Deicing device for high-voltage transmission line

Abstract

The invention relates to a deicing device for a high-voltage transmission line, and belongs to the technical field of transmission line deicing. Comprising two deicing main bodies, the front end faces and the rear end faces of the two deicing main bodies are connected through a set of overline mechanisms, each overline mechanism comprises two action gear rings, two action gears, two action motors and an action connecting rod, and the two action gear rings are fixedly arranged on the end faces of the two deicing main bodies correspondingly; the two ends of the action connecting rod are rotationally connected with the two action gear rings respectively, the two ends of the action connecting rod are each fixedly provided with an action motor, an output shaft of each action motor is fixedly provided with an action gear, and each action gear is meshed with the action gear ring on the same side; the problem that an existing deicing device is difficult to meet the deicing requirement of the multi-split high-voltage transmission line is solved.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line de-icing technology, specifically relating to a de-icing device for high-voltage power transmission lines. Background Technology

[0002] Overhead high-voltage transmission lines are frequently damaged by ice and snow due to weather conditions, resulting in serious power outages. Repairs are difficult, time-consuming, cover large areas, and disrupt railway traffic. Icing incidents on transmission lines severely threaten the safe operation of the power system and cause significant economic losses. Therefore, how to remove icing from transmission lines has become a pressing and practically significant issue.

[0003] Traditional de-icing methods include manual de-icing, mechanical de-icing, and thermal melting, but these methods suffer from low efficiency, high cost, and complex operation. In recent years, drone-assisted de-icing technology has gradually developed, but existing de-icing devices typically only operate on single high-voltage transmission lines, making it difficult to adapt to the de-icing needs of multi-branched high-voltage transmission lines, and they cannot flexibly adjust their posture to cover high-voltage transmission lines at different angles. Furthermore, the integration of the walking mechanism, locking mechanism, and de-icing mechanism in existing de-icing devices is low, resulting in poor de-icing effects or insufficient adaptability. Therefore, there is an urgent need for a device that can efficiently, stably, and flexibly de-ic the multi-branched high-voltage transmission lines to improve de-icing efficiency and reduce the need for manual intervention. Summary of the Invention

[0004] This invention overcomes the shortcomings of the prior art and proposes a de-icing device for high-voltage transmission lines; solving the problem that current de-icing devices are difficult to adapt to the de-icing needs of multi-split high-voltage transmission lines.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution.

[0006] A de-icing device for high-voltage transmission lines includes two de-icing bodies. The front and rear ends of the two de-icing bodies are connected by a set of cross-line mechanisms. The cross-line mechanism includes two actuating gear rings, two actuating gears, two actuating motors, and an actuating connecting rod. The two actuating gear rings are respectively fixedly mounted on the end faces of the two de-icing bodies. The two ends of the actuating connecting rod are respectively rotatably connected to the two actuating gear rings. An actuating motor is fixedly mounted on each end of the actuating connecting rod. An actuating gear is fixedly mounted on the output shaft of the actuating motor, and the actuating gear meshes with the actuating gear ring on the same side.

[0007] Furthermore, the de-icing body includes an outer shell, a V-shaped groove is provided at the lower end of the outer shell, and a vertical open inlet / outlet groove is provided at the top of the V-shaped groove. The inlet / outlet groove is connected to the front and rear end faces of the outer shell, and the interior of the outer shell is connected to the exterior through the inlet / outlet groove.

[0008] Furthermore, the actuating gear ring is located above the outer side of the inlet / outlet groove of the outer shell. The actuating gear ring has an arc-shaped structure, with the arc-shaped opening of the actuating gear ring pointing vertically downward and located on the upper outer side of the V-shaped groove. An arc-shaped T-shaped groove is fixedly provided on the end face of the actuating gear ring away from the outer shell. The actuating linkage includes a transverse plate and two longitudinal plates; the two longitudinal plates are fixedly disposed at the left and right ends of the transverse plate, and the transverse plate is perpendicular to the longitudinal plates; the transverse plate is located on the side of the actuating gear ring away from the outer shell, and the longitudinal plates at both ends maintain sliding contact with the inner cylindrical surfaces of the two actuating gear rings respectively; a T-shaped block is fixedly disposed at both ends of the transverse plate near the actuating gear ring, and the two T-shaped blocks are slidably engaged in the T-slots of the two actuating gear rings respectively; two actuating motors are fixedly disposed at the left and right ends of the transverse plate away from the actuating gear ring, and the actuating gears are fixedly disposed after the output shaft of the actuating motor passes through the transverse plate.

[0009] Furthermore, a set of de-icing mechanisms is respectively provided at the front and rear ends inside the outer shell; the de-icing mechanism includes a de-icing bracket, a de-icing blade, a de-icing motor, an ice-sweeping motor, and an ice-sweeping rod; the de-icing bracket includes a first horizontal plate, two first vertical plates, and two second horizontal plates; the left and right ends of the first horizontal plate are fixedly connected to the left and right inner walls of the outer shell respectively; two symmetrical first vertical plates are fixedly provided at the middle of the lower end face of the first horizontal plate; a second horizontal plate is fixedly provided at the lower end of the side end face of the two first vertical plates that are far apart from each other; the two first horizontal plates are fixedly provided at the middle of the lower end face of the first horizontal plate. An ice-removing blade is rotatably mounted between two vertical plates, located at the upper end of the inlet / outlet slot. An ice-removing motor is fixedly mounted on the outer surface of one of the first vertical plates, with its output shaft fixedly connected to the end of the first rotating shaft of the ice-removing blade. An ice-sweeping motor is fixedly mounted at the center of the upper surface of each of the two second horizontal plates, with its output shaft vertically downward through the second horizontal plate. An ice-sweeping rod is fixedly mounted on the output shaft of the ice-sweeping motor, with the two ice-sweeping rods located on the left and right sides of the inlet / outlet slot, respectively. One end of the ice-sweeping rod is fixedly connected to the output shaft of the ice-sweeping motor.

[0010] Furthermore, a set of striking mechanisms is provided in the middle of the inner side of the outer casing, and the striking mechanisms are located at the upper end of the inlet / outlet slot; the striking mechanisms include a striking bracket, a first motor mounting bracket, a striking motor, a cam, a striking rod, an ultrasonic transducer, and an ultrasonic tool head; the left and right ends of the striking bracket are respectively fixedly connected to the left and right inner walls of the outer casing; a vertical first motor mounting bracket is fixedly installed on the upper end face of the striking bracket, and a striking motor is fixedly installed on the upper end of the first motor mounting bracket, with a cam fixedly installed on the output shaft of the striking motor; on the convex A cam groove is provided on one end face of the wheel, and a bearing is slidably mounted inside the cam groove; a vertical striking rod is provided on one side of the cam, and the upper end of the striking rod is connected to the bearing through a horizontal connecting rod; an upper sliding groove is provided on the striking bracket, and the striking rod is slidably mounted in the upper sliding groove along the vertical direction; an ultrasonic transducer is provided at the lower end of the striking rod, and the ultrasonic transducer is connected to the ultrasonic tool head; an ultrasonic generator is fixedly installed inside the housing, and the ultrasonic generator is electrically connected to the ultrasonic transducer.

