Pantograph ice scraping device and method for real-time deicing

Abstract

The present invention provides a pantograph ice scraping device and method for real-time deicing, which relates to the field of rail transit technology. The method includes real-time acquisition of train speed, gravity of contact line under ice, and contact force of current-collecting pantograph; inputting the train speed and gravity into a preset pantograph-net dynamics model to calculate the optimal lifting force of the ice-scraping pantograph; controlling the height of the ice-scraping pantograph in real time based on the optimal lifting force of the ice-scraping pantograph to scrape ice; calculating the difference between the contact force and the preset contact force, and updating the optimal lifting force of the current-collecting pantograph by the difference; controlling the height of the current-collecting pantograph based on the optimal lifting force of the current-collecting pantograph, and achieving optimal pantograph-net matching when the pantograph is scraping ice. The present invention solves the problem that the existing method cannot achieve convenient and efficient contact network deicing when the contact network freezes quickly and the skylight time is short, and cannot ensure good contact between the pantograph and the net.

Description

Technical Field

[0001] The present invention relates to the field of rail transit technology, and in particular to a pantograph ice scraping device and method for real-time deicing. Background Art

[0002] The overhead contact network is an important part of high-speed railways. High-speed trains rely on the sliding friction between the roof pantograph and the overhead contact network wire to obtain electrical energy. However, due to the exposed construction of the overhead contact network, the surface of the wire is easily covered with ice in low-temperature, freezing, rainy and snowy weather. Ice will increase the deadweight of the elastic overhead contact network, destroy the dynamic balance of the pantograph and catenary matching, intensify the vibration of the pantograph and catenary, and increase the number of offline arcs. The ice layer on the surface of the wire will also hinder its reliable electrical contact with the pantograph, resulting in a decrease in the efficiency and quality of power transmission. Therefore, when the overhead contact network is covered with ice, the operation safety of the train will inevitably be threatened.

[0003] At present, the de-icing measures for the contact network include direct current ice melting, chemical coating anti-icing, locomotive skateboard ice scraping, and manual ice knocking, but the effect is limited. Among them, direct current ice melting technology requires an independent power supply, which is costly and energy-intensive, and also requires the transformation of the existing traction system, so that the technology has not yet entered the practical stage. Chemical coatings can only delay the speed of icing on the catenary, and the contact line needs to slide and wear with the pantograph, and the coating falls off quickly. At present, the method of combining locomotive skateboard ice scraping and manual ice knocking is generally adopted. Locomotive skateboard ice scraping is to use the first train to attach a special ice scraping skateboard to remove ice by mechanical stress. Artificial ice knocking is to remove ice by vibrating the contact network during the skylight time of high-speed rail operation. The latter two de-icing methods are inefficient, and the ice cannot be completely removed, and thin ice still exists. Therefore, how to overcome the problems of fast icing speed and short skylight time of the contact network, realize convenient and efficient contact network de-icing, and ensure good contact between the pantograph and the network is a technical problem faced by technicians in this field. Summary of the invention

[0004] The purpose of the present invention is to provide a pantograph ice scraping device and method for real-time deicing to improve the above problems. In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present application provides a pantograph ice scraping method for real-time deicing, comprising:

[0006] Real-time collection of train speed, contact wire gravity under ice, and pantograph contact force;

[0007] Inputting the train speed and the gravity into a preset pantograph-catenary dynamics model to calculate the optimal lifting force of the ice scraping pantograph;

[0008] Based on the optimal lifting force of the ice scraping pantograph, the height of the ice scraping pantograph is controlled in real time to scrape ice;

[0009] Calculate the difference between the contact force and the preset contact force, and update the optimal lifting force of the current collecting pantograph according to the difference;

[0010] The height of the current-collecting pantograph is controlled based on the optimal lifting force of the current-collecting pantograph to achieve optimal pantograph-net matching when the pantograph is scraping ice.

[0011] In a second aspect, the present application also provides a pantograph ice scraping device for real-time deicing, including an ice scraping module, a signal acquisition module and a control module;

[0012] The ice scraping module is arranged at the top of the balance pole of the pantograph, the signal acquisition module is arranged below the balance pole of the pantograph, and the control module is arranged at the lower frame of the pantograph;

[0013] The pantograph includes an ice scraping pantograph and a current collecting pantograph.

