A chain rail rolling cable deicing device and control system

Abstract

This invention relates to the field of cable de-icing technology, specifically disclosing a track-driven crushing cable de-icing device and control system. This device can be used for cable de-icing. When the main control board receives an automatic de-icing signal, it controls a clamping drive device to clamp two chains in a figure-eight shape until they are fully clamped, at which point the clamping drive device stops. The main control board then controls an eccentric vibration motor to start, causing the other end of the chain to vibrate and de-ic in the direction of the cable, thus performing de-icing at the initial position. The main control board also controls the chain drive motor to start, causing the chain to move along the cable while vibrating and crushing the ice. This allows the surface ice on the cable to be mechanically de-iced during movement by the track-driven crushing cable de-icing device under stress fatigue caused by mechanical vibration. This effectively removes ice with strong adhesion and thick ice layers, such as frost and mixed frost, achieving high de-icing efficiency and good results.

Description

Technical Field

[0001] The present invention relates to the technical field of cable deicing, and in particular to a chain rail rolling type cable deicing device and a control system. Background Art

[0002] At present, the surfaces of various overhead power transmission wires, ground wires and communication cables are prone to ice in severe weather with freezing rain and snow. If they are not cleared in time, the poles and towers will collapse due to the heavy load, causing power outages and communication outages, and also causing huge economic losses. The traditional deicing method is for people to climb up the overhead cables through a rack and knock them to remove the ice, which has little effect. Especially in steep mountainous areas where the overhead cables are running at a large slope, manual work has great safety hazards.

[0003] In order to de-ice high-voltage overhead cables, some manufacturers have designed some de-icers. Such de-icers can be seen in a high-voltage overhead line de-icing robot disclosed in Chinese patent application number CN202410158335.X, which uses a winch mechanism to achieve the up and down hanging action of the robot on the cable. However, this method is not only complicated to operate, but also the winch mechanism is prone to slipping when hanging on the ice-covered cable.

[0004] In addition, most de-icing robots on the market usually use de-icing knives for de-icing. This type of structure can refer to a cable de-icer disclosed in Chinese Patent Publication No. CN107370106A, which includes an ice-clearing mechanism, a power mechanism, and a feeding mechanism. The ice-clearing mechanism includes an ice-clearing wheel and an ice-clearing transmission mechanism, wherein the ice-clearing wheel is a ring less than 360 degrees, and the annular notch of the ice-clearing wheel can accommodate the passage of the cable. The ice-clearing wheel is provided with an ice-clearing knife, and the ice-clearing transmission mechanism includes a power wheel A. This structure has the following problems: 1. It is difficult to hang the cable on the drone by inserting the cable through the annular notch of the ice-clearing wheel; 2. The ice-clearing knife is used to clean the ice layer, but the cleaning effect is poor and the ice-clearing efficiency is low; 3. The walking wheel uses a conventional power wheel, which is easy to slip when walking on the ice surface; 4. There is no locking structure, and the machine is prone to falling when it fails.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a chain rail rolling type cable deicing device and a control system to solve the above-mentioned problems.

[0007] A chain rail rolling cable deicing device comprises a frame and a walking mechanism, wherein the upper end of the frame is provided with a hanging hook for hanging a drone through a hanging rod, and the lower end of the frame is provided with an inlet and outlet groove for cables to enter or exit, and further comprises:

[0008] The chain rail rolling mechanism comprises a chain belt provided on the frame and located on both sides of the cable in the radial direction, an ice-breaking tooth detachably fixed to the outer side of the chain belt, and a chain belt driving motor for driving the chain belt to rotate. A deicing channel for the cable to pass through and located above the inlet and outlet groove is formed between the two chain belts;

[0009] The clamping mechanism comprises two adjustment seats capable of adjusting the spacing along the radial direction of the cable, and a clamping driving device for driving the two adjustment seats to move synchronously in opposite directions or in opposite directions, wherein the two adjustment seats respectively drive the two chain belts to clamp in an eight-shaped shape;

[0010] An eccentric vibration mechanism comprises an eccentric vibration motor and an eccentric shaft, wherein the output end of the eccentric vibration motor is drivingly connected to the eccentric shaft, and the eccentric shaft is used to drive the other end of the chain belt to reciprocate and vibrate toward the direction of the cable;

[0011] A double self-locking mechanism, comprising a first mechanical lock structure and a second mechanical lock structure;

[0012] The first mechanical lock structure is used to block the middle of the inlet and outlet cable duct and is linked with the drone suspension;

[0013] The second mechanical lock structure is used to block both sides of the extension direction of the inlet and outlet wire slot and is linked with the drone suspension.

[0014] Specifically, the first mechanical lock structure includes a latch seat fixed to the lower end of the frame, a spring latch provided at the latch seat and capable of extending into or out of the middle of the in-and-out wire slot, a first pull rope connected to one end of the spring latch and used for pulling the spring latch out of the in-and-out wire slot, a rotating rod provided at the hanging and dismantling hook for rotating, a first elastic body provided at the hanging and dismantling hook and used for pulling the rotating rod to reset downward, and the other end of the first pull rope is connected to the rotating rod;

[0015] The second mechanical lock structure includes a locking rod rotatably arranged on both sides of the frame in the direction of movement and used to lock the inlet and outlet wire groove, a locking groove arranged on the frame and plugged with the locking rod, a second elastic body connected between the locking rod and the frame, and a second pull rope connected to one end of the locking rod and used to pull the locking rod out of the lock groove, and the other end of the second pull rope is connected to the rotating rod.

[0016] Specifically, the walking mechanism includes a first rotating shaft, a second rotating shaft, a front walking wheel and a rear walking wheel, the first rotating shaft and the second rotating shaft are both rotatably arranged on the frame, the front walking wheel is arranged on the first rotating shaft, and the rear walking wheel is arranged on the second rotating shaft;

[0017] The chain rail rolling type cable deicing device also includes:

[0018] The anti-skid mechanism comprises a plate-like convex tooth in an arc-shaped structure and distributed circumferentially on the surface of the front running wheel and a plurality of anti-skid teeth in a V-shaped structure and distributed circumferentially on the surface of the rear running wheel, wherein the plate-like convex tooth bites and crawls on the ice layer of the cable, and the surface of the plate-like convex tooth is covered with anti-skid rubber; the anti-skid tooth bites and crawls on the cable, and the anti-skid tooth has a groove surface tangent to the cable;

[0019] The linkage mechanism includes a helical gear transmission assembly, a first belt transmission assembly and a second belt transmission assembly. The first rotating shaft and the eccentric shaft are connected through the matching transmission of the helical gear transmission assembly and the first belt transmission assembly, and the first rotating shaft and the second rotating shaft are connected through the second belt transmission assembly.