[0011] Furthermore, a walking mechanism is provided in the middle of the inner side of the outer casing. This walking mechanism includes an upper walking bracket, upper walking wheels, upper walking motors, a return spring, a guide cylinder, and guide rods. Four upper walking wheels are rotatably mounted inside the upper walking bracket in the front-to-back direction. Four upper walking motors are fixedly mounted on the outer surface of the upper walking bracket, and the output shafts of the four upper walking motors are respectively fixedly connected to the ends of the rotating shafts of the four upper walking wheels. Two symmetrical vertical guide rods are fixedly mounted on the upper end face of the upper walking bracket, with the upper ends of the guide rods... A limiting ring is fixedly sleeved on the side; two vertically symmetrical guide cylinders are fixedly installed on the inner top surface of the outer shell, and the guide cylinders are cylindrical structures with open lower ends; the upper ends of two guide rods are slidably inserted into the lower openings of the two guide cylinders respectively; an annular limiting groove is provided at the middle height of the inner wall of the guide cylinder, and the limiting ring at the upper end of the guide rod is slidably installed in the limiting groove; the same return spring is sleeved on the outer side of the guide cylinder and the guide rod, and the upper and lower ends of the return spring are fixedly connected to the inner top surface of the outer shell and the upper end surface of the upper traveling bracket respectively.

[0012] Furthermore, the walking mechanism also includes a lower walking bracket, lower walking wheels, a lower walking motor, a drive gear, a driven gear, a rotating seat, a first connecting rod, and a first electric push rod; four lower walking brackets are arranged below the upper walking brackets, and the four lower walking brackets are respectively located below the four upper walking wheels; two lower walking wheels are rotatably arranged inside the lower walking brackets, with the ends of the shafts of the two lower walking wheels extending to the outside of the lower walking brackets, and a driven gear is fixedly arranged at the ends of the shafts of the two lower walking wheels; a lower walking motor is fixedly arranged on the outer surface of the lower walking brackets, and a drive gear is fixedly arranged on the output shaft of the lower walking motor. The drive gear meshes with two driven gears. A rotating seat is fixedly installed on the outer surface of each lower traveling bracket. One end of the rotating seat is fixedly connected to the lower traveling bracket, and the other end is rotatably connected to the inner wall of the outer casing. The two rotating seats in the middle are located on one side of the lower traveling bracket, and the two rotating seats at the front and rear ends are located on the other side of the lower traveling bracket. The two rotating seats on the same side are fixedly connected by a front-to-back horizontal connecting plate. Two symmetrical first connecting rods are installed between the connecting plate and the side of the upper traveling bracket. The upper end of the first connecting rod is rotatably connected to the outer surface of the upper traveling bracket, and the lower end of the first connecting rod is rotatably connected to the upper surface of the connecting plate. The first connecting rods on the left and right sides are symmetrically arranged. A first electric push rod is fixedly installed at the lower end of the inner wall of the left and right sides of the outer casing. The cylinder of the first electric push rod is fixedly installed on the inner wall of the outer casing, and the piston rod of the first electric push rod is obliquely upward.

[0013] Furthermore, two sets of locking mechanisms are provided inside the outer casing, one at the front and one at the rear. Each locking mechanism includes a locking bracket, a second electric push rod, a fixed seat, a sliding seat, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, and a clamping plate. The locking bracket is fixedly installed between the inner walls of the left and right sides of the outer casing. A second electric push rod is fixedly installed on the locking bracket, with its piston rod pointing vertically downwards. A fixed seat is fixedly installed at one end of the cylinder of the second electric push rod near the piston rod. A sliding groove extending horizontally through the fixed seat is provided inside the fixed seat. A sliding seat is slidably installed vertically inside the fixed seat. A second connecting rod and a third connecting rod are rotatably installed at the left and right ends of the sliding seat, respectively. The second connecting rod is located above the third connecting rod and is parallel to the third connecting rod. The fourth connecting rod includes an upper vertical... The system comprises a first section, a middle inclined section, and a lower vertical section, wherein the upper vertical section is located outside the lower vertical section, and the middle inclined section is fixedly installed between the lower end of the upper vertical section and the upper end of the lower vertical section; one end of the second and third connecting rods is hinged to the sliding seat, and the ends of the second and third connecting rods away from the sliding seat are hinged to the upper and lower ends of the upper vertical section of the fourth connecting rod; the end faces of the second and third connecting rods, the sliding seat, and the upper vertical section of the fourth connecting rod form a parallelogram structure; two symmetrical fifth connecting rods are rotatably installed on the cylinder of the second electric push rod near the piston rod, one end of the fifth connecting rod is hinged to the cylinder of the second electric push rod, and the end of the fifth connecting rod away from the cylinder of the second electric push rod is hinged to the middle of the second connecting rod on the same side; a clamping plate is fixedly installed at the lower end of the lower vertical section of each of the two fourth connecting rods.

[0014] Furthermore, a hook is fixedly installed at the top center of the outer shell; counterweights are installed on the left and right sides inside the outer shell, and the overall balance of the de-icing body is maintained by adjusting the counterweights on the left and right sides; a camera is fixedly installed above the inlet and outlet slots at the front and rear ends of the outer shell.

[0015] Furthermore, a solar panel is installed on the top of the casing, and a battery is installed inside the casing, which is connected to the solar panel.

[0016] The beneficial effects of this invention compared to the prior art are as follows: This invention provides a de-icing device for high-voltage transmission lines. Through the coordinated action of two de-icing bodies, combined with the revolution and rotation functions of the cross-line mechanism, it can cover different angles of a six-split high-voltage transmission line, achieving continuous de-icing of multiple high-voltage transmission lines and significantly improving operational efficiency. It integrates de-icing blades, ice-sweeping rods, ultrasonic vibration, and a striking mechanism, combining mechanical crushing, vibration peeling, and ultrasonic de-icing to effectively remove ice of varying thicknesses, enhancing the de-icing effect. The upper and lower traveling wheel sets clamp the high-voltage transmission line, and the electric push rod and return spring ensure stable movement of the device on the high-voltage transmission line. A locking mechanism secures the high-voltage transmission line with clamps to prevent the device from shifting or falling off during operation. Drone hoisting and camera-assisted positioning reduce manual operation. The rotation angle of the cross-line mechanism is controlled by a motor, enabling automatic switching of the de-icing body between high-voltage transmission lines, reducing operational difficulty. Equipped with solar panels and batteries, it utilizes renewable energy for power, reducing dependence on external energy sources and making it suitable for long-term field operations. The modular design ensures close cooperation between all mechanisms, resulting in high overall structural strength and adaptability to the complex working conditions of high-voltage transmission lines. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure when the invention is working. Figure 1 ; Figure 2 This is a schematic diagram of the structure when the invention is working. Figure 2 ; Figure 3 yes Figure 2 A magnified view of a portion of point A in the middle; Figure 4 This is a schematic diagram of the cross-line mechanism; Figure 5 This is a schematic diagram of the action linkage; Figure 6 This is a schematic diagram of the main de-icing unit; Figure 7 This is a schematic diagram of the internal structure of the de-icing unit's outer shell. Figure 1 ; Figure 8 This is a schematic diagram of the internal structure of the de-icing unit's outer shell. Figure 2 ; Figure 9 This is a schematic diagram of the internal structure of the de-icing unit's outer shell. Figure 3 ; Figure 10 This is a schematic diagram of the de-icing mechanism; Figure 11 This is a schematic diagram of the striking mechanism. Figure 1 ; Figure 12 This is a schematic diagram of the striking mechanism. Figure 2 ; Figure 13 This is a schematic diagram of the walking mechanism. Figure 1 ; Figure 14 This is a schematic diagram of the walking mechanism. Figure 2 ; Figure 15 This is a schematic diagram showing the connection between the guide rod, guide cylinder, and return spring. Figure 16 This is a schematic diagram showing the connection between the upper walking support, the upper walking wheel, and the upper walking motor; Figure 17 This is a schematic diagram showing the connection between the lower walking support, the lower walking wheels, and the lower walking motor; Figure 18 This is a schematic diagram of the locking mechanism; Figure 19 This is a schematic diagram of the walking mechanism before it comes into contact with the high-voltage transmission line. Figure 1 ; Figure 20 This is a schematic diagram of the walking mechanism before it comes into contact with the high-voltage transmission line. Figure 2 ; Figure 21 This is a schematic diagram showing the relative relationship between the traveling mechanism and the outer casing before it comes into contact with the high-voltage transmission line; Figure 22 This is a schematic diagram showing the relative relationship between the traveling mechanism and the outer casing after it is fully clamped to the high-voltage transmission line; Figure 23 This is a schematic diagram of the workflow of the present invention; Among them, 1 is the de-icing body, 2 is the cross-line mechanism, 3 is the actuating gear ring, 4 is the actuating gear, 5 is the actuating motor, 6 is the actuating linkage, 7 is the outer shell, 8 is the V-groove, 9 is the inlet / outlet groove, 10 is the transverse plate, 11 is the longitudinal plate, 12 is the T-groove, 13 is the T-block, 14 is the de-icing mechanism, 15 is the de-icing bracket, 16 is the de-icing blade, 17 is the de-icing motor, 18 is the ice-sweeping motor, 19 is the ice-sweeping rod, 20 is the striking mechanism, 21 is the striking bracket, 22 is the striking motor, 23 is the cam, 24 is the cam groove, 25 is the striking rod, 26 is the bearing, 27 is the walking mechanism, 28 is the upper walking bracket, 29 is the upper walking wheel, 30 is the upper walking motor, 31 is the guide rod, 32 is the... 33 is a limiting ring, 34 is a guide cylinder, 35 is a limiting groove, 36 is a return spring, 37 is a lower walking bracket, 38 is a lower walking wheel, 39 is a lower walking motor, 40 is a driving gear, 41 is a driven gear, 42 is a rotating seat, 43 is a connecting plate, 44 is a first connecting rod, 45 is a clearance groove, 46 is a locking mechanism, 47 is a locking bracket, 48 is a second electric pushing rod, 49 is a fixed seat, 50 is a sliding seat, 51 is a second connecting rod, 52 is a third connecting rod, 53 is a fourth connecting rod, 54 is a fifth connecting rod, 55 is a clamping plate, 56 is a hook, 57 is a camera, 58 is a solar panel, 59 is the first de-icing body, and 60 is the second de-icing body. Detailed Implementation

