An airborne transmission line ground wire deicing robot

Abstract

The present invention discloses an airborne power transmission line ground wire de-icing robot, comprising: a shell, the bottom of which is recessed inwardly along the height direction of the shell to form a receiving groove; a walking mechanism, comprising a first drive unit and a pulley, the first drive unit being used to drive the pulley to rotate around the width direction of the shell, the first drive unit being installed on the inner wall of the shell, and the pulley being arranged in the receiving groove; an ice cutting mechanism, comprising a second drive unit and a cutter, the second drive unit being used to drive the cutter to move back and forth; and an ice knocking mechanism, which is arranged at the rear side of the ice cutting mechanism along the length direction of the shell, the ice knocking mechanism comprising a third drive unit and a knocking hammer, the third drive unit being used to drive the knocking hammer to move back and forth, and the third drive unit being installed in the shell. Among them, airborne refers to the equipment or device being directly installed on an aircraft or other aircraft. The airborne power transmission line ground wire de-icing robot of the present invention improves the de-icing efficiency of the ground wire and can be deployed and recovered based on a drone.

Description

Technical Field

[0001] The present invention relates to the technical field of cable deicing, and in particular to an airborne transmission line ground wire deicing robot. Background Art

[0002] As a major powerhouse, my country's booming industries across all sectors are inseparable from its power system. In recent years, severe winter weather has become increasingly frequent, resulting in ice covering high-voltage transmission lines. Ice covering transmission lines can easily cause short circuits, and when it reaches a critical point, it can break transmission lines and even cause towers to collapse. Furthermore, in inclement weather, ice persists for extended periods, disrupting the normal operation of high-voltage transmission lines. Mechanical deicing of ice-covered conductors, poles, and crossarms can reach near-limiting stresses, potentially leading to conductor breakage, insulator fracture, crossarm twisting, or pole collapse. This causes significant inconvenience and losses for residents and factories.

[0003] There are three main types of de-icing technologies available. The first involves direct current (DC) de-icing, which involves short-circuiting the circuit and using the high temperature generated to melt the ice. This technology is costly and wastes resources. The second is mechanical de-icing, which involves using mechanical pressure to remove ice, but this method can easily damage high-voltage transmission lines. The third is manual de-icing, which involves manually hitting the high-voltage transmission lines with bamboo poles to remove the ice. However, manual de-icing cannot remove ice on a large scale and is inefficient. Summary of the Invention

[0004] The purpose of the present invention is to provide an airborne transmission line ground wire deicing robot, which improves the deicing efficiency of the ground wire.

[0005] To achieve the above objectives, the present invention provides an airborne transmission line ground wire deicing robot, wherein the airborne type refers to the device or apparatus being directly mounted on an aircraft or other aircraft, including:

[0006] The bottom of the shell is recessed inwardly along the height direction of the shell to form a receiving groove, and the upper portion of the shell has a docking port;

[0007] A walking mechanism, comprising a first drive unit and a pulley, wherein the first drive unit is used to drive the pulley to rotate about the width direction of the housing, the first drive unit is mounted on the inner wall of the housing, the pulley is disposed in the receiving groove, and the pulley is used to slide on the ground wire along the length direction of the housing;

[0008] an ice cutting mechanism, comprising a second drive unit and a cutter, wherein the second drive unit is used to drive the cutter to move back and forth, the second drive unit is installed in the housing, and the cutter is located below the ground wire and is used to cut ice covering the surface of the ground wire; and

[0009] An ice-knocking mechanism is arranged on the rear side of the ice-cutting mechanism along the length direction of the shell. The ice-knocking mechanism includes a third drive unit and a knocking hammer. The third drive unit is used to drive the knocking hammer to move back and forth. The third drive unit is installed in the shell. The knocking hammer is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter.

[0010] In some embodiments, a slide groove is provided along the radial direction of the pulley, and the slide groove is provided on the ground line. A rotating shaft is provided in the middle of the pulley along the width direction of the shell. The first end of the rotating shaft is transmission-connected to the first drive unit, and the second end of the rotating shaft can be rotatably installed on the inner wall of the shell.

