A de-icing device for high-voltage power lines

Abstract

The application relates to a deicing device for high-voltage transmission lines, belonging to the technical field of transmission line deicing, which comprises two deicing bodies, the front and rear end faces of the two deicing bodies are connected through a set of wire-crossing mechanisms, the wire-crossing mechanism comprises two action gear rings, two action gears, two action motors and an action connecting rod, the two action gear rings are fixedly arranged on the end faces of the two deicing bodies, the two ends of the action connecting rod are rotationally connected with the two action gear rings, one action motor is fixedly arranged at each end of the action connecting rod, an action gear is fixedly arranged on the output shaft of the action motor, and the action gear is engaged with the action gear ring on the same side; the deicing device can adapt to the deicing demand of multi-split high-voltage transmission lines.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of deicing of power transmission lines, and particularly relates to a deicing device for high-voltage power transmission lines. BACKGROUND

[0002] Ice and snow hazards often occur on overhead high-voltage power transmission lines due to weather conditions, and the resulting power supply interruption accidents are also serious, which have large repair difficulty, long cycle, wide power outage area and influence on railway traffic. The icing accidents of power transmission lines seriously threaten the safe operation of the power system and cause huge economic losses. Therefore, how to remove the icing of power transmission lines has become a very practical topic that needs to be solved urgently.

[0003] Traditional deicing methods include manual deicing, mechanical deicing, and thermal deicing, but these methods have problems such as low efficiency, high cost, and complex operation. In recent years, unmanned aerial vehicle assisted deicing technology has gradually developed, but existing deicing devices can usually only operate on a single high-voltage power transmission line, and cannot adapt to the deicing needs of multi-split high-voltage power transmission lines, and cannot flexibly adjust the posture to cover high-voltage power transmission lines at different angles. In addition, the existing deicing device has low integration of the walking mechanism, locking mechanism and deicing mechanism, resulting in poor deicing effect or insufficient adaptability. Therefore, there is an urgent need for a device that can efficiently, stably and flexibly deice multi-split high-voltage power transmission lines to improve deicing efficiency and reduce the need for manual intervention. SUMMARY

[0004] The present application overcomes the shortcomings of the prior art and provides a deicing device for high-voltage power transmission lines, which solves the problem that the existing deicing device cannot adapt to the deicing needs of multi-split high-voltage power transmission lines.

[0005] In order to achieve the above purpose, the present application is realized by the following technical scheme.

[0006] A deicing device for high-voltage power transmission lines, comprising two deicing bodies, the front and rear end faces of the two deicing bodies are connected by a set of cross-line mechanisms, the cross-line mechanism comprises two action gear rings, two action gears, two action motors and an action connecting rod, the two action gear rings are fixedly arranged on the end faces of the two deicing bodies, the two ends of the action connecting rod are rotatably connected with the two action gear rings, one action motor is fixedly arranged at each end of the action connecting rod, an action gear is fixedly arranged on the output shaft of the action motor, and the action gear is engaged with the action gear ring on the same side.

[0007] Further, the deicing body comprises an outer shell, a V-shaped groove is arranged at the lower end of the outer shell, a vertical open inlet and outlet groove is arranged at the top of the V-shaped groove, the inlet and outlet groove is in communication with the front and rear end faces of the outer shell, and the inside of the outer shell is in communication with the outside through the inlet and outlet groove.

[0008] Further, the action gear ring is arranged above the outside of the access slot of the shell, the action gear ring is a circular arc structure, the circular arc opening of the action gear ring is vertically downward and located outside the upper end of the V-shaped slot; an arc-shaped T-shaped slot is fixedly arranged on the side end face of the action gear ring away from the shell;

[0009] The action connecting rod comprises a transverse plate and two longitudinal plates, the two longitudinal plates are fixedly arranged 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 at the side of the action gear ring away from the shell, the longitudinal plates at the two ends are in sliding contact with the inner cylindrical surfaces of the two action gear rings respectively; an T-shaped block is fixedly arranged at each of the two end faces of the transverse plate close to the action gear ring, the two T-shaped blocks are slidingly connected in the T-shaped slots of the two action gear rings respectively; the two action motors are fixedly arranged at the left and right ends of the side end face of the transverse plate away from the action gear ring, and the output shafts of the action motors are fixedly provided with the action gears after penetrating through the transverse plate.

[0010] Further, a set of deicing mechanisms is arranged at the front and rear ends inside the shell respectively; the deicing mechanism comprises a deicing support, a deicing knife, a deicing motor, an ice sweeping motor and an ice sweeping rod; the deicing support comprises 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 with the inner walls of the left and right sides of the shell respectively; two first vertical plates symmetrically arranged left and right are fixedly arranged at the central part of the lower end face of the first horizontal plate; a second horizontal plate is fixedly arranged at the lower end of the side end face away from each other of the two first vertical plates; a deicing knife is rotatably arranged between the two first vertical plates, and the deicing knife is located at the upper end of the access slot; a deicing motor is fixedly arranged on the outer side face of one of the first vertical plates, and the output shaft of the deicing motor is fixedly connected with the end of the first rotating shaft of the deicing knife; an ice sweeping motor is fixedly arranged at the central part of the upper end face of each of the two second horizontal plates, and the output shaft of the ice sweeping motor penetrates through the second horizontal plate vertically downward; an ice sweeping rod is fixedly arranged on the output shaft of the ice sweeping motor, and the two ice sweeping rods are located at the left and right sides of the access slot respectively; one end of the ice sweeping rod is fixedly connected with the output shaft of the ice sweeping motor.

[0011] Further, a set of knocking mechanisms are arranged in the middle of the inside of the shell, and the knocking mechanisms are located at the upper end of the access slot; the knocking mechanisms include a knocking support, a first motor fixing frame, a knocking motor, a cam, a knocking rod, an ultrasonic transducer, and an ultrasonic tool head; the left and right ends of the knocking support are fixedly connected with the left and right inner walls of the shell; a vertical first motor fixing frame is fixedly arranged on the upper end face of the knocking support, and a knocking motor is fixedly arranged on the upper end of the first motor fixing frame; a cam is fixedly arranged on one side end face of the cam, and a bearing is slidably arranged in the cam groove; a vertical knocking rod is arranged on one side of the cam, and the upper end of the knocking rod is connected with the bearing through a horizontal connecting rod; an upper sliding groove is arranged on the knocking support, and the knocking rod is slidably arranged in the upper sliding groove in the vertical direction; an ultrasonic transducer is arranged on the lower end of the knocking rod, and the ultrasonic transducer is connected with the ultrasonic tool head; an ultrasonic generator is fixedly arranged in the shell, and the ultrasonic generator is electrically connected with the ultrasonic transducer.

