Unmanned aerial vehicle deicer for power line

Abstract

The invention relates to the technical field of power line unmanned aerial vehicle deicing, in particular to a power line unmanned aerial vehicle deicer which comprises a deicing seat assembly arranged below an unmanned aerial vehicle body, a clamping groove is formed in the middle of the deicing seat assembly, and clamping assemblies are symmetrically arranged on the two sides of the clamping groove. An advancing assembly is arranged at the front end in the deicing seat assembly in the deicing advancing direction and used for driving the deicing seat assembly to advance in the electric power circuit deicing direction, an ice breaking assembly is arranged at the position, located at the rear end of the advancing assembly, in the deicing seat assembly, and the ice breaking assembly is driven by advancing of the advancing assembly to break an ice layer on an electric power circuit. And a spraying assembly is arranged at the rear end of the ice breaking assembly in the deicing seat assembly, and is used for continuously spraying a deicing agent to the power line through which the advancing assembly and the ice breaking assembly pass. According to the method, a three-stage icebreaking synergistic mechanism is adopted, wherein the three-stage icebreaking synergistic mechanism comprises the steps of preposed cone thorn presplitting, high-frequency mechanical impact and fixed-point permeation spraying, so that a synergistic deicing path of crack propagation, brittle breaking and medicament permeation is formed.

Description

Technical Field

[0001] The present invention relates to the technical field of power line drone deicing, and in particular to a power line drone deicer. Background Art

[0002] With global climate change, extreme weather events are becoming increasingly frequent, particularly in winter, when rain, snow, and freezing weather pose a serious threat to power systems. Transmission lines are susceptible to ice buildup in severe cold weather, which not only increases mechanical loads on the lines but can also cause problems such as conductor galloping, wire breakage, tower collapse, and insulator ice flash. In severe cases, these problems can even trigger widespread power outages, severely impacting the normal operation of the power grid and the stability of power supply. In recent years, drone technology has rapidly developed and has been widely used in various fields. In the power industry, in particular, drones have become a crucial tool for transmission line inspection and maintenance. Drones offer advantages such as flexible flight, wide operating range, and ease of operation, significantly improving efficiency and reducing costs.

[0003] In current drone de-icing operations, a common practice is to use a drone-mounted spray device to spray de-icing agent directly onto the surface of power lines. However, this method has obvious limitations when faced with thick ice layers: the de-icing agent cannot quickly penetrate and effectively dissolve the ice layer with the spray force alone, resulting in a long de-icing process. In addition, due to the unique cylindrical structure of power lines, the ice accumulated on their surface also presents a similar cylindrical shape. This geometric characteristic makes it difficult for the sprayed de-icing agent to adhere to and stay on the surface of the ice layer, unable to fully exert its due de-icing performance, thereby significantly reducing the overall de-icing efficiency.

[0004] Based on this, the present invention discloses a power line drone deicer. Summary of the Invention

[0005] In order to solve the problems raised in the background technology, the present invention provides a power line drone deicer, which includes a drone body, a medicine storage box provided on the drone body, and a deicing agent for deicing stored in the medicine storage box;

[0006] Preferably, a de-icing seat assembly is provided below the UAV body. A clamping groove is formed in the middle of the de-icing seat assembly. Clamping assemblies are symmetrically arranged on both sides of the clamping groove for clamping the power line. A forward movement assembly is provided at the front end of the de-icing seat assembly along the de-icing forward direction for driving the de-icing seat assembly to move forward along the de-icing direction of the power line. An ice-breaking assembly is provided at the rear end of the forward movement assembly in the de-icing seat assembly. The ice-breaking assembly knocks and breaks the ice layer on the power line through the forward drive of the forward movement assembly. A spraying assembly is provided at the rear end of the ice-breaking assembly in the de-icing seat assembly for continuously spraying de-icing agent on the power line where the forward movement assembly and the ice-breaking assembly have worked.

