Cable ice cleaning robot

Abstract

The present invention discloses a cable ice cleaning robot, which belongs to the technical field of cable deicing equipment, and includes a frame, a power supply, a walking device, a deicing device and a control device. The walking device includes two groups of front and rear walking mechanisms, and the deicing device includes a pair of deicing wheels, which are connected to the frame through a mounting frame and arranged in the middle of the frame, and the two groups of walking mechanisms are arranged at the front and rear ends of the frame respectively; the walking device, the deicing device and the control device are all electrically connected to the power supply, and the control device and the power supply are all arranged inside the frame. The walking device and the deicing device are controlled by the control device to realize walking and deicing operations, and the two groups of walking mechanisms can walk along the cable simultaneously or alternately, which is convenient for completing the obstacle crossing action; a pair of rotating deicing wheels clamp the cable to complete the deicing action. The present invention has a compact structure, a small size, is convenient for loading and unloading and maintenance, has a low maintenance cost, and increases the service life of the equipment; it has the obstacle crossing ability of climbing over the line tower, has a wide range of applications, and further improves the deicing efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of cable deicing equipment, and in particular relates to a cable ice-cleaning robot. Background Art

[0002] With the rapid development of my country's power industry, the geographical environment through which the lines pass has become more complex, and icing disasters on transmission lines occur frequently. In winter and early spring, the temperature in some areas in the south is relatively high, and the snowfall is mostly a mixture of rain and snow, which makes the high-voltage lines in many areas covered with icicles. Severe icing of transmission lines can cause problems such as line breakage, tilting and collapse of towers, and flashover of insulators. At the same time, uneven icing of transmission lines and deicing at different times can easily cause power supply tripping, interruption and other accidents, which seriously affect agricultural, industrial and commercial production and people's daily life. Therefore, the power management department needs to consume a lot of manpower, material and financial resources every year to solve the problem.

[0003] At present, existing de-icing technologies are divided into four categories: thermal de-icing, mechanical de-icing, passive de-icing and other methods.

[0004] (1) Thermal deicing method: by increasing the current of the ice-melting line and utilizing the Joule heat effect generated by the energized wire, the temperature of the wire is raised, thereby melting the ice and snow on the wire and removing them, ultimately achieving the purpose of removing the ice. This method consumes a lot of energy and requires a lot of electricity.

[0005] (2) Mechanical deicing method: One method is to manually knock with a wooden stick or insulating tool. This method is unavoidable in certain specific areas. For example, ice on towers and insulators needs to be removed manually. This method is labor-intensive, inefficient, and unsafe. The second method is to mount a special deicing stick on a drone and control the drone to make the mounted deicing stick physically contact and collide with the transmission line to break and remove the ice on the line. This method has high technical requirements and is limited by weather conditions.

[0006] In addition, de-icing equipment running on the line is used to remove the ice. This method is cheaper than thermal de-icing and can replace manual de-icing, which can greatly reduce the investment of manpower, material resources and financial resources.

[0007] (3) Passive de-icing method: also known as natural de-icing method. It is a method of de-icing that relies on natural factors such as wind, gravity, random scattering, sunlight and temperature changes. The advantage of the passive method is that it is low-cost, but it cannot prevent the formation of ice and is only applicable to limited areas.

[0008] In summary, the deicing device in the mechanical deicing method is increasingly widely used due to its high efficiency and practicality. However, the existing deicing device has limited obstacle crossing ability, low automation, and strong dependence on external power supply, which cannot achieve the purpose of long-term endurance and safe operation. Summary of the invention

[0009] In order to solve the above problems, the present invention provides a cable ice cleaning robot.

[0010] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0011] A cable ice cleaning robot comprises a frame, a power supply, a walking device, a deicing device and a control device, wherein the walking device comprises two front and rear groups of walking mechanisms capable of walking along the cable simultaneously or alternately, the deicing device comprises a pair of deicing wheels capable of clamping the cable, the deicing wheels are connected to the lower frame through a mounting frame and are arranged in the middle of the frame, and the two groups of walking mechanisms are respectively arranged at the front and rear ends of the frame; the control device is used to control the walking device and the deicing device; the walking device, the deicing device and the control device are all electrically connected to the power supply, and the control device and the power supply are both arranged inside the frame.

[0012] Furthermore, the walking mechanism includes four walking wheels and a lifting component for driving the walking wheels to rise and fall. The four walking wheels are symmetrically arranged in groups of two on the upper and lower sides of the cable, and the walking wheels are driven by a power component to move along the cable; the axles of the two upper walking wheels pass through the connecting frame and are connected to the power component, and the two lower walking wheels are arranged on the bracket, and the connecting frame and the bracket are connected by a driving component, and the driving component drives the adjustment of the angle between the connecting frame and the bracket to clamp or loosen the cable; the driving component is connected to the frame through a lifting component.

[0013] Furthermore, both ends of the wheel axles of the two lower walking wheels are rotatably connected to the upper end of the connecting arm, the lower end of the connecting arm is rotatably connected to the middle bottom of the bracket, and the bracket is provided with an arc groove that can match the wheel axle trajectory of the walking wheel; a buffer spring is provided between the bottom of the connecting arm and the bracket, the upper end of the buffer spring is connected to the middle part of the connecting arm, and the lower end of the buffer spring is connected to the bottom of the bracket.

[0014] Furthermore, the power component includes a travel motor, a driving gear and two driven gears, the two driven gears are respectively arranged on both sides of the driving gear and meshed with the outside, the two driven gears are respectively coaxially fixed with the two driving pulleys, the axles of the two upper travel wheels respectively pass through the connecting frame and are coaxially fixed with the two driven pulleys, and the two driving pulleys and the two driven pulleys are connected by a synchronous belt; the travel motor is arranged in a protective shell, the protective shell is connected to the upper swing arm of the driving component, and the bracket is connected to the lower swing arm of the driving component through a connecting seat.

[0015] Furthermore, the driving component includes an adjusting motor, a belt transmission assembly, a worm gear transmission assembly, a gear transmission assembly, an upper swing arm and a lower swing arm, the adjusting motor, the worm gear transmission assembly and the gear transmission assembly are all arranged in the protective cover, and the belt transmission assembly is arranged outside the protective cover; the upper swing arm and the lower swing arm are respectively arranged at the upper and lower parts of both sides of the protective cover; the adjusting motor is connected to the worm gear transmission assembly through the belt transmission assembly, and the worm gear transmission assembly is connected to the gear transmission assembly, and the gear transmission assembly includes an externally meshed upper gear and a lower gear, and the wheel axles of the upper gear and the lower gear are respectively fixedly connected to one end of the upper swing arm and the lower swing arm on the same side, and the other ends of the upper swing arm and the lower swing arm are respectively rotatably connected to the upper connecting frame and the lower bracket; the protective cover is connected to the lifting component; the driving components of the two groups of walking mechanisms are staggered on the left and right sides of the cable.

