Portable multifunctional integrated deicing device for overhead line of distribution network

Abstract

The invention discloses a portable distribution network overhead line multifunctional integrated deicing device, and relates to the technical field of electric power operation and maintenance, and the device comprises a control system which is used for precisely controlling and coordinating the actions of all control subsystems; the ground operating system is used for receiving an external instruction and sending a control signal to the control system; the network switch is connected with the ground operating system and is used for data communication between the ground operating system and the control system; the deicing robot is combined with the unmanned aerial vehicle technology, the deicing robot is placed on the overhead conductor through the unmanned aerial vehicle, deicing and accumulated snow removing operation is carried out through remote control, the automatic action of the deicing robot can be accurately controlled, and the deicing efficiency is improved. And the precision and effect of deicing operation are ensured, the necessity of manual intervention is reduced, meanwhile, the unmanned aerial vehicle can deploy the deicing robot to the needed position, and the risk of high-altitude operation of operating personnel is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of electric power operation and maintenance, and in particular to a portable multifunctional integrated deicing device for overhead lines of a distribution network. Background Art

[0002] With the continuous advancement and progress of economic technology, people's demand for electricity is showing an increasing trend, and the requirements for power supply quality have also been significantly improved. In the new era, driven by competitive pressure, the development speed of my country's power industry is accelerating. Whether the power system can operate safely and stably has a very significant impact on social production and people's lives. In cold climates, especially in high-altitude areas, distribution network overhead lines are often plagued by icing problems. The appearance of icing will greatly increase the weight of the line, causing the towers, conductors, etc. to bear excessive mechanical loads, which is very likely to cause a series of serious accidents such as tower tilting, collapse, and wire breakage, posing a great threat to the safe and stable operation of the power system.

[0003] As the scale of power grids continues to expand and the requirements for power supply reliability gradually increase, traditional deicing methods, such as manual deicing and mechanical deicing, have exposed many drawbacks. The above methods are not only inefficient, labor-intensive, and dangerous, but may also cause damage to the lines. In addition, due to climate change, the frequency of extreme cold weather has increased, making the line icing situation more severe and complicated.

[0004] Therefore, it is necessary to design a portable multifunctional integrated deicing device for distribution network overhead lines to solve the above technical problems. Summary of the invention

[0005] In response to the above problems, the present application provides a portable multifunctional integrated de-icing device for distribution network overhead lines. By combining a de-icing robot with drone technology, the de-icing robot is placed on the overhead wires by a drone, and de-icing and snow accumulation operations are performed through remote control. The automated actions of the de-icing robot can be precisely controlled to ensure the accuracy and effectiveness of the de-icing operation, reducing the necessity of manual intervention. At the same time, the drone can fly freely in complex terrain and deploy the de-icing robot to the required location, reaching high places or dangerous areas that are difficult to reach manually, reducing the risk of high-altitude operations for operators.

[0006] To achieve the above object, the present invention provides the following technical solution: a portable multifunctional integrated deicing device for overhead lines of a distribution network, comprising:

[0007] Control system, used to accurately control and coordinate the actions of each control subsystem;

[0008] A ground operating system for receiving external instructions and sending control signals to the control system;

[0009] A network switch connected to the ground operating system for data communication between the ground operating system and the control system; and

[0010] An ice removal robot with the control system installed inside.

[0011] Furthermore, preferably, the ice removal robot includes:

[0012] A drone hanging ring that can be hooked and installed with a drone;

[0013] A self-locking double-hook that is fixedly arranged at the lower end of the drone hanging ring, and the self-locking double-hook can be mounted on the overhead wire and self-lock; and

[0014] A traction mechanism that is fixedly arranged at the lower end of the self-locking double-hook, and an ice removal mechanism is fixedly arranged at the lower end of the traction mechanism.

[0015] Furthermore, preferably, the traction mechanism includes a bracket fixed to the self-locking double-hook. Both ends of the bracket extend to the outside of the self-locking double-hook. One end of the Dyneema traction rope is fixedly arranged at both ends of the bracket located outside the self-locking double-hook, and the other ends of the Dyneema traction ropes are wound around a winch.