[0018] To make the technical problems to be solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The technical solutions of this invention are described in detail below with reference to the embodiments and accompanying drawings, but the scope of protection is not limited thereto.

[0019] like Figure 1 As shown in Figure 22, the present invention provides a de-icing device for high-voltage transmission lines, comprising two de-icing bodies 1. The front and rear ends of the two de-icing bodies 1 are connected by a set of cross-line mechanisms 2. The cross-line mechanism 2 includes two actuating gear rings 3, two actuating gears 4, two actuating motors 5, and an actuating connecting rod 6. The two actuating gear rings 3 are respectively fixedly disposed on the end faces of the two de-icing bodies 1. The two ends of the actuating connecting rod 6 are respectively rotatably connected to the two actuating gear rings 3. An actuating motor 5 is fixedly disposed at each end of the actuating connecting rod 6. An actuating gear 4 is fixedly disposed on the output shaft of the actuating motor 5. The actuating gear 4 meshes with the actuating gear ring 3 on the same side.

[0020] The de-icing body 1 includes a hollow square outer shell 7. A V-shaped groove 8 with a downward-facing V-shaped opening is provided at the lower end of the outer shell 7, and the V-shaped groove 8 extends horizontally in the front-back direction. A vertical open inlet / outlet groove 9 is provided at the top of the V-shaped groove 8, and the inlet / outlet groove 9 extends horizontally in the front-back direction. The inlet / outlet groove 9 is connected to the front and rear end faces of the outer shell 7, and the interior of the outer shell 7 is connected to the outside through the inlet / outlet groove 9.

[0021] The actuating gear ring 3 is located above the outer side of the inlet / outlet slot 9 of the outer casing 7. The actuating gear ring 3 has an arc-shaped structure, with its arc-shaped opening pointing vertically downwards and located on the upper outer side of the V-shaped groove 8. An arc-shaped T-groove 12 is fixedly provided on the end face of the actuating gear ring 3 away from the outer casing 7.

[0022] The actuating linkage 6 includes a transverse plate 10 and two longitudinal plates 11. The transverse plate 10 is a planar plate structure, horizontally arranged along its length in the left-right direction, and parallel to the front and rear end faces of the outer casing 7. The longitudinal plates 11 are arc-shaped plate structures. The two longitudinal plates 11 are fixedly arranged at the left and right ends of the transverse plate 10, perpendicular to the transverse plate 10 and the longitudinal plates 11. The transverse plate 10 is located on the side of the actuating gear ring 3 away from the outer casing 7, and the longitudinal plates 11 at both ends maintain sliding contact with the inner cylindrical surfaces of the two actuating gear rings 3. A T-shaped block 13 is fixedly arranged at each end of the transverse plate 10 near the actuating gear ring 3, and the two T-shaped blocks 13 are slidably engaged in the T-slots 12 of the two actuating gear rings 3.

[0023] Two actuation motors 5 are fixedly installed at the left and right ends of the side face of the transverse plate 10 away from the actuation gear ring 3. The output shaft of the actuation motor 5 passes through the transverse plate 10 and is fixedly installed with the actuation gear 4.

[0024] A set of de-icing mechanisms 14 is provided at both the front and rear ends inside the outer casing 7. The de-icing mechanism 14 includes a de-icing bracket 15, a de-icing blade 16, a de-icing motor 17, an ice-sweeping motor 18, and an ice-sweeping rod 19.

[0025] The de-icing bracket 15 includes a first horizontal plate, two first vertical plates, and two second horizontal plates. The left and right ends of the first horizontal plate are fixedly connected to the left and right inner walls of the outer casing 7, respectively. Two symmetrical first vertical plates are fixedly installed in the middle of the lower end face of the first horizontal plate, and the first vertical plates are located in the vertical plane in the front-back direction. A second horizontal plate is fixedly installed at the lower end of the side end face of the two first vertical plates that are far apart from each other.

[0026] An ice-removing blade 16 is rotatably disposed between two first vertical plates, located at the upper end of the inlet / outlet groove 9. The ice-removing blade 16 includes a first rotating shaft, a first circular plate, a second circular plate, and a third circular plate. The first rotating shaft is horizontally disposed along the left-right direction, with its two ends rotatably disposed on the two first vertical plates. A first circular plate, two second circular plates, and two third circular plates are fixedly sleeved on the first rotating shaft. The first circular plate is located in the middle of the first rotating shaft, the two second circular plates are located on the left and right sides of the first circular plate, and the two third circular plates are located on the side of the two second circular plates furthest from the first circular plate. The outer diameter of the first circular plate is smaller than the outer diameter of the second circular plate, and the outer diameter of the second circular plate is smaller than the outer diameter of the third circular plate. A ring of ice-removing teeth is fixedly disposed on the outer cylindrical surface of each of the first, second, and third circular plates. An ice-removing motor 17 is fixedly installed on the outer side of one of the first vertical plates. The output shaft of the ice-removing motor 17 is fixedly connected to the end of the first rotating shaft, and the ice-removing blade 16 is driven to rotate by the ice-removing motor 17.

[0027] A vibration motor is also fixedly installed on the de-icing bracket 15.

[0028] An ice-sweeping motor 18 is fixedly installed at the center of the upper end face of each of the two second horizontal plates. The output shaft of the ice-sweeping motor 18 passes vertically downward through the second horizontal plate. An ice-sweeping rod 19 is fixedly installed on the output shaft of the ice-sweeping motor 18. The two ice-sweeping rods 19 are located on the left and right sides of the inlet / outlet slot 9, respectively. The ice-sweeping rods 19 are kept horizontal, and one end of the ice-sweeping rod 19 is fixedly connected to the output shaft of the ice-sweeping motor 18.