[0016] Furthermore, the lifting component includes a scissor-type lifting arm, a lifting motor and a screw transmission assembly, the lifting motor and the screw transmission assembly are arranged in a base, and the base is connected to the frame; the screw transmission assembly includes a screw and a slider threaded therewith, the slider is rotatably connected to the lower end of the scissor-type lifting arm, and the upper end of the scissor-type lifting arm is rotatably connected to the protective cover; the bases of the two groups of walking mechanisms are staggered front and back on the left and right sides of the frame; the scissor-type lifting arm includes a first folding arm, a second folding arm, a third folding arm, a fourth folding arm, a fifth folding arm and a sixth folding arm, the first folding arm and the second folding arm are rotatably connected in the middle, and the first folding arm and the second folding arm are rotatably connected. The lower end of the third folding arm is rotationally connected to the upper part of the base on the lifting motor side, the upper ends of the first and third folding arms are rotationally connected to the two corners of the tripod, and the lower end of the fourth folding arm is rotationally connected to the other corner of the tripod; the upper end of the second folding arm is rotationally connected to the lower end of the fifth folding arm, the upper end of the fifth folding arm is rotationally connected to the middle part of the sixth folding arm, and the lower end of the sixth folding arm is coaxially arranged with the upper end of the first folding arm; the upper ends of the fourth and sixth folding arms are rotationally connected to the upper and lower parts of the mounting block, respectively, and the mounting block is fixed to the side of the protective cover.

[0017] Furthermore, the de-icing device includes a mounting frame connected to the frame and a pair of de-icing wheels above the frame for clamping the cable, and the de-icing wheels are detachable assembled structures; the de-icing wheels are connected to the mounting frame through clamping arms, and the clamping arms are connected to an angle adjustment mechanism, and the angle adjustment mechanism is used to adjust the angle between the two sets of clamping arms; the de-icing wheels are driven by a power mechanism to remove ice from the surface of the cable.

[0018] Furthermore, the angle adjustment mechanism includes a first motor, a belt transmission assembly, a worm, a worm wheel, a driving gear and a driven gear. The first motor is arranged at the lower part of the mounting frame, and the output shaft of the first motor drives the worm to rotate through the belt transmission assembly. The worm is meshed with the worm wheel, and the worm wheel is coaxially fixed with the driving gear. The driving gear is externally meshed with the driven gear, and the two ends of the rotating shafts of the driving gear and the driven gear are respectively rotatably matched with the support, and the support is fixed to the top of the mounting frame; the rotating shafts of the driving gear and the driven gear are respectively connected to two groups of clamping arms; the power mechanism is arranged in a shell at the top of the mounting seat, and the power mechanism includes a second motor, a driving bevel gear and a driven bevel gear. The second motor is coaxially fixed with the driving bevel gear and is respectively arranged on both sides of the partition inside the shell, the driven bevel gear is meshed with the driving bevel gear, and the driven bevel gear is coaxially fixed with the deicing wheel.

[0019] Furthermore, the de-icing wheel comprises a scraper frame, a scraper ring, a scraper, a phase plate, a phase shaft, a positioning ring, a guide sleeve, a spring and a locking ring; the bottom of the scraper frame is connected to the driven bevel gear; a vertical main shaft is provided in the middle of the scraper frame, and a plurality of columns are provided at intervals on the edges around the scraper frame; the middle through holes of the scraper ring and the scraper frame are both matched with the main shaft clearance; notches matching the columns are provided at intervals on the scraper ring; the outer surface of the entity part between two adjacent notches around the scraper ring is an arc surface matching the cable; scrapers are provided on the upper and lower sides of the entity part; the outer edge of the scraper and the edge of the entity part of the scraper ring are provided with blades, and both protrude from the outer side of the column; a top cover is provided on the top of the main shaft, and the edge of the top cover is connected to the top of the column;

[0020] There are two phase discs, both of which are connected to the spindle key; a plurality of long strip slide grooves are arranged circumferentially on the end surface of the phase disc, and the plurality of slide grooves are arranged inclined relative to the radius, and the inclination direction of all the slide grooves is consistent; a limit column placed in the slide groove is arranged at one end of the inner side of the scraper, and the limit column can move along the slide groove when the phase disc rotates with the spindle; guide grooves for slidingly cooperating with the scraper are arranged on the upper and lower surfaces of the solid part of the scraper ring; two phase discs are respectively arranged at the top and bottom of the inner cavity of the scraper holder, and the top cover is arranged on the top of the upper phase disc, and the outer bottom of the scraper holder is connected to the driven bevel gear through a rotating base; the lower end of the spindle is connected to the upper end of the phase shaft;

[0021] The center hole of the driven bevel gear is a stepped hole which is larger at the top and smaller at the bottom. The upper end of the phase shaft is provided with a protruding terrace which can match the step of the inner hole of the driven bevel gear. The guide sleeve is sleeved on the outside of the phase shaft, and the upper end of the guide sleeve is connected to the lower end face of the driven bevel gear. A spiral groove is provided on the side wall of the phase shaft, and a longitudinal groove is provided on the side wall of the guide sleeve. The positioning ring, spring and locking ring are sleeved on the outside of the guide sleeve, and the inner hole of the positioning ring is provided with a protrusion which can be inserted into the longitudinal groove and the spiral groove. The lower end of the positioning ring is connected to the spring, and the lower end of the spring is connected to the locking ring, and the locking ring is threadedly matched with the lower end of the guide sleeve.

[0022] Furthermore, the control device includes a microcomputer and a detection component, and the walking device, de-icing device and detection component are all connected to the microcomputer; the power supply adopts a high-voltage electromagnetic induction energy acquisition device, which can inductively obtain electrical energy from a high-voltage transmission line; the detection component is used to detect obstacles and surrounding environmental factors, and send the information to the microcomputer.