[0016] Furthermore, preferably, the ice removal mechanism includes:

[0017] A robot body configured as a U-shaped structure with grooves, and at least one running wheel is rotatably arranged on the robot body located at the protruding part. The running wheels are all in the structure of grooved wheels, and legs are fixedly arranged at the lower end of the robot body; and

[0018] Robotic arms are symmetrically installed on both sides of the robot body parallel to the overhead wire. A knocking and purging working head is installed at the output end of one robotic arm, and a scraping working head is installed at the output end of the other robotic arm.

[0019] Furthermore, preferably, the winch is fixedly arranged on the robot body located in the groove.

[0020] Furthermore, preferably, the control system includes:

[0021] A robotic arm control subsystem for receiving the control signal of the control system to control the precise movement of the robotic arm;

[0022] A scraping control subsystem, used for receiving a control signal of the control system, and scraping the thick ice layer on the conductor side of the overhead conductor through the mechanical arm and the scraping work head;

[0023] A knocking vibration control subsystem, used for receiving a control signal of the control system, and loosening the thin ice layer on the conductor side and the ice layer on the insulator side of the overhead conductor through the mechanical arm and the knocking and blowing work head;

[0024] a purge control subsystem, configured to receive a control signal from the control system, and to clear snow on the conductor side and the insulator side of the overhead conductor through the mechanical arm and the knocking and purge work head; and

[0025] The walking control subsystem is used to receive the control signal of the control system and control the walking and movement of the robot body on the overhead wire.

[0026] Further, as a preference, the control system also includes a power module, a main control processor, a signal integrated circuit and a wireless communication module fixed on a PCB circuit board, the PCB circuit board is fixedly arranged on an upper connecting plate located in the robot body, and the wireless communication module is connected to the main control processor through a signal line, the power module and the signal integrated circuit are connected to the DC brushless servo motor, the robotic arm, the knocking and blowing work head and the scraping work head through cables, the DC brushless servo motor is fixed on a lower connecting plate, the output end of the DC brushless servo motor is connected to the walking wheel, and a sensor is fixedly arranged on the lower connecting plate, the sensor is connected to the signal integrated circuit through a signal line, and the sensor adopts a proximity switch for providing the position information of the deicing robot on the overhead wire of the distribution network.

[0027] Further, as a preference, the robot arm control subsystem is connected to the robot arm through the signal integrated circuit, the scraping control subsystem is connected to the knocking and blowing work head through the signal integrated circuit, the blowing control subsystem is connected to the scraping work head through the signal integrated circuit, the walking control subsystem is connected to the DC brushless servo motor through the signal integrated circuit, and the signal integrated circuit is connected to the main control processor.

[0028] Further, preferably, the ground operating system is connected to the winch.

[0029] Furthermore, preferably, the wireless communication module includes 4G / 5G, GPS and WIFI functions, which are used for data communication, positioning services and remote monitoring between the ground operating system and the control system.

[0030] Compared with the prior art, the present invention provides a portable multifunctional integrated deicing device for overhead lines of distribution networks, which has the following beneficial effects:

[0031] 1. The present invention combines an ice-removing robot with drone technology. The ice-removing robot is placed on overhead wires by drones, and ice and snow removal operations are performed through remote control. The automated actions of the ice-removing robot can be precisely controlled to ensure the accuracy and effectiveness of the ice-removing operation, reducing the necessity of human intervention. At the same time, the drone can fly freely in complex terrain, deploy the ice-removing robot to the required location, and reach high places or dangerous areas that are difficult for humans to reach, reducing the risk of high-altitude operations for operators.