[0020] Specifically, the chain rail rolling cable deicing device also includes a balancing mechanism, including a folding battery rack foldably connected to both sides of the lower end of the rack, a mounting rack fixed to the folding battery rack, and a battery detachably mounted on the mounting rack;

[0021] The lower end of the foldable battery rack has an inverted triangle support structure, and the inverted triangle support structure is rotatably connected to the lower end of the foldable battery rack through a spring sheet.

[0022] Specifically, the frame includes hollow plates located on both sides of the chain rail rolling mechanism, protective covers fixed to the upper ends of the two hollow plates, and an electric control box is provided on the top of the frame.

[0023] Specifically, the chain rail rolling cable deicing device also includes a visual detection module and a heating defogger module, the visual detection module includes a first camera, a second camera, a third camera, a dual-light fusion camera, and a light source arranged on the frame, the first camera is arranged toward the front running wheel, the second camera is arranged toward the rear running wheel, the third camera is arranged toward the hanging and disassembling hook, the dual-light fusion camera has dual channels of visible light and infrared light, and the dual-light fusion camera and the light source are both arranged toward the cables in the deicing channel;

[0024] The heating and demisting module includes a heating device, an air supply device and an air supply pipe. The air supply device blows the hot air generated by the heating device toward the first camera, the second camera and the third camera through the air supply pipe.

[0025] Specifically, the chain belt driving motor is connected to a driving shaft, the driving shaft is coaxially connected to the sprocket of the chain belt, the eccentric shaft is connected to a third rotating shaft, the chain rail rolling mechanism also includes a rotating shaft mounting seat, the upper end of the driving shaft passes through the rotating shaft mounting seat, and one end of the rotating shaft mounting seat rotates around the third rotating shaft;

[0026] The clamping drive device is a forward and reverse screw drive device, and the two adjustment seats respectively drive the two rotating shaft mounting seats to swing.

[0027] Specifically, the helical gear transmission assembly includes a first helical tooth connected to the upper end of the third rotating shaft, a second helical tooth meshing with the first helical tooth, and a fourth rotating shaft coaxially driven with the second helical tooth; the first belt transmission assembly includes a second pulley coaxially driven with the fourth rotating shaft, a third pulley coaxially driven with the first rotating shaft, and a first transmission belt connected with the second pulley and the third pulley; the fourth rotating shaft is rotatably arranged on the frame through a shaft seat;

[0028] The second belt transmission assembly includes a fourth pulley connected to the first rotating shaft, a fifth pulley connected to the second rotating shaft, and a second transmission belt connected to the fourth pulley and the fifth pulley.

[0029] Specifically, the chain rail rolling cable de-icing device also includes a guide mechanism, which includes side plates fixed at both ends of the frame in the walking direction and guide frames fixed at both ends of the inner side of the frame, the side plate is provided with an inclined first guide surface toward one end of the inlet and outlet groove, and the guide frame is provided with an inclined second guide surface toward one end of the inlet and outlet groove.

[0030] A control system, used for controlling the chain rail rolling type cable deicing device to perform deicing work, comprising: a main body motion control module, a wireless communication module, and a remote control module;

[0031] The main body motion control module and the remote control module are communicatively connected via the wireless communication module;

[0032] The main body motion control module includes a main control board and a power module and an actuator electrically connected to the main control board, the power module is used to supply power to the main control board, and the actuator is used to receive instructions from the main control board and perform corresponding actions according to the instructions to perform deicing work; the actuator includes the chain belt drive motor, the clamping drive device and the eccentric vibration motor;

[0033] The wireless communication module includes a wireless bridge and a CAN bus. The wireless bridge is used for communication transmission between the main control board and the remote control module. The communication transmission of the wireless bridge includes image transmission and data transmission. The CAN bus is used for communication between the main control board and the actuator.

[0034] Specifically, it also includes a sensor module, a measurement module and a monitoring module electrically connected to the main control board respectively;

[0035] The sensor module includes a photoelectric sensor for detecting whether the walking mechanism is properly hung, a limit sensor for detecting whether the double self-locking mechanism is completely unlocked, an encoder for measuring the opening and closing range of the clamping mechanism, and a position sensor for detecting the position of the chain rail rolling cable deicing device; the sensor module feeds back the detection information to the main control board, and then transmits it to the remote control module through the wireless communication module to check the detection information;

[0036] The measuring module includes a gyroscope sensor and an acceleration sensor, wherein the gyroscope sensor is used to detect the posture of the chain-rail rolling cable deicing device, and the acceleration sensor is used to monitor the movement speed of the chain-rail rolling cable deicing device. When the inclination angle of the chain-rail rolling cable deicing device in a certain direction is greater than a set value, the chain-rail rolling cable deicing device stops moving to prevent the chain-rail rolling cable deicing device from falling;

[0037] The monitoring module is used to observe the surrounding environment and operation status of the track-rolling cable deicing device, and transmit the real-time monitoring screen to the remote control module through the wireless communication module.

[0038] Specifically, the remote control module includes a ground-end remote controller, and the ground-end remote controller has a control interface for controlling the action of the track-cable rolling cable deicing device and displaying machine status and signal connection information.

[0039] Specifically, the deicing work includes the following steps:

[0040] S1 Preparation before deicing: the photoelectric sensor detects whether the walking mechanism is properly hung, the limit sensor detects whether the double self-locking mechanism is completely unlocked, the encoder measures whether the opening and closing range of the clamping mechanism meets the preset value, and the position sensor detects the position of the chain rail rolling cable deicing device; the sensor module feeds back the detection information to the main control board, and then transmits it to the remote control module through the wireless communication module to view the detection information; the monitoring module observes the surrounding environment and action of the chain rail rolling cable deicing device, and transmits it to the remote control module through the wireless communication module to view the real-time monitoring screen;

[0041] S2 Deicing: When the main control board receives an automatic deicing signal, the main control board controls the clamping drive device to drive the two chain belts to clamp in an eight-shaped shape until the two chain belts are clamped in place, and the clamping drive device stops driving; the main control board controls the eccentric vibration motor to start, and the other end of the chain belt reciprocates and vibrates toward the cable direction to de-ice, so as to perform de-icing operations at the initial position; the main control board controls the chain belt drive motor to start, and the chain belt vibrates and crushes ice while moving along the cable; during the deicing process, the gyroscope sensor detects the posture of the chain rail rolling cable deicing device in real time, and the acceleration sensor monitors the movement speed of the chain rail rolling cable deicing device in real time. When the inclination angle of the chain rail rolling cable deicing device in a certain direction is greater than the set value, the chain rail rolling cable deicing device stops moving to prevent the chain rail rolling cable deicing device from falling.