[0007] Among them, the forward movement assembly includes rollers. A number of conical spines are fixedly arranged on the rollers in a staggered manner for piercing into the ice layer and forming holes. The ice-breaking assembly includes an ice-breaking cone that cooperates with the rollers to form reciprocating chiseling for chiseling and breaking the ice layer with holes.

[0008] As a further improvement of this technical solution, a support frame is fixedly provided below the UAV body. A base is fixedly provided below the support frame. A rope telescopic assembly is provided on the base. The rope telescopic assembly includes a first winding frame. The first winding frame is fixedly connected to the base. A rope is wound on the first winding frame. A first servo motor is fixedly provided on one side of the first winding frame for driving the first winding frame to wind and unwind the rope. One end of the rope away from the first winding frame is fixedly connected to the de-icing seat assembly for hanging the de-icing seat assembly.

[0009] As a further improvement of this technical solution, the de-icing seat assembly further includes an installation box. Wedge-shaped plates are symmetrically and fixedly provided on both sides of the bottom of the installation box. A clamping groove is formed between the two wedge-shaped plates. The clamping groove is in a conical structure. A through opening is provided at the bottom of the installation box for the forward movement assembly, the ice-breaking assembly, and the spraying assembly to work.

[0010] As a further improvement of this technical solution, the clamping assembly includes a hydraulic telescopic device. The hydraulic telescopic device is fixedly connected in the wedge-shaped plate. The telescopic end of the hydraulic telescopic device is fixedly connected to a clamping plate. Clamping rods are symmetrically arranged at the upper and lower ends on the side of the clamping plate away from the hydraulic telescopic device. A number of elastic telescopic rods are evenly fixedly provided on the clamping rods. The clamping rods are fixedly connected to the clamping plate through the elastic telescopic rods.

[0011] Preferably, the forward movement assembly further includes a second servo motor. The second servo motor is fixedly connected in the installation box. The output end of the second servo motor is fixedly connected to a first rotating rod. The roller is fixedly connected to the first rotating rod.

[0012] As a further improvement of this technical solution, a transmission component is arranged beside the forward component in the installation box. The ice-breaking component is connected to the forward component through the transmission component. The transmission component includes a driving gear and a second rotating rod. The driving gear is fixedly connected to the first rotating rod. The driving gear meshes with a driven gear. The driven gear is fixedly connected to the second rotating rod. The second rotating rod is rotatably connected in the installation box. A first speed-changing gear is also fixedly connected to the second rotating rod.

[0013] Preferably, the driving gear and the driven gear have the same number of teeth and diameter, which is used for the synchronous transmission of the first rotating rod and the second rotating rod. The number of teeth and diameter of the first speed-changing gear are larger than those of the driving gear, which is used to increase the transmission speed of the second rotating rod.

[0014] As a further improvement of this technical solution, the ice-breaking component includes a third rotating rod. The third rotating rod is rotatably connected in the installation box. A second speed-changing gear is fixedly connected to the third rotating rod. The second speed-changing gear meshes with the first speed-changing gear. The number of teeth and diameter of the second speed-changing gear are much smaller than those of the first speed-changing gear.

[0015] A cam is fixedly connected to the third rotating rod at the middle position of the installation box. An ice-breaking cylinder is arranged directly below the cam in the installation box. The ice-breaking cylinder is fixedly connected in the installation box. An ice-breaking cone is slidably connected in the ice-breaking cylinder. A return spring is arranged in the ice-breaking cylinder for the return of the ice-breaking cone. One end of the return spring is fixedly connected to the ice-breaking cylinder, and the other end is fixedly connected to the ice-breaking cone.

[0016] The top end of the ice-breaking cone extends to the outside of the ice-breaking cylinder to form a pressing part. The pressing part has an arc-shaped structure and contacts the cam. The bottom end of the ice-breaking cone extends to the outside of the ice-breaking cylinder to form an ice-chiseling part. Both sides of the ice-chiseling part are wedge-shaped structures.

