A distribution line drone-carried ice-stripping robot device

Abstract

The invention discloses a distribution line UAV-carried ice-peeling robot device, comprising a UAV system, a clamping guide mechanism, a docking mechanism, a camera mechanism and a wheeled ice-peeling mechanism; the clamping guide mechanism comprises a top cover, a V-shaped wheel and a clamping wheel assembly, the distribution line is clamped under the V-shaped wheel and is clamped and moved by the clamping wheel assembly; the UAV system is installed above the top cover through the docking mechanism, and the camera mechanism is installed on the front and rear sides of the top cover; the wheeled ice-peeling mechanism comprises a connecting top plate, a planetary gear, a main gear and a tool, the front end of the connecting top plate is installed on the top cover, the planetary gear is installed at the end of the connecting top plate, the main gear is arranged on the outside of the end of the connecting top plate and meshes with the planetary gear, and the tool is fixed on the main gear. The invention has a compact structure, can realize the deicing operation of the distribution cable in an environment without power outage, has a high degree of automation, is easy to install the cable, has high stability, is simple and convenient to operate the deicing operation, is highly efficient, and is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power construction, and in particular to an unmanned aerial vehicle-carried ice-stripping robot device for power distribution lines. Background Art

[0002] In the distribution network system, the distribution network, as an important public infrastructure, plays an important role in ensuring power supply, supporting economic and social development, and serving to improve people's livelihood. In winter, when it rains and snows, distribution lines are easily covered with ice, which may cause short circuits, circuit breaks and other faults if not cleared in time, thus interrupting the normal operation of the lines and causing serious economic losses.

[0003] The deicing methods currently used mainly include artificial mechanical deicing, thermal ice melting, natural deicing, and spreading ice and snow melting agents. These methods have great safety hazards, low efficiency, high energy consumption costs, and are environmentally unfriendly.

[0004] In manual mechanical deicing, it is mainly divided into manual insulated pole operation method and cable deicing robot operation method. The manual insulated pole operation method adopts the intermediate potential operation method, and the deicing operation is directly performed by hanging on the pole manually, but the efficiency is low and the operators are in danger. The deicing robot operation method mainly relies on remote operation, automated operation, visual recognition technology, robotic arm operation and other methods to operate. It has the advantages of high safety and low labor cost, but it has the following problems: it is difficult to put on the cable, and most of the time the robot is suspended on the cable by a sling. Although it is relatively safer, the operation is still cumbersome and the efficiency is low; during operation, the shaking degree is large and the stability is not high; the deicing operation efficiency is not high. Summary of the invention

[0005] Based on the technical problems existing in the background technology, the present invention proposes a distribution line drone-carried ice-peeling robot device.

[0006] The present invention proposes a distribution line drone-carried ice-peeling robot device, which includes a drone system, a clamping guide mechanism, a docking mechanism, a camera mechanism and a wheeled ice-peeling mechanism; the clamping guide mechanism includes a top cover, a V-shaped wheel and a clamping wheel assembly, and the distribution line is clamped under the V-shaped wheel and moves through the clamping wheel assembly; the drone system is installed above the top cover through the docking mechanism, and the camera mechanism is installed on the front and rear sides of the top cover; the wheeled ice-peeling mechanism includes a connecting top plate, a planetary gear, a main gear and a tool, the front end of the connecting top plate is installed on the top cover, the planetary gear is installed at the end of the connecting top plate, the main gear is arranged on the outside of the end of the connecting top plate and meshes with the planetary gear, and the tool is fixed on the main gear.

[0007] Preferably, the wheel-type ice-peeling mechanism further comprises a rotating shell, the main gear is fixedly mounted on the inner end face of the rotating shell, and the tool is mounted on the outer end face of the rotating shell via a tool clamping assembly and a tool adjusting assembly.

[0008] Preferably, two planetary gears are provided and both are controlled to rotate by a stepper motor, the main gear is a notched ring structure, and the two planetary gears are symmetrically arranged on both sides of the main gear.