[0029] A set of striking mechanisms 20 is provided in the middle of the inner side of the outer casing 7, and the striking mechanisms 20 are located at the upper end of the inlet / outlet slot 9. The striking mechanism 20 includes a striking bracket 21, a first motor fixing bracket, a striking motor 22, a cam 23, a striking rod 25, an ultrasonic transducer, and an ultrasonic tool head.

[0030] The striking bracket 21 is kept horizontal, and its left and right ends are fixedly connected to the inner walls of the left and right sides of the outer casing 7, respectively. A vertical first motor mounting bracket is fixedly installed on the upper end face of the striking bracket 21, and a striking motor 22 is fixedly installed on the upper end of the first motor mounting bracket. A vertical cam 23 is fixedly installed on the output shaft of the striking motor 22. A cam groove 24 is provided on one side end face of the cam 23, and a bearing 26 is slidably installed inside the cam groove 24. A vertical striking rod 25 is provided on one side of the cam 23, and the upper end of the striking rod 25 is connected to the bearing 26 through a horizontal connecting rod. An upper sliding groove is provided on the striking bracket 21, and the striking rod 25 is slidably installed in the upper sliding groove along the vertical direction. An ultrasonic transducer is provided at the lower end of the striking rod 25, and the ultrasonic transducer is connected to the ultrasonic tool head. An ultrasonic generator is fixedly installed inside the outer casing 7, and the ultrasonic generator is electrically connected to the ultrasonic transducer.

[0031] When the striking motor 22 drives the cam 23 to rotate, the bearing 26 slides inside the cam groove 24, thereby driving the striking rod 25 to reciprocate up and down inside the upper sliding groove. The striking rod 25 drives the ultrasonic transducer and the ultrasonic tool head to reciprocate up and down.

[0032] A set of walking mechanisms 27 is provided in the middle of the inner side of the outer casing 7, and the walking mechanism 27 is located below the striking mechanism 20. The walking mechanism 27 includes an upper walking bracket 28, a lower walking bracket 36, an upper walking wheel 29, a lower walking wheel 37, an upper walking motor 30, a lower walking motor 38, a driving gear 39, a driven gear 40, a rotating seat 41, a first connecting rod 43, a return spring 35, a guide cylinder 33, a guide rod 31, and a first electric push rod 44.

[0033] The upper traveling bracket 28 is a U-shaped plate structure with an opening facing downwards, extending horizontally in the front-to-back direction. Four upper traveling wheels 29 are rotatably mounted inside the upper traveling bracket 28 in the front-to-back direction. Four upper traveling motors 30 are fixedly mounted on the outer surface of the upper traveling bracket 28. The output shafts of the four upper traveling motors 30 are fixedly connected to the ends of the rotating shafts of the four upper traveling wheels 29, thereby driving the four upper traveling wheels 29 to rotate inside the upper traveling bracket 28.

[0034] Two symmetrical vertical guide rods 31 are fixedly installed on the upper end face of the upper walking bracket 28. A limiting ring 32 is fixedly sleeved on the outer side of the upper end of the guide rod 31. Two symmetrical vertical guide cylinders 33 are fixedly installed on the inner top surface of the outer casing 7. The guide cylinders 33 are cylindrical structures with open lower ends. The upper ends of the two guide rods 31 are slidably inserted into the lower openings of the two guide cylinders 33. An annular limiting groove 34 is provided at the middle height of the inner wall of the guide cylinder 33. The limiting ring 32 at the upper end of the guide rod is slidably disposed in the limiting groove 34. The same return spring 35 is sleeved on the outer side of the guide cylinder 33 and the guide rod 31. The upper and lower ends of the return spring 35 are fixedly connected to the inner top surface of the outer casing 7 and the upper end face of the upper walking bracket 28, respectively.

[0035] Four lower traveling supports 36 are provided below the upper traveling support 28, and the four lower traveling supports 36 are respectively located below the four upper traveling wheels 29. The lower traveling supports 36 are U-shaped plate structures with openings facing upwards, and extend horizontally in the front-to-back direction. Two lower traveling wheels 37 are rotatably mounted inside the lower traveling supports 36, with the ends of the shafts of the two lower traveling wheels 37 extending to the outside of the lower traveling supports 36, and a driven gear 40 is fixedly mounted at the ends of the shafts of the two lower traveling wheels 37. A second motor mounting bracket is fixedly mounted on the outer surface of the lower traveling supports 36, and a lower traveling motor 38 is fixedly mounted on the second motor mounting bracket. A driving gear 39 is fixedly mounted on the output shaft of the lower traveling motor 38, and the driving gear 39 meshes with the two driven gears 40. The driving motor drives the driving gear 39 to rotate, the driving gear 39 drives the two driven gears 40 to rotate synchronously, and the two driven gears 40 drive the two lower traveling wheels 37 to rotate synchronously.

[0036] A rotating seat 41 is fixedly installed on the outer surface of each lower traveling bracket 36. The rotating seat 41 extends horizontally in the left-right direction. One end of the rotating seat 41 is fixedly connected to the lower traveling bracket 36, and the other end of the rotating seat 41 is rotatably connected to the inner wall of the outer casing 7. The two rotating seats 41 in the middle are located on one side of the lower traveling bracket 36, and the two rotating seats 41 at the front and rear ends are located on the other side of the lower traveling bracket 36. The two rotating seats 41 on the same side are fixedly connected by a front-rear horizontal connecting plate 42. Two front-rear symmetrical first connecting rods 43 are provided between the connecting plate 42 and the side of the upper traveling bracket 28. The upper end of the first connecting rod 43 is rotatably connected to the outer surface of the upper traveling bracket 28, and the lower end of the first connecting rod 43 is rotatably connected to the upper surface of the connecting plate 42. The first connecting rods 43 on the left and right sides are symmetrically arranged.

[0037] A first electric push rod 44 is fixedly installed on the lower end of the inner wall on both the left and right sides of the outer casing 7. The cylinder of the first electric push rod 44 is fixedly installed on the inner wall of the outer casing 7, and the piston rod of the first electric push rod 44 is set obliquely upward.

[0038] A lower sliding groove that runs vertically through the middle of the upper walking bracket 28 is provided, and the lower sliding groove is provided in correspondence with the upper sliding groove. The lower end of the striking rod 25 passes through the lower sliding groove.

[0039] Four sets of clearance grooves 45 are provided on the left and right side walls of the V-shaped groove 8 of the outer shell 7. The four sets of clearance grooves 45 correspond to the four lower walking supports 36. The clearance grooves 45 are used to avoid the lower walking supports 36 in motion.

[0040] Inside the outer casing 7, there are two sets of locking mechanisms 46, one at the front and one at the back. The locking mechanisms 46 are located between the upper traveling bracket 28 and the two de-icing mechanisms 14. The locking mechanism 46 includes a locking bracket 47, a second electric push rod 48, a fixed base 49, a sliding base 50, a second connecting rod 51, a third connecting rod 52, a fourth connecting rod 53, a fifth connecting rod 54, and a clamping plate 55.

[0041] The locking bracket 47 is fixedly disposed between the inner walls of the left and right sides of the outer casing 7. A second electric push rod 48 is fixedly disposed on the locking bracket 47, and the piston rod of the second electric push rod 48 points vertically downward. A fixed seat 49 is fixedly disposed at the end of the cylinder of the second electric push rod 48 near the piston rod. A sliding groove extending vertically through the fixed seat 49 is provided inside the fixed seat 49. A sliding seat 50, which is a cuboid structure, is slidably disposed vertically inside the fixed seat 49.