[0017] Preferably, the spraying component includes a suction pump. The suction pump is fixedly connected in the installation box. A medicine suction pipe is arranged at the suction end of the suction pump. One end of the medicine suction pipe is communicated with the suction end of the suction pump, and the other end is wound around the winding device and then communicated with the medicine storage box. The winding device is fixedly arranged on the base for winding the medicine suction pipe.

[0018] A medicine spraying pipe is arranged at the output end of the suction pump. One end of the medicine spraying pipe is communicated with the suction pump, and the other end is communicated with a spray head. The spray head is located at the middle position of the installation box and behind the ice-breaking component.

[0019] The spraying direction of the spray head is obliquely downward.

[0020] Advantages of the present invention compared with the prior art:

[0021] In this power line UAV de-icer, through a three-stage ice-breaking cooperation mechanism: pre-stage cone stabbing for pre-cracking (advancing component), high-frequency mechanical impact (ice-breaking component), and fixed-point penetration spraying (spraying component), a cooperative ice-removing path of "crack propagation - brittle fracture - agent penetration" is formed, where:

[0022] The cone thorns on the roller can penetrate into the ice layer, increasing the friction with the ice layer and facilitating the ice-removing seat assembly to move forward along the power line; at the same time, the cone thorns can also make several holes in the ice layer, providing convenience for the subsequent work of the ice-breaking component and improving the efficiency of ice chipping.

[0023] Through the cooperation of the transmission component and the ice-breaking component, efficient ice-breaking is achieved: the roller in the advancing component rotates, driving the third rotating rod in the ice-breaking component to rotate at high speed through the transmission component; the cam on the third rotating rod continuously presses the ice-breaking cone, making the ice-chiseling part of the ice-breaking cone repeatedly impact the ice layer to achieve efficient ice-breaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the overall structure of the present invention from the first perspective;

[0025] Figure 2 Schematic diagram of the overall structure of the present invention from the second perspective;

[0026] Figure 3 Schematic diagram of the internal structure of the installation box of the present invention;

[0027] Figure 4 Schematic diagram of the composition structure of the clamping component of the present invention;

[0028] Figure 5 Schematic diagram of the composition structure of the ice-breaking component of the present invention from the first perspective;

[0029] Figure 6 Schematic diagram of the composition structure of the ice-breaking component of the present invention from the second perspective;

[0030] Figure 7 Schematic diagram one of the structure of the transmission component and the ice-breaking component of the present invention;

[0031] Figure 8 Schematic diagram two of the structure of the transmission component and the ice-breaking component of the present invention;

[0032] Figure 9 Schematic diagram three of the structure of the transmission component and the ice-breaking component of the present invention;

[0033] Figure 10 Schematic diagram of the structure of the ice-breaking component and the spraying component of the present invention.

[0034] The meanings of the reference numerals in the figure are as follows:

[0035] 1. UAV body; 2. Support frame; 3. Base; 4. Rope telescopic assembly; 5. Deicing seat assembly; 6. Clamping assembly; 7. Forward movement assembly; 8. Transmission assembly; 9. Ice-breaking assembly; 10. Spraying assembly;

[0036] 41. First winding frame; 42. Rope; 43. First servo motor;

[0037] 51. Installation box; 52. Wedge plate; 53. Clamping groove;

[0038] 61. Hydraulic telescopic device; 62. Clamping plate; 63. Clamping rod; 64. Elastic telescopic rod;

[0039] 71. Second servo motor; 72. First rotating rod; 73. Roller;

[0040] 81. Driving gear; 82. Driven gear; 83. Second rotating rod; 84. First speed-changing gear;

[0041] 91. Third rotating rod; 92. Second speed-changing gear; 93. Cam; 94. Ice-breaking cylinder; 95. Ice-breaking cone; 96. Return spring;

[0042] 101. Suction pump; 105. Medicine suction pipe; 106. Medicine spraying pipe; 107. Nozzle; 108. Winding device; 109. Medicine storage tank. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] The existing UAV deicing device sprays deicing agent onto the ice layer of the cylindrical power line. Since the ice layer is thick and it is not easy to attach the deicing agent, the deicing efficiency is low.