[0042] Beneficial effects of the present invention:

[0043] 1. A chain rail rolling cable deicing device and control system of the present invention can be used for deicing work. The main control panel controls the clamping drive device to drive the two chain belts to clamp in an eight-shaped shape until the two chain belts are clamped in place, and the clamping drive device stops driving; then the eccentric vibration motor is controlled to start, and the other end of the chain belt reciprocates and vibrates toward the cable direction to de-ice, so as to perform de-icing operation at the initial position; then the main control panel controls the chain belt drive motor to start, and the chain belt vibrates and crushes ice while moving along the cable, so that when the surface ice of the cable generates stress fatigue due to mechanical vibration, it can be crushed and crushed, so that mechanical de-icing can be achieved during the movement of the chain rail rolling cable deicing device, and the ice with strong binding force and thick ice layer such as rime and mixed rime can be effectively removed, and the de-icing efficiency is high;

[0044] 2. An anti-skid mechanism is provided. The surface of the front walking wheel is provided with a sheet-like convex tooth with an arc structure. For ice layers of different thicknesses, it can also adaptively bite and crawl. The surface of the sheet-like convex tooth is covered with anti-skid rubber. The anti-skid rubber has a high friction coefficient and can improve its walking friction on the surface of the ice layer. The surface of the rear walking wheel is provided with anti-skid teeth. The anti-skid teeth have a groove surface tangent to the cable, which can improve the friction of the rear walking wheel walking along the cable.

[0045] 3. A chain rail rolling mechanism and a clamping mechanism are provided. When the cable needs to be hung, the clamping drive device of the clamping mechanism can be used to increase the distance between the two adjustment seats so that the ice-covered cable can enter the de-icing channel. After the cable is hung, the clamping drive device can be used to reduce the distance between the two adjustment seats so that the vertical projection of the de-icing channel is in an "eight" shape. When the chain belt rotates, the ice-breaking teeth are driven to gradually contract and break the ice in the shape of a crocodile mouth, so that the ice layer of the cable is crushed and broken. The structure is ingenious.

[0046] 4. An eccentric vibration mechanism is set up, and the eccentric shaft is used to drive one end of the chain belt to vibrate back and forth towards the cable to remove ice, so as to perform de-icing operations at the initial position; then the chain belt drive motor is started, so that the chain belt and ice-breaking teeth vibrate and crush ice while moving along the cable, thereby improving de-icing efficiency;

[0047] 5. A double self-locking mechanism is set up, which has a good anti-fall effect, and the first mechanical lock structure and the second mechanical lock structure are both mechanical locking structures, replacing the electrical locking structure. In the event of a failure, the spring pin and the locking rod will not lock the cable. The mechanical locking structure can be easily opened by hanging the drone to implement the rescue of the cable de-icing device without manually climbing onto the cable to remove the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the structure of using a drone to hang the chain rail rolling cable deicing device of the present application on a cable;

[0049] Figure 2 This is a schematic diagram of the structure of the chain track rolling type cable deicing device of the present application;

[0050] Figure 3 This is a schematic diagram of the main structure of the chain rail rolling cable deicing device of this application. Figure 1 ;

[0051] Figure 4 A bottom view of the chain track rolling cable deicing device of the present application;

[0052] Figure 5 This is a schematic diagram of the main structure of the chain rail rolling cable deicing device of this application. Figure 2 ;

[0053] Figure 6 This is a structural schematic diagram of the deicing process of the chain track rolling cable deicing device of the present application;

[0054] Figure 7 for Figure 6 A magnified view of part A;

[0055] Figure 8 It is a structural schematic diagram of the chain rail rolling mechanism and the eccentric vibration mechanism of the present application;

[0056] Fig. 9 This is a schematic diagram of the structure of the walking mechanism and the second belt transmission assembly of the present application;

[0057] Fig.10 is a schematic diagram of the control system of the present application.

[0058] The accompanying drawings are marked as follows: frame 10, hanging and disassembling hook 11, inlet and outlet groove 12, deicing channel 13, hollow plate 14, protective cover 15, electric control box 16, side plate 17, first guide surface 171, guide frame 18, second guide surface 181, walking mechanism 20, first rotating shaft 21, second rotating shaft 22, front walking wheel 23, rear walking wheel 24, drone 30, cable 31, boom 32, lamellar convex teeth 41, anti-skid teeth 42, chain belt 51, ice-breaking teeth 52, chain belt drive The motor 53, the adjustment seat 54, the clamping drive device 55, the eccentric vibration motor 56, the eccentric shaft 57, the drive shaft 58, the third rotating shaft 59, the rotating shaft mounting seat 510, the helical gear transmission assembly 61, the first helical gear 611, the second helical gear 612, the fourth rotating shaft 613, the first belt transmission assembly 62, the second pulley 621, the third pulley 622, the first transmission belt 623, the shaft seat 624, the second belt transmission assembly 63, the fourth pulley 631, the fifth pulley 63 32. second transmission belt 633. double self-locking mechanism 70. latch seat 71. spring latch 72. first pull rope 73. rotating rod 74. locking rod 75. locking slot 76. second pull rope 77. balancing mechanism 80. folding battery rack 81. mounting rack 82. battery 83. inverted triangle supporting structure 84. first camera 91. second camera 92. third camera 93. dual light fusion camera 94. light source 95. heating and defogging module 96. main motion control module 110. wireless communication module 120. remote control module 130. main control board 111. power module 112. actuator 113. wireless bridge 121. CAN bus 122. sensor module 114. measuring module 115. monitoring module 116. photoelectric sensor 1141. limit sensor 1142. encoder 1143. position sensor 1144. gyroscope sensor 1151. acceleration sensor 1152. ground remote controller 131. DETAILED DESCRIPTION

[0059] The present invention provides a track-rolling cable deicing device and control system. To make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0060] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0061] Please refer to Figures 1 to 10 .

[0062] The present embodiment discloses a chain rail rolling cable deicing device, comprising a frame 10 and a traveling mechanism 20. The upper end of the frame 10 is provided with a hanging and detaching hook 11 for hanging a drone 30 through a suspension rod 32, and the lower end of the frame 10 is provided with an entry and exit groove 12 for allowing a cable 31 to enter or exit; the traveling mechanism 20 comprises a first rotating shaft 21, a second rotating shaft 22, a front traveling wheel 23 and a rear traveling wheel 24. The first rotating shaft 21 and the second rotating shaft 22 are both rotatably arranged on the frame 10, the front traveling wheel 23 is arranged on the first rotating shaft 21, and the rear traveling wheel 24 is arranged on the second rotating shaft 22.