[0014] The beneficial effects of the present invention are as follows: the present invention performs real-time de-icing through an ice-scraping pantograph and a current-collecting pantograph, is compatible with de-icing and current collection, and can realize rapid de-icing of high-speed trains during operation under contact network icing conditions, ensuring stable power supply to the train. At the same time, a pantograph-catenary dynamics model is established to calculate the optimal lifting force of the ice-scraping pantograph under different ice coating thicknesses and contact forces, realize feedback adjustment during ice scraping, and calculate the optimal lifting force of the current-collecting pantograph, thereby increasing the current collection effect of the train, ensuring good pantograph-catenary matching when the train is running, and realizing safe operation of the train.

[0015] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the embodiments of the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 It is a schematic flow chart of a pantograph ice scraping method for real-time deicing described in an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of the installation position of the pantograph in an embodiment of the present invention;

[0019] Figure 3 It is a schematic structural diagram of a pantograph ice scraping device for real-time deicing described in an embodiment of the present invention.

[0020] Markings in the figure: 1. Ice scraper module; 2. Ice scraper shell; 3. Carbon skateboard; 4. Bracket; 5. Signal acquisition module; 6. Gravity sensor; 7. Pressure sensor; 8. Signal converter; 9. Control module; 10. Control unit; 11. Power supply unit; 12. Signal receiving unit; 13. Ice scraper pantograph; 14. Current collecting pantograph. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0022] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0023] Embodiment 1:

[0024] This embodiment provides a pantograph ice scraping method for real-time deicing.

[0025] See also Figure 1 , the figure shows that the method includes step S100, step S200, step S300, step S400, and step S500.

[0026] Step S100: collecting the train speed, the gravity of the contact wire under ice and the contact force of the current collecting pantograph 14 in real time;

[0027] In this embodiment, the train includes at least two pantographs, namely, an ice scraping pantograph 13 and a current collecting pantograph 14. The number of pantographs is set according to different trains, such as Figure 2 As shown, the installation positions of the ice scraping pantograph 13 and the current collecting pantograph 14 on the train are shown, wherein each pantograph is provided with an ice scraping module 1, a signal acquisition module 5 and a control module 9.

[0028] Step S200: inputting the train speed and the gravity into a preset pantograph-catenary dynamics model to calculate the optimal lifting force of the ice scraping pantograph 13;

[0029] In this embodiment, the steps of constructing the pantograph-catenary dynamics model include:

[0030] Step A100: Obtain pantograph parameter information, and perform finite element simulation on the pantograph based on the pantograph parameter information to obtain a pantograph model;

[0031] The step A100 includes:

[0032] Step A101: Obtain pantograph parameter information;

[0033] Step A102: Based on the pantograph parameter information, a three-dimensional mass-spring-damper model is used to perform finite element simulation on the pantograph to establish an initial pantograph model;

[0034] Step A103: Apply a vertical external load to the initial model of the pantograph, establish a pantograph mechanical equilibrium equation to simulate the static lifting force of the pantograph, and obtain a pantograph model.

[0035] In this embodiment, the expression for establishing the mechanical balance equation of the pantograph in the vertical direction is:

[0036] ;

[0037] In the formula, , and They represent the equivalent masses of the pantograph head, upper frame and lower frame respectively, , and Respectively represent the damping of the pantograph head, upper frame and lower frame, , and They represent the lifting displacement of the pantograph head, upper frame and lower frame respectively. , and Respectively represent the lifting speed of the pantograph head, upper frame and lower frame, , and They represent the lifting acceleration of the pantograph head, upper frame and lower frame respectively. , and Respectively represent the stiffness of the pantograph head, upper frame and lower frame, Pantograph Time The pantograph-catenary contact force at Represents the static lifting force of the pantograph.

