CN110460002B - A flying cable deicing robot - Google Patents

Abstract

The invention relates to a flying cable deicing robot, which belongs to the technical field of robots. It includes two symmetrical swing arms composed of a trough-shaped frame and an inclined plate, a number of ratchet deicers arranged on the swing arm for deicing, a number of rotor helicopters arranged on the swing arm for flying, power supply and control device; two swing arms are rotationally connected by a pin; the ratchet deicer includes a low-speed motor and a deicing ratchet driven by the low-speed motor; the rotor helicopter includes a high-speed motor fixed under the swash plate and a high-speed motor arranged on the swash plate and connected to the high-speed motor. The rotor is connected with the output shaft of the rotor; it also includes a U-shaped frame that is fixed with the trough-shaped frame and covers the rotor helicopter. Under the control of the control device, it can automatically fly directly from the ground to the working position of the overhead cable, and can automatically fly over obstacles such as cable hammers. Easy to control, light to carry, fast to walk, and better to use.

Description

A flying cable deicing robot

technical field

The invention belongs to the technical field of deicing robots, in particular to a flying cable deicing robot.

Background technique

The high-voltage cable deicing robot is a kind of special robot developed based on general robot technology. In the mixed weather of rain and snow, high-voltage cables are easy to freeze. If the ice is not removed in time, the transmission line will be broken and the tower will collapse due to the heavy snow and ice load, which will bring huge disasters and economic losses to human beings. Because the cable de-icing robot can de-icing the cable in time, many countries in the world have attached great importance to the research of the cable de-icing robot for many years. Various technologies are integrated, the structure is simple, light weight, easy to control, efficient de-icing, fast walking and crossing the electricity. Obstacles such as hammers have always been the development direction of cable deicing robot research. So far people have developed a variety of cable de-icing technology and corresponding machines. In 2008, southern China was hit by severe snow and ice, causing many cables to freeze and towers to collapse, which inspired some Chinese experts to propose the following inventions. It is composed of a frame, a deicing shield, a power supply, a clamping mechanism and a traveling mechanism. The clamping guide wheel is adopted, and the traveling mechanism is composed of a traveling motor and a cable driving wheel. Although the above invention has the function of cable deicing, how to overcome obstacles and make the cable deicing robot have the advantages of simple structure, light portability, easy control, efficient deicing, fast walking and automatic crossing of electric hammers has not been solved.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a flying cable deicing robot, which can realize the functions of high-efficiency deicing, fast walking and automatic crossing of obstacles such as electric hammers at the same time.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A flying type cable deicing robot, comprising two symmetrical swing arms formed by a trough frame and an inclined plate, a plurality of ratchet deicers arranged on the swing arm for deicing, a plurality of Rotor helicopter, power supply and control device for flying; two swing arms are connected by pin shaft; ratchet de-icer includes low-speed motor and deicing ratchet driven by low-speed motor; rotor helicopter includes high-speed motor fixed under the swash plate and The rotor is arranged on the swash plate and connected with the output shaft of the high-speed motor; it also includes a U-shaped frame that is fixedly connected with the trough-shaped frame and covers the rotor helicopter.

A further improvement of the technical solution of the present invention is that: the upper part of the trough frame is provided with several ratchet deicers for deicing the cables, and the lower part of the trough frame is provided with several ratchet deicers for deicing the cables; It is fixedly connected with the lower end of the trough frame.

A further improvement of the technical solution of the present invention is that: there are 6 ratchet deicers.

A further improvement of the technical solution of the present invention is that: the upper part of each trough frame is provided with two ratchet deicers, and the lower part of each trough frame is provided with one ratchet deicer.

A further improvement of the technical solution of the present invention is that: the ratchet deicers at the lower part of the two trough frames are arranged opposite; Both sides of the deicer.

A further improvement of the technical solution of the present invention is that the rotor helicopters are arranged in even numbers, and the rotor helicopters are evenly distributed on the two inclined plates of the swing arm.

A further improvement of the technical solution of the present invention is that the rotor helicopters are symmetrically arranged on the two swing arms, and the number of rotor helicopters is 4, 6 or 8.

