Obstacle-crossing line patrol ice breaking device and method for railway contact line

Abstract

The invention discloses an obstacle-crossing line patrol ice crushing device and method for a railway contact line. The obstacle-crossing line patrol ice crushing device comprises a rack, and an ice crushing module and four bionic legs are arranged on the rack; one end of each bionic leg is connected to the rack, and the other end of each bionic leg is connected with a rubber sheave which is hung on the contact line. When line patrol is carried out, the device is mounted on a contact line, and forward line patrol is carried out along the contact line; an ice crushing motor is started to drive a rotary disc to rotate oppositely, so that an ice crushing nylon rod crushes and crushes ice covering the contact line; when the robot moves to a wire clamp obstacle, the first bionic leg is controlled to be separated from the contact wire; after the first bionic leg crosses the wire clamp obstacle, adjusting the posture of the adjacent bionic leg for compensation, so that the first bionic leg falls back to the contact wire; and the operation is repeated, and the remaining bionic legs span and continue to advance until line patrol ice breaking of the whole contact line is completed. The problem that in the prior art, when a contact wire clamp is spanned, wire loosening is prone to occurring is solved.

Description

Technical Field

[0001] This invention belongs to the field of railway power supply contact line de-icing technology, specifically relating to a device and method for breaking ice across obstacles in railway contact lines. Background Technology

[0002] With the rapid development of high-speed rail technology, my country now boasts the world's longest electrified railway network. However, extreme freezing rain and other natural disasters cause the power supply contact lines to be covered with thick ice crusts, severely impacting train operations.

[0003] Currently, railway departments mainly rely on manual ice removal. One method involves workers standing on the ground and striking the ice up to a height of 6 meters, which poses a significant safety risk. Another method involves climbing onto the top of a dedicated train car to remove the ice, which carries the risk of falling from heights. Manual ice removal is inefficient, labor-intensive, and unsafe.

[0004] A dropper is installed every 8-10 meters on the railway contact line. The dropper clamp holds the contact line, ensuring it is parallel to the rail plane, allowing the pantograph to slide safely and at high speed underneath. Therefore, it is essential to design a device specifically for de-icing the contact line.

[0005] For example, a railway contact wire de-icing device with publication number CN223613014U includes a traveling frame, a traveling wheel set and a de-icing unit mounted on the traveling frame. The traveling frame includes a wheel set mounting part and a de-icing mounting part. The traveling wheel set includes a drive wheel set and a guide wheel set. The drive wheel body is mounted on the output end of the drive motor, and the guide cover is mounted on the upper end of the drive bracket and partially covers the drive wheel body. The outer surface of the guide cover is arc-shaped. A hydraulic spring is provided on the side of the drive bracket away from the contact wire. The two sides of the hydraulic spring are also hinged. The length of the hydraulic spring is designed so that the drive bracket is just upright. In this contact wire de-icing device, the four drive wheels press against the contact wire, and the weight of the whole machine needs to be shared by the four drive wheels. When the first drive wheel encounters an obstacle, the arc-shaped guide cover will be squeezed by the obstacle, causing the drive bracket to shift around the hinge point, and the hydraulic spring will be compressed. At this time, the first drive wheel is lifted off the ground and no longer shares the weight of the whole machine, which will inevitably cause a certain degree of sinking relative to the contact wire. Because the contact line is thin, even after bypassing the obstacle, the tread surface of the first drive wheel will be lower than the contact line. Even if it rebounds under the action of the hydraulic spring, it will be difficult to press the upper surface of the contact line again, causing the drive wheel to "come off the line" and making it difficult to complete the subsequent obstacle crossing. Summary of the Invention

[0006] The purpose of this invention is to provide an ice-breaking device for crossing obstacles on railway contact lines, which solves the problem of "derailment" that easily occurs when crossing contact line clamps in the prior art.

[0007] Another object of the present invention is to provide a method for breaking ice across obstacles in railway contact lines.

[0008] The first technical solution adopted in this invention is an ice-breaking device for crossing obstacles on railway contact lines, including a frame. An ice-breaking module for breaking ice shells on the contact line is installed at the front end of the frame. Two sets of walking modules are also installed on the frame. Each set of walking modules includes two bionic legs distributed front and back along the running direction. The two bionic legs are distributed on opposite sides of the contact line. One end of the bionic leg is connected to a leg motor, which is fixed to the upper surface of the frame. The other end is connected to a foot motor. The output shaft of the foot motor is connected to a rubber grooved wheel, which is mounted on the contact line. The foot motor drives the rubber grooved wheel to rotate, which in turn drives the ice crushing device forward along the direction of the contact line.