[0011] In some embodiments, two anti-slip mechanisms are further included, and the anti-slip mechanisms are distributed on both sides of the shell along the length direction of the shell. The anti-slip mechanisms include a fourth driving unit and two clamp heads. The fourth driving unit is used to drive the two clamp heads to separate or snap together. When the two clamp heads are snapped together, the two clamp heads enclose to form a limiting space, and the limiting space is arranged on the ground wire.

[0012] In some embodiments, the second drive unit includes an electric screw assembly, a slider and a connecting rod. The electric screw assembly is installed on the inner wall of the housing, the slider is installed in the electric screw assembly, and the cutter is installed on the slider through a connecting rod. The electric screw assembly drives the slider to reciprocate so that the cutter contacts or moves away from the surface of the ground wire to be covered with ice.

[0013] In some embodiments, the second driving unit further includes a guide post, a force storage spring, a locking spring and a locking block, the slider includes a first slider and a second slider, the first slider is driven by the electric screw assembly, the cutter is mounted on the second slider through the connecting rod, the second slider is arranged opposite to the first slider, a first block is provided on the side of the second slider, and a second block is provided on the side of the electric screw assembly, the second slider can be slidably mounted on the guide post, the force storage spring is sleeved on the outer wall of the guide post and located below the second slider, the locking block is rotatably mounted on the side of the first slider, the locking block has a locking portion and a loosening portion, the locking spring is provided on the side of the first slider and is used to generate elastic force on the locking portion so that the locking portion is clamped on the first block, so that the electric screw assembly can synchronously drive the first slider and the second slider to move in a direction away from the ground line, when the loosening portion abuts against the second block, the locking block is deflected to cause the locking portion to slide off the first block, and the elastic force generated by the force storage spring causes the second slider to move in a direction close to the ground line.

[0014] In some embodiments, the third drive unit includes a frame, a motor, a first connecting rod, a second connecting rod, a slide rail and a third slider. The frame is installed on the inner wall of the outer shell, the motor is installed on the outer side of the frame, the first connecting rod and the second connecting rod are arranged in the frame, the second connecting rod is arranged above the first connecting rod, the slide rail is installed on the inner wall of the frame on one side of the second connecting rod, and the third slider is arranged on the slide rail. The power output end of the motor passes through the frame and is transmission-connected to the first end of the first connecting rod, the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod, the second end of the second connecting rod is rotatably connected to the side wall of the third slider, and the knocking hammer is installed on the third slider.

[0015] In some embodiments, two first connecting rods are provided, wherein the first end of one of the first connecting rods is transmission-connected to the motor, the first end of the other first connecting rod is rotatably mounted on the inner wall of the frame, and the second ends of the two first connecting rods are rotatably connected to the first end of the second connecting rod.

[0016] In some embodiments, the third driving unit also includes an electric slide and a fourth slider, the electric slide is installed on the inner wall of the outer shell, the fourth slider is arranged on the electric slide, the frame is installed on the fourth slider, and the electric slide is used to drive the frame close to or away from the ground wire.

[0017] In some embodiments, two walking mechanisms are provided, and the two walking mechanisms are distributed along the length direction of the shell.

[0018] In some embodiments, two ice cutting mechanisms are provided, and the two ice cutting mechanisms are distributed on both sides of the ground line along the width direction of the housing.

[0019] The present invention provides an airborne transmission line ground wire deicing robot, which has the following advantages compared with the prior art:

[0020] The airborne power transmission line ground wire de-icing robot is configured with the second drive unit for driving the cutter to move back and forth, the cutter being located below the ground wire and being used to cut off the ice on the surface of the ground wire, and the third drive unit for driving the hammer to move back and forth, the hammer being located below the ground wire and being used to smash the ice on the surface of the ground wire cut by the cutter, thereby realizing the cutting and smashing operations of the ice in sequence, which is conducive to the ice falling off the ground wire, thereby improving the de-icing efficiency of the ground wire, and enabling assembly and connection with the drone by configuring a docking interface, so that the robot can be deployed and recovered based on the drone.

[0021] The airborne transmission line ground wire de-icing robot can achieve high de-icing efficiency, consume less resources, is independent of manpower, and can operate for a long time. It can be attached and recovered by drones, and the de-icing operation can be completed by remote control, solving the problems of low efficiency, safety hazards and high energy consumption of traditional manual de-icing.