[0023] Compared with the prior art, the present invention has the following technical advances:

[0024] The present invention installs a deicing device in the middle of the frame, arranges two sets of walking mechanisms alternately at the front and rear ends, and installs a power supply and a control device inside the frame. The control device is used to control the walking and deicing operations. The two sets of walking mechanisms can walk along the cable simultaneously or alternately, which is convenient for completing the obstacle crossing action; the deicing action can be completed by clamping the cable with a pair of rotating deicing wheels. The present invention has the advantages of simple and compact structure, small size, flexible and convenient application, convenient loading and unloading and maintenance, reduced maintenance costs, and increased equipment service life; it has the ability to cross obstacles over the line tower, has a wide range of applications, and further improves the deicing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0026] In the attached picture:

[0027] Figure 1 A working state diagram of a cable ice cleaning robot provided by an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the arrangement of the walking device on the frame in an embodiment of the present invention;

[0029] Figure 3 It is a structural schematic diagram of a walking device in an embodiment of the present invention;

[0030] Figure 4It is a schematic diagram of the assembly of the traveling wheel, the power component and the driving component in an embodiment of the present invention;

[0031] Figure 5 It is a schematic diagram of the installation of a set of traveling wheels in the traveling mechanism of the present invention;

[0032] Figure 6 A schematic diagram of the structure of a deicing device according to an embodiment of the present invention;

[0033] Figure 7 It is a front view of the deicing device in an embodiment of the present invention;

[0034] Figure 8 for Figure 7 The state diagram of the de-icing device without the shell side plate;

[0035] Fig. 9 A schematic diagram of the structure of a de-icing wheel in an embodiment of the present invention;

[0036] Fig.10 for Fig. 9 Front view of the middle de-icing wheel;

[0037] Fig.11 for Fig.10 AA section view of the middle de-icing wheel;

[0038] Fig.12 for Fig. 9 Exploded view of the de-icing wheel;

[0039] Fig.13 It is a schematic diagram of the cooperation between the scraper ring, the main shaft and the scraper frame;

[0040] Fig.14 This is a working state diagram of the de-icing wheel in an embodiment of the present invention;

[0041] Fig.15 It is a schematic diagram of a scraper on a de-icing wheel in an embodiment of the present invention moving to the outermost side along the slide groove;

[0042] Fig.16 The state diagram is that when the outer diameter of the cable increases, the scraper on the de-icing wheel moves inward along the slide groove;

[0043] Fig.17 It is a work flow chart of the present invention;

[0044] Figure 18-Figure 32 It is a schematic diagram of the obstacle crossing process of the present invention.

[0045] In the figure:

[0046] 00-cable, 01-rack; 02-detection component; 03-microcomputer; 04-power supply;

[0047] 100-walking device: 101-walking wheel; 102-connecting frame; 103-bracket; 104-anti-slip groove; 105-connecting arm; 106-walking motor; 107-driving gear; 108-driven gear; 109-driven pulley; 110-protective housing; 111-upper swing arm; 112-connecting seat; 113-lower swing arm; 114-lateral groove; 115-belt drive assembly; 116-worm gear Worm gear transmission assembly; 117-arc groove; 118-protection cover; 119-upper gear, 120-lower gear; 121-first folding arm; 122-second folding arm; 123-third folding arm; 124-fourth folding arm; 125-fifth folding arm; 126-sixth folding arm; 127-base; 128-screw; 129-slider; 130-tripod; 131-mounting block; 132-guide rod;

[0048] 200-deicing device: 201-mounting frame; 202-support; 203-mounting seat; 204-housing; 205-driving bevel gear; 206-driven bevel gear; 207-partition plate;

[0049] 210-de-icing wheel, 211-scraper frame, 2110-column; 212-scraper ring, 2120-guide groove; 213-scraper, 2130-limiting column; 214-spindle; 215-top cover; 216-phase plate, 2160-slideway; 217-rotating base; 218-phase shaft, 2180-spiral groove; 219-positioning ring, 2190-protrusion; 223-guide sleeve, 2230-longitudinal groove; 224-spring; 225-locking ring;

[0050] 220-clamping arm, 221-active connecting rod, 222-driven connecting rod;

[0051] 230 - angle adjustment mechanism, 231 - first motor, 232 - worm, 233 - worm wheel, 234 - driving gear, 235 - driven gear, 236 - belt transmission assembly. DETAILED DESCRIPTION

[0052] The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0053] like Figure 1 , Figure 2As shown, a cable ice cleaning robot includes a frame 01, a power supply 04, a walking device 100, an ice removal device 200 and a control device. The walking device 100 includes two groups of walking mechanisms that can walk along the cable 00 simultaneously or alternately. The ice removal device 200 includes a pair of ice removal wheels 210 that can clamp the cable. The ice removal wheels 210 are connected to the lower frame 01 through a mounting frame 201 and are arranged in the middle of the frame 01. The two groups of walking mechanisms are respectively arranged at the front and rear ends of the frame 01; the control device is used to control the walking device 100 and the ice removal device 200; the walking device 100, the ice removal device 200 and the control device are all electrically connected to the power supply 04, and the control device and the power supply 04 are all arranged inside the frame 01. The overall balance is maintained by installing the ice removal device in the middle of the frame and arranging two groups of walking mechanisms alternately at the front and rear ends. The two sets of walking mechanisms can walk along the cable simultaneously or alternately, which is convenient for completing the obstacle crossing action; the deicing action can be completed by clamping the cable with a pair of rotating deicing wheels. By installing a power supply and a control device inside the frame, the walking and deicing operations are controlled by the control device.

[0054] As a preferred structure, Figure 3 and Figure 4 As shown, the walking mechanism includes four walking wheels 101 and a lifting component for driving the walking wheels 101 to rise and fall. The four walking wheels 101 are symmetrically arranged on the upper and lower sides of the cable 00 in groups of two. The walking wheels 101 are driven by a power component to walk along the cable 00; the wheel axles of the two upper walking wheels 101 pass through the connecting frame 102 and are connected to the power component, and the two lower walking wheels 101 are arranged on the bracket 103. The connecting frame 102 and the bracket 103 are connected by a driving component. The driving component drives and adjusts the angle between the connecting frame 102 and the bracket 103 to clamp or loosen the cable 00; the driving component is connected to the frame 01 through a lifting component. Among them, the walking wheel 101 is made of metal, and the middle of the walking wheel 101 is an inner concave surface that matches the cable, and the inner concave surface is provided with a plurality of anti-skid grooves 104 perpendicular to the length direction of the cable, which can increase the friction between the walking wheel and the cable and prevent the walking wheel from slipping off the cable.