[0009] The first technical solution of the present invention is further characterized in that, The ice crushing module includes an ice crushing motor, which is fixed to the surface of the frame by a support frame. The output shaft of the ice crushing motor is connected to a driving bevel gear, which meshes with two driven bevel gears. The two driven bevel gears are symmetrically distributed along the axis of the driving bevel gear, and a short shaft is provided at the axis of the driven bevel gear. The other end of the short shaft is connected to a rotary table. Multiple mounting holes are opened along the circumference of the rotary table. The mounting holes are distributed at equal angles along the circumference of the rotary table. A tension spring is installed in the mounting hole. Several ice-crushing nylon rods are installed at the other end of the tension spring. The ice-crushing nylon rods are arranged radially along the rotary table.

[0010] A bevel gearbox is installed above the ice crushing motor. The bevel gearbox is connected to the ice crushing motor by bolts. Both the driving bevel gear and the driven bevel gear are located inside the bevel gearbox. The drive shaft of the ice crushing motor passes through the bottom of the bevel gearbox and is connected to the driving bevel gear. The short shaft connecting the rotary table and the driven bevel gear also passes through the bevel gearbox and is movably connected to the bevel gearbox.

[0011] The front end of the frame along the forward direction is pointed, and an ice baffle is installed between the ice crushing module and the walking module. The ice baffle is vertically fixed to the upper surface of the frame.

[0012] The leg motor is fixed to the upper surface of the frame by a motor bracket. The leg motor is a worm gear reducer motor. The output shaft of the leg motor is connected to the bionic leg, and the extension direction of the output shaft of the leg motor is perpendicular to the extension direction of the output shaft of the foot motor.

[0013] The angle between the bionic leg and the frame is 60°.

[0014] The bionic leg is equipped with a grooved wheel cover at one end of the foot motor. The rubber grooved wheel is located inside the grooved wheel cover, and the bottom of the grooved wheel cover has a Y-shaped opening.

[0015] The second technical solution adopted in this invention is a method for breaking ice across obstacles on railway contact lines, comprising the following steps: Step 1: Attach the device to the railway contact line via rubber grooved wheels; Step 2: Start the foot motors on the four bionic legs to drive the device to move forward along the contact line; start the ice-crushing motor to drive the two rotary tables to rotate in opposite directions, so that the ice-crushing nylon rods can crush the ice on the contact line in a pinching manner, thus achieving continuous ice crushing during the line-crushing process. Step 3: When the vehicle reaches the line clamp obstacle, the first bionic leg at the front of the vehicle controls the direction of travel and lifts off the contact line via a leg motor. The remaining three bionic legs maintain stability and continue to move forward. Step 4: After the first bionic leg crosses the wire clamp obstacle, adjust the posture of the adjacent bionic legs for height compensation, control the first bionic leg to fall back and re-clamp onto the contact line; Step 5: Repeat steps 3-4 to complete the obstacle-crossing actions of the remaining three bionic legs in sequence. During this period, the ice-breaking module continues to work to achieve the synchronous progress of obstacle crossing and ice-breaking operations until the entire contact line is cleared and ice is broken.

[0016] The second technical solution of the present invention is further characterized in that, The posture compensation in step 4 specifically involves controlling the next bionic leg adjacent to the raised bionic leg, and pressing the angle of the next bionic leg down by 5° through the leg motor, so that the contact line area on the corresponding side of the raised bionic leg forms a height-adaptive space, ensuring that the raised bionic leg falls back smoothly and accurately presses against the surface of the contact line.

[0017] In step 5, when the last bionic leg is raised, the leg motor of the second-to-last bionic leg is controlled to lower its angle by 5°, so that the contact line area on the corresponding side of the raised bionic leg forms a height-adaptive space, ensuring that the last bionic leg falls back smoothly and accurately presses against the surface of the contact line.

[0018] The beneficial effects of this invention are: (1) This invention adopts a structured design with four bionic legs. The posture of the bionic legs is controlled by a drive component with self-locking characteristics. Combined with symmetrical arrangement and tilted installation, it ensures that a sufficient number of support components are always attached to the contact line during obstacle crossing, maintaining the overall stability of the device. During obstacle crossing, the coordinated action of raising and lowering the bionic legs in sequence, combined with posture compensation adjustment, avoids the problem of jamming or derailment caused by gravity sinking after a single support component leaves the contact line, thus achieving smooth crossing of obstacles such as line clamps and ensuring the continuity of operation.