[0032] 2. In the present invention, for the thick ice layer on the conductor side of the overhead wire, the de-icing robot adopts mechanical scraping to remove ice; for the thin ice layer on the conductor side and the ice layer on the insulator side, percussion vibration and heat transfer are used to deal with the ice cover. At the same time, the percussion vibration frequency and strength of the de-icing robot can be adjusted according to the thickness and hardness of the ice cover and the type of insulator. For thinner and more brittle ice layers, higher frequency and smaller strength vibrations are adopted; and for thicker and more solid ice layers, the strength and duration of vibration are increased accordingly; the snow accumulated on the conductor side and the insulator side is handled by blowing. Through the combination of various de-icing methods, the de-icing robot can fully cope with the de-icing and snow removal tasks of different types of snow accumulation and ice cover, providing a strong guarantee for the reliable operation of the power grid.

[0033] 3. The de-icing robot of the present invention adopts a lightweight design with light weight, high strength and good processing performance, so that the overall de-icing robot has a simple structure and small weight and volume, thereby being able to meet the flight loading weight requirements of the UAV. Relying on the robotic arm technology, it has the advantages of high flexibility, ultra-large load, high positioning accuracy, etc., and can accurately control the de-icing robot to scrape, knock and blow the ice and snow on the overhead wires, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application.

[0035] Figure 1 It is a functional module structure diagram of a portable multifunctional integrated deicing device for overhead lines of distribution networks;

[0036] Figure 2 It is a schematic diagram of the overall structure of a portable multifunctional integrated deicing device for overhead power lines of a distribution network;

[0037] Figure 3It is a schematic diagram of the position and structure of a portable multifunctional integrated deicing device for distribution network overhead lines when it moves to the overhead wire;

[0038] Figure 4 It is a structural schematic diagram of a control system in a portable multifunctional integrated deicing device for overhead lines of a distribution network;

[0039] Figure numerals: 1. UAV lifting ring; 2. Self-locking double hook; 3. Traction mechanism; 4. De-icing mechanism; 5. Overhead wire; 6. Ground; 31. Bracket; 33. Winch; 32. Dyneema traction rope; 41. Robot body; 42. Walking wheel; 43. Outrigger; 44. Robot arm; 45. Tapping and blowing working head; 46. Scraping working head. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of this application, unless otherwise specified, "plurality" means two or more.

[0042] See also Figure 1-Figure 4 The embodiment of the present invention provides a portable multifunctional integrated deicing robot for overhead lines of a distribution network, which comprises:

[0043] Control system, used to accurately control and coordinate the actions of each control subsystem;

[0044] A ground operating system, used for receiving external instructions and sending control signals to the control system;

[0045] a network switch connected to the ground operating system and used for data communication between the ground operating system and the control system; and

[0046] The de-icing robot has the control system installed inside.

[0047] Based on the above technical solution, the de-icing robot is first placed on the ground 6, the drone is hooked to the de-icing robot, the staff remotely controls the drone to lift the de-icing robot, controls the de-icing robot to be hung on the overhead wire 5, and remotely operates the control system through the ground control system to make the de-icing robot start walking on the overhead wire 5 to the target position for operation; after the operation is completed, the de-icing robot is retrieved in conjunction with the reverse operation process.

[0048] On the basis of the above technical solution, the de-icing robot is combined with drone technology. The de-icing robot is placed on the overhead wire 5 by the drone, and de-icing and snow removal operations are performed through remote control. The automated actions of the de-icing robot can be precisely controlled to ensure the accuracy and effectiveness of the de-icing operation, reducing the necessity of human intervention. At the same time, the drone can fly freely in complex terrain, deploy the de-icing robot to the required location, and reach high places or dangerous areas that are difficult for humans to reach, reducing the risk of high-altitude operations for operators.

[0049] In a possible implementation, the deicing robot includes:

[0050] A drone lifting ring 1, which can be hooked and installed with the drone;

[0051] A self-locking double-hook hook 2 is fixedly arranged at the lower end of the drone lifting ring 1, and the self-locking double-hook hook 2 can be set on the overhead wire 5 and self-lock; and

[0052] The traction mechanism 3 is fixedly arranged at the lower end of the self-locking double-hook hook 2, and a de-icing mechanism 4 is fixedly arranged at the lower end of the traction mechanism 3.