[0009] Preferably, the tool clamping assembly includes a slide rail, a bearing support, a slider, and a screw rod. The slide rail is installed on the outer end surface of the rotating shell. The bearing support is arranged above the slide rail and fixed to the outer end surface of the rotating shell by screws. The screw rod is installed in the bearing support through a bearing. The slider is provided with two slide rails and respectively installed on both sides of the bearing support. The slider is provided with threaded holes. Both ends of the screw rod respectively pass through the threaded holes of the two sliders, and external threads are provided at both ends of the screw rod to match the internal threads provided in the threaded holes of the slider. The screw rod is controlled to rotate by a stepper motor.

[0010] Preferably, the tool adjustment assembly includes a tool mounting block, a synchronous wheel, a stepper motor three, and a motor three bracket. The tool mounting block is mounted on the rear end face of a slider at one end of a screw rod, the end of the tool is hinged in the tool mounting block, the motor three bracket is mounted on the rear end face of the tool mounting block, the stepper motor three is mounted on the motor three bracket, the output shaft of the stepper motor three drives the synchronous wheel to rotate through a belt, and the synchronous wheel drives the tool to rotate through gear meshing.

[0011] Preferably, a gear 1 is installed at the other end of the screw rod 1, a motor 2 bracket is installed on the outer end surface of the rotating shell, the stepper motor 2 is installed on the motor 2 bracket, and the gear 2 installed at the output end of the stepper motor 2 meshes with the gear 1.

[0012] Preferably, the docking mechanism includes a lower docking disc, an upper docking disc, a pressure claw, a cam, and a push rod. The lower docking disc is fixedly mounted on the top cover, and the UAV system is mounted on the top of the upper docking disc through a UAV mounting seat. There are multiple pressure claws, and their centers are symmetrically mounted on the outer wall of the upper end of the lower docking disc through ear plates and pin shafts. The lower end of the pressure claw is controlled to rotate by the cam and the push rod, and the upper end of the pressure claw is engaged with the outer wall of the upper docking disc.

[0013] Preferably, multiple groups of ear plates are symmetrically installed on the outer wall of the upper end of the lower docking disc, and the pressure claws are provided with multiple groups and are hingedly installed in the multiple groups of ear plates through pins; the cam is installed at the axis of the lower docking disc and rotated by motor control, and multiple guide sleeves are symmetrically installed on the inner wall of the lower docking disc outside the cam, and the push rods are provided with multiple groups and are arranged in multiple guide sleeves one by one, the inner end of the push rod contacts the cam, and the outer end of the push rod contacts the inner wall of the lower end of the pressure claw after passing through the inner wall of the lower docking disc, and a return spring is installed on the outer wall of the lower docking disc inside the upper end of the pressure claw, and the outer end of the return spring contacts the inner wall of the upper end of the pressure claw; an annular limiting protrusion is provided on the outer wall of the lower end of the upper docking disc, and an inwardly bent claw groove is provided on the top of the pressure claw, and the claw groove at the top of the pressure claw engages with the annular limiting protrusion on the outer wall of the upper docking disc.

[0014] Preferably, the clamping guide mechanism also includes a shell, which is installed on the left and right sides of the top cover, and the clamping wheel assembly is provided with two groups and is symmetrically installed at the front and rear ends of the lower end of the top cover between the two V-shaped wheels, and the V-shaped wheel is provided with two and is symmetrically installed at the front and rear ends of the top cover; the clamping wheel assembly includes a top guide rail, a reduction motor bracket, a wheel connecting plate, and a screw rod 2, the top guide rail is laterally installed on the lower end surface of the top cover, the reduction motor bracket is arranged below the center of the top guide rail and is fixed on the lower end surface of the top cover by bolts, and a dual-axis reduction motor is installed in the reduction motor bracket, and two screw rods 2 are provided and are respectively installed on the two output shafts of the dual-axis reduction motor; the wheel connecting plate is provided with two and are respectively installed on the top guide rails on both sides of the dual-axis reduction motor, and a connecting plate threaded hole is provided on the wheel connecting plate, and the two screw rods 2 are respectively penetrated in the connecting plate threaded holes of the two wheel connecting plates and are connected by threads; a traveling clamping wheel is installed under the wheel connecting plate, and the traveling clamping wheel is controlled to rotate by the traveling clamping motor.