[0038] The pantograph mechanical balance equation is sorted out to obtain the matrix form of the pantograph mechanical balance equation:

[0039] ;

[0040] In the formula, represents the mass matrix of the pantograph, represents the damping matrix of the pantograph, , and represent the displacement vector, velocity vector and acceleration vector of the pantograph respectively, represents the load vector of the pantograph.

[0041] Step A200: Acquire contact network parameter information, perform finite element simulation on the contact network based on the contact network parameter information, and obtain a contact network model;

[0042] The step A200 includes:

[0043] Step A201: Acquire contact network parameter information, wherein the contact network parameter information includes the contact network span, wire tension, contact wire sag, pull-out value, suspension wire spacing and structure height;

[0044] Step A202: Based on the contact network parameter information, a beam unit is used to simulate the flexible cable of the contact network, and the actual condition of the contact network is simulated by applying displacement, fixed constraints and external loads to obtain an initial model of the contact network;

[0045] Step A203: solving the static equilibrium state of the contact network by the mode division method, and establishing the contact network differential equation;

[0046] Step A204: inputting the contact network differential equation into the contact network initial model, and simulating the energy dissipation of the contact network during vibration by using the Rayleigh damping model to obtain the contact network model.

[0047] In this embodiment, the expression of the contact network differential equation is:

[0048] ;

[0049] In the formula, represents the mass matrix of the overhead contact network, represents the damping matrix of the contact network, represents the stiffness matrix of the contact network, represents the displacement vector of the contact network node, represents the velocity vector of the contact network node, represents the acceleration vector of the contact network node, Represents the load vector of the overhead line node.

[0050] Step A300: processing the contact force between the pantograph and the catenary by a penalty function method, coupling the pantograph model and the catenary model based on the contact force, and obtaining a pantograph-catenary finite element model;

[0051] The step A300 includes:

[0052] Step A301: Processing the contact force between the bow and the catenary by the penalty function method to obtain the contact force function between the bow and the catenary;

[0053] Step A302: The pantograph mechanical equilibrium equation, the contact network differential equation and the contact force function between the pantograph and the contact network are combined to obtain a pantograph-catenary coupling dynamics equation;

[0054] Step A303: Based on the dynamic equation, the pantograph model and the contact network model are coupled to obtain a pantograph-catenary finite element model.

[0055] In this embodiment, the expression of the contact force function between the bow and the catenary is:

[0056] ;

[0057] In the formula, express Time The contact force between the bow and the catenary is Indicated in The vertical displacement of the pantograph head at Indicated in The vertical displacement of the contact network at It indicates the contact stiffness between the pantograph head and the contact network.

[0058] By combining the matrix form of the pantograph mechanical equilibrium equation, the catenary differential equation and the contact force function between the pantograph and the catenary, the expression of the dynamic equation of the pantograph-catenary coupling is obtained as follows:

[0059] ;

[0060] In the formula, represents the mass matrix, represents the damping matrix, represents the stiffness matrix, represents the displacement matrix, represents the velocity matrix, represents the acceleration matrix, represents the generalized force matrix.

[0061] In this embodiment, in order to improve the calculation accuracy of the pantograph-catenary interaction, the mesh of the pantograph head is denser when dividing the mesh of the pantograph-catenary finite element model.

[0062] Step A400: Perform ice load simulation on the pantograph-catenary finite element model, use the load uniform distribution method to simulate the deformation of the contact network under the influence of ice, and obtain the pantograph-catenary dynamics model.

[0063] The step A400 includes:

[0064] Step A401: constructing an ice-covered mass function of the conductor based on the conductor diameter of the overhead wire and the diameter of the conductor after being covered with ice;

[0065] Step A402: The ice mass function and load uniform distribution method are used to simulate the deformation of the contact network under the influence of ice to obtain a pantograph-catenary dynamics model.

[0066] In this embodiment, the ice layer on the surface of the contact network is equivalent to a circular cross-section conductor of equal thickness. The expression of the ice mass function of the conductor is:

[0067] ;

[0068] In the formula, It represents the weight of ice per unit length on each conductor of the contact network. Indicates the density of ice layer covering the conductor, Indicates the diameter of the wire, Indicates the diameter of the wire after it is covered with ice.