[0053] Through the above technical scheme, the de-icing mechanism 4 is first placed on the ground 6, and the UAV is hooked with the UAV lifting ring 1. The staff remotely controls the UAV to lift the UAV lifting ring 1, and the traction mechanism 3 releases the line, and controls the self-locking double hook ring 2 to be hung on the overhead wire 5. After the UAV puts down the UAV lifting ring 1, the self-locking double hook ring 2 is self-locked with the overhead wire 5, and the traction mechanism 3 is started to reel in the line, and the de-icing mechanism 4 is raised to the target height, and then the de-icing mechanism 4 is returned to the overhead wire 5 by remotely controlling the UAV, and the de-icing mechanism 4 starts to move on the overhead wire 5 to the target position for operation.

[0054] In a possible embodiment, the traction mechanism 3 includes a bracket 31 fixed to the self-locking double-hook hook 2, both ends of the bracket 31 extend to the outside of the self-locking double-hook hook 2, and both ends of the bracket 31 located on the outside of the self-locking double-hook hook 2 are fixed with one end of a Dyneema traction rope 32, and the other end of the Dyneema traction rope 32 is wound around a winch 33, and the winch 33 can adjust the distance between the winch 33 and the bracket 31 by retracting the wire.

[0055] In a possible implementation manner, the de-icing mechanism 4 includes:

[0056] A robot body 41, configured as a U-shaped structure with grooves, and at least one driving wheel 42 is rotatably arranged on the robot body 41 located at the protruding part. The driving wheels 42 are all grooved wheel structures, and legs 43 are fixedly arranged at the lower end of the robot body 41; and

[0057] Robotic arms 44, symmetrically installed on both sides of the robot body 41 parallel to the overhead conductor 5, and a percussion and purging working head 45 is installed at the output end of one of the robotic arms 44, and a scraping working head 46 is installed at the output end of the other robotic arm 44.

[0058] It should be noted that the robot body 41 is made of aluminum alloy material, which has the characteristics of light weight, high strength, good processing performance, etc., making the overall de-icing robot simple in structure, small in weight and volume, so as to meet the requirements of the flight loading weight of the unmanned aerial vehicle. Depending on the robotic arm 44, the robotic arm technology has the advantages of high flexibility, large load capacity, high positioning accuracy, etc. Furthermore, it can accurately control the de-icing robot to scrape, strike and purge the ice and snow on the overhead conductor 5 through the robotic arm 44, the percussion and purging working head 45 and the scraping working head 46, improving the work efficiency.

[0059] Adopting the above technical solution, when de-icing the ice layer on the overhead conductor 5: when the ice layer is on the conductor side of the overhead conductor 5 and the ice coating thickness is relatively thick, the robotic arm 44 and the scraping working head 46 are remotely adjusted through the ground control system to de-ice the conductor side; when the ice coating thickness on the conductor side is relatively thin, the percussion action of the robotic arm 44 and the percussion and purging working head 45 is remotely adjusted through the ground control system to de-ice the conductor side; when the ice layer is on the insulator side of the overhead conductor 5, the percussion action of the robotic arm 44 and the percussion and purging working head 45 is remotely adjusted through the ground control system to de-ice the conductor side;

[0060] When de-icing the snow on the overhead conductor 5: when the snow is on the conductor side and the insulator side of the overhead conductor 5, the purging action of the robotic arm 44 and the percussion and purging working head 45 is remotely adjusted through the ground control system to remove the snow on the conductor side and the insulator side.

[0061] It should be added that an efficient heating element is installed inside the percussion and purging working head 45, which can quickly generate high temperature to melt and shed the ice and snow. In order to improve the thermal efficiency and energy conservation, the working power of the heating element can be flexibly adjusted according to the ambient temperature and the ice coating condition.

