Impact deicing mechanism of overhead line deicing robot

Abstract

The invention belongs to the technical field of overhead line deicing, and particularly relates to an impact deicing mechanism of an overhead line deicing robot. Comprising a robot shell, and a lifting handle is fixedly arranged at the top of the robot shell; the impact deicing mechanism of the overhead line deicing robot further comprises an impact mechanism. The impact mechanism is arranged on the robot shell and can evenly impact the two sides of the overhead line, it is guaranteed that stress on the overhead line is counteracted, deicing can be achieved, shaking of the overhead line is reduced, and the deicing robot is made to be stable as much as possible and not prone to falling off; the impact mechanism can further drive the robot shell to walk along the overhead line.

Description

Technical Field

[0001] The present invention belongs to the technical field of overhead line deicing, and specifically relates to an impact deicing mechanism for an overhead line deicing robot. Background Art

[0002] Overhead lines are common power transmission facilities;

[0003] Overhead lines usually freeze in winter. The icing on overhead lines will increase the weight, which may cause the wire to break, or the electric pole or tower to collapse; at the same time, the icing may also increase the sag of the wire and cause a short circuit, or generate impact loads due to ice galloping and shedding, damaging the line components; at the same time, the icing will increase the wire resistance, increase the power loss, and also change the line parameters, resulting in voltage fluctuations and current instability, affecting the normal operation of electrical equipment; moreover, the damage caused by the icing of overhead lines may injure pedestrians and vehicles, and the power outage will cause factories to shut down and commercial activities to suspend, bringing huge economic losses, and also increasing the repair and equipment replacement costs; therefore, when the overhead lines are iced, it is necessary to deice the overhead lines. There are also overhead line deicing robots in the prior art, but most of them use a motor-driven rotary blade to strip, and can only strike on one side of the overhead line, which is prone to uneven force, resulting in the shaking of the overhead line, and the deicing robot is unstable and prone to falling, etc.

[0004] In view of this, the present invention proposes an impact deicing mechanism for an overhead line deicing robot to solve the above technical problems. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art, and be able to evenly impact both sides of the overhead line and drive the robot housing to walk along the overhead line; the present invention provides an impact deicing mechanism for an overhead line deicing robot.

[0006] The technical solution adopted by the present invention to solve its technical problems is: an impact deicing mechanism for an overhead line deicing robot, including: a robot housing, and a handle is fixedly arranged on the top of the robot housing; the impact deicing mechanism for the overhead line deicing robot further includes: an impact mechanism, and the impact mechanism is arranged on the robot housing. The impact mechanism can evenly impact both sides of the overhead line, ensure that the forces on the overhead line cancel each other out and can also deice, reduce the shaking of the overhead line, and also make the deicing robot as stable as possible and not prone to falling; the impact mechanism can also drive the robot housing to walk along the overhead line.

[0007] A handle is fixedly arranged on the top of the robot housing. Before the operation, the robot housing can be hung on the overhead line by a drone hanging the handle.

[0008] Preferably, the impact mechanism includes: a first cylinder. The robot housing is in a portal shape, and several first cylinders are uniformly and fixedly connected to both sides of the robot housing near the bottom; a first piston rod is slidably connected in each first cylinder, and a first spring is fixedly connected between the end of the first piston rod and the inner end of the first cylinder; an impact block is fixedly connected to the end of the first piston rod; a first telescopic rod, and first telescopic rods are fixedly connected to both sides of one end of the bottom of the robot housing. Each first telescopic rod is arranged along the length direction of the robot housing and can be telescopic; an installation platform is fixedly connected to the end of each first telescopic rod, and second telescopic rods are fixedly connected to one side of the two installation platforms close to each other. The ends of the two second telescopic rods are fixedly connected with first clamping blocks, and the second telescopic rods can be telescopic; a control block, and control blocks are fixedly connected to both sides of the robot housing. The control block is of a hollow structure, and first electromagnets are fixedly connected to both ends inside each control block. A piston block is slidably connected inside each control block. A limiting ring is fixedly connected to one end inside the control block, and the other end communicates with the outside; a first pipe is fixedly connected to one end of the control block close to the limiting ring, and a first solenoid valve is fixedly connected inside the first pipe. The first pipe extends outside the control block and penetrates through each first cylinder on the corresponding side and communicates with its inside; the first electromagnet can attract the piston block when energized.