[0055] Further optimize the above scheme, such as Figure 5As shown, the two ends of the wheel axles of the two lower running wheels 101 are rotatably connected to the upper end of the connecting arm 105, and the lower end of the connecting arm 105 is rotatably connected to the middle bottom of the bracket 103. The bracket 103 is provided with an arc groove 117 that can match the wheel axle track of the running wheel 101; a buffer spring (not shown in the figure) is provided between the bottom of the bracket 103 and the connecting arm 105, and the upper end of the buffer spring is connected to the middle part of the connecting arm 105, and the lower end of the buffer spring is connected to the bottom of the bracket 103. The use of the buffer spring can change the distance between the upper and lower running wheels according to the change of the outer diameter of the cable under ice coverage; at the same time, the upper and lower running wheels can clamp the cable with the help of the buffer spring.

[0056] like Figure 4 , Figure 5 As shown, the power component includes a travel motor 106, a driving gear 107 and two driven gears 108. The two driven gears 108 are respectively arranged on both sides of the driving gear 107 and mesh with the outside. The two driven gears 108 are respectively coaxially fixed with the two driving pulleys. The axles of the two upper travel wheels 101 respectively penetrate the connecting frame 102 and are coaxially fixed with the two driven pulleys 109. The two driving pulleys and the two driven pulleys 109 are connected by a synchronous belt (the synchronous belt is omitted in the figure). The travel motor 106 is arranged in a protective housing 110, and the protective housing 110 is connected to the upper swing arm 111 of the driving component. The bracket 103 is connected to the lower swing arm 113 of the driving component through a connecting seat 112. The travel motor drives the driving gear and the two driven gears to rotate, and then drives the two driving pulleys to rotate, and then drives the two driven pulleys and the two travel wheels to rotate through the synchronous belt.

[0057] In specific production, a transverse groove 114 is provided on the outer side of the connecting frame 102, and two driving pulleys and two driven pulleys 109 are correspondingly arranged in the transverse groove 114, and the axles of the two driven pulleys 109 are arranged perpendicular to the side of the connecting frame 102. This structure can make the structure of the walking mechanism more compact.

[0058] In a specific embodiment of the present invention, Figure 3 and Figure 4As shown, the driving component includes an adjusting motor (not shown), a belt transmission assembly 115, a worm gear transmission assembly 116, a gear transmission assembly, an upper swing arm 111 and a lower swing arm 113. The adjusting motor, the worm gear transmission assembly 116 and the gear transmission assembly are all arranged in a protective cover 118, and the adjusting motor is arranged below the travel motor; the belt transmission assembly is arranged outside the protective cover 118; the upper swing arm 111 and the lower swing arm 113 are respectively arranged at the upper and lower parts of both sides of the protective cover 118; the adjusting motor is connected to the upper and lower parts of the protective cover 118 through the belt transmission assembly. The worm gear transmission assembly is connected, and the worm gear transmission assembly is connected to the gear transmission assembly, and the gear transmission assembly includes an upper gear 119 and a lower gear 120 that are externally meshed, and the axles of the upper gear 119 and the lower gear 120 are respectively fixedly connected to one end of the upper swing arm 111 and the lower swing arm 113 on the same side, and the other ends of the upper swing arm 111 and the lower swing arm 113 are respectively rotatably connected to the upper connecting frame 102 and the lower bracket 103; the protective cover 118 is connected to the lifting component; the driving components of the two sets of walking mechanisms are staggered on the left and right sides of the cable 00. Figure 4 The protective cover outside the worm gear transmission assembly and the gear transmission assembly is not drawn. The belt transmission assembly is composed of a synchronous belt, a driving pulley and a driven pulley (the synchronous belt is not drawn in the figure), and the adjusting motor is coaxially fixed with the driving pulley; the worm gear transmission assembly is composed of a worm wheel and a worm, and the worm is coaxially fixed with the driven pulley, and the worm wheel is coaxially fixed with the upper gear of the gear transmission assembly. The adjusting motor drives the gear transmission assembly to rotate through the belt transmission assembly and the worm gear transmission assembly, and then drives the upper swing arm and the lower swing arm to swing up and down, adjusts the angle between the upper swing arm and the lower swing arm, and then adjusts the distance between the upper and lower walking wheels, so that the walking wheels can clamp the cable and disengage the cable.

[0059] When designing specifically, Figure 4As shown, there are four upper swing arms 111 and four lower swing arms 113, respectively, and the four upper swing arms 111 and the four lower swing arms 113 are symmetrically arranged at the upper and lower parts of both sides of the protective cover 118. The four upper swing arms 111 are symmetrically arranged in pairs at the upper part of the protective cover 118 and both sides of the travel motor 106, and the two upper swing arms 111 on the same side are parallel and staggered. One end of the upper two upper swing arms 111 is rotatably connected to the top edge of the rear mounting plate of the protective shell 110 (the mounting plate is fixedly connected to the middle part of the connecting frame 102), and the other end is rotatably connected to the top edge of the protective cover 118. One end of the lower two upper swing arms 111 is rotatably connected to the bottom edge of the protective shell 110, and the other end is fixedly connected to the axle of the upper gear 119. Similarly, the four lower swing arms 113 are correspondingly arranged between the protective cover 118 and the bracket 103, and one end of the upper two lower swing arms 113 is rotatably connected to the top edge of the mounting plate on the rear side of the bracket 103 (the mounting plate is fixedly connected to the middle part of the bracket 103), and the other end is fixedly connected to the axle of the lower gear 120. With the above structure, the upper and lower upper swing arms on the same side of the walking motor and the adjusting motor, the protective cover and the upper mounting plate form a four-bar linkage, and the upper and lower lower swing arms, the protective cover and the lower mounting plate form a four-bar linkage, which can improve the stability of the walking mechanism while adjusting the spacing between the upper and lower walking wheels. When it is necessary to cross an obstacle, the adjusting motor drives the upper gear and the lower gear to rotate through the belt transmission assembly and the worm gear transmission assembly, and then drives the upper swing arm and the lower swing arm to swing upward and downward to a vertical state respectively, so that the upper and lower walking wheels can be separated from the cable and moved to one side of the cable, so that the walking wheels can be lifted and lowered with the lifting component to realize the obstacle crossing function.