[0015] Preferably, each group of the clamping wheel assemblies also includes two side end guide rails and two traveling clamping motor brackets, the outer shell is a "["-shaped structure, the four side end guide rails of the two groups of clamping wheel assemblies are respectively installed on the four front and rear side panels of the two "["-shaped outer shells, and the four wheel connecting plates of the two groups of clamping wheel assemblies are respectively installed on the four side end guide rails; the two traveling clamping motor brackets of each group of the clamping wheel assemblies are respectively installed under the two wheel connecting plates, and the traveling clamping wheels are installed in the traveling clamping motor brackets.

[0016] The beneficial effects of the present invention are:

[0017] The invention discloses a distribution line drone-carried ice-peeling robot device. The drone system installed by the docking mechanism can lift the clamping guide mechanism and the wheeled ice-peeling mechanism and other devices. It is easy to put on the cable, has good safety, convenient operation and high efficiency. The entire distribution cable is clamped by the clamping guide mechanism, with low shaking and high stability. The camera mechanism can quickly identify potential safety hazards, such as damage to the distribution cable and abnormal conditions of the equipment, greatly reducing the need for dangerous inspections by staff and improving overall safety. The wheeled ice-peeling mechanism uses a peeling knife to peel ice. For thicker and difficult-to-remove ice layers, the ice layer on the distribution cable can be quickly and effectively peeled off, significantly improving the deicing speed and reducing the power outage time caused by freezing. At the same time, the setting of the tool adjustment component facilitates the angle adjustment of the tool, can adapt to wires or cables of different sizes and materials, and improves its applicability in various distribution lines. The present invention has a compact structure and can realize de-icing operations on distribution cables without power outages. It has a high degree of automation, is easy to install cables, has a small degree of shaking, and has high stability. The de-icing operation is simple and convenient to operate, has high efficiency, saves time and effort, is safe and reliable, has low energy consumption costs, and does not pollute the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 : A schematic diagram of the structure of the present invention;

[0019] Figure 2 : A schematic structural diagram of the docking mechanism of the present invention;

[0020] Figure 3 : A schematic diagram of the structure of the clamping guide mechanism and the wheel-type ice peeling mechanism of the present invention;

[0021] Figure 4 : A schematic structural diagram of a clamping wheel assembly of the present invention;

[0022] Figure 5 : A schematic structural diagram of the wheeled ice peeling mechanism of the present invention (front view);

[0023] Figure 6 : A schematic structural diagram of the wheeled ice peeling mechanism of the present invention (rearward viewing direction). DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Embodiment 1:

[0025] Reference Figure 1-6The present invention proposes a distribution line drone-carried ice-peeling robot device, which includes a drone system 1, a clamping guide mechanism 2, a docking mechanism 3, a camera mechanism 4 and a wheeled ice-peeling mechanism 5.

[0026] The clamping guide mechanism 2 includes a top cover 21, a V-shaped wheel 23 and a clamping wheel assembly 24. The distribution cable 10 is clamped under the V-shaped wheel 23 and is clamped and moved by the clamping wheel assembly 24, which can clamp the entire distribution cable 10 with little shaking and high stability.

[0027] The drone system 1 is installed above the top cover 21 through the docking mechanism 3. The drone system installed through the docking mechanism can lift devices such as the clamping guide mechanism and the wheeled ice peeling mechanism, and it is easy to install cables, has good safety, is convenient to operate, and is highly efficient.