[0019] (2) This invention achieves mechanized ice breaking through the head-mounted ice-breaking module, eliminating the need for manual high-altitude operations or ground striking, fundamentally avoiding the risks of falls from heights and insufficient safety protection associated with manual ice removal, and ensuring the personal safety of operators. The ice-breaking module uses a counter-rotating turntable combined with elastically connected ice-breaking components to simulate the efficient ice removal method of manual two-sided striking, forming a high-speed, clamping effect. Compared with manual operation, this significantly improves ice-breaking efficiency, while avoiding the problems of high labor intensity and limited operating range of manual ice removal, enabling large-scale and rapid removal of ice on the contact line.

[0020] The ice-breaking component is made of high-toughness nylon with a flexible connection structure. This allows it to generate sufficient impact force to break up ice under high-speed rotation, while the elastic cushioning prevents hard impacts on the contact wire surface, effectively protecting the original structural integrity of the contact wire and preventing damage during de-icing. Simultaneously, the flexible connection design adapts to different ice thicknesses, ensuring effective ice breaking under various icing conditions. After ice breaking, the component can flexibly rebound to avoid further impacts, ensuring continuous striking effect and preventing ice residue. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the ice-breaking device for crossing obstacles in railway contact lines according to the present invention.

[0022] Figure 2 This is a schematic diagram of the ice-crushing module structure of the present invention.

[0023] Figure 3 This is the left view of the present invention.

[0024] Figure 4 This is a schematic diagram of the upper walking module of the bionic leg of the present invention.

[0025] Figure 5 This is a schematic diagram of the first bionic leg of the present invention crossing the wire clamp.

[0026] In the diagram: 1. Grooved wheel guard, 2. Foot motor, 3. Leg motor, 4. Frame, 5. Bionic leg, 6. Ice baffle, 7. Ice crushing motor, 8. Wire clamp, 9. Hanger, 10. Rubber grooved wheel, 11. Support frame, 12. Ice crushing nylon rod, 13. Rotary disc, 14. Tension spring, 15. Contact wire, 16. Bevel gearbox, 17. Driven bevel gear, 18. Driven bevel gear, 19. Motor bracket. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1 This invention relates to an ice-breaking device for obstruction-crossing inspection of railway contact lines, adapted to the needs of ice removal and obstruction-crossing inspection of railway contact lines, such as... Figure 1 As shown, the device includes a frame 4, which serves as the overall installation base. The front end of the frame 4 is specifically equipped with an ice-breaking module designed to break up ice covering the surface of the contact line 15, allowing for simultaneous ice-breaking operations during the device's movement. Two sets of identical walking modules are also symmetrically mounted on the frame 4. These two sets of walking modules work together to provide stable support and propulsion for the device. Each walking module includes two bionic legs 5, which are staggered along the device's running direction and symmetrically distributed on opposite sides along the axis of the contact line 15, ensuring balanced force and operational stability after the device is mounted.

[0029] One end of the bionic leg 5 is connected to the leg motor 3, which is securely fixed to the upper surface of the frame 4 via a suitable mounting structure, providing precise power for the posture adjustment of the bionic leg 5. The other end of the bionic leg 5 is securely connected to the foot motor 2, and the output shaft of the foot motor 2 is equipped with a rubber grooved wheel 10 that matches the contact line 15. The rubber grooved wheel 10 is precisely mounted on the contact line 15, forming a reliable mounting support point. During operation, the foot motor 2 outputs a stable torque to drive the rubber grooved wheel 10 to roll along the contact line 15, thereby smoothly driving the entire ice-crushing device to move forward continuously along the extension direction of the contact line 15, realizing the synchronous operation of line inspection and ice crushing.

[0030] Example 2 The present invention provides an ice-breaking device for crossing obstacles on railway contact lines, comprising a frame 4, an ice-breaking module for breaking ice shells on contact lines 15 installed at the front end of the frame 4, and two sets of walking modules installed on the frame 4. Each set of walking modules includes two bionic legs 5 distributed front to back along the running direction, with the two bionic legs 5 distributed on opposite sides of the contact lines 15. One end of the bionic leg 5 is connected to a leg motor 3, which is fixed to the upper surface of the frame 4. The other end is connected to a foot motor 2. The output shaft of the foot motor 2 is connected to a rubber grooved wheel 10, which is mounted on the contact line 15. The foot motor 2 drives the rubber grooved wheel 10 to rotate, which in turn drives the ice crushing device to move forward along the extension direction of the contact line 15.