A further improvement of the technical solution of the present invention is that the U-shaped frame is a U-shaped thin plate with mesh holes, the U-shaped frame covers the rotor, and forms an inclined cable guide surface.

A further improvement of the technical solution of the present invention is that the deicing ratchet is a truncated cone ratchet.

Owing to having adopted the above-mentioned technical scheme, the technical effects obtained by the present invention are as follows:

1. Due to the use of a rotor helicopter in the present invention, the deicing robot can automatically fly directly from the ground to the elevated cable operating position under the control of the control device, and can automatically fly over obstacles such as a cable hammer.

2. Since the ratchet deicer is adopted in the present invention, the ratchets of different specifications can be replaced according to the diameter of the cable, which can satisfy the deicing of cables of different specifications. Standing on the cable, under the action of gravity, 6 cone-shaped ratchets surround the cable to rotate and walk to remove ice, which can remove all the ice on the frozen cable and remove ice efficiently.

3. The invention adopts the trough-shaped frame, the inclined plate and the U-shaped frame structure, and the structure is ingenious and reasonable, so that the flying cable deicing robot has a simple structure, is portable and can walk quickly. The swing arm is connected by a pin shaft and can rotate relatively around the pin shaft, and the flexible rotation of the swing arm can meet the functional requirements of the deicer in the flying state and the deicing state.

4. The present invention adopts the low-speed motor to drive the deicing ratchet to rotate automatically, the high-speed motor drives the rotor to fly, and the whole robot is simple in structure and light to carry, so the flying cable deicing robot has low energy consumption during deicing or flying.

4. Since the present invention adopts the battery as the power source and the control device controls it, the live deicing operation of the power overhead transmission line can be carried out, and the safety of the cable is ensured.

5. Since the present invention adopts the U-shaped frame structure, the U-shaped frame is used to form the positioning cable inclined guide surface, the protection rotor and the landing support, so as to ensure the safety of the deicing robot.

Description of drawings

Fig. 1 is the schematic diagram of the front view of the deicing state of the present invention;

Fig. 2 is the schematic side view schematic diagram of the deicing state of the present invention;

3 is a schematic top view schematic diagram of the deicing state of the present invention;

FIG. 4 is a schematic diagram of the front view of the non-deicing state of the present invention.

Among them, 1, swing arm, 1-1, trough frame, 1-2, inclined plate, 2, ratchet deicer, 2-1, low speed motor, 2-2, deicing ratchet, 3, rotor helicopter, 3 -1, high-speed motor, 3-2, rotor, 4, pin, 5, cable, 6, U-shaped frame.

Detailed ways

The present invention is described in further detail below in conjunction with the accompanying drawings and specific embodiments:

The invention discloses a flying-type cable deicing robot, in particular to a robot that can automatically fly directly from the ground to an elevated cable operating position, can automatically fly over obstacles such as a cable electric hammer, and can perform live deicing operations on overhead transmission lines. of a deicing robot. The structure is described in detail below.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, a flying type cable deicing robot includes two symmetrical swing arms 1, a plurality of A ratchet deicer 2 arranged on the swing arm 1 for deicing, several rotor helicopters 3 arranged on the swing arm 1 for flying, a power supply and a control device. Wherein, the two swing arms 1 are rotatably connected by a pin shaft 4 and can rotate relative to the pin shaft 4 . The trough frame 1-1 and the inclined plate 1-2 form an integral swing arm 1 as a main body bracket for installing other functional components. The ratchet deicer 2 includes a low-speed motor 2-1 and a deicing ratchet 2-2 driven by the low-speed motor 2-1; the rotor helicopter 3 includes a high-speed motor 3-1 fixed under the swash plate 1-2 and a high-speed motor 3-1 arranged on the swash plate The rotor 3-2 on the 1-2 and connected to the output shaft of the high-speed motor 3-1; also includes a U-shaped frame 6 that is fixedly connected to the trough frame 1-1 and covers the rotor helicopter 3.

The swing arm 1 is composed of a trough-shaped frame 1-1 and a sloping plate 1-2. The upper part of the trough-shaped frame 1-1 is provided with two mutually parallel through holes and two orthogonal longitudinal through holes. Features vertical through holes for low speed motors and ratchet de-icers. As shown in Figure 3, the upper end of the trough frame 1-1 is also provided with a lug plate with longitudinal through holes orthogonal to two parallel through holes, and the pin shaft 4 passes through the longitudinal through holes on the lug plate to make the two swing arms 1 Rotate to form a symmetrical rotating pair connection, and the pin 4 is parallel to the cable 5.