[0069] Step S300: based on the optimal lifting force of the ice scraping pantograph 13, the height of the ice scraping pantograph 13 is controlled in real time to scrape ice;

[0070] In this embodiment, the train speed and the gravity of the contact line under ice are collected to calculate the optimal lifting force of the ice scraping pantograph 13 for scraping ice, and the real-time lifting force of the ice scraping pantograph 13 is adjusted according to the control module 9. The ice scraping module 1 is used to impact the ice layer on the contact network, so that the ice layer on the contact network surface meets the stress requirements and falls off, thereby realizing the deicing function. This automated adjustment mechanism improves the efficiency of deicing and realizes the rapid deicing of high-speed trains during operation under the condition of contact network icing.

[0071] In addition, the real-time adjustment of the ice-scraping pantograph 13 can prevent the contact line from being seriously worn and ensure the de-icing effect of the contact network.

[0072] Step S400: Calculate the difference between the contact force and the preset contact force, and update the optimal lifting force of the current collecting pantograph 14 according to the difference;

[0073] In this embodiment, step S400 includes: calculating the difference between the contact force and the preset contact force, determining whether the difference is greater than the preset difference, and if so, calculating the optimal lifting force of the current collecting pantograph 14, otherwise keeping the lifting force of the current collecting pantograph 14 unchanged.

[0074] The formula for calculating the difference between the contact force and the preset contact force is:

[0075] ;

[0076] In the formula, Indicates time The difference between the contact force and the preset contact force, represents the preset contact force, Indicates time The preset contact force is the ideal contact force of the current collecting pantograph.

[0077] The calculation formula of the optimal lifting force of the current collecting pantograph 14 is:

[0078] ;

[0079] In the formula, Indicates time The optimal lifting force of the current-collecting pantograph is and represent proportional gain and differential gain respectively, Indicates time The difference between the contact force at that time and the preset contact force.

[0080] Step S500: controlling the height of the current collecting pantograph 14 based on the optimal lifting force of the current collecting pantograph 14 to achieve optimal pantograph-net matching when the pantograph is scraping ice.

[0081] In this embodiment, through the automatic control of the current-collecting pantograph 14, the fluctuation of the pantograph-net contact force can be reduced, the pantograph-net offline rate can be reduced, the current-collecting quality of the pantograph-net can be improved, and it can be ensured that the current-collecting pantograph can work stably during the de-icing process.

[0082] Embodiment 2:

[0083] like Figure 2 and Figure 3 As shown, this embodiment provides a pantograph ice scraping device for real-time deicing, the device comprising an ice scraping module 1, a signal acquisition module 5 and a control module 9;

[0084] The ice scraping module 1 is arranged at the top of the balance pole of the pantograph, the signal acquisition module 5 is arranged below the balance pole of the pantograph, and the control module 9 is arranged at the lower frame of the pantograph;

[0085] The pantograph includes an ice scraping pantograph 13 and a current collecting pantograph 14 .

[0086] The ice scraping module 1 comprises an ice scraping shell 2, a carbon slide plate 3 and a bracket 4;

[0087] The bracket 4 is arranged at the top of the balance pole of the pantograph, the carbon slide plate 3 is arranged above the bracket 4, and the front end of the carbon slide plate 3 is provided with an ice scraper shell 2 for scraping ice off the contact network, and the front end of the carbon slide plate 3 is in the running direction of the train;

[0088] The surface of the ice scraping shell 2 close to the contact network and the surface of the carbon slide plate 3 close to the contact network are at the same height plane.

[0089] The signal acquisition module 5 includes a gravity sensor 6, a pressure sensor 7 and a signal converter 8;

[0090] The gravity sensor 6 is used to collect the gravity signal of the contact line of the ice scraping pantograph 13 covered with ice;

[0091] The pressure sensor 7 is used to collect the contact force signal of the current collecting pantograph 14;

[0092] The signal converter 8 is used to convert the gravity signal and the contact force signal into gravity and contact force, and send the gravity and contact force to the control module 9 .