[0028] The camera mechanism 4 is installed on the front and rear sides of the top cover 21. The camera mechanism 4 can be used to quickly identify potential safety hazards, such as damage to the distribution cable 10, abnormal conditions of equipment, etc., greatly reducing the need for staff to conduct dangerous inspections and improving overall safety.

[0029] The wheeled ice peeling mechanism 5 includes a connecting top plate 51, a planetary gear 53, a main gear 54 and a cutter 57. The front end of the connecting top plate 51 is mounted on the top cover 21, the planetary gear 53 is mounted on the end of the connecting top plate 51, the main gear 54 is arranged on the outer side of the end of the connecting top plate 51 and meshes with the planetary gear 53, and the cutter 57 is fixed on the main gear 54. The rotation of the planetary gear 53 drives the rotation of the main gear 54, so that the cutter 57 rotates around the distribution cable 10 to perform ice peeling operation, with good automation and high operation efficiency.

[0030] The present invention has a compact structure and can realize cable deicing operations without power outages. It has a high degree of automation, is easy to install cables, has a small degree of shaking, and has high stability. The deicing operation is simple and convenient to operate, has high efficiency, saves time and effort, is safe and reliable, has low energy consumption costs, and does not pollute the environment. Embodiment 2:

[0031] Reference Figure 1-6 The present invention proposes a distribution line drone-carried ice-peeling robot device, which includes a drone system 1, a clamping guide mechanism 2, a docking mechanism 3, a camera mechanism 4 and a wheeled ice-peeling mechanism 5.

[0032] The clamping guide mechanism 2 includes a top cover 21, a shell 22, a V-shaped wheel 23 and a clamping wheel assembly 24. The shell 22 is installed on the left and right sides of the top cover 21. The clamping wheel assembly 24 is provided with two groups and is symmetrically installed at the front and rear ends of the lower end of the top cover 21 between the two V-shaped wheels 23. There are two V-shaped wheels 23 and are symmetrically installed at the front and rear ends of the top cover 21. The distribution cable 10 is clamped under the V-shaped wheel 23 and is clamped and moved by the clamping wheel assembly 24, which can clamp the entire distribution cable 10, with little shaking and high stability.

[0033] The clamping wheel assembly 24 includes a top rail 241, a reduction motor bracket 242, a wheel connecting plate 244, and a screw rod 245. The top rail 241 is transversely mounted on the lower end surface of the top cover 21. The reduction motor bracket 242 is arranged below the center of the top rail 241 and fixed to the lower end surface of the top cover 21 by bolts. A dual-axis reduction motor 249 is installed in the reduction motor bracket 242. Two screw rods 245 are provided and respectively installed on the two output shafts of the dual-axis reduction motor 249. Two wheel connecting plates 244 are provided and respectively installed on the top rails 241 on both sides of the dual-axis reduction motor 249. The wheel connecting plate 244 is provided with connecting plate threaded holes. Two screw rods 245 are respectively penetrated in the connecting plate threaded holes of the two wheel connecting plates 244 and are connected by threads. Each set of clamping wheel assemblies 24 also includes two side end guide rails 243 and two traveling clamping motor brackets 246. The housing 22 is a "["-shaped structure. The four side end guide rails 243 of the two sets of clamping wheel assemblies 24 are respectively mounted on the four side plates in front and behind the two "["-shaped housings 22, and the four wheel connecting plates 244 of the two sets of clamping wheel assemblies 24 are respectively mounted on the four side end guide rails 243. The two traveling clamping motor brackets 246 of each set of clamping wheel assemblies 24 are respectively mounted under the two wheel connecting plates 244, and the traveling clamping wheel 247 is mounted in the traveling clamping motor bracket 246. The traveling clamping wheel 247 is controlled to rotate by the traveling clamping motor 248.