[0060] In a specific embodiment of the present invention, Figure 1 , Figure 2 As shown, the lifting component includes a scissor-type lifting arm, a lifting motor and a screw transmission assembly. The lifting motor (not shown) and the screw transmission assembly are arranged in a base 127, and the base 127 is connected to the frame 01; the screw transmission assembly includes a screw 128 and a slider 129 threaded therewith, the slider 129 is rotatably connected to the lower end of the scissor-type lifting arm, and the upper end of the scissor-type lifting arm is rotatably connected to the protective cover 118; the bases of the two sets of walking mechanisms are staggered front and back on the left and right sides of the frame 01. In specific production, a guide rod 132 is installed below the screw, and the two ends of the guide rod 132 are fixedly connected to the base 127. The slider 129 is slidably matched with the guide rod 132, and the guide rod 132 guides the slider 129. The lifting motor drives the screw to rotate, and then drives the slider to move on the screw and the guide rod; the slider drives the scissor-type lifting arm to rise and fall, and then drives the frame and the deicing structure to rise and fall, as well as the walking wheel to rise and fall, and the front and rear walking wheels are alternately lifted and lifted, so as to facilitate the obstacle crossing function. The specific obstacle crossing process is as follows: Figure 18-32 shown.

[0061] When designing specifically, Figure 2 As shown, the scissor-type lifting arm includes a first folding arm 121, a second folding arm 122, a third folding arm 123, a fourth folding arm 124, a fifth folding arm 125 and a sixth folding arm 126, the middle parts of the first folding arm 121 and the second folding arm 122 are rotatably connected, the lower ends of the first folding arm 121 and the second folding arm 122 are rotatably connected to the lower part of the lifting motor side base 127 and the slider 129, the lower end of the third folding arm 123 is rotatably connected to the upper part of the lifting motor side base 127, and the upper ends of the first folding arm 121 and the third folding arm 123 are respectively connected to The two corners of the tripod 130 are rotatably connected, and the lower end of the fourth folding arm 124 is rotatably connected to the other corner of the tripod 130; the upper end of the second folding arm 122 is rotatably connected to the lower end of the fifth folding arm 125, and the upper end of the fifth folding arm 125 is rotatably connected to the middle of the sixth folding arm 126, and the lower end of the sixth folding arm 126 is coaxially arranged with the upper end of the first folding arm 121; the upper ends of the fourth folding arm 124 and the sixth folding arm 126 are rotatably connected to the upper and lower parts of the mounting block 131, respectively, and the mounting block 131 is fixed to the side of the protective cover 118. The scissor-type lifting arm with the above structure can realize the height adjustment in the vertical direction with the movement of the slider, and then adjust the distance between the walking mechanism and the frame, and cooperate with the walking wheel to clamp and release the cable, so as to facilitate crossing obstacles such as the line tower light.

[0062] In a specific embodiment of the present invention, Figure 6-Figure 8 As shown, the deicing device 200 includes a mounting frame 201 connected to the rack 01 and a pair of deicing wheels 210 above the mounting frame 201 for clamping the cable, and the deicing wheels 210 are detachable assembled structures; the deicing wheels 210 are connected to the mounting frame 201 through a clamping arm 220, and the clamping arm 220 is connected to an angle adjustment mechanism 230, and the angle adjustment mechanism 230 is used to adjust the angle between the two groups of clamping arms 220; the deicing wheels 210 are driven by a power mechanism to remove ice from the cable surface. When in use, the two groups of clamping arms are driven to open and close by the angle adjustment mechanism, so that the two deicing wheels can be separated from the cable or clamped; then the two deicing wheels are driven to rotate simultaneously by the power mechanism, so as to achieve the purpose of removing ice from the cable surface.

[0063] When making specific Figure 6 , 7As shown, the angle adjustment mechanism 230 includes a first motor 231, a belt transmission assembly 236, a worm 232, a worm wheel 233, a driving gear 234 and a passive gear 235. The first motor 231 is arranged at the lower part of the mounting frame 201. The output shaft of the first motor 231 drives the worm 232 to rotate through the belt transmission assembly. The worm 232 is meshed with the worm wheel 233. The worm wheel 233 is coaxially fixed with the driving gear 234. The driving gear 234 is externally meshed with the passive gear 235. The two ends of the rotating shafts of the driving gear 234 and the passive gear 235 are respectively rotatably matched with the support 202. The support 202 is fixed to the top of the mounting frame 201; the rotating shafts of the driving gear 234 and the passive gear 235 are respectively connected to the two groups of clamping arms 220. Figure 6 The first motor is not drawn, and the belt drive assembly includes a driving pulley, a driven pulley and a synchronous belt; the driving pulley is driven by the first motor, and the driven pulley and the worm are driven to rotate through the synchronous belt, and then the worm drives the worm wheel and the driving gear to rotate, and finally the driving gear and the driven gear rotate synchronously to achieve the purpose of adjusting the angle between the two sets of clamping arms.

[0064] As a preferred structure, Figure 7 , 8 As shown, the clamping arm 220 includes two mutually parallel active connecting rods 221 and two mutually parallel driven connecting rods 222. The lower ends of the two active connecting rods 221 are fixed to the inner sides of the two ends of the rotating shaft of the active gear 234 and the driven gear 235, respectively. The upper ends of the two active connecting rods 221 are respectively rotatably matched with the mounting seat 203 at the bottom of the de-icing wheel 210; the lower ends of the two driven connecting rods 222 are rotatably matched with the support 202, and the upper ends are rotatably matched with the mounting seat 203. The two driven connecting rods 222 are correspondingly arranged on the outer sides of the two active connecting rods 221. Among them, the two active connecting rods 221 and the two driven connecting rods 222 have the same length and are arranged in parallel and staggered manner. The active connecting rod, the driven connecting rod, the support, and the mounting seat form a four-bar linkage, which can achieve swinging while improving stability.

[0065] When designing specifically, Figure 8 As shown, the power mechanism is arranged in the housing 204 at the top of the mounting seat 203, and the power mechanism includes a second motor (not shown in the figure), a driving bevel gear 205 and a driven bevel gear 206. The second motor is coaxially fixed with the driving bevel gear 205 and is respectively arranged on both sides of the partition 207 inside the housing 204. The driven bevel gear 206 is meshed with the driving bevel gear 205, and the driven bevel gear 206 is coaxially fixed with the deicing wheel 210. The two deicing wheels are driven by the second motor respectively, and the two deicing wheels are driven to rotate relative to the cable through the bevel gear transmission composed of the driving bevel gear and the driven bevel gear, so as to remove ice on the cable surface.