[0045] For this reason, the present invention provides an ice remover for a power line UAV. Refer to Figure 1 as shown, which includes a UAV body 1, and a medicine storage tank 109 is arranged on the UAV body 1, and a deicing agent for deicing is stored in the medicine storage tank 109.

[0046] Specifically, refer to Figure 2As shown in the figure, a support frame 2 is fixedly installed below the UAV body 1, and a base 3 is fixedly installed below the support frame 2. A rope telescopic assembly 4 is arranged on the base 3. The rope telescopic assembly 4 includes a first winding frame 41, the first winding frame 41 is fixedly connected to the base 3, a rope 42 is wound on the first winding frame 41, and a first servo motor 43 is fixedly installed on one side of the first winding frame 41 for driving the first winding frame 41 to wind and unwind the rope 42. One end of the rope 42 away from the first winding frame 41 is fixedly connected to the deicing seat assembly 5 for hanging the deicing seat assembly 5.

[0047] Among them, as shown in Figure 2 - Figure 3 the figure, the deicing seat assembly 5 further includes an installation box 51. Wedge-shaped plates 52 are symmetrically and fixedly installed on both sides of the bottom of the installation box 51. A clamping groove 53 is formed between the two wedge-shaped plates 52. The clamping groove 53 is of a conical structure. The wedge-shaped plates 52 on both sides of the installation box 51 facilitate the entry of the line into the clamping groove 53. A through hole is opened at the bottom of the installation box 51 for the working of the forward assembly 7, the ice-breaking assembly 9, and the spraying assembly 10.

[0048] Furthermore, as shown in Figure 3 - Figure 4 and Figure 9 the figure, clamping assemblies 6 are symmetrically arranged on both sides of the clamping groove 53 for clamping the power line. The clamping assembly 6 includes a hydraulic telescopic device 61, the hydraulic telescopic device 61 is fixedly connected inside the wedge-shaped plate 52, the telescopic end of the hydraulic telescopic device 61 is fixedly connected to a clamping plate 62, clamping rods 63 are symmetrically arranged at the upper and lower ends on the side of the clamping plate 62 away from the hydraulic telescopic device 61, and a number of elastic telescopic rods 64 are evenly and fixedly installed on the clamping rods 63. The clamping rods 63 are fixedly connected to the clamping plate 62 through the elastic telescopic rods 64. During the forward movement, if the ice layer is broken or the ice layer thickness is uneven, the clamping change of the clamping rods 63 is realized through the elastic telescopic rods 64 to ensure the clamping stability.

[0049] Even further, as shown in Figure 5 the figure, a forward assembly 7 is arranged at the front end of the deicing seat assembly 5 along the deicing forward direction for driving the deicing seat assembly 5 to move forward along the power line deicing direction. The forward assembly 7 includes a second servo motor 71, the second servo motor 71 is fixedly connected inside the installation box 51, the output end of the second servo motor 71 is fixedly connected to a first rotating rod 72, a roller 73 is fixedly connected to the first rotating rod 72, and a number of conical thorns are fixedly arranged on the roller 73 in a staggered manner for piercing into the ice layer. The conical thorns on the roller 73 pierce into the ice layer. In this way, when the roller 73 rotates, the gravity of the deicing seat assembly 5 can be used to increase the friction with the ice layer, facilitating the driving of the entire deicing seat assembly 5 to move forward. At the same time, relying on the gravity of the deicing seat assembly 5 and the conical thorns of the roller 73, a number of holes can be made in the ice layer in advance, facilitating the improvement of the ice layer breaking efficiency when the subsequent ice-breaking assembly 9 works to chisel the ice.