[0034] During use of the clamping wheel assembly 24, the screw rod 245 rotates under the action of the dual-axis reduction motor 249, so that the wheel connecting plate 244 slides on the top guide rail 241 and the side guide rail 243 until the traveling clamping wheel 247 is clamped or separated from the distribution cable 10. When the traveling clamping wheel 247 clamps the distribution cable 10, the entire clamping guide mechanism 2 can be moved on the distribution cable 10 through the control of the traveling clamping motor 248.

[0035] The docking mechanism 3 includes a lower docking disc 31, an upper docking disc 32, a pressure claw 33, a cam 35, and a push rod 36. The lower docking disc 31 is fixedly mounted on the top cover 21. The drone system 1 is mounted on the top of the upper docking disc 32 through a drone mounting seat 38. There are multiple pressure claws 33, and their centers are symmetrically mounted on the outer wall of the upper end of the lower docking disc 31 through ear plates 34 and pin shafts. The lower end of the pressure claw 33 is controlled to rotate by the cam 35 and the push rod 36, and the upper end of the pressure claw 33 is engaged with the outer wall of the upper docking disc 32. A plurality of ear plates 34 are symmetrically mounted on the outer wall of the upper end of the lower docking disc 31, and the pressure claw 33 is provided with a plurality of ear plates 34 and hingedly mounted in the plurality of ear plates 34 through pins; the cam 35 is mounted at the axis of the lower docking disc 31 and rotated by motor control, and a plurality of guide sleeves 361 are symmetrically mounted on the inner wall of the lower docking disc 31 outside the cam 35, and a plurality of push rods 36 are provided and are arranged in the plurality of guide sleeves 361 one by one, the inner end of the push rod 36 contacts the cam 35, and the outer end thereof penetrates through the inner wall of the lower docking disc 31 and contacts the inner wall of the lower end of the pressure claw 33, and a return spring 37 is installed on the outer wall of the lower docking disc 31 inside the upper end of the pressure claw 33, and the outer end of the return spring 37 contacts the inner wall of the upper end of the pressure claw 33. An annular limiting protrusion is arranged on the outer wall of the lower end of the upper docking disc 32 , and an inwardly curved claw groove is arranged on the top of the pressing claw 33 . The claw groove at the top of the pressing claw 33 is engaged with the annular limiting protrusion on the outer wall of the upper docking disc 32 .

[0036] The cam 35 is rotated by the motor control, and the protrusion on the outer periphery of the cam 35 pushes the push rod 36 to move linearly outward in the guide sleeve 361, and pushes the lower end of the pressing claw 33 to rotate around its pin, so that the upper end of the pressing claw 33 rotates inward and finally engages with the annular limiting protrusion on the outer wall of the upper docking disc 32, thereby achieving the docking installation of the lower docking disc 31 and the upper docking disc 32. When the cam 35 continues to rotate or rotates in the opposite direction by the motor control, the inner end of the push rod 36 is no longer pushed by the protrusion on the outer periphery of the cam 35, and the upper end of the pressing claw 33 rotates outward under the reset action of the reset spring 37, and the upper end of the pressing claw 33 is separated from the annular limiting protrusion on the outer wall of the upper docking disc 32.

[0037] The drone system 1 is installed above the top cover 21 through the docking mechanism 3. The drone system installed through the docking mechanism can lift devices such as the clamping guide mechanism and the wheeled ice peeling mechanism, and it is easy to install cables, has good safety, is convenient to operate, and is highly efficient.

[0038] Two camera mechanisms 4 are provided and installed on the front and rear sides of the top cover 21 respectively. The camera mechanisms 4 can be used to quickly identify potential safety hazards, such as damage to the distribution cables 10, abnormal conditions of equipment, etc., greatly reducing the need for staff to conduct dangerous inspections and improving overall safety.

[0039] The wheeled ice peeling mechanism 5 includes a connecting top plate 51, a rotating shell 52, a planetary gear 53, a main gear 54 and a cutter 57.

[0040] The front end of the connecting top plate 51 is installed on the top cover 21, and the planetary gear 53 is installed at the end of the connecting top plate 51. Two planetary gears 53 are provided and both are controlled by a stepping motor 531 to rotate.

