter the ground wire 11 again, and the first traveling wheel 301 and the second traveling wheel 302 provide forward power, so that a gap exists between the ground wire 11 and the auxiliary obstacle-surmounting track, and the wrapping edge of the traveling wheel can be rolled over without occurrence of wire derailment or derailment.
Example 4:
the technical scheme of embodiment 4 is basically the same as that of embodiment 1, except that: the upper protection plate is provided with the heating plate, and as the ice coating slides from the upper protection plate 103, the ice coating is inevitably remained on the upper protection plate 103 under the action of friction force, or part of the ice coating can be directly frozen and fixed on the upper protection plate 103, the contact surface between the ice coating and the upper protection plate 103 is water due to the arrangement of the heating plate, the friction force between the upper protection plate 103 and the ice coating is reduced, and the ice coating slides downwards along the gradient of the protection plate under the action of gravity. Further, ice coating is prevented from being accumulated on the deicing robot.
Example 5:
as shown in fig. 7 and 8, the technical solution of embodiment 5 is basically the same as that of embodiment 1, and the difference is that: the obstacle-surmounting deicing robot further comprises an obstacle-surmounting auxiliary clamping mechanism, wherein the obstacle-surmounting auxiliary clamping mechanism comprises an auxiliary support 8, a third clamping wheel assembly 9 and a linkage structure 10, and the third clamping wheel assembly 9 is arranged on the auxiliary support 8 in a sliding manner. In the obstacle crossing process, when ice is covered on the ground wire 11 or the auxiliary obstacle crossing track, the clamping and fixing mechanism under the travelling wheel on one side of the ground wire 11 or the auxiliary obstacle crossing track is difficult to directly lift up to be matched with the travelling wheel to clamp a cable, and after the travelling wheel on the ground wire 11 (or the auxiliary obstacle crossing track) is impacted to deicing by the deicing mechanism 2, the clamping wheel assembly can be matched with the travelling wheel to clamp the cable, so that the stability of the obstacle crossing deicing robot is maintained.
In this embodiment, the travelling wheel entering the ground wire 11 or the auxiliary obstacle crossing rail is the second travelling wheel 302, then the linkage structure 10 is used for connecting the third clamping wheel assembly 9 and the second clamping wheel assembly 402, the linkage structure 10 enables the third clamping wheel assembly 9 and the second clamping wheel assembly 402 to realize synchronous lifting through the linkage structure 10, when encountering an obstacle, the second clamping wheel assembly 402 descends first, and under the action of the linkage structure 10, the third clamping wheel assembly 9 ascends until the third clamping wheel assembly 9 and the second travelling wheel 302 are clamped in an up-down staggered manner, so that the obstacle crossing deicing robot is kept stable on the ground wire 11.
As shown in fig. 9, the linkage structure 10 includes a first link 1001 and a rotating link 1004, wherein two ends of the first link 1001 are respectively rotatably connected with the third pinch roller assembly 9 and the second pinch roller assembly 402, one end of the rotating link 1004 is connected to the first link 1001, and the other end is slidably disposed on the auxiliary bracket 8.
The third clamping wheel assembly 9 comprises a third bracket 901 and third clamping wheels 902 which are arranged on two sides of the third bracket 901 in pairs, the third clamping wheel assembly 9 is arranged on the auxiliary bracket 8 in a sliding mode, a sliding groove 801 is formed in the auxiliary bracket 8, a third sliding block is correspondingly arranged on the third bracket 901, and the third sliding blocks are arranged in the sliding groove 801 in a sliding mode. In addition, in the present embodiment, the sliding groove 801 is a T-shaped sliding groove 801, the third sliding block is correspondingly provided with a T-shaped structure, so that the third sliding block is effectively prevented from being separated from the sliding groove 801, and two sliding grooves 801 are arranged in parallel on the auxiliary bracket 8 to maintain the stability of the third pinch roller assembly 9.
In addition, a third connecting plate extends on the third bracket 901, the second clamping wheel assembly 402 further includes a second connecting plate extending from the second bracket toward the third clamping wheel 902, one end of the first connecting rod 1001 is rotatably connected to the third connecting plate, the other end is rotatably connected to the second connecting plate, and the rotation connection mode may be a hinge connection or a ball connection.