[0066] In a specific embodiment of the present invention, Figure 9-16 As shown, the de-icing wheel 210 includes a scraper frame 211, a scraper ring 212, a scraper 213, a phase plate 216, a phase shaft 218, a positioning ring 219, a guide sleeve 223, a spring 224 and a locking ring 225. The bottom of the scraper frame 211 is connected to the driven bevel gear 206. The middle of the scraper frame 211 is provided with a vertical main shaft 214, and a plurality of columns 2110 are spaced around the edges. The scraper ring 212 and the scraper frame 211 have a central through hole that is clearance-matched with the main shaft 214. The scraper ring 212 is provided with notches matching the column 2110 at intervals around it. The outer surface of the entity between two adjacent notches around the scraper ring 212 is an arc surface matching the cable 00. The upper and lower sides of the entity are provided with scrapers 213. The outer edge of the scraper 213 and the edge of the entity of the scraper ring 212 are provided with blades, and both protrude from the outer side of the column 2110. The top of the main shaft 214 is provided with a top cover 215, and the edge of the top cover 215 is connected to the top of the column 2110. The second motor drives the driven bevel gear to rotate, thereby driving the scraper on the scraper frame to rotate. The upper and lower scrapers and the scraper ring can be close to the cable. The cable can be clamped by two deicing wheels. As the scraper frame rotates, the ice on the cable surface can be removed by the blades on the edges of the scraper and the scraper ring.

[0067] There are two phase discs 216, both of which are key-connected to the main shaft 214. A plurality of long strip slide grooves 2160 are circumferentially arranged on the end surface of the phase disc 216. The plurality of slide grooves 2160 are inclined relative to the radius, and the inclination directions of all the slide grooves 2160 are consistent. A limiting column 2130 is arranged in the slide groove 2160 at one end of the inner side of the scraper 213. When the phase disc 216 rotates with the main shaft 214, the limiting column 2130 can move along the slide groove 2160. The upper and lower surfaces of the physical part of the scraper ring 212 are provided with guide grooves 2120 for slidingly cooperating with the scraper 213; two phase discs 216 are respectively arranged at the top and bottom of the inner cavity of the scraper frame 211, and the top cover 215 is arranged on the top of the upper phase disc 216, and the outer bottom of the scraper frame 211 is connected to the driven bevel gear 206 through a rotating base 217; the lower end of the main shaft 214 is connected to the upper end of the phase shaft 218; the center hole of the driven bevel gear 206 is the upper large The upper end of the phase shaft 218 is provided with a protruding table circle, which can match the inner hole step of the driven bevel gear 206; the guide sleeve 223 is sleeved on the outside of the phase shaft 218, and the upper end of the guide sleeve 223 is connected to the lower end surface of the driven bevel gear 206; the side wall of the phase shaft 218 is provided with a spiral groove 2180, the side wall of the guide sleeve 223 is provided with a longitudinal groove 2230, the positioning ring 219, the spring 224 and the locking ring 22 5 is sleeved on the outside of the guide sleeve 223, and the inner hole of the positioning ring 219 is provided with a protrusion 2190 that can be inserted into the longitudinal groove 2230 and the spiral groove 2180; the lower end of the positioning ring 219 is connected to the spring 224, and the lower end of the spring 224 is connected to the locking ring 225, and the locking ring 225 is threadedly matched with the lower end of the guide sleeve 223. By twisting the position of the locking ring on the guide sleeve, the compression amount of the spring is adjusted, thereby adjusting the rebound force of the scraper when it is compressed. By using the spring to apply an upward thrust to the positioning ring, the protrusion on the inner side of the positioning ring can always have a tendency to move upward along the spiral groove of the phase axis.

[0068] Since the main shaft is connected to the scraper with a limit column through the phase disk, and the rotation angle relative to the scraper frame is constrained, and the scraper on the scraper frame can only make radial linear motion relative to the scraper ring due to the constraint relationship, the preload mechanism on the main shaft will rotate with the scraper frame. The scraper scrapes off the ice on the cable surface during the rotation of the scraper frame; when the outer diameter of the cable increases, the scraper moves radially toward the main shaft along the guide groove of the scraper ring, and can also move spirally along the slide groove of the phase disk, thereby driving the main shaft to rotate slightly through the phase disk; at the same time, the preload mechanism applies a certain torque to the main shaft in the opposite direction, and applies a radial outward thrust to the scraper, so that the scraper always has a tendency to move outward when it contacts the cable, and then the two deicing wheels can clamp the cable at the same time to ensure that the ice on the cable surface is completely removed.

[0069] During the specific production, two spiral grooves 2180 are symmetrically arranged on the side wall of the phase shaft 218, two longitudinal grooves 2230 are symmetrically arranged on the side wall of the guide sleeve 223, and two protrusions 2190 are symmetrically arranged on the inner hole of the positioning ring 219. When the outer diameter of the cable increases, the scraper retracts inward along the guide groove of the scraper ring, and the phase disk drives the main shaft and the phase shaft to rotate under the action of the scraper limit column, and then the protrusion of the positioning ring moves downward along the spiral groove of the phase shaft and the longitudinal groove of the guide sleeve, driving the positioning ring to translate downward and compress the spring. It can be seen that the positioning ring will apply a certain reverse torque to the phase shaft and the main shaft under the action of the spring elastic force, and then apply a pre-tightening force to the scraper to clamp the cable.

[0070] The working principle of the above deicing device is as follows:

[0071] During de-icing operation, the first motor is controlled to drive the two sets of clamping arms to reduce the angle between the two arms, so that the two upper de-icing wheels clamp the cable; then the second motor is controlled to drive the driven bevel gear to rotate, and the scraper frame drives the scraper and the scraper ring to rotate relative to the cable, thereby scraping off the ice on the cable surface.

[0072] Due to the thickness of ice covering the cable or the wire diameter, such as Fig.15 , 16 As shown in the figure, the scrapers on both sides will be subjected to pressure and tend to move radially toward the center during operation. At this time, the radial movement caused by the pressure is Fig.16 The sliding groove on the phase disk shown is converted into the relative rotational movement of the inner spindle relative to the outer scraper frame, and then the relative rotational movement of the spindle relative to the scraper frame is converted into the axial linear movement of the positioning ring through the coordinated movement of the spindle, the phase shaft with spiral grooves, the guide sleeve with longitudinal grooves, and the positioning ring with internal protrusions. This linear movement will be subject to the pressure from the spring on the locking ring below, and then the scrapers on both sides will have a rebound force when they are pressed, so that the scraper cables are covered with ice tightly.