[0041] The main gear 54 is arranged outside the end of the connecting top plate 51 and meshes with the planetary gear 53. The main gear 54 is a notched ring structure, and two planetary gears 53 are symmetrically arranged on both sides of the main gear 54. The central axis of the main gear 54 is located in its notch, and the notch of the main gear 54 with a notched ring structure is arranged to facilitate the distribution cable 10 to be inserted into the central axis of the main gear 54.

[0042] The main gear 54 is fixedly mounted on the inner end face of the rotating housing 52, and the tool 57 is mounted on the outer end face of the rotating housing 52 outside the main gear 54 through the tool clamping assembly 55 and the tool adjusting assembly 56. The rotation of the planetary gear 53 can drive the main gear 54, the rotating housing 52, the tool clamping assembly 55, the tool adjusting assembly 56 and the tool 57 to rotate around the distribution cable 10.

[0043] Among them, the tool clamping assembly 55 includes a slide rail 551, a bearing support 552, a slider 553, and a screw 554. The slide rail 551 is installed on the outer end surface of the rotating shell 52. The bearing support 552 is arranged above the slide rail 551 and fixed to the outer end surface of the rotating shell 52 by screws. The screw 554 is installed in the bearing support 552 through a bearing. The slider 553 is provided with two slide rails 551 on both sides of the bearing support 552, respectively. The slider 553 is provided with threaded holes. Both ends of the screw 554 are respectively passed through the threaded holes of the two sliders 553, and external threads are arranged at both ends of the screw 554 to match the internal threads arranged in the threaded holes of the slider 553. The screw 554 is controlled to rotate by a stepper motor 557. A gear 1 555 is installed at the other end of the screw rod 1 554, a motor 2 bracket 556 is installed on the outer end surface of the rotating shell 52, a stepper motor 2 557 is installed on the motor 2 bracket 556, and a gear 2 558 installed at the output end of the stepper motor 2 557 meshes with the gear 1 555. Through the action of the stepper motor 2 557, the screw rod 1 554 is driven to rotate, so that the two sliders 1 553 slide on the slide rail 1 551, which is convenient for adjusting the two sliders 1 553 to clamp the distribution cable 10 and adjust the clamping degree.

[0044] The tool adjustment assembly 56 includes a tool mounting block 561, a synchronous wheel 562, a stepper motor 3 563, and a motor 3 bracket 564. The tool mounting block 561 is mounted on the rear end face of the slider 1 553 at one end of the screw rod 1 554. The end of the tool 57 is hinged in the tool mounting block 561. The motor 3 bracket 564 is mounted on the rear end face of the tool mounting block 561. The stepper motor 3 563 is mounted on the motor 3 bracket 564. The output shaft of the stepper motor 3 563 drives the synchronous wheel 562 to rotate through a belt, and the synchronous wheel 562 drives the tool 57 to rotate through gear meshing. Through the action of the stepper motor 3 563, the rotation of the tool 57 is driven, thereby adjusting the position of the tool 57 and the power distribution cable 10. Through the setting of the tool adjustment assembly 56, it is convenient to adjust the angle of the tool 57, and it can adapt to wires or cables of different sizes and materials, thereby improving its applicability in various power distribution lines.

[0045] The rotation of the planetary gear 53 drives the main gear 54 to rotate, so that the cutter 57 rotates around the distribution cable 10 to perform ice-stripping operation, with a high degree of automation and high operating efficiency.

[0046] The present invention has a compact structure and can realize cable deicing operations without power outages. It has a high degree of automation, is easy to install cables, has a small degree of shaking, and has high stability. The deicing operation is simple and convenient to operate, has high efficiency, saves time and effort, is safe and reliable, has low energy consumption costs, and does not pollute the environment.