[0050] Specifically, refer to Figure 5 and Figure 7 As shown, a transmission assembly 8 is arranged beside the forward assembly 7 inside the installation box 51. The ice-breaking assembly 9 is connected to the forward assembly 7 through the transmission assembly 8. The transmission assembly 8 includes a driving gear 81 and a second rotating rod 83. The driving gear 81 is fixedly connected to the first rotating rod 72. The driving gear 81 meshes with a driven gear 82. The driven gear 82 is fixedly connected to the second rotating rod 83. The second rotating rod 83 is rotatably connected inside the installation box 51. A first speed-changing gear 84 is also fixedly connected to the second rotating rod 83.

[0051] It is worth mentioning that, as Figure 7 shown, the number of teeth and the diameter of the driving gear 81 and the driven gear 82 are the same, which is used for the same-speed transmission of the first rotating rod 72 and the second rotating rod 83. The number of teeth and the diameter of the first speed-changing gear 84 are greater than those of the driving gear 81, which is used to increase the transmission speed of the second rotating rod 83.

[0052] Furthermore, as Figure 7 and Figure 8 shown, an ice-breaking assembly 9 is arranged at the rear end of the forward assembly 7 inside the ice-removing seat assembly 5. The ice-breaking assembly 9 breaks the ice layer on the power line through the forward drive of the forward assembly 7. The ice-breaking assembly 9 includes a third rotating rod 91. The third rotating rod 91 is rotatably connected inside the installation box 51. A second speed-changing gear 92 is fixedly connected to the third rotating rod 91. The second speed-changing gear 92 meshes with the first speed-changing gear 84. The number of teeth and the diameter of the second speed-changing gear 92 are much smaller than those of the first speed-changing gear 84; A cam 93 is fixedly connected to the third rotating rod 91 at the middle position of the installation box 51. An ice-breaking cylinder 94 is arranged directly below the cam 93 inside the installation box 51. The ice-breaking cylinder 94 is fixedly connected inside the installation box 51. An ice-breaking cone 95 is slidably connected inside the ice-breaking cylinder 94. A return spring 96 is arranged inside the ice-breaking cylinder 94 for the return of the ice-breaking cone 95. One end of the return spring 96 is fixedly connected to the ice-breaking cylinder 94, and the other end is fixedly connected to the ice-breaking cone 95; The top end of the ice-breaking cone 95 extends to the outside of the ice-breaking cylinder 94 to form a pressing part. The pressing part has an arc-shaped structure and contacts the cam 93. The bottom end of the ice-breaking cone 95 extends to the outside of the ice-breaking cylinder 94 to form an ice-chiseling part. Both sides of the ice-chiseling part have a wedge-shaped structure. The third rotating rod 91 rotates to continuously press the ice-breaking cone 95 through the cam 93, and the ice-breaking cone 95 continuously impacts the ice layer through the conical structure at its bottom end, and then returns under the elastic force of the return spring 96, and then is continuously pressed by the cam 93 to realize the reciprocating ice-chiseling of the ice-breaking cone 95.

[0053] Even further, as Figure 5 and Figure 6As shown, a spray assembly 10 is provided at the rear end of the ice-breaking assembly 9 in the de-icing seat assembly 5. The spray assembly 10 is driven by the forward assembly 7 to intermittently spray de-icing agent at the same distance on the ice layer line after the ice-breaking assembly 9 breaks each time it advances a certain distance. The spray assembly 10 includes a suction pump 101, which is fixedly connected to the installation box 51. The suction end of the suction pump 101 is provided with a medicine suction pipe 105, one end of the medicine suction pipe 105 is connected to the suction end of the suction pump 101, and the other end is wound around the winding device 108 and connected to the medicine storage box 109. The winding device 108 is fixedly mounted on the base 3 and is used to wind up the medicine suction pipe 105; the output end of the suction pump 101 is provided with a medicine spray pipe 106, one end of the medicine spray pipe 106 is connected to the suction pump 101, and the other end is connected to a nozzle 107. The nozzle 107 is located in the middle position of the installation box 51 and at the rear end of the ice-breaking assembly 9, and refers to Figure 10 As shown, the spraying direction of the nozzle 107 is set obliquely downward, so that the de-icing agent can be sprayed according to the distance traveled by the roller 73, that is, the distance worked by the ice-breaking cone 95, ensuring that the de-icing agent can fall on the uneven ice layer, increasing the adhesion area and adhesion effect of the de-icing agent.