The low-speed motor 2-1 is respectively coaxially connected with the two parallel through holes and the lower vertical through hole in the upper part of the slot frame 1-1 of the swing arm 1, and its drive shaft is connected with the deicing ratchet wheel 2-2 with a coaxial key .

As shown in Fig. 1 , two ratchet deicers 2 are arranged on the upper part of each trough frame 1-1 for deicing the cables 5, and four ratchet deicers 2 are arranged on the upper part of the two trough frames 1-1. The axis is roughly in a horizontal state during deicing, and is mainly used for deicing the upper part of the cable 5 . A ratchet deicer 2 for deicing the cables 5 is arranged at the lower part of each trough frame 1-1, and the axes of the two ratchet deicers 2 arranged at the lower part of the two trough frames 1-1 are used for deicing. Roughly in a vertical state, it is mainly used for deicing the side and lower side of the cable 5 . There are 6 ratchet deicers 2 in total. The two ratchet deicers 2 at the lower part of the trough frame 1-1 are arranged opposite each other; The groups are located on both sides of the ratchet deicer 2 at the lower part of the trough frame 1-1; the deicing ratchet 2-2 is preferably set as a truncated truncated ratchet, and the truncated truncated ratchet can be disassembled and replaced according to the specifications of the cable. Ratchet, and the truncated cone ratchet can improve the contact surface with the cable and improve the deicing effect. The upper end of the inclined plate 1-2 is fixedly connected with the lower end of the trough frame 1-1.

The rotor helicopter 3 includes a high-speed motor 3-1 and a rotor 3-2; as shown in Figure 2 and Figure 3, the lower end of the inclined plate 1-2 is provided with a plurality of through-hole fixed connection mounting brackets, and the mounting bracket includes a mounting beam and a mounting plate, The mounting plate is block-shaped and fixed on the outer side of the mounting beam, and the mounting plate is used for mounting the high-speed motor and the rotor helicopter. Specifically, the high-speed motor 3-1 is respectively coaxially and fixedly connected to the through hole of the mounting plate on the mounting frame on the swash plate 1-2 of the swing arm 1, and its drive shaft is coaxially keyed to the rotor 3-2; 3. Symmetrically arranged on the two swing arms 1, the rotor helicopters 3 are usually set in even numbers, which can ensure the smooth flight, and can be 4, 6 or 8, and more rotor helicopters 3 can be arranged as needed. The rotor helicopters 3 are evenly distributed on the mounting brackets at the ends of the two inclined plates 1 - 2 of the swing arm 1 .

The power supply adopts a battery, and the control device controls the operation and stop of the low-speed motor 2-1 and the high-speed motor 3-1. The control device is generally a remote control.

The U-shaped frame 6 on the trough-shaped frame 1-1 is a U-shaped thin plate with mesh holes. The U-shaped frame 6 covers the rotor 3-2, and forms an inclined guide surface on the inner side, which is fixedly connected with the swing arm 1 in many places. The inner sides of the U-shaped frames 6 on the two trough-shaped frames 1-1 are circular arc inclined surfaces, and the circular arc inclined surfaces can play a guiding role when the de-icer is aligned above the cables and the cables are dropped. When landing on the ground after the work is completed, it can play the role of protecting the rotor 3-2 and can also play the role of landing support.

Example:

In this embodiment, there are eight rotor helicopters 3 .

The control device controls and starts, and the eight rotor helicopters 3 take off at the same time, and the deicing robot automatically flies directly from the ground to the position where the overhead cable is to be deiced.

During de-icing, the control device controls, eight rotor helicopters 3 are grounded, and four de-icing ratchets 2-2 are supported on the upper end face of the cable 5. Under the action of gravity, the six de-icing ratchets 2-2 surround the cable 5 and rotate Walk to remove ice. As shown in FIG. 1 , in the working state, the rotor helicopter 3 is located below the plane of the cable 5 as a whole, which can ensure that the deicer walks stably, and better applies its own gravity to the cable.