[0012] Further, a set of walking mechanisms are arranged in the middle of the inside of the shell, and the walking mechanisms include an upper walking support, upper walking wheels, upper walking motors, a reset spring, a guide cylinder, and a guide rod; four upper walking wheels are rotatably arranged in the upper walking support in the front-rear direction, four upper walking motors are fixedly arranged on the outer side face of the upper walking support, and the output shafts of the four upper walking motors are fixedly connected with the end portions of the rotating shafts of the four upper walking wheels; two front-rear symmetrical vertical guide rods are fixedly arranged on the upper end face of the upper walking support, and a limiting ring is fixedly sleeved on the upper end of each guide rod; two front-rear symmetrical vertical guide cylinders are fixedly arranged on the inner top face of the shell, and the guide cylinders are in the form of a cylinder with an open lower end; the upper ends of the two guide rods are slidably inserted into the open lower ends of the two guide cylinders; a circular limiting groove is arranged in the middle of the inner wall of the guide cylinder, and the limiting ring on the upper end of the guide rod is slidably arranged in the limiting groove; the same reset spring is sleeved on the outer sides of the guide cylinder and the guide rod, and the upper and lower ends of the reset spring are fixedly connected with the inner top face of the shell and the upper end face of the upper walking support, respectively.

[0013] Further, the walking mechanism further comprises lower walking supports, lower walking wheels, lower walking motors, driving gears, driven gears, rotating seats, first connecting rods and first electric push rods; four lower walking supports are arranged below the upper walking supports, and the four lower walking supports are respectively located below the four upper walking wheels; two lower walking wheels are rotatably arranged inside the lower walking supports, the shaft ends of the two lower walking wheels extend to the outside of the lower walking supports, and one driven gear is fixedly arranged at each of the shaft ends of the two lower walking wheels; a lower walking motor is fixedly arranged on the outer side surface of the lower walking support, a driving gear is fixedly arranged on the output shaft of the lower walking motor, and the driving gear is engaged with the two driven gears; one rotating seat is fixedly arranged on the outer side surface of each lower walking support, one end of the rotating seat is fixedly connected with the lower walking support, and the other end of the rotating seat is rotatably connected with the inner wall of the shell; the two rotating seats in the middle are located on one side of the lower walking support, and the two rotating seats at the front and back ends are located on the other side of the lower walking support; the two rotating seats on the same side are fixedly connected through a front and back horizontal connecting plate; two front and back symmetric first connecting rods are arranged between the connecting plate and the side surface of the upper walking support, the upper end of the first connecting rod is rotatably connected with the outer side surface of the upper walking support, and the lower end of the first connecting rod is rotatably connected with the upper end surface of the connecting plate. The first connecting rods on the left and right sides are symmetrically arranged; one first electric push rod is fixedly arranged at the lower end of the inner wall on each of the left and right sides of the shell, the cylinder body of the first electric push rod is fixedly arranged on the inner wall of the shell, and the piston rod of the first electric push rod is obliquely upwardly arranged.

[0014] Further, two groups of locking mechanisms are arranged inside the shell, the locking mechanism comprises a locking support, 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 support is fixedly arranged between the inner walls of the left and right sides of the shell, and a second electric push rod is fixedly arranged on the locking support, and the piston rod of the second electric push rod is vertically downward; a fixed seat is fixedly arranged at one end of the cylinder body of the second electric push rod close to the piston rod, a left-right through sliding groove is arranged in the fixed seat, and a sliding seat is slidably arranged in the fixed seat in the vertical direction; a second connecting rod and a third connecting rod are rotatably arranged at the left and right ends of the sliding seat respectively, the second connecting rod is above the third connecting rod, and the second connecting rod is parallel to the third connecting rod; the fourth connecting rod comprises an upper vertical section, a middle inclined section, and a lower vertical section, wherein the upper vertical section is outside the lower vertical section, and the middle inclined section is fixedly arranged 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 and the third connecting rod is hingedly connected to the sliding seat, and the other end of the second connecting rod and the third connecting rod away from the sliding seat is hingedly connected to the upper and lower ends of the upper vertical section of the fourth connecting rod; the end faces of the second connecting rod, the third connecting rod, and the sliding seat, and the upper vertical section of the fourth connecting rod form a parallelogram structure; two symmetrical fifth connecting rods are rotatably arranged at one end of the cylinder body of the second electric push rod close to the piston rod, one end of the fifth connecting rod is hingedly connected to the cylinder body of the second electric push rod, and the other end of the fifth connecting rod away from the cylinder body of the second electric push rod is hingedly connected to the middle part of the second connecting rod on the same side; a clamping plate is fixedly arranged at the lower end of the lower vertical section of each fourth connecting rod.

[0015] Further, a hook is fixedly arranged at the top center of the shell; counterweights are arranged on the left and right sides of the inside of the shell, and the balance of the deicing main body as a whole is maintained by adjusting the counterweights on the left and right sides; a camera is fixedly arranged above the access slot at each of the front and rear ends of the shell.

[0016] Still further, a solar panel is arranged at the top of the shell, and a storage battery is arranged inside the shell and connected to the solar panel.

[0017] The beneficial effects of the present application relative to the prior art are:

[0018] The application provides a deicing device for high-voltage transmission lines, which can cover different angles of six-split high-voltage transmission lines through the coordinated action of two deicing bodies and the revolution and rotation functions of the cross-line mechanism, realize continuous deicing of multiple high-voltage transmission lines, and significantly improve work efficiency; the deicing device integrates deicing knives, ice sweeping rods, ultrasonic vibration and knocking mechanisms, and combines mechanical crushing, vibration stripping and ultrasonic deicing and other modes to effectively remove ice of different thicknesses and improve deicing effect; the deicing device is clamped on the high-voltage transmission line through the upper and lower walking wheel sets and adjusted through the electric push rod and the reset spring to ensure stable walking of the device on the high-voltage transmission line; the locking mechanism fixes the high-voltage transmission line through the clamping plate to prevent the device from deviating or falling off during action; the deicing device is lifted by a drone and positioned by a camera to reduce manual operation; the rotation angle of the cross-line mechanism is controlled by a motor to realize automatic switching of the deicing body between high-voltage transmission lines and reduce operation difficulty; the deicing device is equipped with solar panels and storage batteries to use renewable energy for power supply, reduce external energy dependence, and is suitable for long-time operation in the wild; the deicing device adopts modular design, and each mechanism closely cooperates to have high overall structural strength and adapt to complex working conditions of high-voltage transmission lines. BRIEF DESCRIPTION OF DRAWINGS

[0019] The application will be further described in detail below with reference to the drawings:

[0020] Figure 1 is a structure schematic of the application when working Figure One ;

[0021] Figure 2 is a structure schematic of the application when working Figure Two ;

[0022] Figure 3 is a partial enlarged schematic view of A in Figure 2 ;

[0023] Figure 4 is a structure schematic of the cross-line mechanism;

[0024] Figure 5 is a structure schematic of the action connecting rod;

[0025] Figure 6 is a structure schematic of the deicing body;

[0026] Figure 7 is a structure schematic of the shell inside the deicing body Figure One ;

[0027] Figure 8 is a structure schematic of the shell inside the deicing body Figure Two ;

[0028] Figure 9 is a structure schematic of the shell inside the deicing body Figure Three ;

[0029] Figure 10 is the structure diagram of the deicing mechanism;

[0030] Figure 11 is the structure diagram of the knocking mechanism Figure One ;

[0031] Figure 12 is the structure diagram of the knocking mechanism Figure Two ;

[0032] Figure 13 is the structure diagram of the walking mechanism Figure One ;