[0047] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A distribution line drone-carried ice-peeling robot device, characterized in that: It comprises an unmanned aerial vehicle system (1), a clamping and guiding mechanism (2), a docking mechanism (3), a camera mechanism (4) and a wheeled ice-stripping mechanism (5); The clamping guide mechanism (2) comprises a top cover (21), a V-shaped wheel (23) and a clamping wheel assembly (24); the power distribution cable (10) is clamped under the V-shaped wheel (23) and is clamped and moved by the clamping wheel assembly (24); The drone system (1) is installed above the top cover (21) via a docking mechanism (3), and the camera mechanism (4) is installed on the front and rear sides of the top cover (21); The wheel-type ice-stripping mechanism (5) comprises a connecting top plate (51), a planetary gear (53), a main gear (54) and a cutter (57); the front end of the connecting top plate (51) is mounted on the top cover (21); the planetary gear (53) is mounted on the end of the connecting top plate (51); the main gear (54) is arranged on the outside of the end of the connecting top plate (51) and meshes with the planetary gear (53); and the cutter (57) is fixed on the main gear (54); The docking mechanism (3) comprises a lower docking disc (31), an upper docking disc (32), a pressure claw (33), a cam (35), and a push rod (36); the lower docking disc (31) is fixedly mounted on the top cover (21); the drone system (1) is mounted on the top of the upper docking disc (32) via a drone mounting seat (38); a plurality of pressure claws (33) are provided, and the centers of the pressure claws (33) are symmetrically mounted on the outer wall of the upper end of the lower docking disc (31) via ear plates (34) and pins; the lower end of the pressure claw (33) is controlled to rotate via the cam (35) and the push rod (36); the upper end of the pressure claw (33) is engaged with the outer wall of the upper docking disc (32); A plurality of groups of ear plates (34) are symmetrically mounted on the outer wall of the upper end of the lower docking disc (31); the pressure claws (33) are provided with a plurality of groups and are hingedly mounted in the plurality of groups of ear plates (34) through pins; the cam (35) is mounted at the axis of the lower docking disc (31) and is rotated by a motor control; a plurality of guide sleeves (361) are symmetrically mounted on the inner wall of the lower docking disc (31) outside the cam (35); a plurality of push rods (36) are provided and are arranged in the plurality of guide sleeves (361) one by one; the inner ends of the push rods (36) are aligned with the cam (3 5), its outer end penetrates the inner wall of the lower docking disc (31) and contacts the inner wall of the lower end of the pressing claw (33); a return spring (37) is installed on the outer wall of the lower docking disc (31) inside the upper end of the pressing claw (33), and the outer end of the return spring (37) contacts the inner wall of the upper end of the pressing claw (33); an annular limiting protrusion is arranged on the outer wall of the lower end of the upper docking disc (32), and the top end of the pressing claw (33) is provided with a claw groove bent inwardly, and the claw groove at the top end of the pressing claw (33) is engaged with the annular limiting protrusion on the outer wall of the upper docking disc (32).

2. The power distribution line drone-carried ice-peeling robot device according to claim 1, characterized in that: The wheeled ice-stripping mechanism (5) further comprises a rotating shell (52), the main gear (54) being fixedly mounted on the inner end surface of the rotating shell (52), and the cutter (57) being mounted on the outer end surface of the rotating shell (52) via a cutter clamping assembly (55) and a cutter adjusting assembly (56).

3. The power distribution line drone-carried ice-peeling robot device according to claim 2, characterized in that: Two planetary gears (53) are provided and are both controlled to rotate by a stepper motor (531); the main gear (54) is a notched ring structure; and the two planetary gears (53) are symmetrically arranged on both sides of the main gear (54).