[0062] On the basis of the above technical scheme, for the thick ice layer on the conductor side of the overhead conductor 5, the de-icing robot uses mechanical scraping to remove ice; for the thin ice layer on the conductor side and the ice layer on the insulator side, percussion vibration and heat transfer are used to deal with the ice cover. At the same time, the percussion vibration frequency and strength of the de-icing robot can be adjusted according to the thickness, hardness and type of insulator of the ice cover. For thinner and more brittle ice layers, higher frequency and smaller strength vibrations are used; for thicker and more solid ice layers, the strength and duration of vibration are increased accordingly; the snow on the conductor side and the insulator side is handled by blowing. Through the combination of various de-icing methods, the de-icing robot can fully cope with the de-icing and snow removal tasks of different types of snow accumulation and ice cover, providing strong guarantee for the reliable operation of the power grid.

[0063] In a possible implementation manner, the winch 33 is fixedly mounted on the robot body 41 located in the groove.

[0064] By adopting the above technical solution, the UAV is hooked with the UAV lifting ring 1, and the staff remotely controls the UAV to lift the UAV lifting ring 1, and the winch 33 pays out the Dyneema traction rope 32, and controls the self-locking double hook ring 2 to be hung on the overhead wire 5. After the UAV puts down the UAV lifting ring 1, the self-locking double hook ring 2 and the overhead wire 5 are self-locked, and then the winch 32 is started to reel in the Dyneema traction rope 32, and the robot body 41 is raised to the target height, and then the walking wheel 42 is returned to the overhead wire 5 by remotely controlling the UAV, and the robot body 41 starts to walk on the overhead wire 5 to the target position for operation.

[0065] In a possible implementation, the control system includes:

[0066] A robot arm control subsystem, used to receive control signals from the control system to control the precise movement of the robot arm 44;

[0067] A scraping control subsystem, used for receiving a control signal of the control system, and scraping the thick ice layer on the conductor side of the overhead conductor 5 through the mechanical arm 44 and the scraping work head 46;

[0068] A knocking vibration control subsystem, used for receiving a control signal of the control system, and loosening the thin ice layer on the conductor side and the ice layer on the insulator side of the overhead conductor 5 through the mechanical arm 44 and the knocking and blowing work head 45;

[0069] a purge control subsystem, configured to receive a control signal from the control system, and to clear snow on the conductor side and the insulator side of the overhead conductor 5 through the mechanical arm 44 and the knocking and purge work head 45; and

[0070] The walking control subsystem is used to receive the control signal of the control system and control the walking and movement of the robot body 41 on the overhead wire 5.

[0071] In a possible embodiment, the control system also includes a power module, a main control processor, a signal integrated circuit and a wireless communication module fixed on a PCB circuit board. The PCB circuit board is fixedly arranged on an upper connecting plate located in the robot body 41, and the wireless communication module is connected to the main control processor through a signal line. The power module and the signal integrated circuit are connected to a DC brushless servo motor, the robotic arm 44, the knocking and blowing work head 45 and the scraping work head 46 through a cable. The DC brushless servo motor is fixed on a lower connecting plate, and the output end of the DC brushless servo motor is connected to the walking wheel 42. A sensor is fixedly arranged on the lower connecting plate, and the sensor is connected to the signal integrated circuit through a signal line. The sensor adopts a proximity switch to provide position information of the de-icing robot on the distribution network overhead wire 5.

[0072] It should be added that the sensor can transmit the location information and environmental conditions of the de-icing robot to the main control processor for processing. The main control processor will comprehensively process the various information obtained and derive the optimal operation plan to better perform the operation. At the same time, the information data will be sent to ground staff through the wireless communication module to better handle certain special situations.

[0073] In a possible implementation, the robotic arm control subsystem is connected to the robotic arm 44 through the signal integrated circuit, the scraping control subsystem is connected to the knocking and blowing work head 45 through the signal integrated circuit, the blowing control subsystem is connected to the scraping work head 46 through the signal integrated circuit, the walking control subsystem is connected to the DC brushless servo motor through the signal integrated circuit, and the signal integrated circuit is connected to the main control processor.