[0054] In summary, a three-stage ice-breaking synergistic mechanism, comprising pre-cracking with a pre-aperture cone (advance component 7), high-frequency mechanical impact (ice-breaking component 9), and targeted penetrating spray (spray component 10), creates a coordinated de-icing path of "crack propagation-brittle crushing-chemical penetration." This is combined with a motion-dynamic coupling system: a single motor drives the three functions of travel (roller 73), ice-breaking (cam 93), and chemical supply (eccentric wheel). A mechanical transmission chain establishes a strict proportional relationship between travel speed v, ice-breaking frequency f, and spray cycle T. Finally, an adaptive clamping system is implemented: hydraulic preload provides a baseline clamping force, elastic buffering compensates for ice deformation, and multi-point contact ensures posture stability, forming a rigid-flexible coupling clamping system. This effectively addresses the problem of low de-icing efficiency in existing drone de-icing devices, which spray de-icing agents onto the ice layer of cylindrical power lines, due to the thick ice layer and the resistance of the de-icing agent to adhere.

[0055] Working principle:

[0056] During operation, after the UAV body 1 rises and flies near the ice-covered power line, the rope 42 is lowered by the first servo motor 43, and then the installation box 51 is lowered above the line. The wedge-shaped plates 52 on both sides of the installation box 51 smoothly make it easier for the line to enter the clamping groove 53. Then, the clamping plate 62 is controlled by the hydraulic telescopic device 61, so that the upper and lower two clamping rods 63 thereon tightly press against the ice-covered line, and then form a clamping structure with the two opposite clamping rods 63 to clamp the ice-covered line. After that, during the forward movement, if the ice layer is broken or the ice layer thickness is uneven, the elastic telescopic rod 64 is used to realize the clamping change of the clamping rod 63 to ensure the clamping stability. The clamping rod 63 is arranged in a horizontal cylindrical shape to ensure that during the forward movement, if the ice layer behind is broken, there is still a part of the clamping rod 63 that remains stably clamped, ensuring the clamping stability of the entire clamping assembly 6.

[0057] When the clamping assembly 6 clamps the ice layer line, the second servo motor 71 is started. The second servo motor 71 rotates to drive the roller 73 to rotate. The conical thorns on the roller 73 penetrate into the ice layer. In this way, when the roller 73 rotates, the friction with the ice layer can be increased by virtue of the gravity of the ice removal seat assembly 5, which is convenient for driving the entire ice removal seat assembly 5 to move forward. At the same time, relying on the gravity of the ice removal seat assembly 5 and the conical thorns of the roller 73, several holes can be pierced in the ice layer in advance, which is convenient for improving the ice-breaking efficiency when the subsequent ice-breaking component 9 works to chisel the ice.

[0058] The first rotating rod 72 rotates. After being transmitted by the driving gear 81 and the driven gear 82, the first variable-speed gear 84 is driven to rotate, increasing the transmission speed of the first rotating rod 72. Then, the rotation of the first variable-speed gear 84 drives the second variable-speed gear 92, which is much smaller than the first variable-speed gear 84, to rotate, so that the rotation speed of the third rotating rod 91 is increased. The third rotating rod 91 rotates and continuously presses the ice-breaking cone 95 through the cam 93. The ice-breaking cone 95 continuously impacts the ice layer through the conical structure at its bottom end, and then resets under the elastic force of the return spring 96, and then is continuously pressed by the cam 93 to realize the reciprocating ice-breaking of the ice-breaking cone 95.