[0009] Preferably, the first telescopic rod is composed of a second cylinder and a second rod. The second rod is slidably connected inside the second cylinder and can extend out of the second cylinder; a second pipe is fixedly connected to one end of the control block close to the limiting ring, and a second solenoid valve is fixedly connected inside the second pipe. The second pipe extends outside the control block and communicates with the inside of the corresponding second cylinder.

[0010] Preferably, the second telescopic rod is composed of a third cylinder and a third rod. The third rod is slidably connected inside the third cylinder, and a second spring is fixedly connected between the third rod and the end of the third cylinder; a first channel is arranged inside the second rod, and the first channel communicates with the inside of the corresponding third cylinder through the installation platform. A third solenoid valve is fixedly connected inside the first channel.

[0011] Preferably, fourth cylinders are fixedly connected to both sides of one end of the bottom of the robot housing. A fourth rod is slidably connected inside the fourth cylinder, and a second electromagnet is fixedly connected to the inner end of the fourth cylinder. A third spring is fixedly connected between the second electromagnet and the fourth rod; a second clamping block is fixedly connected to the end of the fourth rod, and a permanent magnet is arranged on the fourth rod. The second electromagnet can repel the fourth rod when energized;

[0012] Lift the robot housing to the overhead line by a drone. In the initial state, the third spring is in place. When the overhead line is centered between the two first clamping blocks and the two second clamping blocks, activate the second electromagnet to repel the fourth rod, causing the third spring to extend, so that the two second clamping blocks move closer to each other to clamp the overhead line, realizing the fixation of the robot housing and the overhead line; the above structure can adapt to overhead lines of different thicknesses; then the first solenoid valve, the second solenoid valve, and the third solenoid valve are all closed, and the first electromagnet near the limit ring is energized to attract the piston block, squeezing the air. When contacting the limit ring, at this time, open the first solenoid valve. Under the action of the first pipe, the first piston rod is suddenly pushed, the first spring is compressed, and the first piston rod drives the impact block to strike the ice, knocking down the ice. It is possible to set to strike the ice once or multiple times according to the thickness of the ice. Repeat the above steps for multiple strikes; then after the ice is removed and the first piston rod returns to its original position, close the first solenoid valve and open the second solenoid valve. The piston block moves closer to the limit ring again, so the air pushes the second rod to extend out of the second cylinder. When the first telescopic rod extends to its maximum length, the piston block does not contact the limit ring and there is a certain distance between them. At this time, the piston block continues to move closer to the limit ring, and the air is compressed until it contacts the limit ring. At this time, open the third solenoid valve, and the second telescopic rod suddenly extends, driving the first clamping block to strike the ice and clamping the overhead line after the strike, that is, first making the ice at the clamping position fall and then clamping; similarly, the clamping here can also adapt to overhead lines of different thicknesses. After clamping, close the third solenoid valve. At this time, the piston block moves away from the limit ring again. While the first clamping block clamps the overhead line, it drives the first telescopic rod to contract. At the same time, the second clamping block loosens. When the first telescopic rod contracts, it pulls the robot housing forward to realize walking along the overhead line. When the first telescopic rod contracts to its shortest length, the second clamping block clamps again. The impact block strikes the new ice as above again, and then continues to crawl and strike in a repeated operation. At this time, when crawling again, first open the third solenoid valve to make the first clamping block loosen under the action of the second spring first.