[0033] Figure 14 is the structure diagram of the walking mechanism Figure Two ;

[0034] Figure 15 is the connection diagram among the guide rod, the guide cylinder and the reset spring;

[0035] Figure 16 is the connection diagram among the upper walking support, the upper walking wheel and the upper walking motor;

[0036] Figure 17 is the connection diagram among the lower walking support, the lower walking wheel and the lower walking motor;

[0037] Figure 18 is the structure diagram of the locking mechanism;

[0038] Figure 19 is the structure diagram of the walking mechanism before contacting the high-voltage transmission line Figure One ;

[0039] Figure 20 is the structure diagram of the walking mechanism before contacting the high-voltage transmission line Figure Two ;

[0040] Figure 21 is the relative relationship diagram between the walking mechanism and the shell before contacting the high-voltage transmission line;

[0041] Figure 22 is the relative relationship diagram between the walking mechanism and the shell after completely clamping the high-voltage transmission line;

[0042] Figure 23 is the working flow diagram of the application;

[0043] Wherein, 1 is the main body of deicing, 2 is the cross-line mechanism, 3 is the action gear ring, 4 is the action gear, 5 is the action motor, 6 is the action connecting rod, 7 is the shell, 8 is the V-shaped groove, 9 is the in-out groove, 10 is the transverse plate, 11 is the longitudinal plate, 12 is the T-shaped groove, 13 is the T-shaped block, 14 is the deicing mechanism, 15 is the deicing support, 16 is the deicing knife, 17 is the deicing motor, 18 is the ice sweeping motor, 19 is the ice sweeping rod, 20 is the knocking mechanism, 21 is the knocking support, 22 is the knocking motor, 23 is the cam, 24 is the cam groove, 25 is the knocking rod, 26 is the bearing, 27 is the walking mechanism, 28 is the upper walking support, 29 is the upper walking wheel, 30 is the upper walking motor, 31 is the guide rod, 32 is the limit ring, 33 is the guide cylinder, 34 is the limit groove, 35 is the reset spring, 36 is the lower walking support, 37 is the lower walking wheel, 38 is the lower walking motor, 39 is the driving gear, 40 is the driven gear, 41 is the rotating seat, 42 is the connecting plate, 43 is the first connecting rod, 44 is the first electric push rod, 45 is the avoiding groove, 46 is the locking mechanism, 47 is the locking support, 48 is the second electric push rod, 49 is the fixed seat, 50 is the sliding seat, 51 is the second connecting rod, 52 is the third connecting rod, 53 is the fourth connecting rod, 54 is the fifth connecting rod, 55 is the clamping plate, 56 is the hook, 57 is the camera, 58 is the solar panel, 59 is the first main body of deicing, 60 is the second main body of deicing. DETAILED DESCRIPTION

[0044] In order to make the technical problems, technical solutions and beneficial effects of the present application clearer, the present application will be further described in detail in conjunction with the embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application. The technical solutions of the present application are described in detail below in conjunction with the embodiments and drawings, but the protection scope is not limited thereto.

[0045] As shown in Figure 1 The present application provides a deicing device for high-voltage transmission line, as shown in 22, which comprises two main bodies of deicing 1, the front and rear end faces of the two main bodies of deicing 1 are connected by a set of cross-line mechanisms 2, the cross-line mechanism 2 comprises two action gear rings 3, two action gears 4, two action motors 5 and one action connecting rod 6, the two action gear rings 3 are fixedly arranged on the end faces of the two main bodies of deicing 1, the two ends of the action connecting rod 6 are rotatably connected with the two action gear rings 3, one action motor 5 is fixedly arranged at each end of the action connecting rod 6, the action gear 4 is fixedly arranged on the output shaft of the action motor 5, and the action gear 4 is engaged with the action gear ring 3 on the same side.

[0046] The deicing main body 1 includes a hollow square shell 7, a V-shaped downward V-shaped groove 8 is arranged at the lower end of the shell 7, and the V-shaped groove 8 extends along the front-back horizontal direction. An open access slot 9 is arranged at the top of the V-shaped groove 8, the access slot 9 extends along the front-back horizontal direction, and the access slot 9 is connected with the front and back end faces of the shell 7, and the inside of the shell 7 is connected with the outside through the access slot 9.

[0047] The action gear ring 3 is arranged above the outside of the access slot 9 of the shell 7, the action gear ring 3 is in a circular arc shape, the circular arc opening of the action gear ring 3 is vertically downward and located outside the upper end of the V-shaped groove 8. An arc-shaped T-shaped groove 12 is fixedly arranged on the side end face of the action gear ring 3 away from the shell 7.

[0048] The action connecting rod 6 includes a transverse plate 10 and two longitudinal plates 11; the transverse plate 10 is in a planar plate shape, the length direction of the transverse plate 10 is horizontally arranged along the left-right direction, and the transverse plate 10 is parallel to the front and back two side end faces of the shell 7; the longitudinal plate 11 is in a circular arc plate shape; the two longitudinal plates 11 are fixedly arranged at the left and right two ends of the transverse plate 10, and the transverse plate 10 is perpendicular to the longitudinal plate 11. The transverse plate 10 is located on the side of the action gear ring 3 away from the shell 7, and the two ends of the longitudinal plate 11 are respectively in sliding contact with the inner cylindrical surface of the two action gear rings 3. A T-shaped block 13 is fixedly arranged at each of the two side end faces of the transverse plate 10 close to the action gear ring 3, and the two T-shaped blocks 13 are respectively slidably connected in the T-shaped grooves 12 of the two action gear rings 3.

[0049] The two action motors 5 are fixedly arranged at the left and right two ends of the side end face of the transverse plate 10 away from the action gear ring 3, and the output shaft of the action motor 5 is fixedly arranged with the action gear 4 after penetrating through the transverse plate 10.

[0050] A set of deicing mechanisms 14 is arranged at the front and back two ends in the shell 7. The deicing mechanism 14 includes a deicing support 15, a deicing knife 16, a deicing motor 17, a deicing motor 18, and a deicing rod 19.

[0051] The deicing support 15 includes a first horizontal plate, two first vertical plates, and two second horizontal plates. The left and right two ends of the first horizontal plate are respectively fixedly connected with the left and right two side inner walls of the shell 7; two left and right symmetrical first vertical plates are fixedly arranged at 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 arranged at the lower end of the side end face away from each other of the two first vertical plates.

[0052] A deicing blade 16 is rotatably arranged between the two first vertical plates and is located at the upper end of the access slot 9. The deicing blade 16 comprises a first rotating shaft, a first circular plate, two second circular plates and two third circular plates. The first rotating shaft is horizontally arranged along the left-right direction and is rotatably arranged at the two ends of the first rotating shaft on the two first vertical plates. The first circular plate, the two second circular plates and the two third circular plates are fixedly sleeved on the first rotating shaft. The first circular plate is located at the middle of the first rotating shaft, the two second circular plates are located at the left and right sides of the first circular plate, and the two third circular plates are located at the sides of the two second circular plates away from the first circular plate. The outer diameter of the first circular plate is smaller than that of the second circular plate, and the outer diameter of the second circular plate is smaller than that of the third circular plate. A row of deicing teeth is fixedly arranged on the outer cylindrical surface of the first circular plate, the second circular plate and the third circular plate. A deicing motor 17 is fixedly arranged on the outer side of one of the first vertical plates. The output shaft of the deicing motor 17 is fixedly connected with the end of the first rotating shaft, and the deicing motor 17 drives the deicing blade 16 to rotate.