[0059] When the roller 73 rotates, the cone thorns arranged in a staggered pattern thereon can pierce a number of holes in different columns in the ice layer. Together with the continuous chiseling of the subsequent ice-breaking cone 95, it ensures the rupture of the ice layer. In this way, when the suction pump 101 operates, the de-icing agent is extracted from the storage tank 109 through the medicine suction pipe 105, and then sprayed onto the path passed by the roller 73, that is, the ice layer broken by the ice-breaking cone 95. Since the ice layer is broken and uneven on its surface, it increases the adhesion area and adhesion force of the de-icing agent, improves the reaction efficiency between the de-icing agent and the ice layer. At the same time, even if the ice-breaking cone 95 fails to completely remove the ice, the de-icing agent can further achieve ice removal. Moreover, if the ice-breaking cone 95 fails to completely break the ice, relying on the holes pressed by the roller 73, the de-icing agent can also enter the ice layer. And when the ice-breaking cone 95 chisels cracks in the ice layer, the de-icing agent can also enter the interior of the ice layer through the cracks, realizing the rapid melting of the ice layer.

[0060] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An ice remover for power lines using an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body (1), a medicine storage box (109) is arranged on the unmanned aerial vehicle body (1), and an ice remover for removing ice is stored in the medicine storage box (109), and is characterized in that: A deicing seat assembly (5) is arranged below the UAV body (1). A clamping groove (53) is formed in the middle of the deicing seat assembly (5). Clamping assemblies (6) are symmetrically arranged on both sides of the clamping groove (53) for clamping a power line. A forward movement assembly (7) is arranged at the front end of the deicing seat assembly (5) along the deicing forward direction for driving the deicing seat assembly (5) to move forward along the deicing direction of the power line. An ice-breaking assembly (9) is arranged at the rear end of the forward movement assembly (7) in the deicing seat assembly (5). The ice-breaking assembly (9) knocks and breaks the ice layer on the power line through the forward drive of the forward movement assembly (7). A spraying assembly (10) is arranged at the rear end of the ice-breaking assembly (9) in the deicing seat assembly (5) for continuously spraying deicing agent on the power line passed by the forward movement assembly (7) and the ice-breaking assembly (9). Among them, the forward movement assembly (7) includes rollers (73). A number of conical thorns are fixedly arranged on the rollers (73) in a staggered manner for piercing into the ice layer and forming cavities. The ice-breaking assembly (9) includes ice-breaking cones (95) that cooperate with the rollers (73) to form reciprocating chiseling for chiseling and breaking the ice layer with cavities.

2. The ice remover for power line drones according to claim 1, wherein: A support frame (2) is fixedly arranged below the UAV body (1). A base (3) is fixedly arranged below the support frame (2). A rope telescopic assembly (4) is arranged on the base (3). The rope telescopic assembly (4) includes a first winding frame (41). The first winding frame (41) is fixedly connected to the base (3). A rope (42) is wound on the first winding frame (41). A first servo motor (43) is fixedly arranged on one side of the first winding frame (41) for driving the first winding frame (41) to wind and unwind the rope (42). One end of the rope (42) far from the first winding frame (41) is fixedly connected to the deicing seat assembly (5) for hanging the deicing seat assembly (5).

3. The ice remover for UAV of power line according to claim 2, wherein: The deicing seat assembly (5) further includes an installation box (51). Wedge-shaped plates (52) are symmetrically and fixedly arranged on both sides of the bottom of the installation box (51). A clamping groove (53) is formed between the two wedge-shaped plates (52). The clamping groove (53) is in a conical structure. A through opening is formed in the bottom of the installation box (51).

4. The drone ice remover for power lines according to claim 3, characterized in that: The clamping assembly (6) includes a hydraulic telescopic device (61). The hydraulic telescopic device (61) is fixedly connected in the wedge-shaped plate (52). A clamping plate (62) is fixedly connected to the telescopic end of the hydraulic telescopic device (61). Clamping rods (63) are symmetrically arranged at the upper and lower ends on the side of the clamping plate (62) far from the hydraulic telescopic device (61). A number of elastic telescopic rods (64) are evenly fixedly arranged on the clamping rods (63). The clamping rods (63) are fixedly connected to the clamping plate (62) through the elastic telescopic rods (64).