[0013] Preferably, the central positions of the first clamping block, the second clamping block, and the impact block all point to the central position of the overhead line;

[0014] Ensure that the first clamping block and the second clamping block can clamp the overhead line, and the impact block can impact the center of the overhead line to strike the ice.

[0015] Preferably, the maximum length that the first telescopic rod extends is less than or equal to the distribution length of the first cylinder on the robot housing;

[0016] Ensure that the walking length of the robot housing can be impacted by the impact block each time, making the deicing thorough.

[0017] Preferably, a pressure sensor is fixedly arranged on the limit ring;

[0018] When the pressure sensor senses the pressure, corresponding operations can be carried out, which is convenient for control.

[0019] Preferably, heating wires are provided on the first clamping block and the second clamping block;

[0020] The heating wires can be started to assist in deicing, ensuring that the clamping parts of the first clamping block and the second clamping block can also be deiced more thoroughly, and ensuring that the first clamping block and the second clamping block are clamped more firmly; when crawling, the first clamping block and the second clamping block sweeping across the wire also have an auxiliary deicing effect.

[0021] The beneficial effects of the present invention are as follows:

[0022] 1. For the impact deicing mechanism of the overhead line deicing robot described in the present invention, an impact mechanism is provided on the robot housing. The impact mechanism can uniformly impact both sides of the overhead line, ensuring that the forces on the overhead line cancel each other out while deicing, reducing the sway of the overhead line, and also making the deicing robot stable and not easily fall; the impact mechanism can also drive the robot housing to move along the overhead line.

[0023] 2. For the impact deicing mechanism of the overhead line deicing robot described in the present invention, the first solenoid valve, the second solenoid valve, and the third solenoid valve are all closed. The first electromagnet near the limit ring is energized to attract the piston block and compress the air. When it touches the limit ring, the first solenoid valve is opened at this time. Under the action of the first pipe, the first piston rod is suddenly pushed, and the first spring is compressed. The first piston rod drives the impact block to hit the ice block and knock down the ice block. After the ice block is removed and the first piston rod is reset, the first solenoid valve is closed and the second solenoid valve is opened. The piston block approaches the limit ring again, so the air pushes the second rod to extend out of the second cylinder. When the first telescopic rod extends to the longest, the piston block does not touch the limit ring and there is a certain distance between them. At this time, the piston block continues to approach the limit ring, and the air is compressed until it touches the limit ring. At this time, the third solenoid valve is opened, and the second telescopic rod suddenly extends, driving the first clamping block to hit the ice block and clamping the overhead line after hitting, that is, first making the ice block at the clamping part fall off and then clamping; after clamping, the third solenoid valve is closed. At this time, the piston block moves away from the limit ring again. While the first clamping block clamps the overhead line, it drives the first telescopic rod to contract. At the same time, the second clamping block loosens. When the first telescopic rod contracts, it pulls the robot housing forward to realize walking along the overhead line. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1 is the three-dimensional view of the present invention Figure 1 ;

[0026] Figure 2 is the three-dimensional view of the present invention Figure 2 ;

[0027] Figure 3 is the three-dimensional view of the present inventionFigure 3 ;

[0028] Figure 4 is a three-dimensional sectional view of the present invention;

[0029] Figure 5 is a partial three-dimensional view of the present invention;

[0030] Figure 6 is a sectional view of the control block of the present invention;

[0031] Figure 7 is a sectional view of the first cylinder of the present invention;

[0032] Figure 8 is a sectional view of the first telescopic rod of the present invention;

[0033] Figure 9 is a sectional view of the fourth cylinder of the present invention;

[0034] Figure 10 is a sectional view of the second telescopic rod of the present invention;