The first connecting rod 1001 is provided with a connecting hole for installing the rotating rod 1004, the auxiliary support 8 is provided with a sliding rail 804, one end of the rotating rod 1004 is arranged in the connecting hole, the rotating connection between the first connecting rod 1001 and the rotating rod 1004 is realized, and the other end of the rotating rod 1004 is arranged in the sliding rail 804 of the auxiliary support 8 in a sliding way. An elastic clamping piece 803 for clamping the rotating rod 1004 is arranged at the upper end of the sliding rail 804, and when the second clamping and fixing mechanism moves to the uppermost end (namely, the second clamping wheel 4021 is embedded in the second travelling wheel 302), the rotating rod 1004 is clamped at the upper end by the elastic clamping piece 803. The elastic clamping piece 803 is provided in an arc-shaped structure with a hollow interior.
Further, in order to maintain stability between the second clamping wheel assembly 402 and the third clamping wheel 902 during the linkage operation, the linkage structure 10 further includes a second connecting rod 1002 and a third connecting rod 1003 respectively disposed in parallel on two sides of the first connecting rod 1001, two ends of the second connecting rod 1002 are respectively rotatably connected to the second clamping wheel assembly 402 and the third clamping wheel assembly 9, and two ends of the third connecting rod 1003 are also respectively rotatably connected to the second clamping wheel assembly 402 and the third clamping wheel assembly 9. The rotational connection modes of the second connecting rod 1002 and the third connecting rod 1003 and the second clamping wheel assembly 402 and the third clamping wheel assembly 9 are the same as the rotational connection modes of the first connecting rod 1001 on the second clamping wheel assembly 402 and the third clamping wheel assembly 9.
In this embodiment, when the obstacle surmounting process is performed, under the working condition that ice is covered on the auxiliary obstacle surmounting track, the obstacle surmounting method of the obstacle surmounting deicing robot includes the following steps:
s001: the obstacle crossing deicing robot enters an auxiliary obstacle crossing track, the impact deicing mechanism 2 adjusts the inclination angle according to the thickness of ice coating below the ground wire 11 detected by the monitoring mechanism, and the obstacle crossing deicing robot enters a deicing working state;
s002: the first travelling wheel 301 passes through the junction of the ground wire 11 and the auxiliary obstacle crossing track, enters into the section A track of the auxiliary obstacle crossing track, adjusts the angle of the impact deicing mechanism 2, and enables the deicing punch 201 to vertically impact the ice layer below the ground wire 11;
s003: the second travelling wheel 302 passes through the junction of the ground wire 11 and the auxiliary obstacle crossing track, enters into the section A track of the auxiliary obstacle crossing track, the second clamping wheel assembly 402 ascends through the second electric push rod 404 to match with the external groove of the second travelling wheel 302 to clamp the auxiliary obstacle crossing track, the obstacle crossing deicing robot is kept stable, meanwhile, the rotating rod 1004 is clamped at the upper end of the sliding rail 804 through the elastic clamping piece 803, and the first driving motor 303 and the second driving motor 304 respectively drive the first travelling wheel 301 and the second travelling wheel 302 to rotate, so that the first travelling wheel 301 and the second travelling wheel 302 provide power;
S004: the first travelling wheel 301 directly passes through the junction of the section A track and the section B track, the monitoring mechanism detects that the second clamping wheel assembly 402 meets an obstacle, the second electric push rod 404 controls the second clamping wheel assembly 402 to descend, the third clamping wheel assembly 9 moves upwards under the action of the linkage structure 10 until the third clamping wheel 902 clings to the auxiliary obstacle crossing track, the second travelling wheel 302 continues to provide advancing power and enters the section B track, when the monitoring mechanism detects that the second travelling wheel 302 passes through the obstacle and enters the section B track, the second electric push rod 404 controls the second clamping wheel assembly 402 to ascend, and the third clamping wheel assembly 9 descends under the action of gravity and the linkage structure 10 until the second travelling wheel 302 passes through the obstacle;
s005: in the section B track, the impact deicing mechanism 2 continues deicing, and the second clamping wheel assembly 402 keeps a state of clamping the auxiliary obstacle crossing track in cooperation with the second travelling mechanism, so that the obstacle crossing deicing robot is stable on the auxiliary obstacle crossing track;
s006: at the junction of the BC track, the CD track, and the DE track, the obstacle surmounting method of the obstacle surmounting deicing robot is the same as step S004, and forward power is provided by the first traveling wheel 301 and the second traveling wheel 302 on each track segment until the obstacle surmounting deicing robot returns to the ground line 11.