4. The power distribution line drone-carried ice-peeling robot device according to claim 2, characterized in that: The tool clamping assembly (55) comprises a slide rail (551), a bearing support (552), a slider (553), and a screw rod (554). The slide rail (551) is mounted on the outer end surface of the rotating shell (52). The bearing support (552) is arranged above the slide rail (551) and fixed to the outer end surface of the rotating shell (52) by screws. The screw rod (554) is installed in the bearing support (552) through a bearing. The slider (553) is provided with two slide rails (551) respectively installed on both sides of the bearing support (552). The slider (553) is provided with a threaded hole. The two ends of the screw rod (554) are respectively inserted into the threaded holes of the two sliders (553). The two ends of the screw rod (554) are provided with external threads that match the internal threads provided in the threaded holes of the slider (553). The screw rod (554) is controlled to rotate by a stepper motor (557).

5. The power distribution line drone-carried ice-peeling robot device according to claim 4, characterized in that: The tool adjustment assembly (56) comprises a tool mounting block (561), a synchronous wheel (562), a stepper motor three (563), and a motor three bracket (564); the tool mounting block (561) is mounted on the rear end face of a slider one (553) at one end of a screw rod one (554); the end of the tool (57) is hinged in the tool mounting block (561); the motor three bracket (564) is mounted on the rear end face of the tool mounting block (561); the stepper motor three (563) is mounted on the motor three bracket (564); the output shaft of the stepper motor three (563) drives the synchronous wheel (562) to rotate via a belt; and the synchronous wheel (562) drives the tool (57) to rotate via gear meshing.

6. The power distribution line drone-carried ice-peeling robot device according to claim 5, characterized in that: A gear 1 (555) is mounted on the other end of the screw rod 1 (554); a motor 2 bracket (556) is mounted on the outer end surface of the rotating housing (52); the stepper motor 2 (557) is mounted on the motor 2 bracket (556); and a gear 2 (558) mounted on the output end of the stepper motor 2 (557) meshes with the gear 1 (555).

7. The power distribution line drone-carried ice-peeling robot device according to claim 1, characterized in that: The clamping guide mechanism (2) further comprises a housing (22), wherein the housing (22) is mounted on the left and right sides of the top cover (21); the clamping wheel assembly (24) is provided with two groups and is symmetrically mounted on the front and rear ends of the lower end of the top cover (21) between the two V-shaped wheels (23); the V-shaped wheels (23) are provided with two groups and are symmetrically mounted on the front and rear ends of the top cover (21); the clamping wheel assembly (24) comprises a top guide rail (241), a reduction motor bracket (242), a wheel connecting plate (244), and a second screw rod (245); the top guide rail (241) is transversely mounted on the lower end surface of the top cover (21); the reduction motor bracket (242) is arranged below the center of the top guide rail (241) and is fixed to the top cover (21) by bolts. On the lower end surface, a dual-axis reduction motor (249) is installed in the reduction motor bracket (242), and two screw rods (245) are provided and respectively installed on the two output shafts of the dual-axis reduction motor (249); two wheel connecting plates (244) are provided and respectively installed on the top guide rails (241) on both sides of the dual-axis reduction motor (249), and the wheel connecting plate (244) is provided with a connecting plate threaded hole, and the two screw rods (245) are respectively penetrated in the connecting plate threaded holes of the two wheel connecting plates (244) and connected by threads; a travel clamping wheel (247) is installed under each wheel connecting plate (244), and the travel clamping wheel (247) is controlled to rotate by the travel clamping motor (248).

8. The power distribution line drone-carried ice-peeling robot device according to claim 7, characterized in that: Each group of the clamping wheel assemblies (24) further comprises two side end guide rails (243) and two traveling clamping motor brackets (246); the housing (22) is a "["-shaped structure; the four side end guide rails (243) of the two groups of the clamping wheel assemblies (24) are respectively mounted on a total of four side plates in front and behind the two "["-shaped housings (22); the four wheel connecting plates (244) of the two groups of the clamping wheel assemblies (24) are respectively mounted on the four side end guide rails (243); the two traveling clamping motor brackets (246) of each group of the clamping wheel assemblies (24) are respectively mounted under the two wheel connecting plates (244); and the traveling clamping wheel (247) is mounted in the traveling clamping motor bracket (246).

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