[0053] A vibration motor is also fixedly arranged on the deicing support 15.

[0054] A deicing motor 18 is fixedly arranged at the center of the upper end surface of each of the two second horizontal plates. The output shaft of the deicing motor 18 vertically downwardly penetrates the second horizontal plate. A deicing rod 19 is fixedly arranged on the output shaft of the deicing motor 18. The two deicing rods 19 are located at the left and right sides of the access slot 9. The deicing rod 19 is horizontal, and one end of the deicing rod 19 is fixedly connected with the output shaft of the deicing motor 18.

[0055] A set of knocking mechanisms 20 is arranged at the middle of the inner side of the shell 7 and is located at the upper end of the access slot 9. The knocking mechanism 20 comprises a knocking support 21, a first motor fixing frame, a knocking motor 22, a cam 23, a knocking rod 25, an ultrasonic transducer and an ultrasonic tool head.

[0056] The knocking support 21 is kept horizontal, and the left and right ends of the knocking support 21 are fixedly connected with the left and right inner walls of the shell 7. A vertical first motor fixing frame is fixedly arranged on the upper end surface of the knocking support 21, and a knocking motor 22 is fixedly arranged on the upper end of the first motor fixing frame. A vertical cam 23 is fixedly arranged on the output shaft of the knocking motor 22. A cam groove 24 is arranged on the side end surface of the cam 23, and a bearing 26 is slidably arranged in the cam groove 24. A vertical knocking rod 25 is arranged on one side of the cam 23, and the upper end of the knocking rod 25 is connected with the bearing 26 through a horizontal connecting rod. An upper side sliding groove is arranged on the knocking support 21, and the knocking rod 25 is slidably arranged in the upper side sliding groove in the vertical direction. An ultrasonic transducer is arranged on the lower end of the knocking rod 25, and the ultrasonic transducer is connected with an ultrasonic tool head. An ultrasonic generator is fixedly arranged in the shell 7, and the ultrasonic generator is electrically connected with the ultrasonic transducer.

[0057] When the knocking motor 22 drives the cam 23 to rotate, the bearing 26 slides in the cam groove 24, so as to drive the knocking rod 25 to reciprocatingly lift and lower in the upper side sliding groove, and the knocking rod 25 drives the ultrasonic transducer and the ultrasonic tool head to reciprocatingly lift and lower.

[0058] A set of walking mechanisms 27 are arranged in the middle of the inner side of the shell 7, and the walking mechanisms 27 are located below the knocking mechanism 20. The walking mechanisms 27 include upper walking supports 28, lower walking supports 36, upper walking wheels 29, lower walking wheels 37, upper walking motors 30, lower walking motors 38, driving gears 39, driven gears 40, rotating seats 41, first connecting rods 43, return springs 35, guide cylinders 33, guide rods 31, and first electric push rods 44.

[0059] The upper walking support 28 is a U-shaped plate structure with an opening downward, and extends along the front-rear horizontal direction. Four upper walking wheels 29 are rotatably arranged in the upper walking support 28 along the front-rear direction, and four upper walking motors 30 are fixedly arranged on the outer side surface of the upper walking support 28. The output shafts of the four upper walking motors 30 are fixedly connected with the rotating shaft ends of the four upper walking wheels 29, respectively, so that the four upper walking wheels 29 are driven to rotate in the upper walking support 28 by the four upper walking motors 30.

[0060] Two vertical guide rods 31 are symmetrically arranged on the upper end surface of the upper walking support 28, and a limiting ring 32 is fixedly sleeved on the outer side of the upper end of the guide rod 31. Two vertical guide cylinders 33 are symmetrically arranged on the inner top surface of the shell 7, and the guide cylinder 33 is a cylindrical structure with an open lower end. The upper ends of the two guide rods 31 are respectively slidably inserted into the open lower end of the guide cylinder 33. A circular limiting groove 34 is arranged 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 arranged in the limiting groove 34. The same reset 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 reset spring 35 are respectively fixedly connected with the inner top surface of the shell 7 and the upper end surface of the upper walking support 28.

[0061] Four lower walking supports 36 are arranged below the upper walking support 28, and the four lower walking supports 36 are respectively arranged below the four upper walking wheels 29. The lower walking support 36 is a U-shaped plate structure with an open upper end, and the lower walking support 36 extends along the front and rear horizontal direction. Two lower walking wheels 37 are rotatably arranged in the lower walking support 36, the rotating shaft ends of the two lower walking wheels 37 extend to the outer side of the lower walking support 36, and a driven gear 40 is fixedly arranged on the rotating shaft end of each lower walking wheel 37. A second motor fixing frame is fixedly arranged on the outer side surface of the lower walking support 36, and a lower walking motor 38 is fixedly arranged on the second motor fixing frame. A driving gear 39 is fixedly arranged on the output shaft of the lower walking motor 38, and the driving gear 39 is engaged 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 synchronously rotate, and the two driven gears 40 drive the two lower walking wheels 37 to synchronously rotate.

[0062] A rotating seat 41 is fixedly arranged on the outer side surface of each lower walking support 36, the rotating seat 41 extends along the left and right horizontal direction, one end of the rotating seat 41 is fixedly connected with the lower walking support 36, and the other end of the rotating seat 41 is rotatably connected with the inner wall of the shell 7. The two rotating seats 41 in the middle are arranged on one side of the lower walking support 36, and the two rotating seats 41 at the front and rear ends are arranged on the other side of the lower walking support 36. The two rotating seats 41 on the same side are fixedly connected through a front and rear horizontal connecting plate 42. The connecting plate 42 and the side surface of the upper walking support 28 are provided with two front and rear symmetric first connecting rods 43, the upper end of the first connecting rod 43 is rotatably connected with the outer side surface of the upper walking support 28, and the lower end of the first connecting rod 43 is rotatably connected with the upper end surface of the connecting plate 42. The first connecting rods 43 on the left and right sides are symmetrically arranged.

[0063] A first electric push rod 44 is fixedly arranged at the lower end of the inner wall on the left and right sides of the shell 7, and the cylinder body of the first electric push rod 44 is fixedly arranged on the inner wall of the shell 7, and the piston rod of the first electric push rod 44 is arranged obliquely upward.

[0064] A lower sliding groove that penetrates up and down is arranged at the middle of the upper walking support 28, and the lower sliding groove is arranged corresponding to the upper sliding groove, and the lower end of the knocking rod 25 penetrates through the lower sliding groove.

[0065] Four groups of avoidance grooves 45 are arranged on the side walls on the left and right sides of the V-shaped groove 8 of the shell 7, and the four groups of avoidance grooves 45 correspond to the four lower walking supports 36, and the lower walking supports 36 in motion are avoided through the avoidance grooves 45.

[0066] Two groups of locking mechanisms 46 are arranged inside the shell 7, and the locking mechanisms 46 are located between the upper walking support 28 and the two deicing mechanisms 14. The locking mechanism 46 comprises a locking support 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.