In step S004, after the clamping and fixing mechanism is lifted, the third clamping wheel assembly 9 moves upwards under the action of the rotating rod 1004 and the first link 1001 until the third clamping wheel 902 is tightly attached to the auxiliary obstacle detouring rail because the rotating rod 1004 is clamped at the upper end of the sliding rail 804; further, since the lower barrier is only the connecting rod 701 at the junction of the track sections, the second clamping mechanism does not need to be lowered by a large height, and therefore, when the elastic engagement piece 803 has elastic force, the rotating rod 1004 does not come off the elastic engagement piece 803. That is, only when the second clamping mechanism is lowered to a certain height, the rotating lever 1004 is disengaged from the upper end of the chute 801.
In addition, hinge between first connecting rod 1001 and the second connecting plate is equipped with the articulated shaft on first connecting rod 1001, is equipped with the hinge hole on the second connecting plate, and the diameter in the hinge hole is greater than the diameter of handing-over axle, and hinge structure is the same between first connecting rod 1001 and the third connecting plate and hinge structure between first connecting rod 1001 and the second connecting plate, because first connecting rod 1001 rotates the back, the orbit of second pinch roller subassembly 402 and third pinch roller subassembly 9 is the arc, and the diameter in the hinge hole is greater than the diameter of handing-over axle and makes there is the clearance between hinge hole and the articulated shaft, avoids second clamping mechanism to descend in-process linkage structure 10 to block and can't remove and cause inconvenience.
In another embodiment of the present invention, the side where the travelling wheel is provided is the upper end of the frame 1, the upper end of the auxiliary frame 1 is provided with cavities, the cavities are arranged in pairs on two sides of the upper end of the chute 801, and the cavities are filled with elastic blocks 802, so that the side wall of the upper end of the chute 801 is composed of the elastic blocks 802. After the first link 1001 rotates, the third pinch roller assembly 9 has a moving space in other directions, so that inconvenience caused by the jamming of the linkage structure 10 is avoided.
In another embodiment of the present invention, the travel wheel of the rear access ground wire 11 or the auxiliary obstacle detouring track is the first travel wheel 301, and the linkage 10 is used to connect the third pinch wheel assembly 9 and the first pinch wheel assembly 401.
It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the above description refer to directions in the drawings, and the words "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
The above examples are only for illustrating the present invention and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made which are within the scope of the invention as defined in the appended claims.
Claims (8)
1. Obstacle-surmounting deicing robot, its characterized in that: comprising
The machine frame is provided with a machine frame,
the impact deicing mechanism is arranged above the frame in a sliding manner and comprises a deicing punch, a transmission shaft used for connecting the deicing punch and a rotation shaft used for realizing the rotation of the deicing punch;
the obstacle crossing mechanism comprises a traveling mechanism and a clamping and fixing mechanism arranged below the traveling mechanism, the traveling mechanism comprises a traveling wheel arranged at the top of the frame, the clamping and fixing mechanism comprises a clamping wheel assembly and an electric push rod for driving the clamping wheel assembly to slide on the frame, the traveling wheels are arranged in pairs, the impact deicing mechanism is arranged between the two traveling wheels in pairs, and the obstacle crossing mechanism and the impact deicing mechanism are matched to remove cable ice;
the driving system comprises a deicing driving assembly for driving the deicing mechanism and a traveling wheel driving motor for driving the traveling wheel to rotate;
the monitoring mechanism comprises a camera fixed on the frame;
the control system is used for controlling the working states of the obstacle surmounting mechanism and the impact deicing mechanism;
a power system for providing power to the impact de-icing mechanism, obstacle surmounting structure, monitoring mechanism, control system and drive system;
The obstacle crossing deicing robot further comprises an obstacle crossing auxiliary clamping mechanism, the obstacle crossing auxiliary clamping mechanism comprises an auxiliary support, a third clamping wheel assembly and a linkage structure, the third clamping wheel assembly is arranged on the auxiliary support in a sliding mode, the linkage structure comprises a first connecting rod and a rotating rod, the auxiliary support is provided with a sliding rail, two ends of the first connecting rod are respectively connected with a second clamping wheel assembly in a rotating mode, one end of the rotating rod is connected to the first connecting rod in a rotating mode, the other end of the rotating rod is arranged in a sliding mode of the auxiliary support in a sliding mode, an elastic clamping piece used for clamping the rotating rod is arranged at the upper end of the sliding rail, the second clamping wheel is clamped at the upper end of the sliding rail when the second clamping wheel is in a state of being embedded in a second advancing wheel, and the third clamping wheel assembly is lifted along with the lifting of the second clamping wheel assembly or the third clamping wheel assembly is lifted along with the lifting of the second clamping wheel assembly.