[0042] A second connecting rod 51 and a third connecting rod 52 are rotatably mounted at the left and right ends of the sliding seat 50, respectively. The second connecting rod 51 and the third connecting rod 52 on the left are symmetrical to those on the right. The second connecting rod 51 is located above the third connecting rod 52 and is parallel to it. The fourth connecting rod 53 includes an upper vertical section, a middle inclined section, and a lower vertical section. The upper vertical section is located outside the lower vertical section, and the middle inclined section is fixedly mounted between the lower end of the upper vertical section and the upper end of the lower vertical section. One end of the second connecting rod 51 and the third connecting rod 52 is hinged to the sliding seat 50, and the end of the second connecting rod 51 and the third connecting rod 52 away from the sliding seat 50 is hinged to the upper and lower ends of the upper vertical section of the fourth connecting rod 53. The second link 51, the third link 52, the end face of the sliding seat 50, and the upper vertical section of the fourth link 53 form a parallelogram structure, thereby ensuring that the upper and lower vertical sections of the fourth link 53 always remain vertical.

[0043] Two symmetrical fifth connecting rods 54 are rotatably mounted on the cylinder body of the second electric push rod 48 near the piston rod. One end of the fifth connecting rod 54 is hinged to the cylinder body of the second electric push rod 48, and the other end of the fifth connecting rod 54 away from the cylinder body of the second electric push rod 48 is hinged to the middle of the second connecting rod 51 on the same side.

[0044] A clamping plate 55 is fixedly installed at the lower end of the vertical section of each of the two fourth connecting rods 53. The clamping plate 55 is located in the vertical plane in the front-back direction. A horizontal arc groove is provided at the middle height of the end face of the two clamping plates 55 on the side that are close to each other.

[0045] When the piston rod of the second electric push rod 48 inside the de-icing body 1 begins to retract, it drives the sliding seat 50 to rise. During the rising process, the fifth connecting rod 54 begins to rotate downward, causing the two fourth connecting rods 53 to move closer together, thereby driving the two clamping plates 55 to move closer together until the two clamping plates 55 stably clamp the high-voltage transmission line. At this time, the clamping plates 55 in the front and rear locking mechanisms 46 stably clamp the high-voltage transmission line, and the de-icing body 1 cannot rotate relative to the high-voltage transmission line. That is, the angle between the de-icing body 1 and the high-voltage transmission line is fixed and locked together.

[0046] When the piston rod of the second electric push rod 48 inside the de-icing body 1 begins to extend, it drives the sliding seat 50 to descend. During the descent of the sliding seat 50, the fifth connecting rod 54 begins to rotate upward, causing the two fourth connecting rods 53 to move away from each other, thereby driving the two clamping plates 55 to move away from each other until the two clamping plates 55 are disengaged from the high-voltage transmission line. At this time, the locking mechanism 46 is in the unlocked state, and the de-icing body 1 can rotate relative to the high-voltage transmission line.

[0047] A hook 56 is fixedly installed at the top center of the outer casing 7. Counterweights are installed on the left and right sides inside the outer casing 7, and the overall balance of the de-icing body 1 is maintained by adjusting the counterweights on the left and right sides. A camera 57 is fixedly installed above the inlet / outlet slots 9 at the front and rear ends of the outer casing 7.

[0048] A solar panel 58 is installed on the top of the outer casing 7, and a storage battery is installed inside the outer casing 7. The storage battery is connected to the solar panel 58, which provides power to the storage battery. The storage battery is electrically connected to an ultrasonic generator, an ultrasonic transducer, an actuation motor 5, a de-icing motor 17, an ice-sweeping motor 18, a striking motor 22, an upper walking motor 30, a lower walking motor 38, a second electric push rod 48, and a camera 57. By pre-charging the storage battery, the normal power requirements of the de-icing device during operation can be guaranteed. When the storage battery is low due to prolonged operation of the de-icing device, it can be powered by the solar panel 58.

[0049] like Figure 23 As shown, the working principle of this invention is as follows: Step 1: When it is necessary to de-ice a group of six high-voltage transmission lines, first connect this device to the hoisting mechanism of the drone, so that the two automatically opening and closing hooks on the drone are connected to the hooks 56 on the two de-icing bodies 1, so that the drone can lift this device.

[0050] In the initial state, the two first electric push rods 44 are in the retracted state; the return spring 35 is in the free rebound state. At this time, the limiting ring 32 at the upper end of the guide rod 31 is in contact with the bottom surface of the limiting groove 34 inside the guide cylinder 33. The upper traveling bracket 28 is at the lowest point, the two rotating seats 41 are rotated to the lowest point, and the four lower traveling brackets 36 are all located inside the outer shell 7. The four ice sweeping rods 19 are all rotated to the side away from the inlet / outlet groove 9. The second electric push rod 48 is in the extended state, and at this time, the two clamping plates 55 are far apart from each other.

[0051] Step 2: When the drone hoists the device above the high-voltage power lines, the relative position between the device and the high-voltage power lines is observed through the camera 57 on both the drone and the device, ensuring that the V-shaped grooves 8 on the two de-icing bodies 1 correspond to the two uppermost high-voltage power lines. Then, the drone is controlled to descend, driving the device to continue descending, causing the two uppermost high-voltage power lines to fall into the V-shaped grooves 8 of the two de-icing bodies 1. Guided by the V-shaped grooves 8 and the high-voltage power lines, the high-voltage power lines enter the inlet / outlet grooves 9 of the de-icing body 1 and slide upwards along the inlet / outlet grooves 9 until they contact the two upper traveling wheels 29.

[0052] Step 3: As the device continues to descend, under the influence of gravity, the high-voltage transmission line pushes the upper traveling bracket 28 upward within the inlet / outlet slot 9, causing the return spring 35 to be continuously compressed. During the upward sliding of the upper traveling bracket 28, the upper traveling bracket 28 drives the rotating seats 41 and connecting plates 42 on both sides to rotate upward via the first connecting rods 43 on both sides. The rotating seats 41 drive the four lower traveling brackets 36 to move upward continuously. When the upper surface of the upper traveling bracket 28 contacts the lower surface of the striking bracket 21, the upper traveling bracket 28 stops sliding upward, and the lower traveling brackets 36 also stop moving upward. At this time, the four sets of lower traveling wheels 37 contact the lower end of the high-voltage transmission line, clamping the high-voltage transmission line through the upper traveling wheels 29 and the lower traveling wheels 37. At this time, the de-icing blades 16 on both the front and rear sides also contact the high-voltage transmission line, and the lower end of the ultrasonic tool head also contacts the high-voltage transmission line.

[0053] Step 4: When the device stops descending, the piston rods of the two first electric push rods 44 inside the two de-icing bodies 1 are extended, so that the piston rod ends of the two first electric push rods 44 abut against the middle of the lower end face of the two connecting plates 42 respectively. The piston rods of the first electric push rods 44 support the connecting plates 42, so that the connecting plates 42 and the rotating seat 41 cannot rotate downward. At this time, the position of the lower walking bracket 36 is fixed and cannot move downward. Therefore, the upper walking wheel 29 and the lower walking wheel 37 stably clamp the high-voltage transmission line.