[0035] In the figure: 1. Robot housing; 11. Handle; 2. Impact mechanism; 21. First cylinder; 22. First piston rod; 23. First spring; 24. Impact block; 25. First telescopic rod; 26. Mounting table; 27. Second telescopic rod; 28. First clamping block; 3. Control block; 31. First electromagnet; 32. Piston block; 33. Limit ring; 34. First pipe; 35. First solenoid valve; 4. Second cylinder; 41. Second rod; 42. Second pipe; 43. Second solenoid valve; 5. Third cylinder; 51. Third rod; 52. Second spring; 53. First channel; 54. Third solenoid valve; 6. Fourth cylinder; 61. Fourth rod; 62. Second electromagnet; 63. Third spring; 64. Second clamping block. Detailed implementation manners

[0036] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0037] As Figure 1 , Figure 2 , Figure 3 shown, the impact de-icing mechanism of an overhead line de-icing robot according to the present invention includes: a robot housing 1, and a handle 11 is fixedly arranged on the top of the robot housing 1; the impact de-icing mechanism of the overhead line de-icing robot further includes: an impact mechanism 2, the impact mechanism 2 is arranged on the robot housing 1, and the impact mechanism 2 can uniformly impact both sides of the overhead line and can drive the robot housing 1 to move along the overhead line;

[0038] During operation, overhead lines usually freeze in winter. The icing on the overhead lines increases the weight, which may cause the conductor to break or the pole or tower to collapse. At the same time, the icing may also increase the sag of the conductor, leading to a short circuit, or generate impact loads due to the dancing and falling of the ice, damaging the line components. Meanwhile, the icing increases the resistance of the conductor, increases the power loss, and also changes the line parameters, resulting in voltage fluctuations and current instability, affecting the normal operation of electrical equipment. Moreover, the damage caused by the icing of the overhead line may injure pedestrians and vehicles, and the power outage will cause factories to suspend production and commercial activities to pause, bringing huge economic losses and increasing the costs of emergency repair and equipment replacement. Therefore, when the overhead line is iced, it is necessary to de-ice the overhead line. In the existing technology, there are also overhead line de-icing robots, but most of them use motors to drive rotary blades to strip the ice, and can only strike on one side of the overhead line, which is prone to uneven force, resulting in the shaking of the overhead line and the risk that the de-icing robot is unstable and easy to fall. Therefore, an impact mechanism 2 is provided on the robot housing 1. The impact mechanism 2 can uniformly impact both sides of the overhead line, ensuring that the forces on the overhead line cancel each other out while de-icing, reducing the shaking of the overhead line, and also making the de-icing robot stable and not easy to fall as much as possible. The impact mechanism 2 can also drive the robot housing 1 to walk along the overhead line.

[0039] A handle 11 is fixedly arranged at the top of the robot housing 1. Before operation, the robot housing 1 can be hung on the overhead line by a drone hanging the handle 11.

[0040] As a specific embodiment of the present invention, such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7As shown in the figure, the impact mechanism 2 includes: a first cylinder 21. The robot housing 1 is in a gate shape. A number of first cylinders 21 are evenly and fixedly connected to both sides of the robot housing 1 near the bottom; a first piston rod 22 is slidably connected in each first cylinder 21. A first spring 23 is fixedly connected between the end of the first piston rod 22 and the inner end of the first cylinder 21; an impact block 24 is fixedly connected to the end of the first piston rod 22; a first telescopic rod 25. One end of the bottom of the robot housing 1 is fixedly connected to a first telescopic rod 25. Each first telescopic rod 25 is arranged along the length direction of the robot housing 1 and can be telescopic; an installation platform 26 is fixedly connected to the end of each first telescopic rod 25. Second telescopic rods 27 are fixedly connected to one side of the two installation platforms 26 close to each other. First clamping blocks 28 are fixedly connected to the ends of the two second telescopic rods 27, and the second telescopic rods 27 can be telescopic; a control block 3. Control blocks 3 are fixedly connected to both sides of the robot housing 1. The control block 3 is of a hollow structure. First electromagnets 31 are fixedly connected to both ends inside each control block 3. A piston block 32 is slidably connected inside each control block 3. A limiting ring 33 is fixedly connected to one end inside the control block 3, and the other end communicates with the outside; a first pipe 34 is fixedly connected to one end of the control block 3 close to the limiting ring 33. A first solenoid valve 35 is fixedly connected inside the first pipe 34. The first pipe 34 extends outside the control block 3 and penetrates each first cylinder 21 on the corresponding side and communicates with its inside; when the first electromagnet 31 is energized, it can attract the piston block 32;