[0073] When the camera detects an obstacle, the microcomputer controls the front and rear wheels to move as follows: the front wheel is lifted and rotated out, the rear wheel is driven forward, the front wheel rotates back, the rear wheel rotates out, the front wheel is driven forward, and the rear wheel rotates back. Compared with the design of a three-arm robot, this obstacle crossing method simplifies the mechanical structure and greatly improves the working efficiency.

[0074] In a specific embodiment of the present invention, the control device includes a microcomputer 03 and a detection component 02, and the walking device 100, the deicing device 200 and the detection component are all connected to the microcomputer; the detection component can use a camera or an ultrasonic sensor, which can detect obstacles and other surrounding environmental factors that may affect the normal operation of the robot, and send the information to the microcomputer. The microcomputer determines whether to perform an obstacle-crossing action or a normal deicing action based on the received information. The workflow of the robot is as follows: Fig.17 As shown. The regulating motor and the first motor 231 are both servos, which can be directly controlled by a microcomputer; the second motor and the travel motor 106 are DC motors, which are controlled by a microcomputer through a relay. The lifting motor is a stepper motor, which needs to be driven by a timer of the microcomputer to further control the rotation of the stepper motor.

[0075] At the same time, power supply 04 adopts a high-voltage electromagnetic induction energy-taking device (this is a prior art, and its detailed structure will not be described here), which can inductively obtain electrical energy from high-voltage transmission lines. This power-taking method is not limited by the size of the battery or the length of the power cord, which greatly improves the robot's endurance. Moreover, since there is no transit power supply, the efficiency of energy utilization is also greatly improved.

[0076] In summary, the present invention has the advantages of compact structure, small size, and flexible and convenient application. By adjusting the angles of the two sets of clamping arms, the two deicing wheels can clamp or loosen the cable; the ice on the cable surface can be removed by rotating the scraper and scraper ring; by adjusting the angle between the upper swing arm and the lower swing arm driven by the motor, and then adjusting the distance between the upper and lower walking wheels, the walking wheel can clamp the cable, and the walking motor drives the walking wheel to move along the cable; when encountering obstacles such as wire towers, the slider is driven to move on the lead screw by the lifting motor, and then the distance between the walking wheel and the frame is adjusted. With the cooperation of the adjusting motor, the front and rear sets of walking wheels are alternately lifted and lowered to achieve the purpose of crossing the obstacle. At the same time, the deicing wheel with an assembled structure is convenient for disassembly and maintenance. When the deicing wheel is worn or partially damaged, only the local structure needs to be replaced, and there is no need to replace the entire structure, which reduces the maintenance cost. The invention has low production cost, excellent obstacle crossing ability, wide application range, and can further improve deicing efficiency; there are mainly the following two application scenarios:

[0077] 1. Transmission line maintenance: Mainly targeting the icing problem of high-voltage transmission lines, the robot can be directly applied to the transmission line maintenance work in the power industry to improve deicing efficiency and ensure power supply safety.

[0078] 2. Natural disaster emergency response: Under extreme weather conditions, such as heavy snow and freezing rain, the robot can respond quickly to remove ice from key infrastructure such as transportation routes and communication lines, reducing the impact of natural disasters on public safety.

[0079] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of protection of the claims of the present invention.

Claims

1. A cable ice cleaning robot, characterized in that: It includes a frame, a power supply, a traveling device, a deicing device and a control device. The traveling device includes two groups of traveling mechanisms, which can travel along the cable simultaneously or alternately. The deicing device includes a pair of deicing wheels, which can clamp the cable. The deicing wheels are connected to the frame below through a mounting frame and are arranged in the middle of the frame. The two groups of traveling mechanisms are respectively arranged at the front and rear ends of the frame. The control device is used to control the traveling device and the deicing device. The traveling device, the deicing device and the control device are all electrically connected to the power supply. The control device and the power supply are both arranged inside the frame. The deicing wheel is driven by a power mechanism to remove ice from the cable surface; the power mechanism includes a second motor, a driving bevel gear and a driven bevel gear; The de-icing wheel comprises a scraper frame, a scraper ring, a scraper, a phase plate, a phase shaft, a positioning ring, a guide sleeve, a spring and a locking ring. The bottom of the scraper frame is connected to the driven bevel gear. A vertical main shaft is provided in the middle of the scraper frame, and a plurality of columns are provided at intervals on the edges around the scraper frame. The middle through holes of the scraper ring and the scraper frame are both matched with the main shaft clearance. Notches matching the columns are provided at intervals on the scraper ring. The outer surface of the entity part between two adjacent notches around the scraper ring is an arc surface matching the cable. Scrapers are provided on the upper and lower sides of the entity part. The outer edge of the scraper and the edge of the entity part of the scraper ring are provided with blades, and both protrude from the outer side of the column. A top cover is provided on the top of the main shaft, and the edge of the top cover is connected to the top of the column. There are two phase discs, both of which are connected to the spindle key; a plurality of long strip slide grooves are arranged circumferentially on the end surface of the phase disc, and the plurality of slide grooves are arranged inclined relative to the radius, and the inclination direction of all the slide grooves is consistent; a limit column placed in the slide groove is arranged at one end of the inner side of the scraper, and the limit column can move along the slide groove when the phase disc rotates with the spindle; guide grooves for slidingly cooperating with the scraper are arranged on the upper and lower surfaces of the solid part of the scraper ring; two phase discs are respectively arranged at the top and bottom of the inner cavity of the scraper holder, and the top cover is arranged on the top of the upper phase disc, and the outer bottom of the scraper holder is connected to the driven bevel gear through a rotating base; the lower end of the spindle is connected to the upper end of the phase shaft; The center hole of the driven bevel gear is a stepped hole which is larger at the top and smaller at the bottom. The upper end of the phase shaft is provided with a protruding terrace which can match the step of the inner hole of the driven bevel gear. The guide sleeve is sleeved on the outside of the phase shaft, and the upper end of the guide sleeve is connected to the lower end face of the driven bevel gear. A spiral groove is provided on the side wall of the phase shaft, and a longitudinal groove is provided on the side wall of the guide sleeve. The positioning ring, spring and locking ring are sleeved on the outside of the guide sleeve, and the inner hole of the positioning ring is provided with a protrusion which can be inserted into the longitudinal groove and the spiral groove. The lower end of the positioning ring is connected to the spring, and the lower end of the spring is connected to the locking ring, and the locking ring is threadedly matched with the lower end of the guide sleeve.