[0063] The chain rail rolling type cable deicing device of the present embodiment can be used in conjunction with the drone 30. The operator can install the suspension rod 32 on the arm of the drone 30 in advance. When it is necessary to hang the chain rail rolling type cable deicing device on the cable 31, first hook the suspension rod 32 on the hanging and disassembly hook 11, start the drone 30, and control the drone 30 to take off through the ground-end remote control 131. After the drone 30 takes off, the chain rail rolling type cable deicing device is pulled up, and the drone 30 is used to hang the entire chain rail rolling type cable deicing device above the cable, so that the inlet and outlet grooves 12 are aligned with the cable 31. The drone 30 controls the entire chain rail rolling type cable deicing device to descend, so that the cable 31 enters the deicing channel 13 along the inlet and outlet grooves 12. After it is in place, there is no need to The man-machine 30 stops descending and is unhooked and separated from the hanging and dismantling hook 11, and the boom 32 is no longer hooked on the hanging and dismantling hook 11, so that the front walking wheels 23 and the rear walking wheels 24 of the walking mechanism 30 can independently move along the length direction of the cable 31 on the upper end of the cable 31; when it is necessary to remove the chain rail rolling type cable deicing device from the cable 31, the drone 30 controls the boom 32 to be re-hooked on the hanging and dismantling hook 11, and then the drone 30 drives the chain rail rolling type cable deicing device to rise, so that the front walking wheels 23 and the rear walking wheels 24 of the walking mechanism 30 are separated from the cable 31, and then the height is lowered to the ground, so that the cable deicing device can be recovered; the present application uses the drone 30 for going online and offline, and the operation method is more flexible.

[0064] Please refer to Fig. 9The chain rail rolling cable deicing device of this embodiment also includes an anti-skid mechanism, which includes a lamellar convex tooth 41 with an arc structure and distributed circumferentially on the surface of the front running wheel 23 and a plurality of anti-skid teeth 42 with a V-shaped structure and distributed circumferentially on the surface of the rear running wheel 24. The lamellar convex tooth 41 bites and crawls on the ice layer of the cable 31. Since the thickness of the ice layer at each position on the cable 31 is different, in order to improve the bite degree of the lamellar convex tooth 41 on the ice layer, this embodiment adopts a lamellar convex tooth 41 with an arc structure, which can also adaptively bite and crawl for ice layers of different thicknesses. In addition, the surface of the lamellar convex tooth 41 is covered with anti-skid rubber, which has a high friction coefficient and can improve its walking friction on the surface of the ice layer. The anti-skid tooth 42 bites and crawls on the cable 31, and the anti-skid tooth 42 has a groove surface tangent to the cable 31, which can improve the friction of the rear running wheel 24 walking along the cable 31 to prevent slipping.

[0065] Please refer to Figure 4 and Figure 8 The chain-rail rolling cable deicing device of this embodiment also includes a chain-rail rolling mechanism, which includes a chain belt 51 arranged on the frame 10 and located on both sides of the cable 31 along the radial direction, ice-breaking teeth 52 detachably fixed to the outer side of the chain belt 51, and a chain belt driving motor 53 for driving the chain belt 51 to rotate. A deicing channel 13 for the cable 31 to pass through and located above the inlet and outlet groove 12 is formed between the two chain belts 51. After the chain belt driving motor 53 is started, it drives the chain belt 51 and the ice-breaking teeth 52 to rotate. The self-rotation of the chain belt 51 and the ice-breaking teeth 52 enables the chain-rail rolling mechanism to move along the length direction of the cable 31 while vibrating and rolling to break ice.

[0066] The chain-rail rolling cable deicing device of this embodiment also includes a clamping mechanism, which includes two adjustment seats 54 that can adjust the spacing along the radial direction of the cable 31, and a clamping drive device 55 for driving the two adjustment seats 54 to move synchronously in opposite directions or synchronously in opposite directions. The two adjustment seats 54 respectively drive the two chain belts 51 to clamp the cable 31 in an eight-shaped shape. When hanging the line is required, the clamping drive device 55 can be used to increase the spacing between the two adjustment seats 54 so that the vertical projection of the deicing channel 13 is a parallel channel structure. Since the spacing at one end of the chain belt 51 is increased, and the spacing at one end of the two chain belts 51 is greater than the diameter of the ice-covered cable 31, when the drone 30 puts down the chain-rail rolling cable deicing device, the ice-covered cable 31 can enter the deicing channel 13, so that the walking mechanism 30 is hung on the ice-covered cable 31.

[0067] After the wire is hung, the distance between the two adjustment seats 54 can be adjusted to be smaller by using the clamping drive device 55. The effect after adjustment is as follows: Figure 6As shown, the vertical projection of the de-icing channel 13 is an "eight"-shaped structure. Since the distance between the two adjustment seats 54 is reduced, and the distance between one end of the two chain belts 51 can be adjusted to be slightly larger than the diameter of the bare wire of the cable 31, at this time, when the chain belt 51 rotates, the ice-breaking teeth 52 are driven to gradually contract and break the ice in the shape of a crocodile mouth, so that the ice layer of the cable 31 is crushed and broken, and the structure is ingenious;

[0068] Please refer to Figure 7 and Figure 8 The chain rail rolling cable deicing device of this embodiment also includes an eccentric vibration mechanism, which includes an eccentric vibration motor 56 and an eccentric shaft 57. The output end of the eccentric vibration motor 56 is transmission-connected to the eccentric shaft 57, and the eccentric shaft 57 is used to drive the other end of the chain belt 51 to vibrate back and forth toward the cable 31; after the hanging line is completed, the eccentric vibration motor 56 can be started, and the eccentric shaft 57 can be used to drive the other end of the chain belt 51 to vibrate back and forth toward the cable 31 to de-ice, so as to perform the de-icing operation at the initial position; and then the chain belt driving motor 53 is started, so that the chain belt 51 and the ice-breaking teeth 52 can move along the cable 31 while vibrating and rolling to break ice.

[0069] Please refer to Figure 5 and Fig. 9 The chain rail rolling cable deicing device of this embodiment also includes a linkage mechanism, which includes a bevel gear transmission assembly 61, a first belt transmission assembly 62 and a second belt transmission assembly 63. The first rotating shaft 21 and the eccentric shaft 57 are connected by the matching transmission of the bevel gear transmission assembly 61 and the first belt transmission assembly 62, and the first rotating shaft 21 and the second rotating shaft 22 are connected by the second belt transmission assembly 63. The linkage between the walking mechanism 30 and the eccentric vibration mechanism is realized through the linkage mechanism. The walking mechanism 30 and the eccentric vibration mechanism can share the power output of the eccentric vibration motor 56, which saves the number of driving devices, reduces the overall weight, and makes the overall structure more compact.