[0067] The locking support 47 is fixedly arranged between the inner walls on the left and right sides of the shell 7, and a second electric push rod 48 is fixedly arranged on the locking support 47, and the piston rod of the second electric push rod 48 is vertically downward. A fixed seat 49 is fixedly arranged at one end of the cylinder body of the second electric push rod 48 close to the piston rod, and a sliding groove that penetrates left and right is arranged inside the fixed seat 49, and the sliding groove extends along the vertical direction. A sliding seat 50 is slidably arranged inside the fixed seat 49 along the vertical direction, and the sliding seat 50 is a cuboid structure.

[0068] A second connecting rod 51 and a third connecting rod 52 are rotatably arranged at the left and right ends of the sliding seat 50, respectively, and the second connecting rod 51 and the third connecting rod 52 on the left side are symmetrical with the second connecting rod 51 and the third connecting rod 52 on the right side; 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 connecting rod 53 comprises 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 the middle inclined section is fixedly arranged 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 other 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. A parallelogram structure is formed between the second connecting rod 51, the third connecting rod 52, the end face of the sliding seat 50, and the upper vertical section of the fourth connecting rod 53, so as to ensure that the upper vertical section and the lower vertical section of the fourth connecting rod 53 always remain vertical.

[0069] The cylinder of the second electric push rod 48 is provided with two symmetrical fifth connecting rods 54 at the end close to the piston rod. One end of the fifth connecting rod 54 is hingedly connected to the cylinder of the second electric push rod 48, and the other end of the fifth connecting rod 54 is hingedly connected to the middle of the second connecting rod 51 on the same side.

[0070] A clamping plate 55 is fixedly arranged at the lower end of the vertical section of each of the two fourth connecting rods 53. The clamping plate 55 is located in a vertical plane in the front-rear direction. A horizontal circular arc groove is arranged at the middle of the end face of each of the two clamping plates 55 close to each other.

[0071] When the piston rod of the second electric push rod 48 inside the deicing body 1 starts to retract, the sliding seat 50 is lifted. During the lifting process of the sliding seat 50, the fifth connecting rod 54 starts to rotate downward, causing the two fourth connecting rods 53 to move close to each other, thereby causing the two clamping plates 55 to move close to each other, until the two clamping plates 55 stably clamp the high-voltage transmission line. At this time, the clamping plates 55 in the two groups of locking mechanisms 46 stably clamp the high-voltage transmission line, and the deicing body 1 cannot rotate relative to the high-voltage transmission line, that is, the angle between the deicing body 1 and the high-voltage transmission line is fixed and locked.

[0072] When the piston rod of the second electric push rod 48 inside the deicing body 1 starts to extend, the sliding seat 50 is lowered. During the lowering process of the sliding seat 50, the fifth connecting rod 54 starts to rotate upward, causing the two fourth connecting rods 53 to move away from each other, thereby causing the two clamping plates 55 to move away from each other, until the two clamping plates 55 are separated from the high-voltage transmission line. At this time, the locking mechanism 46 is in an unlocked state, and the deicing body 1 can rotate relative to the high-voltage transmission line.

[0073] A hook 56 is fixedly arranged at the top center of the shell 7. Counterweights are arranged on the left and right sides of the inside of the shell 7. The balance of the deicing body 1 as a whole is maintained by adjusting the counterweights on the left and right sides. A camera 57 is fixedly arranged above each of the access slots 9 at the front and rear ends of the shell 7.

[0074] A solar panel 58 is arranged at the top of the shell 7, and a storage battery is arranged inside the shell 7. The storage battery is connected to the solar panel 58, and the storage battery can be powered by the solar panel 58. The storage battery is electrically connected to the ultrasonic generator, the ultrasonic transducer, the action motor 5, the deicing motor 17, the ice sweeping motor 18, the knocking motor 22, the upper walking motor 30, the lower walking motor 38, the second electric push rod 48, and the camera 57. By charging the storage battery in advance, the normal power demand of the deicing device during operation can be ensured. When the storage battery is insufficient due to long-term operation of the deicing device, the storage battery can be powered by the solar panel 58.

[0075] AsFigure 23 The working principle of the present application is shown as follows:

[0076] First step: when the six groups of high-voltage transmission lines need to be deiced, first connect the device with the hanging mechanism of the unmanned aerial vehicle, so that the two automatically openable hooks on the unmanned aerial vehicle are connected with the hooks 56 on the two deicing bodies 1, so that the unmanned aerial vehicle can hoist the device.

[0077] In the initial state of the device, the two first electric push rods 44 are in the retracted state; the reset 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 inner bottom surface of the limiting groove 34 of the guide cylinder 33, the upper walking support 28 is at the lowest point, the two rotating seats 41 are rotated to the lowest point, and the four lower walking supports 36 are located inside the shell 7; the four ice sweeping rods 19 are all rotated to the side away from the access slot 9; the second electric push rod 48 is in the extended state, at this time the two clamping plates 55 are away from each other.

[0078] Second step: when the unmanned aerial vehicle hoists the device above the high-voltage transmission line, the relative position between the device and the high-voltage transmission line is observed through the camera 57 on the unmanned aerial vehicle and the camera 57 on the device, so that the V-shaped groove 8 on the two deicing bodies 1 corresponds to the two uppermost high-voltage transmission lines. Then control the unmanned aerial vehicle to descend, the unmanned aerial vehicle drives the device to continue to descend, so that the two uppermost high-voltage transmission lines fall into the V-shaped groove 8 of the two deicing bodies 1, and through the mutual guidance of the V-shaped groove 8 and the high-voltage transmission line, the high-voltage transmission line enters the access slot 9 of the deicing body 1 and slides upward along the access slot 9 until it contacts the two upper walking wheels 29.

[0079] Third step: as the device continues to descend, under the action of the gravity of the device, the high-voltage transmission line pushes the upper walking support 28 to slide upward in the access slot 9, so that the reset spring 35 is continuously compressed. In the process of upward sliding of the upper walking support 28, the upper walking support 28 drives the two rotating seats 41 and the connecting plate 42 on both sides to continuously rotate upward through the first connecting rod 43 on both sides, and the rotating seat 41 drives the four lower walking supports 36 to continuously move upward. When the upper end surface of the upper walking support 28 contacts the lower end surface of the knocking support 21, the upper walking support 28 stops sliding upward, and the lower walking support 36 also stops moving upward, at this time the four groups of lower walking wheels 37 contact the lower end of the high-voltage transmission line, and the high-voltage transmission line is clamped by the upper walking wheels 29 and the lower walking wheels 37. At this time, the deicing knives 16 on 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.

[0080] Fourth step: when the device no longer continue to fall, control the two first electric push rod 44 inside the two main body 1 of the piston rod extension, so that the two first electric push rod 44 piston rod end respectively with two connecting plate 42 lower end face middle abuts, through the first electric push rod 44 piston rod connecting plate 42 support, so that the connecting plate 42 and rotating seat 41 can't turn down, at this time the position of the lower walking support 36 is fixed and can't move down, so the upper walking wheel 29 and the lower walking wheel 37 on the high voltage transmission line stable clamping.