[0054] At this point, the two de-icing bodies 1 are respectively engaged with the two uppermost high-voltage power lines. Then, the hook on the drone is disengaged from the hook 56 at the top of the de-icing body 1. (At this point, the left de-icing body 1 is engaged with the high-voltage power line on the upper left, and the right de-icing body 1 is engaged with the high-voltage power line on the upper right. In the following text, the left de-icing body 1 will be referred to as the first de-icing body 59, the right de-icing body 1 will be referred to as the second de-icing body 60, the left-side motion motor 5 will be referred to as the first motion motor, the left-side motion gear 4 will be referred to as the first motion gear, the left-side motion gear ring 3 will be referred to as the first motion gear ring, the right-side motion motor 5 will be referred to as the second motion motor, the right-side motion gear 4 will be referred to as the second motion gear, and the right-side motion gear ring 3 will be referred to as the second motion gear ring.) Step 5: Control the upper travel motor 30 and the lower travel motor 38 to start running. The upper travel motor 30 drives the upper travel wheel 29 to start rotating, and the lower travel motor 38 drives the lower travel wheel 37 to start rotating. Through the rolling contact between the upper travel wheel 29 and the lower travel wheel 37 and the high-voltage transmission line, the two de-icing bodies 1 are driven to move on the two uppermost high-voltage transmission lines.

[0055] As the two de-icing bodies 1 move forward, the de-icing motor 17 and the ice-sweeping motor 18 on the front side start to operate. The de-icing motor 17 drives the de-icing blade 16 to rotate. The rotating de-icing blade 16 crushes the ice on the high-voltage transmission line through its outer de-icing teeth. At the same time, the ice-sweeping motor 18 drives the two ice-sweeping rods 19 on the front side to rotate. The ice-sweeping rods 19 break and remove the ice slicks at the lower end of the high-voltage transmission line.

[0056] As the two de-icing bodies 1 move forward, the striking motor 22 starts operating. When the striking motor 22 drives the cam 23 to rotate, the bearing 26 slides inside the cam groove 24, causing the striking rod 25 to reciprocate up and down inside the upper sliding groove. The striking rod 25 drives the ultrasonic transducer and ultrasonic tool head to reciprocate up and down, and the reciprocating ultrasonic tool head strikes the high-voltage transmission line. Simultaneously, the ultrasonic waves generated by the ultrasonic generator are transmitted to the ultrasonic tool head through the ultrasonic transducer. The ultrasonic tool head acts on the high-voltage transmission line, thereby removing the ice accumulating on it. When the icing is severe, the vibration motor is activated. Once activated, the vibration motor drives the de-icing bracket 15 to vibrate, thereby assisting the de-icing blade 16 in removing the ice accumulating on the high-voltage transmission line.

[0057] Step 6: When the device reaches the hexagonal divider on the high-voltage transmission line, it indicates that the ice on the two uppermost high-voltage transmission lines has been removed. At this time, it is necessary to remove the ice on the high-voltage transmission line on the right and the high-voltage transmission line below the right. At this time, it is necessary to control the two de-icing bodies 1 of the device to move to the high-voltage transmission line on the right and the high-voltage transmission line below the right.

[0058] Step 7: Control the locking mechanism 46 inside the first de-icing body 59 to enter the locked state, preventing the first de-icing body 59 from rotating relative to the high-voltage transmission line on the upper left. Simultaneously, control the locking mechanism 46 inside the second de-icing body 60 to enter the unlocked state, and cause the piston rods of the two first electric push rods 44 inside the second de-icing body 60 to retract, so that the piston rods of the first electric push rods 44 inside the second de-icing body 60 no longer abut against the lower end of the connecting plate 42 inside the second de-icing body 60. Then, control the second actuation motor to start rotating. The second actuation motor drives the second actuation gear to rotate, and the second actuation gear drives the second actuation gear ring and the entire second de-icing body 60 to begin rotating around the axis of the second actuation gear ring, causing the V-groove 8 at the lower end of the second de-icing body 60 to rotate 60 degrees clockwise.

[0059] Step 8: Control the locking mechanism 46 inside the first de-icing body 59 to be in the unlocked state, and simultaneously control the piston rods of the two first electric push rods 44 inside the first de-icing body 59 to retract, so that the piston rod ends of the first electric push rods 44 no longer abut against the lower end face of the connecting plate 42 inside the first de-icing body 59. Control the locking mechanism 46 inside the second de-icing body 60 to be in the locked state, and simultaneously control the piston rods of the first electric push rods 44 inside the second de-icing body 60 to be in the extended state, so that the piston rods of the first electric push rods 44 abut against the connecting plate 42 inside the second de-icing body 60. Then, the motor 5 on the second de-icing body 60 is controlled to start rotating. The second motor drives the second gear to rotate. Since the second de-icing body 60 cannot rotate, the second gear ring cannot move either. The second gear revolves around the axis of the second gear ring. The second gear drives the entire linkage 6 to rotate relative to the axis of the second gear ring. Therefore, the first de-icing body 59 also revolves relative to the axis of the second gear ring, causing the first de-icing body 59 to detach from the high-voltage transmission line on the upper left.

[0060] During the process of the first de-icing body 59 disengaging from the high-voltage power line on the upper left, the high-voltage power line slides downward inside the inlet / outlet groove 9 of the first de-icing body 59. Under the restoring force of the return spring 35, the upper traveling bracket 28 also slides downward inside the inlet / outlet groove 9 of the first de-icing body 59 along with the high-voltage power line on the upper left. Under the action of the first connecting rod 43, the rotating seat 41 and the connecting plate 42 inside the first de-icing body 59 also begin to rotate downward until the lower traveling bracket 36 rotates into the housing 7. At the same time, the high-voltage power line on the upper left also comes out of the first de-icing body 59. At this time, the limiting ring 32 at the upper end of the guide rod 31 inside the first de-icing body 59 contacts the bottom surface of the limiting groove 34 inside the guide cylinder 33, so that the upper traveling bracket 28 can no longer slide downward.

[0061] During the rotation of the actuating link 6, the T-block 13 on the right side slides inside the T-groove 12 of the second actuating gear ring, while the longitudinal plate 11 on the right side of the actuating link 6 also maintains motion contact with the inner cylindrical surface of the second actuating gear ring, ensuring the stable rotation of the actuating link 6.

[0062] Step 9: During the rotation of the linkage 6, the first actuation motor starts to rotate, driving the first actuation gear. Since the first de-icing body 59 is in a free state, the first actuation gear drives the first actuation gear ring to rotate around its axis, causing the first de-icing body 59 to also begin to rotate. The first de-icing body 59 stops rotating after rotating 180 degrees. That is, while the first de-icing body 59 revolves around the axis of the second actuation gear ring, it also maintains its own rotation.

[0063] Step 10: When the first de-icing body 59 revolves around the axis of the second actuating gear ring and is about to contact the high-voltage transmission line on the right, the V-groove 8 of the first de-icing body 59 aligns with the high-voltage transmission line on the right. The second actuating motor continues to rotate, and the high-voltage transmission line on the right enters the inlet / outlet groove 9 of the first de-icing body 59 along the V-groove 8. When the second actuating motor controls the actuating linkage 6 to rotate 120 degrees, the upper traveling wheel 29 and lower traveling wheel 37 inside the first de-icing body 59 make stable contact with the high-voltage transmission line on the right, the upper traveling bracket 28 contacts the striking bracket 21, and the return spring 35 reaches its maximum compression state. The locking mechanism 46 inside the second de-icing body 60 is locked, and simultaneously the piston rod of the first electric push rod 44 inside the second de-icing body 60 is extended.

[0064] Step 11: Control the first action motor to start rotating. The first action motor drives the first action gear to start rotating. The first action gear drives the first action gear ring and the first de-icing body 59 to start rotating around the axis of the first action gear ring, so that the V-groove 8 at the lower end of the first de-icing body 59 rotates 60 degrees clockwise.