2. The cable ice cleaning robot according to claim 1, characterized in that: The walking mechanism includes four walking wheels and a lifting component for driving the walking wheels to rise and fall. The four walking wheels are symmetrically arranged on the upper and lower sides of the cable in groups of two. The walking wheels are driven by a power component to move along the cable; the wheel axles of the two upper walking wheels pass through the connecting frame and are connected to the power component, and the two lower walking wheels are arranged on the bracket. The connecting frame and the bracket are connected by a driving component. The driving component drives the adjustment of the angle between the connecting frame and the bracket to clamp or loosen the cable; the driving component is connected to the frame through a lifting component.

3. A cable ice cleaning robot according to claim 2, characterized in that: The two ends of the wheel axles of the two lower walking wheels are rotatably connected to the upper end of the connecting arm, the lower end of the connecting arm is rotatably connected to the middle bottom of the bracket, and the bracket is provided with an arc groove that can match the wheel axle trajectory of the walking wheel; a buffer spring is provided between the bottom of the connecting arm and the bracket, the upper end of the buffer spring is connected to the middle part of the connecting arm, and the lower end of the buffer spring is connected to the bottom of the bracket.

4. The cable ice cleaning robot according to claim 2, characterized in that: The power component includes a travel motor, a driving gear and two driven gears, the two driven gears are respectively arranged on both sides of the driving gear and meshed with the outside, the two driven gears are respectively coaxially fixed with the two driving pulleys, the axles of the two upper travel wheels respectively pass through the connecting frame and are coaxially fixed with the two driven pulleys, the two driving pulleys and the two driven pulleys are connected by a synchronous belt; the travel motor is arranged in a protective shell, the protective shell is connected to the upper swing arm of the driving component, and the bracket is connected to the lower swing arm of the driving component through a connecting seat.

5. The cable ice cleaning robot according to claim 2, characterized in that: The driving component includes an adjusting motor, a belt transmission assembly, a worm gear transmission assembly, a gear transmission assembly, an upper swing arm and a lower swing arm, wherein the adjusting motor, the worm gear transmission assembly and the gear transmission assembly are all arranged in a protective cover, and the belt transmission assembly is arranged outside the protective cover; the upper swing arm and the lower swing arm are respectively arranged at the upper and lower parts of both sides of the protective cover; the adjusting motor is connected to the worm gear transmission assembly through the belt transmission assembly, and the worm gear transmission assembly is connected to the gear transmission assembly, and the gear transmission assembly includes an externally meshed upper gear and a lower gear, and the wheel axles of the upper gear and the lower gear are respectively fixedly connected to one end of the upper swing arm and the lower swing arm on the same side, and the other ends of the upper swing arm and the lower swing arm are respectively rotatably connected to the upper connecting frame and the lower bracket; the protective cover is connected to the lifting component; the driving components of the two sets of walking mechanisms are staggered on the left and right sides of the cable.

6. The cable ice cleaning robot according to claim 5, characterized in that: The lifting component includes a scissor-type lifting arm, a lifting motor and a screw transmission assembly, wherein the lifting motor and the screw transmission assembly are arranged in a base, and the base is connected to a frame; the screw transmission assembly includes a screw and a slider threadedly matched therewith, the slider is rotatably connected to the lower end of the scissor-type lifting arm, and the upper end of the scissor-type lifting arm is rotatably connected to the protective cover; the bases of the two groups of walking mechanisms are staggered front and back on the left and right sides of the frame; the scissor-type lifting arm includes a first folding arm, a second folding arm, a third folding arm, a fourth folding arm, a fifth folding arm and a sixth folding arm, the middle parts of the first folding arm and the second folding arm are rotatably connected, and the lower ends of the first folding arm and the second folding arm are rotatably connected. The ends are respectively connected to the lower part of the base on the lifting motor side and the slider for rotation, the lower end of the third folding arm is connected to the upper part of the base on the lifting motor side for rotation, the upper ends of the first folding arm and the third folding arm are respectively connected to the two corners of the tripod for rotation, and the lower end of the fourth folding arm is connected to the other corner of the tripod for rotation; the upper end of the second folding arm is connected to the lower end of the fifth folding arm for rotation, the upper end of the fifth folding arm is connected to the middle part of the sixth folding arm, and the lower end of the sixth folding arm is coaxially arranged with the upper end of the first folding arm; the upper ends of the fourth folding arm and the sixth folding arm are respectively connected to the upper and lower parts of the mounting block for rotation, and the mounting block is fixed to the side of the protective cover.

7. The cable ice cleaning robot according to claim 1, characterized in that: The deicing device includes a mounting frame connected to the frame and a pair of deicing wheels above the frame for clamping cables, wherein the deicing wheels are detachable assembled structures; the deicing wheels are connected to the mounting frame via clamping arms, and the clamping arms are connected to an angle adjustment mechanism, and the angle adjustment mechanism is used to adjust the angle between the two sets of clamping arms.

8. The cable ice cleaning robot according to claim 7, characterized in that: The angle adjustment mechanism includes a first motor, a belt transmission assembly, a worm, a worm wheel, a driving gear and a driven gear. The first motor is arranged at the lower part of the mounting frame, and the output shaft of the first motor drives the worm to rotate through the belt transmission assembly. The worm is meshed with the worm wheel, and the worm wheel is coaxially fixed with the driving gear. The driving gear is externally meshed with the driven gear. The two ends of the rotating shafts of the driving gear and the driven gear are respectively rotatably matched with the support, and the support is fixed to the top of the mounting frame; the rotating shafts of the driving gear and the driven gear are respectively connected to two groups of clamping arms; the power mechanism is arranged in a shell at the top of the mounting seat; the second motor is coaxially fixed with the driving bevel gear and is respectively arranged on both sides of the partition inside the shell, the driven bevel gear is meshed with the driving bevel gear, and the driven bevel gear is coaxially fixed with the deicing wheel.

9. A cable ice cleaning robot according to any one of claims 1 to 8, characterized in that: The control device includes a microcomputer and a detection component. The power supply adopts a high-voltage electromagnetic induction energy acquisition device. The walking device, deicing device and detection component are all connected to the microcomputer; the detection component is used to detect obstacles and the surrounding environment and send information to the microcomputer.

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