[0070] Please refer to Figures 1 to 3 , the chain rail rolling cable deicing device of this embodiment further includes a double self-locking mechanism 70, including a first mechanical lock structure and a second mechanical lock structure;

[0071] The first mechanical lock structure includes a latch seat 71 fixed to the lower end of the frame 10, a spring latch 72 provided on the latch seat 71 and capable of extending into or out of the middle of the in-and-out line slot 12, a first pull rope 73 connected to one end of the spring latch 72 and used to pull the spring latch 72 out of the in-and-out line slot 12, a rotating rod 74 provided on the hanging and dismantling hook 11, and a first elastic body provided on the hanging and dismantling hook 11 and used to pull the rotating rod 74 downward to reset. The other end of the first pull rope 73 is connected to the rotating rod 74. When the hanging rod 32 at the lower end of the drone 30 is hung on the hanging and dismantling hook 11, the first pull rope 73 is connected to the rotating rod 74. 1, the suspension rod 32 drives one end of the rotating rod 74 to tilt up, and the tilted end of the rotating rod 74 is connected to the first pull rope 73, so that the first pull rope 73 can pull the spring latch 72 out of the in-and-out line groove 12 to achieve automatic unlocking. When the suspension rod 32 at the lower end of the drone 30 is no longer suspended, the rotating rod 74 rotates downward and resets under the tension of the first elastic body, and the spring latch 72 automatically resets under the elastic force of its internal spring, and one end of the spring latch 72 extends into the middle of the in-and-out line groove 12 to lock the lower part of the in-and-out line groove 12 to achieve an anti-falling effect.

[0072] The second mechanical lock structure includes a locking rod 75 which is rotatably arranged on both sides of the frame 10 in the walking direction and is used to lock the inlet and outlet grooves 12, a locking groove 76 which is arranged on the frame 10 and plugged with the locking rod 75, a second elastic body connected between the locking rod 75 and the frame 10, and a second pull rope 77 which is connected to one end of the locking rod 75 and is used to pull the locking rod 75 out of the locking groove 76. The other end of the second pull rope 77 is connected to the rotating rod 74. When the hanging rod 32 at the lower end of the drone 30 is hung on the hanging and disassembly hook 11, the hanging rod 32 The second pull rope 77 is connected to the tilted end of the rotating rod 74, so that the second pull rope 77 can pull the locking rod 75 to swing upward, so that there is no obstruction on both sides of the lower end of the inlet and outlet groove 12, and automatic unlocking is achieved, so that the cable 31 can enter the deicing channel 13 along the inlet and outlet groove 12. When the boom 32 at the lower end of the drone 30 is no longer suspended, under the tension of the second elastic body, one end of the locking rod 75 rotates downward and is inserted into the locking groove 76 to complete the locking and achieve the anti-fall effect.

[0073] The double self-locking mechanism 70 of the present embodiment has a double self-locking function and has a good anti-falling effect. Moreover, the first mechanical locking structure and the second mechanical locking structure are both mechanical locking structures instead of the electrical locking structure. In case of a failure, the spring latch 72 and the locking rod 75 will not lock the cable 31. The mechanical locking structure can be easily opened by hanging the drone 30 to rescue the cable de-icing device without manually climbing onto the cable 31 to remove the machine. At the same time, during the de-icing process, when the cable 31 bounces, the mechanical locking structure can prevent the chain rail rolling type cable de-icing device from falling, which is more practical.

[0074] The chain rail rolling type cable de-icing device also includes a balancing mechanism 80, including a folding battery rack 81 foldably connected to both sides of the lower end of the frame 10, a mounting frame 82 fixed to the folding battery rack 81, and a battery 83 detachably mounted on the mounting frame 82. The connection between the folding battery rack 81 and the frame 10 is hinged by hinges, which can facilitate the folding and storage of the folding battery rack 81. After folding, the chain rail rolling type cable de-icing device occupies less space in the vertical direction, which is convenient for storage.

[0075] In addition, the lower end of the foldable battery rack 81 of this embodiment has an inverted triangle support structure 84. By providing the inverted triangle support structure 84, wire jamming can be avoided, and the inverted triangle support structure 84 is rotatably connected to the lower end of the foldable battery rack 81 through a spring sheet. When the chain track rolling cable de-icing device falls to the ground, the inverted triangle support structure 84 can be folded upward through the spring sheet, so that the cross bar of the foldable battery rack 81 contacts the ground to avoid tipping over.

[0076] In addition, the present application installs the battery 83 on the mounting frame 82 of the folding battery rack 81. Since the battery 83 is heavier, it is equivalent to adjusting the center of gravity of the entire device downward. This is conducive to the movement of the chain track rolling cable de-icing device on the cable 23. The stability is better during the movement and it is not easy to overturn. It is similar to the principle of a tumbler, and it can always maintain balance on the cable 31, and the structural stability is better.

[0077] Please refer to Figure 2 This embodiment adopts a structure of four batteries 83. The four batteries 83 are fixed on the mounting frame 82 by the cooperation of the slide groove and the slide rail, which is convenient for disassembly and assembly; moreover, the two folding battery racks 81 are respectively installed with two batteries 83, so that the gravity on both sides of the lower end of the chain track rolling cable deicing device is equivalent, and the balance is better. In addition, four batteries 83 are installed, two of which are working batteries and the other two are backup batteries, so as to extend the battery life of the chain track rolling cable deicing device.

[0078] The frame 10 includes hollow plates 14 located on both sides of the chain rail rolling mechanism and protective covers 15 fixed to the upper ends of the two hollow plates 14. The design of the hollow plates 14 can reduce the wind resistance on both sides of the frame 10 and the overall weight, and avoid excessive left-right swinging of the cable deicing device due to excessive cross wind resistance during the line hanging deicing process.

[0079] Further, such as Figure 3 As shown, the hollow plate 14 adopts a design of several triangular hollow holes, which can arrange the triangular hollow holes more reasonably, so that the area of ​​the hollow position is larger, while not affecting the structural strength of the hollow plate 14, and the structure is more ingenious.

[0080] Please refer to Figure 3In this embodiment, an electric control box 16 is provided on the top of the frame 10. Installing the electric control box 16 on the top of the frame 10 can also reduce the wind resistance on the side of the entire device.

[0081] Please refer to Figure 3 and Figure 4 The chain rail rolling cable deicing device of this embodiment also includes a visual detection module and a heating defog module 96. The visual detection module includes a first camera 91, a second camera 92, a third camera 93, a dual-light fusion camera 94, and a light source 95 arranged on the frame 10.

[0082] Among them, the first camera 91 is set towards the front walking wheel 23. The first camera 91 can be an ordinary camera. The first camera 91 is used to capture the image in front of the chain track rolling cable de-icing device. The captured image is fed back to the display panel of the ground remote control 131 in real time through wireless communication means. The user can intuitively see the ice coverage situation in front by observing the image on the display panel.

[0083] The second camera 92 is arranged toward the rear traveling wheel 24. The second camera 92 can be an ordinary camera. The second camera 92 is used to capture images of the rear of the chain-rail rolling cable de-icing device. The captured images are fed back to the display panel of the ground remote control 131 in real time through wireless communication means. The user can intuitively see that the ice at the rear has been cleared by observing the image on the display panel.