[0065] Step 12: Then, control the piston rod of the first electric push rod 44 inside the first de-icing body 59 to extend again, so that the end of the piston rod of the first electric push rod 44 abuts against the connecting plate 42 again, ensuring stable contact between the upper traveling wheel 29 and the lower traveling wheel 37 inside the first de-icing body 59 and the high-voltage transmission line on the right. At the same time, control the locking mechanism 46 inside the first de-icing body 59 to enter the locked state. Control the locking mechanism 46 inside the second de-icing body 60 to enter the unlocked state, and at the same time control the piston rods of the two first electric push rods 44 inside the second de-icing body 60 to retract, so that the end of the piston rod of the first electric push rod 44 no longer abuts against the lower end face of the connecting plate 42. Then, the first motor is started to run, which drives the first gear to rotate. Since the first de-icing body 59 cannot rotate, the first gear ring also cannot rotate. The first gear revolves around the axis of the first gear ring. The first gear drives the entire linkage 6 to rotate relative to the axis of the first gear ring. Therefore, the second de-icing body 60 also revolves relative to the axis of the first gear ring, causing the second de-icing body 60 to detach from the high-voltage transmission line on the upper right.

[0066] Step 13: During the rotation of the linkage 6, the second actuator motor begins to rotate. This second actuator motor drives the second actuator gear to rotate. Since the second de-icing body 60 is in a free state, the second actuator gear drives the second actuator gear ring to rotate around its axis, causing the second de-icing body 60 to also begin to rotate. The second de-icing body 60 stops rotating after rotating 180 degrees. That is, while the second de-icing body 60 revolves around the axis of the first actuator gear ring, it also maintains its own rotation.

[0067] Step 14: When the second de-icing body 60 revolves around the axis of the first actuating gear ring and is about to contact the high-voltage power line on the lower right, the V-groove 8 of the second de-icing body 60 aligns with the high-voltage power line on the lower right. The first actuating motor continues to rotate, and the high-voltage power line on the lower right enters the inlet / outlet groove 9 of the second de-icing body 60 along the V-groove 8. After the first actuating motor controls the actuating linkage 6 to rotate 120 degrees, the upper traveling wheel 29 and lower traveling wheel 37 inside the second de-icing body 60 make stable contact with the high-voltage power line on the lower right, the upper traveling bracket 28 contacts the striking bracket 21, and the return spring 35 is in its maximum compression state.

[0068] Step 15: Extend the piston rod of the first electric push rod 44 inside the second de-icing body 60, so that the end of the piston rod of the first electric push rod 44 abuts and supports the lower end face of the connecting plate 42 inside the second de-icing body 60. At the same time, control the locking mechanism 46 inside the first de-icing body 59 to be in the unlocked state. In this way, control the operation of the upper travel motor 30 and the lower travel motor 38 inside the two de-icing bodies 1 to clean and remove the ice on the right side and the lower right side of the high-voltage transmission line.

[0069] Step 16: After the ice on the right side and below the right side of the high-voltage transmission line has been removed, repeat steps 7 to 15 in the opposite direction to clean and remove the ice on the left side and below the left side of the high-voltage transmission line.

[0070] Step 17: After the ice on all six high-voltage transmission lines has been removed, repeat steps 7 through 15 to return the two de-icing units 1 to the two uppermost high-voltage transmission lines. Then, unlock the locking mechanisms 46 inside the two de-icing units 1 and retract the first electric push rods 44 inside both units 1. Finally, use a drone to lift the entire device away from the high-voltage transmission lines, thus completing the de-icing work on this section of the high-voltage transmission lines.

[0071] Furthermore, the present invention can also completely dismantle the cross-line mechanism 2, thereby using one of the de-icing bodies 1 to perform de-icing work on a single high-voltage transmission line.

[0072] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A de-icing device for high-voltage transmission lines, characterized in that: It includes two de-icing bodies (1), and the front and rear ends of the two de-icing bodies (1) are connected by a set of cross-line mechanism (2). The cross-line mechanism (2) includes two actuating gear rings (3), two actuating gears (4), two actuating motors (5) and an actuating link (6). The two actuating gear rings (3) are respectively fixedly set on the end faces of the two de-icing bodies (1). The two ends of the actuating link (6) are respectively rotatably connected to the two actuating gear rings (3). The two ends of the actuating link (6) are respectively fixedly set with an actuating motor (5). The output shaft of the actuating motor (5) is fixedly set with an actuating gear (4), and the actuating gear (4) meshes with the actuating gear ring (3) on the same side.

2. The de-icing device for high-voltage transmission lines according to claim 1, characterized in that: The de-icing body (1) includes a shell (7), a V-shaped groove (8) is provided at the lower end of the shell (7), and a vertical open inlet / outlet groove (9) is provided at the top of the V-shaped groove (8). The inlet / outlet groove (9) is connected to the front and rear end faces of the shell (7), and the interior of the shell (7) is connected to the outside through the inlet / outlet groove (9).

3. The de-icing device for high-voltage transmission lines according to claim 2, characterized in that: The actuating gear ring (3) is located above the outside of the inlet / outlet groove (9) of the outer shell (7). The actuating gear ring (3) has an arc-shaped structure. The arc-shaped opening of the actuating gear ring (3) is vertically downward and located on the upper outer side of the V-groove (8). An arc-shaped T-groove (12) is fixedly provided on the side end face of the actuating gear ring (3) away from the outer shell (7). The actuating linkage (6) includes a transverse plate (10) and two longitudinal plates (11). The two longitudinal plates (11) are fixedly provided at the left and right ends of the transverse plate (10). The transverse plate (10) is perpendicular to the longitudinal plates (11). The transverse plate (10) is located on the upper outer side of the inlet / outlet groove (9) of the outer shell (7). On the side of the gear ring (3) away from the outer shell (7), the longitudinal plates (11) at both ends maintain sliding contact with the inner cylindrical surfaces of the two gear rings (3); a T-shaped block (13) is fixedly installed at both ends of the side end face of the transverse plate (10) near the gear ring (3), and the two T-shaped blocks (13) are slidably engaged in the T-shaped grooves (12) of the two gear rings (3); two actuation motors (5) are fixedly installed at the left and right ends of the side end face of the transverse plate (10) away from the gear ring (3), and the output shaft of the actuation motor (5) passes through the transverse plate (10) and is fixedly installed with the aforementioned actuation gear (4).

4. A de-icing device for high-voltage transmission lines according to claim 2, characterized in that: A set of de-icing mechanisms (14) is provided at the front and rear ends of the interior of the outer shell (7); the de-icing mechanism (14) includes a de-icing bracket (15), a de-icing blade (16), a de-icing motor (17), an ice-sweeping motor (18), and an ice-sweeping rod (19); the de-icing bracket (15) includes a first horizontal plate, two first vertical plates, and two second horizontal plates; the left and right ends of the first horizontal plate are fixedly connected to the left and right inner walls of the outer shell (7); two symmetrical first vertical plates are fixedly provided at the middle of the lower end face of the first horizontal plate; a second horizontal plate is fixedly provided at the lower end of the side end face of the two first vertical plates that are far apart from each other; and a rotating arrangement is provided between the two first vertical plates. There is an ice-removing blade (16) located at the upper end of the inlet / outlet groove (9); an ice-removing motor (17) is fixedly installed on the outer side of one of the first vertical plates, and the output shaft of the ice-removing motor (17) is fixedly connected to the end of the first rotating shaft of the ice-removing blade (16); an ice-sweeping motor (18) is fixedly installed at the center of the upper end face of the two second horizontal plates, and the output shaft of the ice-sweeping motor (18) passes vertically downward through the second horizontal plate; an ice-sweeping rod (19) is fixedly installed on the output shaft of the ice-sweeping motor (18), and the two ice-sweeping rods (19) are located on the left and right sides of the inlet / outlet groove (9); one end of the ice-sweeping rod (19) is fixedly connected to the output shaft of the ice-sweeping motor (18).