[0022] The airborne power transmission line ground wire de-icing robot is equipped with a receiving slot and a docking port. It can be vertically mounted and recovered by a drone. The operation is simple and reliable. After being mounted on the ground wire, it can be operated by walking without changing the structure of the ground wire itself.

[0023] The airborne transmission line ground wire de-icing robot adopts a triple combined de-icing design of pulley crushing to remove ice, ice cutting mechanism cutting off covered ice, and ice knocking mechanism vibrating to crush ice. Through the combined de-icing operations of crushing, cutting, and vibrating to crush ice, the de-icing effect is better and the efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the three-dimensional structure of an airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0025] Figure 2 This is a front structural schematic diagram of an airborne power transmission line ground wire deicing robot provided by an embodiment of the present invention.

[0026] Figure 3 A schematic diagram of the internal structure of the shell of an airborne power transmission line ground wire deicing robot provided by an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the enlarged structure of the walking mechanism of the airborne power transmission line ground wire deicing robot provided by an embodiment of the present invention.

[0028] Figure 5 This is an enlarged schematic diagram of the ice-cutting mechanism of the airborne power transmission line ground wire deicing robot provided by an embodiment of the present invention.

[0029] Figure 6 This is a partially enlarged schematic diagram of the ice-cutting mechanism of the airborne power transmission line ground wire deicing robot provided by an embodiment of the present invention.

[0030] Figure 7 This is a schematic diagram of the enlarged structure of the ice-breaking mechanism of the airborne power transmission line ground wire deicing robot provided by an embodiment of the present invention.

[0031] In the figure: 1. Housing; 11. Receiving groove; 12. Docking port; 2. Traveling mechanism; 21. First driving unit; 22. Pulley; 221. Slide groove; 222. Rotating shaft; 3. Ice cutting mechanism; 31. Second driving unit; 311. Electric screw assembly; 312. Slider; 312a. First slider; 312b. Second slider; 313. Connecting rod; 314. Guide column; 315. Accumulation spring; 316. Locking spring; 317. Locking block; 317a. Locking portion; 3 17b, loosening portion; 318, first stopper; 319, second stopper; 32, cutter; 4, ice-beating mechanism; 41, third drive unit; 411, frame; 412, motor; 413, first connecting rod; 414, second connecting rod; 415, slide rail; 416, third slider; 417, electric slide; 418, fourth slider; 42, knocking hammer; 5, anti-slip mechanism; 51, fourth drive unit; 52, pliers head; x, width direction; y, length direction; z, height direction. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0033] It should be understood that in the description of this application, the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0034] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figure 1-7 As shown, an airborne power line ground wire de-icing robot provided in an embodiment of the present invention includes a housing 1, a walking mechanism 2, an ice-cutting mechanism 3, and an ice-breaking mechanism 4. Airborne refers to the device being mounted directly on an aircraft or other aircraft. The de-icing robot in this embodiment can be deployed and recovered using a drone.

[0036] The bottom of the housing 1 is recessed inwardly along the height direction z of the housing to form a receiving groove 11, and the upper part of the housing 1 has a docking port 12. The receiving groove 11 is used to buckle on the ground wire, and the docking port 12 is used to connect to the drone for easy use.

[0037] The walking mechanism 2 includes a first drive unit 21 and a pulley 22. The first drive unit 21 is used to drive the pulley 22 to rotate around the width direction x of the shell 1. The first drive unit 21 is installed on the inner wall of the shell 1. The pulley 22 is arranged in the accommodating groove 11. The pulley 22 is used to slide on the ground wire along the length direction y of the shell 1.

[0038] The ice cutting mechanism 3 includes a second driving unit 31 and a cutter 32. The second driving unit 31 is used to drive the cutter 32 to move back and forth. The second driving unit 31 is installed in the housing 1. The cutter 32 is located below the ground wire and is used to cut off ice on the surface of the ground wire.

[0039] The ice-knocking mechanism 4 is arranged on the rear side of the ice-cutting mechanism 3 along the length direction y of the shell 1. The ice-knocking mechanism 4 includes a third driving unit 41 and a knocking hammer 42. The third driving unit 41 is used to drive the knocking hammer 42 to move back and forth. The third driving unit 41 is installed in the shell 1. The knocking hammer 42 is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter 32.