[0074] Through the above technical scheme, the control function of the control system can accurately adjust, feedback and control the walking, deicing and other behaviors of the live working deicing robot; the walking speed, travel direction and start and stop of the deicing operation of the deicing robot can be flexibly adjusted, and the deicing operation control of any overhead line can be realized through the combined control of the deicing and forward and backward functions; the control system is also provided with a feedback control function, which can grasp the current voltage of the power battery, the current walking speed, etc. in real time.

[0075] In a possible implementation, the ground operating system is connected to the winch 33, and by operating the ground operating system, the robot body 41 can be controlled to rise to a target height or be recovered.

[0076] In a possible implementation, the wireless communication module includes 4G / 5G, GPS and WIFI functions, which are used to realize data communication, positioning services and remote monitoring between the ground operating system and the control system.

[0077] During the specific implementation, the robot body 41 is first placed on the ground 6, and the Dyneema traction rope 32 on the winch 33 is reeled in to the initial winding state, and then the UAV is hooked with the UAV lifting ring 1. The staff remotely controls the UAV to lift the UAV lifting ring 1, and the winch 33 releases the Dyneema traction rope 32, and controls the self-locking double hook ring 2 to be hung on the overhead wire 5. After the UAV puts down the UAV lifting ring 1, the self-locking double hook ring 2 is self-locked with the overhead wire 5, and the winch 32 is started to reel in the Dyneema traction rope 32, and the robot body 41 is raised to the target height, and then the walking wheel 42 is returned to the overhead wire 5 by remotely controlling the UAV, and the robot body 41 starts to walk on the overhead wire 5 to the target position for operation;

[0078] 1. When removing ice from the overhead conductor 5:

[0079] a. When the ice layer is located on the conductor side of the overhead conductor 5 and the ice coating thickness is relatively thick, the ground control system is controlled to remotely adjust the mechanical arm 44 and the scraping work head 46 to de-ice the conductor side; when the ice coating thickness on the conductor side is relatively thin, the ground control system is controlled to remotely adjust the mechanical arm 44 and the knocking action of the knocking and blowing work head 45 to de-ice the conductor side;

[0080] b. When the ice layer is located on the insulator side of the overhead conductor 5, the ground control system is controlled to remotely adjust the knocking action of the mechanical arm 44 and the knocking and blowing work head 45 to de-ice the conductor side;

[0081] 2. When removing snow and ice from the overhead wire 5:

[0082] The snow is located on the conductor side and the insulator side of the overhead conductor 5, and the snow is removed from the conductor side and the insulator side by controlling the ground control system to remotely adjust the blowing action of the mechanical arm 44 and the knocking and blowing working head 45;

[0083] After the operation is completed, the self-locking double hook ring 2 is unlocked by the mechanical arm 44, and the deicing robot is retracted in conjunction with the reverse operation process.

[0084] What is described above 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 portable multifunctional integrated deicing device for overhead lines of distribution networks, characterized in that: Comprising: A control system for precisely controlling and coordinating the actions of each control subsystem; A ground operating system for receiving external instructions and sending control signals to the control system; A network switch connected to the ground operating system for data communication between the ground operating system and the control system; And An ice removal robot with the control system installed inside.

2. A portable multifunctional integrated deicing device for overhead lines of distribution network according to claim 1, characterized in that: The ice removal robot includes: A drone lifting hanging ring (1) that can be hooked and installed with a drone; A self-locking double-hook (2) fixedly arranged at the lower end of the drone lifting hanging ring (1), and the self-locking double-hook (2) can be erected on the overhead conductor (5) and self-lock; and A traction mechanism (3) fixedly arranged at the lower end of the self-locking double-hook (2), and an ice removal mechanism (4) is fixedly arranged at the lower end of the traction mechanism (3).