[0084] The third camera 93 is set toward the hanging and dismantling hook 11. The third camera 93 can be an ordinary camera. The third camera 93 is used to capture images near the hanging and dismantling hook 11. The captured images are fed back to the display panel of the ground remote control 131 in real time through wireless communication means. The user can intuitively see whether the hanging rod 32 of the drone 30 is hooked on the hanging and dismantling hook 11 by observing the image on the display panel.

[0085] The dual-light fusion camera 94 has dual channels of visible light and infrared light, and the dual-light fusion camera 94 is set toward the cable 31 in the de-icing channel 13; the dual channels of visible light and infrared light of the dual-light fusion camera 94 can be switched. In non-foggy weather, the dual-light fusion camera 94 switches to the visible light channel to shoot the cables 23 in the de-icing channel 13; in foggy weather, due to the obstruction of fog, it is difficult for the visible light channel to penetrate the fog to see the cables 31 clearly. At this time, the dual-light fusion camera 94 can be switched to the infrared light channel. Since infrared light has strong penetrating power, it can penetrate the fog to see the cables 31 clearly.

[0086] Furthermore, the dual-light fusion camera 94 is also equipped with an outer cover to prevent the lens at the lower end of the dual-light fusion camera 94 from directly contacting ice and affecting the line of sight.

[0087] Furthermore, by providing a light source 95 , lighting is provided in the de-icing channel 13 , which facilitates the shooting of the dual-light fusion camera 94 and improves the clarity of the images shot by the dual-light fusion camera 94 .

[0088] Furthermore, the cable deicing device of the present embodiment also includes a heating and demisting module 96, which includes a heating device, an air supply device and an air supply pipe. The air supply device blows the hot air generated by the heating device to the first camera 91, the second camera 92 and the third camera 93 through the air supply pipe. The air supply device can use a fan, and the heating device can use an electric heating wire. The fan blows the hot air to the lens position of the first camera 91, the second camera 92 and the third camera 93 to prevent the camera from fogging and affecting the shooting effect.

[0089] like Figure 8 As shown, the chain belt driving motor 53 is connected to a driving shaft 58, and the driving shaft 58 is coaxially connected to the sprocket of the chain belt 51. The eccentric shaft 57 is connected to a third rotating shaft 59. The chain rail rolling mechanism also includes a rotating shaft mounting seat 510. The upper end of the driving shaft 58 passes through the rotating shaft mounting seat 510, and one end of the rotating shaft mounting seat 510 rotates around the third rotating shaft 59. By setting the rotating shaft mounting seat 510, the structural stability is improved.

[0090] like Figure 4 As shown, the clamping drive device 55 is a forward and reverse screw drive device, and the two adjustment seats 54 respectively drive the two rotating shaft mounting seats 510 to swing. The two adjustment seats 54 are respectively provided with internal threads corresponding to the forward and reverse threads. Through the cooperation of the threads, the two adjustment seats 54 can be driven to move synchronously in opposite directions or in opposite directions. The structure is ingenious, and the thread cooperation has a self-locking effect, which can realize the automatic locking of the two adjustment seats 54 to prevent displacement.

[0091] like Figure 5As shown, the helical gear transmission assembly 61 includes a first helical tooth 611 connected to the upper end of the third rotating shaft 59, a second helical tooth 612 meshing with the first helical tooth 611, and a fourth rotating shaft 613 coaxially driven with the second helical tooth 612. The first belt transmission assembly 62 includes a second pulley 621 coaxially driven with the fourth rotating shaft 613, a third pulley 622 coaxially driven with the first rotating shaft 21, and a first transmission belt 623 connected with the second pulley 621 and the third pulley 622. The fourth rotating shaft 613 is rotatably arranged on the frame 10 through a shaft seat 624. After the eccentric vibration motor 56 is started, it drives the third rotating shaft 59 to rotate, and the third rotating shaft 59 then drives The first bevel gear 611 is driven to rotate, and since the first bevel gear 611 is meshed with the second bevel gear 612, the second bevel gear 612 is driven to rotate, and the second bevel gear 612 then drives the fourth shaft 613 and the second pulley 621 to rotate, and then the first transmission belt 623 is used to drive the third pulley 622 and the first shaft 21 to rotate, and the front walking wheel 23 is arranged on the first shaft 21, so that the front walking wheel 23 can walk autonomously along the ice layer; through such a linkage setting, the eccentric vibration motor 56 drives the track 413 to vibrate, and also transmits power to the front walking wheel 23, and the two mechanisms share the power output of the eccentric vibration motor 56.

[0092] like Fig. 9 As shown, the second belt drive assembly 63 includes a fourth pulley 631 connected to the first rotating shaft 21, a fifth pulley 632 connected to the second rotating shaft 22, and a second transmission belt 633 connected to the fourth pulley 631 and the fifth pulley 632. The second transmission belt 633 is used to drive the fifth pulley 632 and the second rotating shaft 22 to rotate, and the rear walking wheel 24 is arranged on the second rotating shaft 22, thereby realizing the autonomous walking of the rear walking wheel 24 along the cable 31.

[0093] like Figure 3 As shown, the cable deicing device also includes a guiding mechanism, which includes side panels 17 fixed at both ends of the frame 10 in the walking direction, and guide frames 18 fixed at both ends of the inner side of the frame 10. The side panel 17 is provided with an inclined first guiding surface 171 at one end facing the inlet and outlet groove 12, and the guide frame 18 is provided with an inclined second guiding surface 181 at one end facing the inlet and outlet groove 12. By setting the inclined first guiding surface 171 and the second guiding surface 181, the cable 31 can be guided into the inlet and outlet groove 12 during the line entry process, and the structure is ingenious.

[0094] like Fig.10 As shown, this embodiment also discloses a control system for controlling a chain rail rolling cable deicing device to perform deicing work, including: a main body motion control module 110, a wireless communication module 120, and a remote control module 130;

[0095] The subject motion control module 110 and the remote control module 130 are connected in communication via the wireless communication module 120;

[0096] The main motion control module 110 includes a main control board 111 and a power module 112 and an actuator 113 electrically connected to the main control board 111. The power module 112 is used to supply power to the main control board 111. The actuator 113 is used to receive instructions from the main control board 111 and perform corresponding actions according to the instructions to perform deicing work; the actuator 113 includes a chain belt drive motor 53, a clamping drive device 55 and an eccentric vibration motor 56;

[0097] The wireless communication module 120 includes a wireless bridge 121 and a CAN bus 122 . The wireless bridge 121 is used for communication transmission between the main control board 111 and the remote control module 130 . The communication transmission of the wireless bridge 121 includes image transmission and data transmission. The CAN bus 122 is used for communication between the main control board 111 and the actuator 113 .