[0040] Based on the above-mentioned structural setting, the airborne power transmission line ground wire de-icing robot is provided with a second drive unit 31 for driving the cutter 32 to move back and forth. The cutter 32 is located below the ground wire and is used to cut off the ice on the surface of the ground wire. The third drive unit 41 is used to drive the knocking hammer 42 to move back and forth. The knocking hammer 42 is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter 32, thereby realizing the cutting and breaking operations of the ice in sequence, which is conducive to the ice falling off the ground wire, thereby improving the de-icing efficiency of the ground wire. By providing a docking interface 12 for assembly and connection with the drone, it can be deployed and recovered based on the drone.

[0041] The airborne transmission line ground wire de-icing robot can achieve high de-icing efficiency, consume less resources, is independent of manpower, and can operate for a long time. It can be attached and recovered by drones, and the de-icing operation can be completed by remote control, solving the problems of low efficiency, safety hazards and high energy consumption of traditional manual de-icing.

[0042] The airborne power transmission line ground wire deicing robot is equipped with a receiving slot 11 and a docking port 12. It can be vertically mounted and recovered by a drone. The operation is simple and reliable. After being mounted on the ground wire, the robot can be operated while walking without changing the structure of the ground wire itself.

[0043] The airborne power transmission line ground wire deicing robot adopts a triple combined deicing design of a pulley 22 for crushing deicing, an ice cutting mechanism 3 for cutting off covered ice, and an ice knocking mechanism 4 for vibrating and crushing deicing. Through the combined deicing operation of crushing, cutting, and vibrating and crushing, the deicing effect is better and the efficiency is higher.

[0044] like Figure 3 and 4 As shown, a slide groove 221 is provided radially around the pulley 22. The slide groove 221 is provided on the ground line. A rotating shaft 222 is provided in the middle of the pulley 22 along the width direction x of the housing 1. The first end of the rotating shaft 222 is drivingly connected to the first drive unit 21, and the second end of the rotating shaft 222 is rotatably mounted on the inner wall of the housing 1. Specifically, the second end of the rotating shaft 222 is mounted on the inner wall of the housing 1 via a bearing seat. The slide groove 221 ensures smooth movement of the pulley on the ground line.

[0045] In one embodiment, the airborne power transmission line ground wire de-icing robot further includes two anti-slip mechanisms 5, which are distributed on both sides of the housing 1 along the length direction y of the housing. The anti-slip mechanisms 5 include a fourth drive unit 51 and two clamp heads 52. The fourth drive unit 51 is used to drive the two clamp heads 52 to separate or engage with each other. When the two clamp heads 52 engage, the two clamp heads 52 enclose a limited space 53, which is sleeved on the ground wire. Exemplarily, the fourth drive unit 51 includes a motor and two meshing gear sets, one of which is in transmission connection with the motor, and the other two gear sets are correspondingly mounted on the tops of the clamp heads 52. The forward and reverse rotation of the gear sets enables the two clamp heads 52 to separate or engage with each other. In the face of adverse weather and working conditions, the robot can be prevented from falling off due to external conditions. The anti-slip mechanism 5 can also restore the de-icing robot to its normal position even if it flips over, making it safer and more reliable.

[0046] like Figure 5 and 6 As shown, in one embodiment, the second drive unit 31 includes an electric screw assembly 311, a slider 312 and a connecting rod 313. The electric screw assembly 311 is installed on the inner wall of the housing 1, the slider 312 is installed in the electric screw assembly 311, and the cutter 32 is installed on the slider 312 through the connecting rod 313. The electric screw assembly 311 drives the slider 312 to reciprocate, so that the cutter 32 contacts or is away from the ground surface and is covered with ice.

[0047] like Figure 6As shown, the second driving unit 31 also includes a guide column 314, a force storage spring 315, a locking spring 316 and a locking block 317. The slider 312 includes a first slider 312a and a second slider 312b. The first slider 312a is driven by the electric screw assembly 311. The cutter 32 is installed on the second slider 312b through a connecting rod 313. The second slider 312b is arranged opposite to the first slider 312a. A first stopper 318 is provided on the side of the second slider 312b. A second stopper 319 is provided on the side of the electric screw assembly 311. The second slider 312b can be slidably installed on the guide column 314. The force storage spring 315 is sleeved on the outer wall of the guide column 314 and is located at the second slider 312b. At the bottom, the locking block 317 is rotatably installed on the side of the first slider 312a. The locking block 317 has a locking portion 317a and a loosening portion 317b. The locking spring 316 is provided on the side of the first slider 312a and is used to generate elastic force on the locking portion 317a so that the locking portion 317a is clamped on the first stopper 318, so that the electric screw assembly 311 can synchronously drive the first slider 312a and the second slider 312b to move away from the ground line. When the loosening portion 317b abuts the second stopper 319, the locking block 317 is deflected to cause the locking portion 317a to slide off the first stopper 318, and the elastic force generated by the storage spring 315 allows the second slider 312b to move toward the direction close to the ground line.