2. The obstacle surmounting deicing robot of claim 1, wherein deicing punches are disposed at both ends of the drive shaft, and the deicing drive assembly comprises a first deicing motor for driving the drive shaft to rotate and a second deicing motor for driving the rotary shaft to rotate, and the second deicing motor drives the rotary shaft to rotate so as to change the angle of the deicing punches.
3. The obstacle-surmounting deicing robot of claim 1, wherein the frame comprises a camera support and a protective assembly, the protective assembly comprises an electric box and a protective upper plate, the protective upper plate is arranged at the top of the electric box, and the protective upper plate is obliquely arranged.
4. An obstacle detouring deicing robot as claimed in claim 1 wherein the travelling wheels comprise a first travelling wheel and a second travelling wheel, the travelling wheel drive motor comprising a first drive motor for driving the first travelling wheel and a second drive motor for driving the second travelling wheel, the first travelling wheel and the second travelling wheel being provided on either side of the impact deicing mechanism, respectively.
5. The obstacle detouring deicing robot of claim 4, wherein the first travelling wheel and the second travelling wheel are each provided with an inner layer groove for wrapping a ground wire and an outer layer groove for cooperating with a clamping and fixing mechanism for clamping a cable.
6. The obstacle-surmounting deicing robot of claim 1, wherein the clamping wheel assembly comprises a first clamping wheel assembly arranged below the first travelling wheel and a second clamping wheel assembly arranged below the second travelling wheel, the electric push rod comprises a first electric push rod for pushing the first clamping wheel assembly to slide on the frame and a second electric push rod for pushing the second clamping wheel assembly to slide on the frame, the first clamping wheel assembly comprises a first clamping wheel arranged in pairs and a first supporting seat for fixing the first clamping wheel, and the second clamping wheel assembly comprises a second clamping wheel arranged in pairs and a second supporting seat for fixing the second clamping wheel.
7. Deicing method of an obstacle surmounting deicing robot, characterized in that deicing work is performed by an obstacle surmounting deicing robot according to any one of claims 1-6, comprising the steps of:
step one: the obstacle crossing deicing robot enters an ice-covered ground wire, and the impact deicing mechanism adjusts an inclination angle according to the thickness of ice covered below the ground wire detected by the monitoring mechanism;
step two: the obstacle-surmounting deicing robot enters a deicing working state;
step three: the first travelling wheel enters the ground wire, the whole obstacle-surmounting deicing robot is completely suspended on the ground wire, and the angle of the impact deicing mechanism is adjusted to enable the deicing punch to vertically impact the ice layer below the ground wire;
step four: the second travelling wheel enters the ground wire, and the second clamping wheel assembly ascends through the second electric push rod to be matched with an external groove of the second travelling wheel to clamp the ground wire, so that the obstacle-surmounting deicing robot is kept stable;
step five: the first travelling wheel provides power to drive the obstacle surmounting deicing robot to advance, and the residual ice layer on the surface of the ground wire is rolled and deicing through the second travelling wheel, so that deicing work on the ice-covered ground wire is completed.