[0093] The control module 9 includes a signal receiving unit 12, a power supply unit 11 and a control unit 10;

[0094] The signal receiving unit 12 is used to receive the gravity and contact force sent by the signal converter 8, and send the gravity and contact force to the control unit 10;

[0095] The control unit 10 is used to calculate the optimal lifting force of the pantograph according to the gravity and the contact force, and control the height of the pantograph according to the optimal lifting force of the pantograph;

[0096] The power supply unit 11 is used to supply power to the signal receiving unit 12 , the control unit 10 and the signal acquisition module 5 .

[0097] In this embodiment, the bracket 4 is also used to support the bow head to ensure that the bow head can stably contact the contact network, and the carbon slide plate 3 is used to slide along the contact network conductor to receive current.

[0098] At the same time, the ice scraper shell 2 is made of impact-resistant and highly conductive material, which can receive the current on the contact line on the one hand, and resist the impact of the ice layer on the contact network on the bow head on the other hand, which is beneficial to the safe and stable operation of the electrified railway.

[0099] The pantograph ice scraper device of this embodiment can be installed at the pantograph of a double-bow running train, but is not limited to double-bow running trains.

[0100] It should be noted that, regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0102] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A pantograph ice scraping method for real-time deicing, characterized in that: include: Real-time collection of train speed, the gravity of the contact wire under ice, and the contact force of the current collecting pantograph (14); Inputting the train speed and the gravity into a preset pantograph-catenary dynamics model to calculate the optimal lifting force of the ice scraping pantograph (13); Based on the optimal lifting force of the ice scraping pantograph (13), the height of the ice scraping pantograph (13) is controlled in real time to scrape ice; Calculating the difference between the contact force and the preset contact force, and updating the optimal lifting force of the current collecting pantograph (14) according to the difference; The height of the current-collecting pantograph (14) is controlled based on the optimal lifting force of the current-collecting pantograph (14), so as to achieve optimal pantograph-net matching when the pantograph is scraping ice.

2. The pantograph ice scraping method for real-time deicing according to claim 1, characterized in that: The steps of constructing the pantograph-catenary dynamics model include: Acquire pantograph parameter information, and perform finite element simulation on the pantograph based on the pantograph parameter information to obtain a pantograph model; Acquiring contact network parameter information, and performing finite element simulation on the contact network based on the contact network parameter information to obtain a contact network model; The contact force between the pantograph and the catenary is processed by a penalty function method, and the pantograph model and the catenary model are coupled based on the contact force to obtain a pantograph-catenary finite element model; The icing load is simulated on the pantograph-catenary finite element model, and the uniform load distribution method is used to simulate the deformation of the contact network under the influence of icing to obtain the pantograph-catenary dynamics model.

3. The pantograph ice scraping method for real-time deicing according to claim 2, characterized in that: The step of obtaining pantograph parameter information and performing finite element simulation on the pantograph based on the pantograph parameter information to obtain a pantograph model includes: Get pantograph parameter information; Based on the pantograph parameter information, a three-element mass-spring-damper model is used to perform finite element simulation on the pantograph to establish an initial pantograph model; A vertical external load is applied to the initial model of the pantograph, and the pantograph mechanical equilibrium equation is established to simulate the static lifting force of the pantograph to obtain the pantograph model.

4. The pantograph ice scraping method for real-time deicing according to claim 3, characterized in that: The step of acquiring contact network parameter information and performing finite element simulation on the contact network based on the contact network parameter information to obtain a contact network model includes: Acquiring contact network parameter information, wherein the contact network parameter information includes the contact network span, wire tension, contact wire sag, pull-out value, suspension wire spacing and structure height; Based on the contact network parameter information, beam units are used to simulate the flexible wires of the contact network, and the actual conditions of the contact network are simulated by applying displacement, fixed constraints and external loads to obtain an initial model of the contact network; The static equilibrium state of the contact network is solved by the split mode method, and the differential equation of the contact network is established; The contact network differential equation is input into the initial contact network model, and the energy dissipation of the contact network during vibration is simulated by a Rayleigh damping model to obtain a contact network model.