[0048] According to the above-mentioned second driving unit 31, by setting the locking block 317, the electric screw assembly 311 can synchronously drive the first slider 312a and the second slider 312b to move in the direction away from the ground line. At this time, the force storage spring 315 is continuously compressed. When the release portion 317b abuts against the second stop block 319, the locking block 317 is deflected to allow the locking portion 317a to slide off the first stop block 318. The elastic force generated by the force storage spring 315 allows the second slider 312b to move in the direction close to the ground line, thereby increasing the impact force and improving the effect of cutting off the ice covering the ground line.

[0049] like Figure 7As shown, in one embodiment, the third driving unit 41 includes a frame 411, a motor 412, a first connecting rod 413, a second connecting rod 414, a slide rail 415 and a third slider 416. The frame 411 is installed on the inner wall of the outer shell 1, the motor 412 is installed on the outer side of the frame 411, the first connecting rod 413 and the second connecting rod 414 are arranged in the frame 411, the second connecting rod 414 is arranged above the first connecting rod 413, the slide rail 415 is installed on the inner wall of the frame 411 on one side of the second connecting rod 414, the third slider 416 is arranged on the slide rail 415, the power output end of the motor 412 passes through the frame 411 and is transmission-connected to the first end of the first connecting rod 413, the second end of the first connecting rod 413 is rotatably connected to the first end of the second connecting rod 414, the second end of the second connecting rod 414 is rotatably connected to the side wall of the third slider 416, and the knocking hammer 42 is installed on the third slider 416. The motor 412 drives the first connecting rod 413 to rotate, causing the second connecting rod 414 to swing, driving the third slider 416 to move back and forth on the slide rail 415, so that the knocking hammer 42 can move back and forth to knock the ice on the ground wire.

[0050] In one embodiment, two first connecting rods 413 are provided, wherein the first end of one first connecting rod 413 is transmission-connected to the motor 412, and the first end of the other first connecting rod 413 is rotatably mounted on the inner wall of the frame 411, and the second ends of the two first connecting rods 413 are both rotationally connected to the first end of the second connecting rod 414. Providing two first connecting rods 413 ensures smooth transmission.

[0051] In one embodiment, the third drive unit 41 further includes an electric slide 417 and a fourth slider 418. The electric slide 417 is mounted on the inner wall of the housing 1, and the fourth slider 418 is disposed on the electric slide 417. The frame 411 is mounted on the fourth slider 418. The electric slide 417 is used to drive the frame 411 toward or away from the ground line. By providing the electric slide 417 and the fourth slider 418, the stroke of the striking hammer 42 can be increased, further enhancing the striking effect.

[0052] In one embodiment, two running mechanisms 2 are provided, and the two running mechanisms 2 are distributed along the length direction y of the housing 1, so that the running mechanisms 2 can move smoothly on the ground line.

[0053] In one embodiment, two ice cutting mechanisms 3 are provided, and the two ice cutting mechanisms 3 are distributed on both sides of the ground line along the width direction x of the housing 1. By providing two ice cutting mechanisms 3, the ice cutting effect can be improved. The two ice cutting mechanisms 3 start cutting ice at the same time, making the whole more stable.