When the deicing is finished or when the cable is blocked, the control device controls the eight rotor helicopters 3 to take off at the same time, and drives the two swing arms 1 to reverse each other to open until the six deicing ratchets 2-2 are separated from the cable 5, and then drive the cable. The deicing robot flies to the ground or above the next cable 5 to be deiced. After positioning, the eight rotor helicopters 3 are grounded at the same time. Under the action of their own weight, the two swing arms 1 drive the U-shaped frame 6 to force the six deicing ratchets 2-2 to re-encircle the cable 5 to rotate and deicing.

The present invention is a flying type cable deicing robot, comprising two symmetrical swing arms formed by a trough-shaped frame and an inclined plate, six ratchet deicers arranged on the swing arm for deicing, and eight Rotor helicopter, power supply and control device for flight on swing arm; two swing arms are connected by pin shaft; ratchet de-icer includes low-speed motor and de-icing ratchet driven by low-speed motor; rotor helicopter includes fixed on swash plate The high-speed motor and the rotor set on the sloping plate and connected to the output shaft of the high-speed motor; it also includes a U-shaped frame that is fixedly connected to the trough-shaped frame and covers the rotor helicopter. It can fly directly to the working position of the overhead cable, and can automatically fly over obstacles such as the electric hammer of the cable. It can de-icing the power overhead transmission line with electricity. It can de-icing the cable efficiently. better.

Claims (4)

1. A flight type cable deicing robot is characterized in that: the deicing device comprises two symmetrical swing arms (1) which are formed by a groove-shaped frame (1-1) and inclined plates (1-2) into a whole, a plurality of ratchet wheel deicing devices (2) which are arranged on the swing arms (1) and used for deicing, a plurality of rotor helicopters (3) which are arranged on the swing arms (1) and used for flying, a power supply and a control device; the two swing arms (1) are rotationally connected by a pin shaft (4); the ratchet wheel ice remover (2) comprises a low-speed motor (2-1) and an ice removing ratchet wheel (2-2) driven by the low-speed motor (2-1); the rotor helicopter (3) comprises a high-speed motor (3-1) fixed below the inclined plate (1-2) and a rotor (3-2) arranged on the inclined plate (1-2) and connected with an output shaft of the high-speed motor (3-1); the rotary wing helicopter also comprises a U-shaped frame (6) which is fixedly connected with the groove-shaped frame (1-1) and coats the rotary wing helicopter (3); the upper part of the groove-shaped frame (1-1) is provided with a plurality of ratchet wheel deicers (2) for deicing the cables (5), and the lower part of the groove-shaped frame (1-1) is provided with a plurality of ratchet wheel deicers (2) for deicing the cables (5); the upper end of the inclined plate (1-2) is fixedly connected with the lower end of the groove-shaped frame (1-1); the number of the ratchet wheel deicer (2) is 6; 2 ratchet wheel ice removers (2) are arranged at the upper part of each groove-shaped frame (1-1), and 1 ratchet wheel ice remover (2) is arranged at the lower part of each groove-shaped frame (1-1); the ratchet wheel ice removers (2) at the lower parts of the two groove-shaped frames (1-1) are arranged oppositely; the four ratchet wheel ice removers (2) positioned at the upper part of the groove-shaped frame (1-1) are arranged in a staggered mode, and every two ratchet wheel ice removers are respectively positioned at two sides of the ratchet wheel ice removers (2) at the lower part of the groove-shaped frame (1-1); the deicing ratchet wheel (2-2) is a frustum ratchet wheel.

2. A flying cable de-icing robot as claimed in claim 1, wherein: the rotor helicopters (3) are arranged in a plurality of pairs, and the rotor helicopters (3) are uniformly distributed on two inclined plates (1-2) of the swing arm (1).

3. A flying cable de-icing robot as claimed in claim 2, wherein: rotor helicopter (3) symmetry setting on two swing arms (1), rotor helicopter (3) set up to 4, 6 or 8.

4. A flying cable de-icing robot as claimed in claim 1, wherein: the U-shaped frame (6) is a U-shaped thin plate with meshes, coats the rotor wings (3-2) and forms an inclined guide surface of the cable (5).

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