8. Obstacle surmounting method for an obstacle surmounting deicing robot, characterized in that an obstacle surmounting work is performed by an obstacle surmounting deicing robot according to any one of claims 1 to 6, comprising the steps of:
S1: an auxiliary obstacle crossing track is arranged on the tangent tower and comprises a section A, a section B, a section C, a section D and a section E;
s2: in the climbing stage, the obstacle-crossing deicing robot passes through the section A of an auxiliary obstacle-crossing track which is not mechanically connected with the ground wire, a first clamping wheel and a second clamping wheel are respectively embedded in a first travelling wheel and a second travelling wheel, and a first driving motor and a second driving motor respectively drive the first travelling wheel and the second travelling wheel to rotate so as to enable the first travelling wheel and the second travelling wheel to provide power;
s3: in the turning stage, the obstacle crossing deicing robot needs to cross the B section of the auxiliary obstacle crossing track, bending radians exist at the joint of the A section and the B section and the joint of the B section and the C section, and the first electric push rod and the second electric push rod respectively control the first clamping wheel assembly and the second clamping wheel assembly to descend so as to conveniently cross an obstacle;
s4: in the straight line stage, the obstacle-crossing deicing robot needs to cross the C section of the auxiliary obstacle-crossing track, and forward power is provided by the first traveling wheel and the second traveling wheel;
s5: in the turning stage, the obstacle-crossing deicing robot needs to cross the D section of the auxiliary obstacle-crossing track, and bending radians exist at the joint of the C section and the D section and the joint of the D section and the E section, and the first travelling wheel and the second travelling wheel provide advancing power;
S6: and in the line entering stage, the obstacle-surmounting deicing robot surmounts the E section of the auxiliary obstacle-surmounting track, enters the ground line again and surmounts the obstacle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310998257.XA CN117175423A (en) | 2022-08-29 | 2022-08-29 | Obstacle crossing method for deicing robot passing through tangent tower and tension tower |
| CN202211042568.0A CN115663736B (en) | 2022-08-29 | 2022-08-29 | Obstacle-surmounting deicing robot, obstacle-surmounting method and deicing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211042568.0A CN115663736B (en) | 2022-08-29 | 2022-08-29 | Obstacle-surmounting deicing robot, obstacle-surmounting method and deicing method thereof |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310998257.XA Division CN117175423A (en) | 2022-08-29 | 2022-08-29 | Obstacle crossing method for deicing robot passing through tangent tower and tension tower |
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| CN115663736A CN115663736A (en) | 2023-01-31 |
| CN115663736B true CN115663736B (en) | 2023-07-21 |
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| CN202211042568.0A Active CN115663736B (en) | 2022-08-29 | 2022-08-29 | Obstacle-surmounting deicing robot, obstacle-surmounting method and deicing method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107834484A (en) * | 2017-11-27 | 2018-03-23 | 四川弘毅智慧知识产权运营有限公司 | A kind of deicing robot control system for integrating mechanical deicing and heating power deicing |
| CN112350214A (en) * | 2020-10-28 | 2021-02-09 | 国网河北省电力有限公司沧州供电分公司 | High-altitude line inspection robot |
| CN112454322A (en) * | 2020-11-17 | 2021-03-09 | 贵州电网有限责任公司 | Swing obstacle crossing mechanism of high-voltage line walking robot |
| CN114696260A (en) * | 2022-04-18 | 2022-07-01 | 贵州电网有限责任公司 | Ice observation robot for power transmission line and obstacle crossing method thereof |
| CN114899783A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Cable walking deicing robot and tower crossing method thereof |
| CN114944634A (en) * | 2022-06-29 | 2022-08-26 | 江南大学 | Power transmission line deicer and deicing method |
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2022
- 2022-08-29 CN CN202310998257.XA patent/CN117175423A/en active Pending
- 2022-08-29 CN CN202211042568.0A patent/CN115663736B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107834484A (en) * | 2017-11-27 | 2018-03-23 | 四川弘毅智慧知识产权运营有限公司 | A kind of deicing robot control system for integrating mechanical deicing and heating power deicing |
| CN112350214A (en) * | 2020-10-28 | 2021-02-09 | 国网河北省电力有限公司沧州供电分公司 | High-altitude line inspection robot |
| CN112454322A (en) * | 2020-11-17 | 2021-03-09 | 贵州电网有限责任公司 | Swing obstacle crossing mechanism of high-voltage line walking robot |
| CN114696260A (en) * | 2022-04-18 | 2022-07-01 | 贵州电网有限责任公司 | Ice observation robot for power transmission line and obstacle crossing method thereof |
| CN114944634A (en) * | 2022-06-29 | 2022-08-26 | 江南大学 | Power transmission line deicer and deicing method |
| CN114899783A (en) * | 2022-07-14 | 2022-08-12 | 杭州申昊科技股份有限公司 | Cable walking deicing robot and tower crossing method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115663736A (en) | 2023-01-31 |
| CN117175423A (en) | 2023-12-05 |
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