[0098] The main body motion control module 110 also includes a sensor module 114, a measurement module 115 and a monitoring module 116 which are electrically connected to the main control board 111 respectively;

[0099] The sensor module 114 includes a photoelectric sensor 1141 for detecting whether the walking mechanism 20 is properly hung, a limit sensor 1142 for detecting whether the double self-locking mechanism 70 is completely unlocked, an encoder 1143 for measuring the opening and closing range of the clamping mechanism, and a position sensor 1144 for detecting the position of the chain rail rolling cable deicing device; the sensor module 114 feeds back the detection information to the main control board 111, and then transmits it to the remote control module 130 through the wireless communication module 120 to check the detection information;

[0100] The measuring module 115 includes a gyroscope sensor 1151 and an acceleration sensor 1152. The gyroscope sensor 1151 is used to detect the posture of the chain-track rolling cable deicing device, and the acceleration sensor 1152 is used to monitor the movement speed of the chain-track rolling cable deicing device. When the inclination angle of the chain-track rolling cable deicing device in a certain direction is greater than a set value, the chain-track rolling cable deicing device stops moving to prevent the chain-track rolling cable deicing device from falling.

[0101] The monitoring module 116 is used to observe the surrounding environment and operation status of the chain rail roller type cable deicing device, and transmit it to the remote control module 130 through the wireless communication module 120 to view the real-time monitoring screen, and remotely monitor the movement status and deicing effect of the chain rail roller type cable deicing device.

[0102] The remote control module 130 includes a ground-end remote controller 131 , which has a control interface for controlling the operation of the track-cable rolling cable deicing device and displaying the machine status and signal connection information.

[0103] The control system of the present embodiment can be used to control the chain rail rolling type cable deicing device to perform deicing work. When the main control board 111 receives the automatic deicing signal, the main control board 111 controls the clamping drive device 55 to drive the two chain belts 51 to clamp in an eight-shaped shape until the two chain belts 51 are clamped in place, and the clamping drive device 55 stops driving; the main control board 111 controls the eccentric vibration motor 56 to start, and the other end of the chain belt 51 reciprocates and vibrates toward the cable 31 to de-ice, so as to perform deicing operations at the initial position; the main control board 111 controls the chain belt drive motor 53 to start, and the chain belt 51 moves along the cable 31 while vibrating and rolling to break ice, so that the surface ice of the cable 31 can be crushed and crushed when the mechanical vibration produces stress fatigue, so that mechanical deicing can be achieved during the movement of the chain rail rolling type cable deicing device, and the ice with strong binding force and thick ice layer such as rime and mixed rime can be effectively removed, with high deicing efficiency and good deicing effect.

[0104] The present application can realize the use of drone 30 to assist the chain track roller type cable deicing device to complete the up and down line of cable 31, so that the chain track roller type cable deicing device can deice while walking along the cable 31, and realize ground manual operation through a remote control system. This process is simple, efficient and safe.

[0105] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A chain rail rolling cable deicing device, comprising a frame and a walking mechanism, wherein the upper end of the frame is provided with a hook for hanging a drone through a boom, and the lower end of the frame is provided with an inlet and outlet groove for cables to enter or exit, characterized in that: Also includes: The chain rail rolling mechanism comprises a chain belt provided on the frame and located on both sides of the cable in the radial direction, an ice-breaking tooth detachably fixed to the outer side of the chain belt, and a chain belt driving motor for driving the chain belt to rotate. A deicing channel for the cable to pass through and located above the inlet and outlet groove is formed between the two chain belts; The clamping mechanism comprises two adjustment seats capable of adjusting the spacing along the radial direction of the cable, and a clamping driving device for driving the two adjustment seats to move synchronously in opposite directions or in opposite directions, wherein the two adjustment seats respectively drive the two chain belts to clamp in an eight-shaped shape; An eccentric vibration mechanism comprises an eccentric vibration motor and an eccentric shaft, wherein the output end of the eccentric vibration motor is drivingly connected to the eccentric shaft, and the eccentric shaft is used to drive the other end of the chain belt to reciprocate and vibrate toward the direction of the cable; A double self-locking mechanism, comprising a first mechanical lock structure and a second mechanical lock structure; The first mechanical lock structure is used to block the middle of the inlet and outlet cable duct and is linked with the drone suspension; The second mechanical lock structure is used to block both sides of the extension direction of the inlet and outlet wire slot and is linked with the drone suspension; The walking mechanism comprises a first rotating shaft, a second rotating shaft, a front walking wheel and a rear walking wheel, the first rotating shaft and the second rotating shaft are both rotatably arranged on the frame, the front walking wheel is arranged on the first rotating shaft, and the rear walking wheel is arranged on the second rotating shaft; The chain rail rolling type cable deicing device also includes an anti-skid mechanism and a linkage mechanism; The anti-skid mechanism comprises a plate-shaped convex tooth in an arc-shaped structure and distributed circumferentially on the surface of the front running wheel and a plurality of anti-skid teeth in a V-shaped structure and distributed circumferentially on the surface of the rear running wheel, the plate-shaped convex tooth bites and crawls on the ice layer of the cable, and the surface of the plate-shaped convex tooth is covered with anti-skid rubber; the anti-skid tooth bites and crawls on the cable, and the anti-skid tooth has a groove surface tangent to the cable; The linkage mechanism includes a helical gear transmission assembly, a first belt transmission assembly and a second belt transmission assembly. The first rotating shaft and the eccentric shaft are connected through the matching transmission of the helical gear transmission assembly and the first belt transmission assembly, and the first rotating shaft and the second rotating shaft are connected through the second belt transmission assembly.

2. A track-rolling cable deicing device according to claim 1, characterized in that: The first mechanical lock structure includes a latch seat fixed to the lower end of the frame, a spring latch provided at the latch seat and capable of extending into or out of the middle of the in-and-out wire slot, a first pull rope connected to one end of the spring latch and used for pulling the spring latch out of the in-and-out wire slot, a rotating rod provided at the hanging and dismantling hook, and a first elastic body provided at the hanging and dismantling hook and used for pulling the rotating rod to reset downward, and the other end of the first pull rope is connected to the rotating rod; The second mechanical lock structure includes a locking rod rotatably arranged on both sides of the frame in the direction of movement and used to lock the inlet and outlet wire groove, a locking groove arranged on the frame and plugged with the locking rod, a second elastic body connected between the locking rod and the frame, and a second pull rope connected to one end of the locking rod and used to pull the locking rod out of the lock groove, and the other end of the second pull rope is connected to the rotating rod.