[0041] As Figure 6 、 Figure 8 shown in the figure, the first telescopic rod 25 is composed of a second cylinder 4 and a second rod 41. The second rod 41 is slidably connected inside the second cylinder 4 and can extend out of the second cylinder 4; a second pipe 42 is fixedly connected to one end of the control block 3 close to the limiting ring 33. A second solenoid valve 43 is fixedly connected inside the second pipe 42. The second pipe 42 extends outside the control block 3 and communicates with the inside of the corresponding second cylinder 4;

[0042] As Figure 8 、 Figure 10 shown in the figure, the second telescopic rod 27 is composed of a third cylinder 5 and a third rod 51. The third rod 51 is slidably connected inside the third cylinder 5. A second spring 52 is fixedly connected between the end of the third rod 51 and the end of the third cylinder 5; a first channel 53 is arranged inside the second rod 41. The first channel 53 communicates with the inside of the corresponding third cylinder 5 through the installation platform 26. A third solenoid valve 54 is fixedly connected inside the first channel 53;

[0043] As Figure 9As shown in the figure, on both sides of one end of the bottom of the robot housing 1, a fourth cylinder 6 is fixedly connected. A fourth rod 61 is slidably connected inside the fourth cylinder 6. A second electromagnet 62 is fixedly connected to the inner end of the fourth cylinder 6. A third spring 63 is fixedly connected between the second electromagnet 62 and the fourth rod 61. The end of the fourth rod 61 is fixedly connected with a second clamping block 64. A permanent magnet is arranged on the fourth rod 61. When the second electromagnet 62 is energized, it can repel the fourth rod 61.

[0044] During operation, the robot housing 1 is hoisted onto the overhead line by a drone. In the initial state, the third spring 63 is in its original position. When the overhead line is centered between the two first clamping blocks 28 and the two second clamping blocks 64, the second electromagnet 62 is activated to repel the fourth rod 61, and the third spring 63 extends, causing the two second clamping blocks 64 to approach each other and clamp the overhead line, achieving the fixation of the robot housing 1 to the overhead line. The above structure can adapt to overhead lines of different thicknesses. Subsequently, the first solenoid valve 35, the second solenoid valve 43, and the third solenoid valve 54 are all closed. The first electromagnet 31 near the limit ring 33 is energized to attract the piston block 32 and compress the air. When it contacts the limit ring 33, the first solenoid valve 35 is opened at this time. Under the action of the first pipe 34, the first piston rod 22 is suddenly pushed, and the first spring 23 is compressed. The first piston rod 22 drives the impact block 24 to strike the ice block, knocking the ice block down. It can be set to strike the ice block once or multiple times according to the thickness of the ice block. Repeat the above steps for multiple strikes. After the ice block is removed and the first piston rod 22 returns to its original position, the first solenoid valve 35 is closed, and the second solenoid valve 43 is opened. The piston block 32 approaches the limit ring 33 again, so the air pushes the second rod 41 to extend out of the second cylinder 4. When the first telescopic rod 25 extends to its maximum length, the piston block 32 does not contact the limit ring 33 and there is a certain distance between them. At this time, the piston block 32 continues to approach the limit ring 33, and the air is compressed until it contacts the limit ring 33. At this time, the third solenoid valve 54 is opened, and the second telescopic rod 27 suddenly extends, driving the first clamping block 28 to strike the ice block and clamping the overhead line after the strike, that is, first making the ice block at the clamping position fall and then clamping. Similarly, the clamping here can also adapt to overhead lines of different thicknesses. After clamping, the third solenoid valve 54 is closed. At this time, the piston block 32 moves away from the limit ring 33 again. While the first clamping block 28 clamps the overhead line, it drives the first telescopic rod 25 to contract. At the same time, the second clamping block 64 releases. When the first telescopic rod 25 contracts, it pulls the robot housing 1 forward to realize walking along the overhead line. When the first telescopic rod 25 contracts to its shortest length, the second clamping block 64 reclamps, and the impact block 24 strikes the new ice block again as above. Then continue to crawl and strike for repeated operations. When crawling again at this time, first open the third solenoid valve 54 to make the first clamping block 28 release under the action of the second spring 52 first.