[0081] At this time two deicing body 1 respectively with the most upper two high voltage transmission line and then control the drone on the hook and deicing body 1 upper end of the hook 56 (at this time the left deicing body 1 card interface on the left side of the high voltage transmission line, the right side of the deicing body 1 card interface on the right side of the high voltage transmission line, in the following will be located in the left deicing body 1 with the first deicing body 59 for reference, will be located in the right deicing body 1 with the second deicing body 60 for reference, will be located in the left action motor 5 with the first action motor for reference, will be located in the left action gear 4 with the first action gear for reference, will be located in the left action ring 3 with the first action ring for reference, will be located in the right action motor 5 with the second action motor for reference, will be located in the right action gear 4 with the second action gear for reference, will be located in the right action ring 3 with the second action ring for reference.).

[0082] Fifth step: control the upper walking motor 30 and the lower walking motor 38 start running, the upper walking motor 30 drive the upper walking wheel 29 start rotating, the lower walking motor 38 drive the lower walking wheel 37 start rotating, through the upper walking wheel 29 and the lower walking wheel 37 with the rolling contact of high voltage transmission line, drive two deicing body 1 on the most upper two high voltage transmission line walking.

[0083] In the process of two deicing body 1 forward walking, control the front deicing motor 17 and ice sweeping motor 18 start running, deicing motor 17 drive deicing knife 16 rotating, rotating deicing knife 16 through its outside deicing tooth on the high voltage transmission line ice crushing, at the same time, the ice sweeping motor 18 drive the front two ice sweeping rod 19 rotating, ice sweeping rod 19 will high voltage transmission line lower end of ice slide broken to remove.

[0084] In the process of walking forward of the two deicing bodies 1, the control of the knocking motor 22 starts to run, when the cam 23 rotates driven by the knocking motor 22, the bearing 26 slides in the cam groove 24, so as to drive the knocking rod 25 to reciprocatingly lift in the upper side sliding groove, the knocking rod 25 drives the ultrasonic transducer and the ultrasonic tool head to reciprocatingly lift, the ultrasonic tool head reciprocatingly lifting knocks the high-voltage transmission line. At the same time, the ultrasonic wave generated by the ultrasonic wave generator is transmitted to the ultrasonic tool head through the ultrasonic transducer, the ultrasonic tool head acts on the high-voltage transmission line, and then removes the ice on the high-voltage transmission line. When the ice condition is serious, the vibration motor is started, and after the vibration motor is started, the deicing support 15 is vibrated, so as to assist the deicing knife 16 to remove the ice on the high-voltage transmission line.

[0085] Sixth step: when the device runs to the hexagonal partition frame on the high-voltage transmission line, it indicates that the ice on the uppermost two high-voltage transmission lines has been removed, at this time, the ice on the right high-voltage transmission line and the lower high-voltage transmission line on the right needs to be removed, at this time, the two deicing bodies 1 of the device need to be controlled to move to the right high-voltage transmission line and the lower high-voltage transmission line on the right.

[0086] Seventh step: control the locking mechanism 46 in the first deicing body 59 to enter the locking state, so that the first deicing body 59 cannot rotate relative to the left upper high-voltage transmission line. At the same time, control the locking mechanism 46 in the second deicing body 60 to be in the unlocking state, and make the piston rod of the two first electric push rods 44 in the second deicing body 60 be in the contraction state, so that the piston rod of the first electric push rod 44 in the second deicing body 60 no longer abuts and supports the lower end of the connecting plate 42 in the second deicing body 60. Then control the second action motor to start rotating, the second action motor drives the second action gear to rotate, the second action gear drives the second action gear ring and the second deicing body 60 to start rotating around the axis of the second action gear ring, so that the V-shaped groove 8 at the lower end of the second deicing body 60 rotates clockwise by 60 degrees.

[0087] The eighth step: control the first deicing body 59 inside the locking mechanism 46 in the unlocked state, while controlling the two first electric push rod 44 inside the piston rod retraction, so that the first electric push rod 44 piston rod end no longer to the first deicing body 59 inside the connecting plate 42 lower end face abutment support. Control the second deicing body 60 inside the locking mechanism 46 in the locked state, while controlling the first electric push rod 44 inside the piston rod in the extended state, so that the first electric push rod 44 piston rod to the second deicing body 60 inside the connecting plate 42 abutment support. Then control the second deicing body 60 on the action motor 5 starts to rotate, the second action gear driven by the second action gear, because the second deicing body 60 can not rotate, so the second action gear also can't action, the second action gear around the second action gear axis revolution, the second action gear drive action connecting rod 6 relative to the second action gear axis rotation, so the first deicing body 59 also relative to the second action gear axis revolution, so that the first deicing body 59 and left side of the upper high voltage transmission line is separated.

[0088] In the first deicing body 59 and left side of the upper high voltage transmission line is separated in the process, the left side of the upper high voltage transmission line in the first deicing body 59 inside the slot 9 down sliding, in the reset spring 35 rebound force, the upper walking support 28 also with the left side of the upper high voltage transmission line in the first deicing body 59 inside the slot 9 down sliding. Under the action of the first connecting rod 43, the first deicing body 59 inside the rotating seat 41 and connecting plate 42 also begin to rotate downward, until the lower walking support 36 are rotated to the inside of the shell 7, while the left side of the upper high voltage transmission line is also from the first deicing body 59 inside the out, at this time the first deicing body 59 inside the guide rod 31 upper end of the limit ring 32 and the guide cylinder 33 limit groove 34 inside the bottom surface contact, so that the upper walking support 28 can't continue to slide down.

[0089] In the process of action connecting rod 6 rotation, the right side of the T block 13 in the second action gear T groove 12 inside sliding, while the action connecting rod 6 right side of the longitudinal plate 11 also with the second action gear inside the cylindrical surface movement contact, ensure the stable rotation of the action connecting rod 6.

[0090] Ninth step: during the rotation of the action connecting rod 6, the first action motor is controlled to start rotating, and the first action motor drives the first action gear to rotate. Since the first ice removal main body 59 is in a free state, the first action gear drives the first action gear ring to rotate around its axis, so that the first ice removal main body 59 also starts to rotate, and stops rotating when it rotates 180 degrees. That is, the first ice removal main body 59 revolves around the axis of the second action gear ring while keeping self-rotation.

[0091] Tenth step: when the first ice removal main body 59 revolves around the axis of the second action gear ring and is about to contact the right high-voltage transmission line, the V-shaped groove 8 of the first ice removal main body 59 corresponds to the right high-voltage transmission line. The second action motor is controlled to continue rotating, and the right high-voltage transmission line enters the first ice removal main body 59 into the inlet and outlet groove 9 along the V-shaped groove 8 of the first ice removal main body 59. When the second action motor controls the action connecting rod 6 to rotate 120 degrees, the upper walking wheel 29 and the lower walking wheel 37 in the first ice removal main body 59 are in stable contact with the right high-voltage transmission line, the upper walking support 28 is in contact with the knocking support 21, and the reset spring 35 is in the maximum compression state. The locking mechanism 46 in the second ice removal main body 60 is controlled to be in a locked state, and the piston rod of the first electric push rod 44 in the second ice removal main body 60 is controlled to be in an extended state.