3. A portable multifunctional integrated deicing device for overhead lines of distribution network according to claim 2, characterized in that: The traction mechanism (3) includes a bracket (31) fixed to the self-locking double-hook (2), both ends of the bracket (31) extend to the outside of the self-locking double-hook (2), and one end heads of Dynema traction ropes (32) are fixedly arranged at both ends of the bracket (31) located outside the self-locking double-hook (2), and the other ends of the Dynema traction ropes (32) are wound around a winch (33).

4. A portable multifunctional integrated deicing device for overhead lines of a distribution network according to claim 3, characterized in that: The ice removal mechanism (4) includes: A robot body (41) configured as a U-shaped structure with grooves, and at least one running wheel (42) is rotatably arranged on the robot body (41) located at the protruding part. The running wheels (42) are all grooved-wheel structures, and legs (43) are fixedly arranged at the lower end of the robot body (41); and Robotic arms (44) symmetrically installed on both sides of the robot body (41) parallel to the overhead conductor (5), and a percussion and purging working head (45) is installed at the output end of one side of the robotic arm (44), and a scraping working head (46) is installed at the output end of the robotic arm (44) on the other side.

5. A portable multifunctional integrated deicing device for overhead lines of a distribution network according to claim 4, characterized in that: The winch (33) is fixedly arranged on the robot body (41) located in the groove.

6. A portable multifunctional integrated deicing device for overhead lines of distribution network according to claim 4, characterized in that: The control system includes: A robotic arm control subsystem for receiving the control signal of the control system to precisely control the actions of the robotic arm (44); A scraping control subsystem for receiving the control signal of the control system and scraping the thick ice layer on the conductor side of the overhead conductor (5) through the robotic arm (44) and the scraping working head (46); A percussion and vibration control subsystem for receiving the control signal of the control system and loosening the thin ice layer on the conductor side of the overhead conductor (5) and the ice layer on the insulator side through the robotic arm (44) and the percussion and purging working head (45); A purging control subsystem for receiving the control signal of the control system and clearing the snow on the conductor side and the insulator side of the overhead conductor (5) through the robotic arm (44) and the percussion and purging working head (45); and A walking control subsystem is used to receive control signals from the control system and control the walking and movement of the robot body (41) on the overhead wire (5).

7. A portable multifunctional integrated deicing device for overhead lines of distribution network according to claim 6, characterized in that: The control system also includes a power module, a main control processor, a signal integrated circuit and a wireless communication module fixed on a PCB circuit board. The PCB circuit board is fixedly arranged on an upper connecting plate located in the robot body (41), and the wireless communication module is connected to the main control processor via a signal line. The power module and the signal integrated circuit are connected to a DC brushless servo motor, the robot arm (44), the knocking and blowing work head (45) and the scraping work head (46) via cables. The DC brushless servo motor is fixed on a lower connecting plate, and the output end of the DC brushless servo motor is connected to the walking wheel (42). A sensor is fixedly arranged on the lower connecting plate, and the sensor is connected to the signal integrated circuit via a signal line. The sensor adopts a proximity switch and is used to provide the position information of the deicing robot on the overhead wire (5) of the distribution network.

8. A portable multifunctional integrated deicing device for overhead lines of a distribution network according to claim 7, characterized in that: The robot arm control subsystem is connected to the robot arm (44) through the signal integrated circuit, the scraping control subsystem is connected to the knocking and blowing work head (45) through the signal integrated circuit, the blowing control subsystem is connected to the scraping work head (46) through the signal integrated circuit, the walking control subsystem is connected to the DC brushless servo motor through the signal integrated circuit, and the signal integrated circuit is connected to the main control processor.

9. The portable multifunctional integrated deicing device for overhead lines of distribution network according to claim 3, characterized in that: The ground operating system is connected to the hoist (33).

10. A portable multifunctional integrated deicing device for overhead lines of a distribution network according to claim 7, characterized in that: The wireless communication module includes 4G / 5G, GPS and WIFI functions, and is used for data communication, positioning services and remote monitoring between the ground operating system and the control system.

Images