[0045] As a specific embodiment of the present invention, such as Figure 1 、 Figure 2 、 Figure 3As shown, the central positions of the first clamping block 28, the second clamping block 64, and the impact block 24 all point to the central position of the overhead line;

[0046] During operation, the central positions of the first clamping block 28, the second clamping block 64, and the impact block 24 all point to the central position of the overhead line, ensuring that the first clamping block 28 and the second clamping block 64 can clamp the overhead line, and the impact block 24 can impact the center of the overhead line to shatter the ice.

[0047] As a specific embodiment of the present invention, the maximum extended length of the first telescopic rod 25 is less than or equal to the distribution length of the first cylinder 21 on the robot housing 1;

[0048] During operation, the maximum extended length of the first telescopic rod 25 is less than or equal to the distribution length of the first cylinder 21 on the robot housing 1, ensuring that each walking length of the robot housing 1 can be impacted by the impact block 24, making the de-icing thorough.

[0049] As a specific embodiment of the present invention, a pressure sensor is fixedly arranged on the limit ring 33;

[0050] During operation, a pressure sensor is fixedly arranged on the limit ring 33. When the pressure sensor senses pressure, corresponding operations can be carried out, which is convenient for control.

[0051] As a specific embodiment of the present invention, heating wires are arranged on the first clamping block 28 and the second clamping block 64;

[0052] During operation, heating wires are arranged on the first clamping block 28 and the second clamping block 64. The heating wires can be activated for auxiliary de-icing, ensuring that the clamping parts of the first clamping block 28 and the second clamping block 64 can also be de-iced more thoroughly, and ensuring that the first clamping block 28 and the second clamping block 64 hold more firmly; when crawling, the first clamping block 28 and the second clamping block 64 sweeping across the wire also has an auxiliary de-icing effect.

[0053] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: still modifications or equivalent replacements can be made to the specific embodiments of the present invention, and any modification or equivalent replacement without departing from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. An impact deicing mechanism of an overhead line deicing robot, comprising: A robot housing (1), wherein a handle (11) is fixedly provided on the top of the robot housing (1); It is characterized in that: the impact deicing mechanism of the overhead line deicing robot also includes: An impact mechanism (2), wherein the robot housing (1) is provided with the impact mechanism (2), and the impact mechanism (2) can evenly impact both sides of the overhead line and can drive the robot housing (1) to move along the overhead line.