5. A de-icing device for high-voltage transmission lines according to claim 2, characterized in that: A set of striking mechanisms (20) is provided in the middle of the inner side of the outer shell (7). The striking mechanism (20) is located at the upper end of the inlet / outlet slot (9). The striking mechanism (20) includes a striking bracket (21), a first motor mounting bracket, a striking motor (22), a cam (23), a striking rod (25), an ultrasonic transducer, and an ultrasonic tool head. The left and right ends of the striking bracket (21) are fixedly connected to the inner walls of the left and right sides of the outer shell (7), respectively. A vertical first motor mounting bracket is fixedly provided on the upper end face of the striking bracket (21). The striking motor (22) is fixedly provided on the upper end of the first motor mounting bracket. The cam (23) is fixedly provided on the output shaft of the striking motor (22). A cam groove (24) is provided on one side end face of the cam (23), and a bearing (26) is slidably disposed inside the cam groove (24); a vertical striking rod (25) is provided on one side of the cam (23), and the upper end of the striking rod (25) is connected to the bearing (26) through a horizontal connecting rod; an upper sliding groove is provided on the striking bracket (21), and the striking rod (25) is slidably disposed inside the upper sliding groove in the vertical direction; an ultrasonic transducer is provided at the lower end of the striking rod (25), and the ultrasonic transducer is connected to the ultrasonic tool head; an ultrasonic generator is fixedly disposed inside the housing (7), and the ultrasonic generator is electrically connected to the ultrasonic transducer.

6. A de-icing device for high-voltage transmission lines according to claim 2, characterized in that: A set of walking mechanisms (27) is provided in the middle of the inner side of the outer shell (7). The walking mechanism (27) includes an upper walking bracket (28), upper walking wheels (29), upper walking motors (30), a return spring (35), a guide cylinder (33), and guide rods (31). Four upper walking wheels (29) are rotatably arranged in the front-back direction inside the upper walking bracket (28). Four upper walking motors (30) are fixedly arranged on the outer side of the upper walking bracket (28). The output shafts of the four upper walking motors (30) are fixedly connected to the ends of the rotating shafts of the four upper walking wheels (29). Two vertical guide rods (31) are fixedly arranged symmetrically in front and behind on the upper end face of the upper walking bracket (28). The upper part of the guide rods (31) is... A limiting ring (32) is fixedly sleeved on the outer side of the end; two vertical guide cylinders (33) are fixedly installed on the inner top surface of the outer shell (7), and the guide cylinder (33) is a cylindrical structure with an open bottom; the upper ends of the two guide rods (31) are respectively slidably inserted into the lower openings of the two guide cylinders (33); a circular limiting groove (34) is provided at the middle height of the inner wall of the guide cylinder (33), and the limiting ring (32) at the upper end of the guide rod is slidably installed in the limiting groove (34); the same return spring (35) is sleeved on the outer side of the guide cylinder (33) and the guide rod (31), and the upper and lower ends of the return spring (35) are respectively fixedly connected to the inner top surface of the outer shell (7) and the upper end surface of the upper walking bracket (28).

7. A de-icing device for high-voltage transmission lines according to claim 6, characterized in that: The walking mechanism (27) also includes a lower walking bracket (36), a lower walking wheel (37), a lower walking motor (38), a drive gear (39), a driven gear (40), a rotating seat (41), a first connecting rod (43), and a first electric push rod (44); four lower walking brackets (36) are provided below the upper walking bracket (28), and the four lower walking brackets (36) are respectively located below the four upper walking wheels (29); two lower walking wheels (37) are rotatably arranged inside the lower walking brackets (36). 7) The shaft ends of the two lower traveling wheels (37) extend to the outside of the lower traveling bracket (36), and a driven gear (40) is fixedly installed at the shaft ends of the two lower traveling wheels (37); a lower traveling motor (38) is fixedly installed on the outer surface of the lower traveling bracket (36), and a driving gear (39) is fixedly installed on the output shaft of the lower traveling motor (38), and the driving gear (39) meshes with the two driven gears (40); a driven gear (40) is fixedly installed on the outer surface of each lower traveling bracket (36). Each rotating seat (41) has one end fixedly connected to the lower traveling bracket (36) and the other end rotatably connected to the inner wall of the outer shell (7). The two rotating seats (41) in the middle are located on one side of the lower traveling bracket (36), and the two rotating seats (41) at the front and rear ends are located on the other side of the lower traveling bracket (36). The two rotating seats (41) on the same side are fixedly connected by a front-to-back horizontal connecting plate (42). The connecting plate (42) is connected to the side of the upper traveling bracket (28). Two symmetrical first connecting rods (43) are provided between the front and rear. The upper end of the first connecting rod (43) is rotatably connected to the outer side of the upper walking bracket (28), and the lower end of the first connecting rod (43) is rotatably connected to the upper end of the connecting plate (42). The first connecting rods (43) on the left and right sides are symmetrically arranged. A first electric push rod (44) is fixedly installed at the lower end of the inner wall on the left and right sides of the outer shell (7). The cylinder of the first electric push rod (44) is fixedly installed on the inner wall of the outer shell (7), and the piston rod of the first electric push rod (44) is set obliquely upward.

8. A de-icing device for high-voltage transmission lines according to claim 2, characterized in that: Inside the outer casing (7), there are two sets of locking mechanisms (46), one at the front and one at the back. Each locking mechanism (46) includes a locking bracket (47), a second electric push rod (48), a fixed seat (49), a sliding seat (50), a second connecting rod (51), a third connecting rod (52), a fourth connecting rod (53), a fifth connecting rod (54), and a clamping plate (55). The locking bracket (47) is fixedly disposed between the inner walls of the left and right sides of the outer casing (7). A second electric push rod (48) is fixedly disposed on the locking bracket (47). The second electric push rod (48) is movable. The piston rod is vertically downward; a fixed seat (49) is fixedly installed at one end of the cylinder of the second electric push rod (48) near the piston rod. A sliding groove that runs through the left and right is provided inside the fixed seat (49). A sliding seat (50) is slidably installed in the fixed seat (49) along the vertical direction. A second connecting rod (51) and a third connecting rod (52) are rotatably installed at the left and right ends of the sliding seat (50). The second connecting rod (51) is located above the third connecting rod (52), and the second connecting rod (51) is parallel to the third connecting rod (52). The fourth link (53) includes an upper vertical section, a middle inclined section, and a lower vertical section, wherein the upper vertical section is located outside the lower vertical section, and a middle inclined section is fixedly provided between the lower end of the upper vertical section and the upper end of the lower vertical section; one end of the second link (51) and the third link (52) are hinged to the sliding seat (50), and the ends of the second link (51) and the third link (52) away from the sliding seat (50) are hinged to the upper and lower ends of the upper vertical section of the fourth link (53); the second link (51), the third link (52), and the sliding seat ( The end face of 50) and the upper vertical section of the fourth link (53) form a parallelogram structure; two symmetrical fifth links (54) are rotatably installed on the cylinder of the second electric push rod (48) near the piston rod. One end of the fifth link (54) is hinged to the cylinder of the second electric push rod (48), and the end of the fifth link (54) away from the cylinder of the second electric push rod (48) is hinged to the middle of the second link (51) on the same side; a clamping plate (55) is fixedly installed at the lower end of the lower vertical section of the two fourth links (53).

9. A de-icing device for high-voltage transmission lines according to claim 2, characterized in that: A hook (56) is fixedly installed at the top center of the outer shell (7); counterweights are installed on the left and right sides inside the outer shell (7), and the balance of the de-icing body (1) is maintained by adjusting the counterweights on the left and right sides; a camera (57) is fixedly installed above the inlet and outlet slots (9) at the front and rear ends of the outer shell (7).

10. A de-icing device for high-voltage transmission lines according to claim 2, characterized in that: A solar panel (58) is provided on the top of the outer casing (7), and a storage battery is provided inside the outer casing (7), which is connected to the solar panel (58).

Images