5. The pantograph ice scraping method for real-time deicing according to claim 4, characterized in that: The contact force between the pantograph and the catenary is processed by the penalty function method, and the pantograph model and the catenary model are coupled based on the contact force to obtain a pantograph-catenary finite element model, including: The contact force between the bow and the catenary is processed by the penalty function method to obtain the contact force function between the bow and the catenary. The pantograph mechanical equilibrium equation, the contact network differential equation and the contact force function between the pantograph and the contact network are combined to obtain the dynamic equation of the pantograph-catenary coupling; The pantograph model and the contact network model are coupled based on the dynamic equation to obtain a pantograph-catenary finite element model.

6. The pantograph ice scraping method for real-time deicing according to claim 2, characterized in that: The pantograph-catenary finite element model is subjected to ice load simulation, and the deformation of the contact network under the influence of ice is simulated by using a load uniform distribution method to obtain a pantograph-catenary dynamics model, including: The ice mass function of the conductor is constructed based on the conductor diameter of the overhead wire and the diameter of the conductor after being covered with ice. The ice mass function and load uniform distribution method are used to simulate the deformation of the contact network under the influence of ice, and the catenary dynamics model is obtained.

7. A pantograph ice scraping device for real-time deicing, characterized in that , comprising an ice scraping module (1), a signal acquisition module (5) and a control module (9); The ice scraping module (1) is arranged at the top of the balance pole of the pantograph, the signal acquisition module (5) is arranged below the balance pole of the pantograph, and the control module (9) is arranged on the lower frame of the pantograph; The pantograph comprises an ice scraping pantograph (13) and a current collecting pantograph (14); The method for implementing pantograph ice scraping by the pantograph ice scraping device is specifically as follows: Real-time collection of train speed, the gravity of the contact wire under ice, and the contact force of the current collecting pantograph (14); Inputting the train speed and the gravity into a preset pantograph-catenary dynamics model to calculate the optimal lifting force of the ice scraping pantograph (13); Based on the optimal lifting force of the ice scraping pantograph (13), the height of the ice scraping pantograph (13) is controlled in real time to scrape ice; Calculating the difference between the contact force and the preset contact force, and updating the optimal lifting force of the current collecting pantograph (14) according to the difference; The height of the current-collecting pantograph (14) is controlled based on the optimal lifting force of the current-collecting pantograph (14), so as to achieve optimal pantograph-net matching when the pantograph is scraping ice.

8. The pantograph ice scraping device for real-time deicing according to claim 7, characterized in that The ice scraping module (1) comprises an ice scraping housing (2), a carbon slide plate (3) and a bracket (4); The bracket (4) is arranged at the top end of the pantograph balance pole, the carbon slide plate (3) is arranged above the bracket (4), the front end of the carbon slide plate (3) is provided with an ice scraper shell (2) for scraping ice off the contact network, and the front end of the carbon slide plate (3) is in the running direction of the train; The surface of the ice scraping shell (2) close to the contact network and the surface of the carbon slide plate (3) close to the contact network are in the same height plane.

9. The pantograph ice scraping device for real-time deicing according to claim 7, characterized in that , the signal acquisition module (5) comprises a gravity sensor (6), a pressure sensor (7) and a signal converter (8); The gravity sensor (6) is used to collect the gravity signal of the contact line under the ice-covered ice-scraping pantograph (13); The pressure sensor (7) is used to collect a contact force signal of a current-collecting pantograph (14); The signal converter (8) is used to convert the gravity signal and the contact force signal into gravity and contact force, and send the gravity and contact force to the control module (9).

10. The pantograph ice scraping device for real-time deicing according to claim 9, characterized in that , the control module (9) comprises a signal receiving unit (12), a power supply unit (11) and a control unit (10); The signal receiving unit (12) is used to receive the gravity and contact force sent by the signal converter (8), and send the gravity and contact force to the control unit (10); The control unit (10) is used to calculate the optimal lifting force of the pantograph by using the gravity and the contact force, and to control the height of the pantograph by using the optimal lifting force of the pantograph; The power supply unit (11) is used to supply power to the signal receiving unit (12), the control unit (10) and the signal acquisition module (5).

Images