3. The track-rolling cable deicing device according to claim 1, characterized in that: The chain rail rolling cable deicing device also includes a balancing mechanism, including a folding battery rack foldably connected to both sides of the lower end of the rack, a mounting rack fixed to the folding battery rack, and a battery detachably mounted on the mounting rack; The lower end of the foldable battery rack has an inverted triangle support structure, and the inverted triangle support structure is rotatably connected to the lower end of the foldable battery rack through a spring sheet.

4. The track-rolling cable deicing device according to claim 1, characterized in that: The frame comprises hollow plates located on both sides of the chain rail rolling mechanism, and protective covers fixed on the upper ends of the two hollow plates. An electric control box is arranged on the top of the frame.

5. The track-rolling cable deicing device according to claim 1, characterized in that: The chain rail rolling cable deicing device also includes a visual detection module and a heating and defogger module. The visual detection module includes a first camera, a second camera, a third camera, a dual-light fusion camera, and a light source arranged on the frame. The first camera is arranged toward the front running wheel, the second camera is arranged toward the rear running wheel, and the third camera is arranged toward the hanging and disassembling hook. The dual-light fusion camera has dual channels of visible light and infrared light. The dual-light fusion camera and the light source are both arranged toward the cables in the deicing channel. The heating and demisting module includes a heating device, an air supply device and an air supply pipe. The air supply device blows the hot air generated by the heating device toward the first camera, the second camera and the third camera through the air supply pipe.

6. The track-rolling cable deicing device according to claim 1, characterized in that: The chain belt driving motor is connected to a driving shaft, the driving shaft is coaxially connected to the sprocket of the chain belt, the eccentric shaft is connected to a third rotating shaft, the chain rail rolling mechanism also includes a rotating shaft mounting seat, the upper end of the driving shaft passes through the rotating shaft mounting seat, and one end of the rotating shaft mounting seat rotates around the third rotating shaft; The clamping drive device is a forward and reverse screw drive device, and the two adjustment seats respectively drive the two rotating shaft mounting seats to swing.

7. The track-rolling cable deicing device according to claim 6, characterized in that: The helical gear transmission assembly includes a first helical tooth connected to the upper end of the third rotating shaft, a second helical tooth meshing with the first helical tooth, and a fourth rotating shaft coaxially driven with the second helical tooth; the first belt transmission assembly includes a second pulley coaxially driven with the fourth rotating shaft, a third pulley coaxially driven with the first rotating shaft, and a first transmission belt connected with the second pulley and the third pulley; the fourth rotating shaft is rotatably arranged on the frame through a shaft seat; The second belt transmission assembly includes a fourth pulley connected to the first rotating shaft, a fifth pulley connected to the second rotating shaft, and a second transmission belt connected to the fourth pulley and the fifth pulley.

8. The track-rolling cable deicing device according to claim 1, characterized in that: The chain rail rolling cable deicing device also includes a guide mechanism, which includes side plates fixed at both ends of the frame in the walking direction and guide frames fixed at both ends of the inner side of the frame, the side plate is provided with an inclined first guide surface toward one end of the inlet and outlet groove, and the guide frame is provided with an inclined second guide surface toward one end of the inlet and outlet groove.

9. A control system for controlling a track-rolling cable deicing device according to any one of claims 1 to 8 to perform deicing, characterized in that: include: Main body motion control module, wireless communication module, remote control module; The main body motion control module and the remote control module are communicatively connected via the wireless communication module; The main body motion control module includes a main control board and a power module and an actuator electrically connected to the main control board, the power module is used to supply power to the main control board, and the actuator is used to receive instructions from the main control board and perform corresponding actions according to the instructions to perform deicing work; the actuator includes the chain belt drive motor, the clamping drive device and the eccentric vibration motor; The wireless communication module includes a wireless bridge and a CAN bus. The wireless bridge is used for communication transmission between the main control board and the remote control module. The communication transmission of the wireless bridge includes image transmission and data transmission. The CAN bus is used for communication between the main control board and the actuator.

10. A control system according to claim 9, characterized in that: The main body motion control module also includes a sensor module, a measurement module and a monitoring module which are electrically connected to the main control board respectively; The sensor module includes a photoelectric sensor for detecting whether the walking mechanism is properly hung, a limit sensor for detecting whether the double self-locking mechanism is completely unlocked, an encoder for measuring the opening and closing range of the clamping mechanism, and a position sensor for detecting the position of the chain rail rolling cable deicing device; the sensor module feeds back the detection information to the main control board, and then transmits it to the remote control module through the wireless communication module to check the detection information; The measuring module includes a gyroscope sensor and an acceleration sensor, wherein the gyroscope sensor is used to detect the posture of the chain-rail rolling cable deicing device, and the acceleration sensor is used to monitor the movement speed of the chain-rail rolling cable deicing device. When the inclination angle of the chain-rail rolling cable deicing device in a certain direction is greater than a set value, the chain-rail rolling cable deicing device stops moving to prevent the chain-rail rolling cable deicing device from falling; The monitoring module is used to observe the surrounding environment and operation status of the track-rolling cable deicing device, and transmit the real-time monitoring screen to the remote control module through the wireless communication module.

11. A control system according to claim 9, characterized in that: The remote control module includes a ground-end remote controller, which has a control interface for controlling the action of the track-cable rolling cable deicing device and displaying machine status and signal connection information.

12. A control system according to claim 10, characterized in that: The deicing work includes the following steps: S1 Preparation before deicing: the photoelectric sensor detects whether the walking mechanism is in place, the limit sensor detects whether the double self-locking mechanism is completely unlocked, the encoder measures whether the opening and closing range of the clamping mechanism meets the preset value, and the position sensor detects the position of the chain rail rolling cable deicing device; the sensor module feeds back the detection information to the main control board, and then transmits it to the remote control module through the wireless communication module to view the detection information; the monitoring module observes the surrounding environment and action of the chain rail rolling cable deicing device, and transmits it to the remote control module through the wireless communication module to view the real-time monitoring screen; S2 Deicing: When the main control board receives an automatic deicing signal, the main control board controls the clamping drive device to drive the two chain belts to clamp in an eight-shaped shape until the two chain belts are clamped in place, and the clamping drive device stops driving; the main control board controls the eccentric vibration motor to start, and the other end of the chain belt reciprocates and vibrates toward the cable direction to de-ice, so as to perform de-icing operations at the initial position; the main control board controls the chain belt drive motor to start, and the chain belt vibrates and crushes ice while moving along the cable; during the deicing process, the gyroscope sensor detects the posture of the chain rail rolling cable deicing device in real time, and the acceleration sensor monitors the movement speed of the chain rail rolling cable deicing device in real time. When the inclination angle of the chain rail rolling cable deicing device in a certain direction is greater than the set value, the chain rail rolling cable deicing device stops moving to prevent the chain rail rolling cable deicing device from falling.

Images