[0092] Eleventh step: the first action motor is controlled to start rotating, and the first action motor drives the first action gear to start rotating, and the first action gear drives the first action gear ring and the first ice removal main body 59 to start rotating around the axis of the first action gear ring, so that the V-shaped groove 8 at the lower end of the first ice removal main body 59 rotates 60 degrees clockwise.

[0093] Twelfth step: then control the first electric push rod 44 piston rod inside the first deicing body 59 again, so that the first electric push rod 44 piston rod end again butt joint plate 42, ensure that the first deicing body 59 inside the upper walking wheel 29 and the lower walking wheel 37 and the right side of the high voltage transmission line stable contact. At the same time control the locking mechanism 46 in the first deicing body 59 inside the unlocking state, while controlling the two first electric push rod 44 piston rod inside the second deicing body 60 shrink, so that the first electric push rod 44 piston rod end no longer butt joint plate 42 lower end face support. Then control the first action motor starts to run, the first action gear driven by the first action motor rotates, because the first deicing body 59 can't rotate, so the first action gear can't rotate, the first action gear around the first action gear ring axis revolution, the first action gear driven by the action connecting rod 6 relative to the first action gear axis rotation, so the second deicing body 60 also revolves relative to the first action gear axis, so that the second deicing body 60 and the right side of the high voltage transmission line above the separation.

[0094] Thirteenth step: in the process of action connecting rod 6 rotation, control the second action motor starts to rotate, the second action gear driven by the second action motor rotates, because the second deicing body 60 is in free state, so the second action gear driven by the second action gear around its axis revolution, so that the second deicing body 60 also starts to rotate. When the second deicing body 60 rotates over 180 degrees stop rotating. That is, the second deicing body 60 revolves around the first action gear axis, also keep rotating itself.

[0095] Fourteenth step: when the second deicing body 60 revolves around the first action gear axis to be in contact with the right side of the lower high voltage transmission line, the V type groove 8 of the second deicing body 60 corresponds to the right side of the lower high voltage transmission line. Control the first action motor continues to rotate, the right side of the lower high voltage transmission line along the V type groove 8 of the second deicing body 60 into the second deicing body 60 inside the access slot 9. When the first action motor control action connecting rod 6 rotates 120 degrees, the upper walking wheel 29 and the lower walking wheel 37 in the second deicing body 60 and the right side of the lower high voltage transmission line stable contact, the upper walking support 28 and the knocking support 21 contact, the reset spring 35 is in the maximum compression state.

[0096] Fifteenth step: control the piston rod of the first electric push rod 44 inside the second ice removing main body 60 to extend, so that the end of the piston rod of the first electric push rod 44 supports the lower end face of the connecting plate 42 inside the second ice removing main body 60. At the same time, control the locking mechanism 46 inside the first ice removing main body 59 to be in the unlocked state. Control the upper walking motor 30 and the lower walking motor 38 inside the two ice removing main bodies 1 to operate, so as to clean and remove the ice on the high-voltage transmission line on the right side and below.

[0097] Sixteenth step: when the ice on the high-voltage transmission line on the right side and below is removed, repeat the above-mentioned seventh step to fifteenth step in the opposite direction, so as to clean and remove the ice on the high-voltage transmission line on the left side and below.

[0098] Seventeenth step: when the ice on the six high-voltage transmission lines is removed, repeat the above-mentioned seventh step to fifteenth step, so that the two ice removing main bodies 1 return to the two uppermost high-voltage transmission lines, and then control the locking mechanism 46 inside the two ice removing main bodies 1 to be in the unlocked state, and control the first electric push rod 44 inside the two ice removing main bodies 1 to be in the retracted state. Then, the whole device is lifted by the unmanned aerial vehicle to leave the high-voltage transmission line, so as to complete the ice removing work on this section of high-voltage transmission line.

[0099] In addition, the present application can also remove the whole cross-line mechanism 2, so as to use one of the ice removing main bodies 1 to remove the ice on a single high-voltage transmission line.

[0100] It is obvious to those skilled in the art that the present application is not limited to the details of the above-mentioned exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A de-icing device for a high voltage power line, characterized by: The utility model provides a kind of two deicing main body (1), the front and rear end surface between two deicing main body (1) is connected by a set of cross line mechanism (2), the cross line mechanism (2) includes two action gear (3), two action gear (4), two action motor (5) and a action connecting rod (6), two action gear (3) is fixedly arranged on the end surface of two deicing main body (1) respectively, the both ends of action connecting rod (6) are rotatably connected with two action gear (3) respectively, the both ends of action connecting rod (6) are fixedly provided with one action motor (5) respectively, action motor (5) is fixedly provided with action gear (4) on output shaft, action gear (4) is engaged with the action gear (3) of same side. The deicing main body (1) includes a shell (7), a V-shaped groove (8) is provided at the lower end of the shell (7), a vertical open inlet and outlet groove (9) is provided at the top of the V-shaped groove (8), the inlet and outlet groove (9) is communicated with the front and rear end surfaces of the shell (7), the inside of the shell (7) is communicated with the outside through the inlet and outlet groove (9). The action gear (3) is provided above the outside of the inlet and outlet groove (9) of the shell (7), the action gear (3) is in arc shape, the arc-shaped opening of the action gear (3) is vertically downward and located at the upper end outside of the V-shaped groove (8). Two sets of locking mechanisms (46) are provided inside the shell (7), the 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).

2. A de-icing device for high voltage power lines according to claim 1, characterized in that: An arc-shaped T-shaped groove (12) is fixedly provided at the side end surface of the action gear (3) away from the shell (7); the action connecting rod (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), and the transverse plate (10) is perpendicular to the longitudinal plates (11); the transverse plate (10) is located at the side of the action gear (3) away from the shell (7), and the longitudinal plates (11) at both ends are in sliding contact with the inner cylindrical surface of the two action gears (3); a T-shaped block (13) is fixedly provided at both ends of the side end surface of the transverse plate (10) close to the action gear (3), and the two T-shaped blocks (13) are slidingly connected inside the T-shaped grooves (12) of the two action gears (3); the two action motors (5) are fixedly provided at the left and right ends of the side end surface of the transverse plate (10) away from the action gear (3), and the output shaft of the action motor (5) is fixedly provided with the action gear (4) after penetrating through the transverse plate (10).

3. A de-icing device for high voltage power lines according to claim 1, characterized in that: A set of deicing mechanisms (14) are arranged at the front and rear ends inside the shell (7); the deicing mechanism (14) comprises a deicing support (15), a deicing knife (16), a deicing motor (17), a sweeping motor (18), and a sweeping rod (19); the deicing support (15) comprises 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 with the left and right inner walls of the shell (7); two first vertical plates symmetrically arranged on the left and right are fixedly arranged at the middle of the lower end surface of the first horizontal plate; a second horizontal plate is fixedly arranged at the lower end of the side end surface of the first vertical plate away from each other; a deicing knife (16) is rotatably arranged between the two first vertical plates, and the deicing knife (16) is located at the upper end of the inlet and outlet groove (9); a deicing motor (17) is fixedly arranged on the outer surface of one of the first vertical plates, and the output shaft of the deicing motor (17) is fixedly connected with the end of the first rotating shaft of the deicing knife (16); a sweeping motor (18) is fixedly arranged at the center of the upper end surface of the two second horizontal plates, and the output shaft of the sweeping motor (18) vertically penetrates through the second horizontal plate; a sweeping rod (19) is fixedly arranged on the output shaft of the sweeping motor (18), and the two sweeping rods (19) are located on the left and right sides of the inlet and outlet groove (9); one end of the sweeping rod (19) is fixedly connected with the output shaft of the sweeping motor (18).