2. The impact deicing mechanism of an overhead line deicing robot according to claim 1, characterized in that: The impact mechanism (2) comprises: A number one cylinder (21), the robot housing (1) is in the shape of a gate, and a plurality of number one cylinders (21) are evenly fixedly connected on both sides of the robot housing (1) near the bottom; a number one piston rod (22) is slidably connected inside each of the number one cylinders (21), and a number one spring (23) is fixedly connected between the number one piston rod (22) and the inner end of the number one cylinder (21); an impact block (24) is fixedly connected to the end of the number one piston rod (22); A number one telescopic rod (25), the two sides of one end of the bottom of the robot housing (1) are fixedly connected to the number one telescopic rod (25), each of the number one telescopic rods (25) is arranged along the length direction of the robot housing (1), and the number one telescopic rod (25) can be telescopic; the end of each number one telescopic rod (25) is fixedly connected to a mounting platform (26), the sides of the two mounting platforms (26) close to each other are fixedly connected to a number two telescopic rod (27), the ends of the two number two telescopic rods (27) are fixedly connected to a number one clamping block (28), and the number two telescopic rods (27) can be telescopic; A control block (3), the robot housing (1) is fixedly connected with control blocks (3) on both sides, the control block (3) is a hollow structure, each of the control blocks (3) is fixedly connected with a No. 1 electromagnet (31) at both ends, each of the control blocks (3) is slidably connected with a piston block (32) inside, one end of the control block (3) is fixedly connected with a limit ring (33), and the other end is communicated with the outside; one end of the control block (3) close to the limit ring (33) is fixedly connected with a No. 1 tube (34), the No. 1 tube (34) is fixedly connected with a No. 1 electromagnetic valve (35), the No. 1 tube (34) extends to the outside of the control block (3) and passes through each No. 1 tube (21) on the corresponding side and communicates with the inside; the No. 1 electromagnet (31) can attract the piston block (32) when energized.

3. The impact deicing mechanism of the overhead line deicing robot according to claim 2, characterized in that: The No. 1 telescopic rod (25) is composed of a No. 2 tube (4) and a No. 2 rod (41), wherein the No. 2 rod (41) is slidably connected to the interior of the No. 2 tube (4) and can extend out of the No. 2 tube (4); a No. 2 tube (42) is fixedly connected to one end of the control block (3) close to the limit ring (33), and a No. 2 solenoid valve (43) is fixedly connected to the interior of the No. 2 tube (42), and the No. 2 tube (42) extends to the outside of the control block (3) and is connected to the interior of the No. 2 tube (4) on the corresponding side.

4. The impact deicing mechanism of the overhead line deicing robot according to claim 3, characterized in that: The No. 2 telescopic rod (27) is composed of a No. 3 tube (5) and a No. 3 rod (51), wherein the No. 3 rod (51) is slidably connected to the inside of the No. 3 tube (5), and a No. 2 spring (52) is fixedly connected between the No. 3 rod (51) and the end of the No. 3 tube (5); a No. 1 channel (53) is arranged inside the No. 2 rod (41), and the No. 1 channel (53) is communicated with the inside of the corresponding No. 3 tube (5) through the mounting platform (26), and a No. 3 solenoid valve (54) is fixedly connected to the inside of the No. 1 channel (53).

5. The impact deicing mechanism of the overhead line deicing robot according to claim 4, characterized in that: A No. 4 cylinder (6) is fixedly connected to both sides of one end of the bottom of the robot shell (1); a No. 4 rod (61) is slidably connected inside the No. 4 cylinder (6); a No. 2 electromagnet (62) is fixedly connected to the inner end of the No. 4 cylinder (6); a No. 3 spring (63) is fixedly connected between the No. 2 electromagnet (62) and the No. 4 rod (61); a No. 2 clamp (64) is fixedly connected to the end of the No. 4 rod (61); a permanent magnet is arranged on the No. 4 rod (61); and the No. 2 electromagnet (62) can repel the No. 4 rod (61) when energized.

6. The impact deicing mechanism of the overhead line deicing robot according to claim 5, characterized in that: The central positions of the No. 1 clamping block (28), the No. 2 clamping block (64) and the impact block (24) all point to the central position of the overhead line.

7. The impact deicing mechanism of the overhead line deicing robot according to claim 6, characterized in that: The maximum extended length of the No. 1 telescopic rod (25) is less than or equal to the distribution length of the No. 1 cylinder (21) on the robot housing (1).

8. The impact deicing mechanism of the overhead line deicing robot according to claim 7, characterized in that: A pressure sensor is fixedly arranged on the limiting ring (33).

9. The impact deicing mechanism of the overhead line deicing robot according to claim 8, characterized in that: The first clamping block (28) and the second clamping block (64) are provided with heating wires.

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