[0054] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An airborne transmission line ground wire deicing robot, characterized in that: include: The bottom of the shell is recessed inwardly along the height direction of the shell to form a receiving groove, and the upper portion of the shell has a docking port; A walking mechanism, comprising a first drive unit and a pulley, wherein the first drive unit is used to drive the pulley to rotate about the width direction of the housing, the first drive unit is mounted on the inner wall of the housing, the pulley is disposed in the receiving groove, and the pulley is used to slide on the ground wire along the length direction of the housing; an ice cutting mechanism, comprising a second drive unit and a cutter, wherein the second drive unit is used to drive the cutter to move back and forth, the second drive unit is installed in the housing, and the cutter is located below the ground wire and is used to cut ice covering the surface of the ground wire; as well as an ice-breaking mechanism disposed at a rear side of the ice-cutting mechanism along the length direction of the housing, the ice-breaking mechanism comprising a third driving unit and a striking hammer, the third driving unit being configured to drive the striking hammer to reciprocate, the third driving unit being mounted in the housing, the striking hammer being located below the ground wire and configured to break ice covering the surface of the ground wire that has been cut by the cutter; The second driving unit includes an electric screw assembly, a slider, and a connecting rod, wherein the electric screw assembly is mounted on the inner wall of the housing, the slider is mounted in the electric screw assembly, and the cutter is mounted on the slider via the connecting rod, and the electric screw assembly drives the slider to reciprocate, so that the cutter contacts or moves away from the surface of the ground wire to be covered with ice; The second driving unit further includes a guide post, a force storage spring, a locking spring and a locking block. The slider includes a first slider and a second slider. The first slider is driven by the electric screw assembly. The cutter is mounted on the second slider through the connecting rod. The second slider is arranged opposite to the first slider. A first block is provided on the side of the second slider. A second block is provided on the side of the electric screw assembly. The second slider can be slidably mounted on the guide post. The force storage spring is sleeved on the outer wall of the guide post and is located below the second slider. The locking block can be rotatably mounted on the side of the first slider. The locking block has a locking portion and a loosening portion. The locking spring is arranged on the side of the first slider and is used to generate an elastic force on the locking portion so that the locking portion is clamped on the first block, so that the electric screw assembly can synchronously drive the first slider and the second slider to move in a direction away from the ground line. When the loosening portion abuts against the second block, the locking block is deflected to cause the locking portion to slide off the first block. The elastic force generated by the force storage spring causes the second slider to move in a direction close to the ground line.

2. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: A slide groove is provided along the radial direction of the pulley, and the slide groove is provided on the ground line. A rotating shaft is provided in the middle of the pulley along the width direction of the shell. The first end of the rotating shaft is transmission-connected to the first drive unit, and the second end of the rotating shaft is rotatably mounted on the inner wall of the shell.

3. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: It also includes two anti-slip mechanisms, which are distributed on both sides of the shell along the length direction of the shell. The anti-slip mechanisms include a fourth drive unit and two clamp heads. The fourth drive unit is used to drive the two clamp heads to separate or snap together. When the two clamp heads are snapped together, the two clamp heads enclose to form a limiting space, and the limiting space is sleeved on the ground wire.

4. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: The third driving unit includes a frame, a motor, a first connecting rod, a second connecting rod, a slide rail and a third slider. The frame is installed on the inner wall of the shell, the motor is installed on the outer side of the frame, the first connecting rod and the second connecting rod are arranged in the frame, the second connecting rod is arranged above the first connecting rod, the slide rail is installed on the inner wall of the frame on one side of the second connecting rod, and the third slider is arranged on the slide rail. The power output end of the motor passes through the frame and is transmission-connected to the first end of the first connecting rod. The second end of the first connecting rod is rotatably connected to the first end of the second connecting rod. The second end of the second connecting rod is rotatably connected to the side wall of the third slider, and the knocking hammer is installed on the third slider.

5. The airborne power transmission line ground wire deicing robot according to claim 4, characterized in that: There are two first connecting rods, the first end of one of the first connecting rods is connected to the motor transmission, the first end of the other first connecting rod is rotatably mounted on the inner wall of the frame, and the second ends of the two first connecting rods are both rotatably connected to the first end of the second connecting rod.

6. The airborne power transmission line ground wire deicing robot according to claim 4 or 5, characterized in that: The third driving unit also includes an electric slide and a fourth slider. The electric slide is installed on the inner wall of the shell, the fourth slider is arranged on the electric slide, and the frame is installed on the fourth slider. The electric slide is used to drive the frame close to or away from the ground wire.

7. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: There are two walking mechanisms, and the two walking mechanisms are distributed along the length direction of the shell.

8. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: Two ice cutting mechanisms are provided, and the two ice cutting mechanisms are distributed on both sides of the ground wire along the width direction of the shell.

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