5. The ice remover for UAV on power lines according to claim 3, characterized in that: The forward assembly (7) further includes a second servo motor (71). The second servo motor (71) is fixedly connected inside the installation box (51). The output end of the second servo motor (71) is fixedly connected to a first rotating rod (72), and the roller (73) is fixedly connected to the first rotating rod (72).

6. The power line unmanned aerial vehicle de-icer according to claim 5, characterized in that: Inside the installation box (51), a transmission assembly (8) is arranged beside the forward assembly (7). The ice-breaking assembly (9) is connected to the forward assembly (7) through the transmission assembly (8). The transmission assembly (8) includes a driving gear (81) and a second rotating rod (83). The driving gear (81) is fixedly connected to the first rotating rod (72). The driving gear (81) meshes with a driven gear (82). The driven gear (82) is fixedly connected to the second rotating rod (83). The second rotating rod (83) is rotatably connected inside the installation box (51). A first speed-changing gear (84) is also fixedly connected to the second rotating rod (83).

7. The ice remover for power line drones according to claim 6, characterized in that: The driving gear (81) and the driven gear (82) have the same number of teeth and diameter, which is used for the synchronous transmission of the first rotating rod (72) and the second rotating rod (83). The number of teeth and diameter of the first speed-changing gear (84) are larger than those of the driving gear (81), which is used to increase the transmission speed of the second rotating rod (83).

8. The power line unmanned aerial vehicle de-icer according to claim 7, characterized in that: The ice-breaking assembly (9) includes a third rotating rod (91). The third rotating rod (91) is rotatably connected inside the installation box (51). A second speed-changing gear (92) is fixedly connected to the third rotating rod (91). The second speed-changing gear (92) meshes with the first speed-changing gear (84). The number of teeth and diameter of the second speed-changing gear (92) are much smaller than those of the first speed-changing gear (84). A cam (93) is fixedly connected to the third rotating rod (91) at the middle position of the installation box (51). Inside the installation box (51), an ice-breaking cylinder (94) is arranged directly below the cam (93). The ice-breaking cylinder (94) is fixedly connected inside the installation box (51). An ice-breaking cone (95) is slidably connected inside the ice-breaking cylinder (94). A return spring (96) is arranged inside the ice-breaking cylinder (94) for the return of the ice-breaking cone (95). One end of the return spring (96) is fixedly connected to the ice-breaking cylinder (94), and the other end is fixedly connected to the ice-breaking cone (95). The top end of the ice-breaking cone (95) extends to the outside of the ice-breaking cylinder (94) to form a pressing part. The pressing part has an arc-shaped structure and contacts the cam (93). The bottom end of the ice-breaking cone (95) extends to the outside of the ice-breaking cylinder (94) to form an ice-chiseling part. Both sides of the ice-chiseling part have a wedge-shaped structure.

9. The ice remover for power line drones according to claim 5, characterized in that: The spraying assembly (10) includes a suction pump (101). The suction pump (101) is fixedly connected inside the installation box (51). A medicine suction pipe (105) is arranged at the suction end of the suction pump (101). A winding device (108) is fixedly arranged on the base (3); One end of the medicine suction pipe (105) is communicated with the suction end of the suction pump (101), and the other end is wound around the winding device (108) and then communicated with the medicine storage box (109); A medicine spraying pipe (106) is arranged at the output end of the suction pump (101). One end of the medicine spraying pipe (106) is communicated with the suction pump (101), and the other end is communicated with a spray head (107). The spray head (107) is located at the middle position of the installation box (51) and at the rear end of the ice breaking assembly (9); The spraying direction of the spray head (107) is obliquely downward.

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