4. A de-icing device for high voltage power lines according to claim 1, characterized in that: A set of knocking mechanisms (20) are arranged at the middle of the inner side of the shell (7), and the knocking mechanism (20) is located at the upper end of the inlet and outlet groove (9); the knocking mechanism (20) comprises a knocking support (21), a first motor fixing frame, a knocking motor (22), a cam (23), a knocking rod (25), an ultrasonic transducer, and an ultrasonic tool head; the left and right ends of the knocking support (21) are fixedly connected with the left and right inner walls of the shell (7); a vertical first motor fixing frame is fixedly arranged on the upper end surface of the knocking support (21), a knocking motor (22) is fixedly arranged on the upper end of the first motor fixing frame, and a cam (23) is fixedly arranged on the output shaft of the knocking motor (22); a cam groove (24) is arranged on one side end surface of the cam (23), and a bearing (26) is slidably arranged in the cam groove (24); a vertical knocking rod (25) is arranged on one side of the cam (23), and the upper end of the knocking rod (25) is connected with the bearing (26) through a horizontal connecting rod; an upper side sliding groove is arranged on the knocking support (21), and the knocking rod (25) is slidably arranged in the upper side sliding groove in the vertical direction; an ultrasonic transducer is arranged at the lower end of the knocking rod (25), and the ultrasonic transducer is connected with the ultrasonic tool head; an ultrasonic generator is fixedly arranged inside the shell (7), and the ultrasonic generator is electrically connected with the ultrasonic transducer.

5. A de-icing device for high voltage power lines according to claim 1, characterized in that: A set of walking mechanisms (27) are arranged in the middle of the inside of the shell (7), the walking mechanism (27) comprises an upper walking support (28), an upper walking wheel (29), an upper walking motor (30), a reset spring (35), a guide cylinder (33), a guide rod (31); four upper walking wheels (29) are rotatably arranged inside the upper walking support (28) along the front-rear direction, four upper walking motors (30) are fixedly arranged on the outer side surface of the upper walking support (28), the output shafts of the four upper walking motors (30) are respectively fixedly connected with the end portions of the rotating shafts of the four upper walking wheels (29); two front-rear symmetrical vertical guide rods (31) are fixedly arranged on the upper end surface of the upper walking support (28), a limiting ring (32) is fixedly sleeved on the outer side of the upper end of the guide rod (31); two front-rear symmetrical vertical guide cylinders (33) are fixedly arranged at the inner top surface of the shell (7), the guide cylinder (33) is a cylindrical structure with an open lower end; the upper ends of the two guide rods (31) are respectively slidingly inserted into the open lower ends of the two guide cylinders (33); a circular limiting groove (34) is arranged at the middle height of the inner wall of the guide cylinder (33), the limiting ring (32) on the upper end of the guide rod is slidingly arranged in the limiting groove (34); the same reset spring (35) is sleeved outside the guide cylinder (33) and the guide rod (31), the upper and lower ends of the reset spring (35) are respectively fixedly connected with the inner top surface of the shell (7) and the upper end surface of the upper walking support (28).

6. A de-icing device for high voltage power lines according to claim 5, characterized in that: The walking mechanism (27) further comprises lower walking supports (36), lower walking wheels (37), lower walking motors (38), driving gears (39), driven gears (40), rotating seats (41), first connecting rods (43), and first electric push rods (44). Four lower walking supports (36) are arranged below the upper walking supports (28), and the four lower walking supports (36) are respectively located below the four upper walking wheels (29). Two front and rear lower walking wheels (37) are rotatably arranged inside the lower walking supports (36), the shaft ends of the two lower walking wheels (37) extend to the outside of the lower walking supports (36), and one driven gear (40) is fixedly arranged at each of the shaft ends of the two lower walking wheels (37). A lower walking motor (38) is fixedly arranged on the outer side surface of the lower walking support (36), a driving gear (39) is fixedly arranged on the output shaft of the lower walking motor (38), and the driving gear (39) is engaged with the two driven gears (40). One rotating seat (41) is fixedly arranged on the outer side surface of each lower walking support (36), one end of the rotating seat (41) is fixedly connected with the lower walking support (36), and the other end of the rotating seat (41) is rotatably connected with the inner wall of the shell (7). The two rotating seats (41) at the middle part are located on one side of the lower walking support (36), and the two rotating seats (41) at the front and rear ends are located on the other side of the lower walking support (36). The two rotating seats (41) on the same side are fixedly connected through a front and rear horizontal connecting plate (42). Two front and rear symmetrical first connecting rods (43) are arranged between the connecting plate (42) and the side surface of the upper walking support (28), the upper end of the first connecting rod (43) is rotatably connected with the outer side surface of the upper walking support (28), and the lower end of the first connecting rod (43) is rotatably connected with the upper end surface of the connecting plate (42). The first connecting rods (43) on the left and right sides are symmetrically arranged. One first electric push rod (44) is fixedly arranged at the lower end of the inner wall of the shell (7) on the left and right sides, the cylinder of the first electric push rod (44) is fixedly arranged on the inner wall of the shell (7), and the piston rod of the first electric push rod (44) is obliquely arranged upward.

7. A de-icing device for high voltage power lines according to claim 1, characterized in that: The locking support (47) is fixedly arranged between the inner walls of the left and right sides of the shell (7), and a second electric push rod (48) is fixedly arranged on the locking support (47), and the piston rod of the second electric push rod (48) is vertically downward; a fixed seat (49) is fixedly arranged at one end of the cylinder body of the second electric push rod (48) close to the piston rod, a left-right through sliding groove is arranged in the fixed seat (49), and a sliding seat (50) is slidably arranged in the fixed seat (49) in the vertical direction; a second connecting rod (51) and a third connecting rod (52) are rotatably arranged at the left and right ends of the sliding seat (50) respectively, 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 connecting rod (53) comprises 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 the middle inclined section is fixedly arranged 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 other 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 end faces of the second connecting rod (51), the third connecting rod (52) and the sliding seat (50), and the upper vertical section of the fourth connecting rod (53) form a parallelogram structure; 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 part of the second connecting rod (51) on the same side; a clamping plate (55) is fixedly arranged at the lower end of the lower vertical section of each fourth connecting rod (53).

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

9. A de-icing device for high voltage power lines according to claim 1, characterized in that: A solar panel (58) is arranged at the top of the shell (7), and a storage battery is arranged in the shell (7) and connected with the solar panel (58). A solar panel (58) is arranged at the top of the shell (7), and a storage battery is arranged in the shell (7) and connected with the solar panel (58).

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