[0031] Furthermore, such as Figure 2As shown, the ice-crushing module uses an ice-crushing motor 7 as its power core, which is securely fixed to the front end of the frame 4 via a support frame 11. The installation structure is compact and the force is evenly distributed, providing a stable foundation for subsequent power transmission. The output shaft of the ice-crushing motor 7 is equipped with a driving bevel gear 18, which meshes with two driven bevel gears 17 to form a transmission. The two driven bevel gears 17 are symmetrically distributed along the axis of the driving bevel gear 18 to ensure uniform power transmission. A short shaft is fixedly connected to the axis of each driven bevel gear 17, and the short shaft rotates coaxially with the driven bevel gear 17 to achieve synchronous power transmission.

[0032] The end of the short shaft away from the driven bevel gear 17 is securely connected to the rotary table 13, which can drive the rotary table 13 to rotate synchronously at high speed with the short shaft. Multiple mounting holes are evenly distributed along the circumference of the rotary table 13, and the mounting holes are distributed at equal angular intervals along the circumference of the rotary table 13 to ensure force balance.

[0033] Each mounting hole is fitted with a tension spring 14. The end of the tension spring 14 away from the rotary table 13 is connected to the ice-crushing nylon rod 12 in a corresponding manner. The ice-crushing nylon rod 12 extends outward along the radial direction of the rotary table 13 to accurately cover the ice-covered area of ​​the contact line and ensure the striking effect.

[0034] Preferably, the rotary table 13 in this embodiment is made of lightweight aluminum alloy, and six small holes are evenly distributed along the circumferential direction on its edge for installing tension springs 14.

[0035] Preferably, the ice-crushing nylon rod 12 is made of nylon, which has good toughness and strong wear resistance, avoiding damage to the contact line surface and leaving impact marks. Due to the use of a tension spring connection design, the effective striking length of the nylon rod 12 can be adapted to different thicknesses of ice shells according to the rotation speed of the rotary table; at the same time, after striking, it can rebound and bypass from under the contact line, ensuring that each nylon rod can continuously strike the ice shell at high speed.

[0036] Example 3 Based on Embodiment 2 above, this embodiment features a bevel gearbox 16 positioned above the ice-crushing motor 7. The bevel gearbox 16 is securely connected to the ice-crushing motor 7 via bolts, ensuring structural stability during power transmission. The driving bevel gear 18 and two driven bevel gears 17 are all internally mounted within the cavity of the bevel gearbox 16. The drive shaft of the ice-crushing motor 7 passes upwards through the bottom of the bevel gearbox 16 and is coaxially fixed to the driving bevel gear 18, enabling direct power transmission. The short shaft connecting the rotary table 13 and the driven bevel gears 17 passes through the front and rear walls of the bevel gearbox 16 and is adapted to the bevel gearbox 16 via a movable connection, ensuring smooth and uninterrupted rotation of the short shaft synchronously with the driven bevel gears 17.

[0037] Furthermore, the front end of the frame 4 along its forward direction is designed as a pointed shape, and an ice baffle 6 is set between the ice crushing module and the walking module. The ice baffle 6 is vertically and firmly fixed to the upper surface of the frame 4, which can effectively block the ice shards that fall off during the ice crushing process, prevent the ice shards from accumulating in the walking module area and affecting the movement of the bionic legs, and ensure the smooth operation of the device.

[0038] Furthermore, such as Figure 3 As shown, the leg motor 3 is securely fixed to the upper surface of the frame 4 via the motor bracket 19. The motor bracket 19 provides reliable mounting support for the leg motor 3, ensuring that it is subjected to balanced force and remains stable during device operation and obstacle crossing, thus laying a stable foundation for the posture control of the bionic leg 5. The leg motor 3 adopts a worm gear reducer motor. This type of motor has a large transmission ratio and self-locking characteristics. The large transmission ratio can convert the motor power into precise and sufficient torque, realizing the fine adjustment of the posture of the bionic leg 5 and meeting the lifting and lowering action requirements during obstacle crossing. The self-locking characteristic allows the bionic leg 5 to maintain a fixed position after adjusting to the target posture, avoiding posture deviation caused by device vibration or contact line sway, and ensuring stability during obstacle crossing.

[0039] The output shaft of the leg motor 3 is connected to the bionic leg 5, ensuring direct and precise power transmission, enabling the bionic leg 5 to quickly switch postures in response to motor control. Simultaneously, the extension direction of the output shaft of the leg motor 3 is perpendicular to the extension direction of the output shaft of the foot motor 2. This layout design avoids motion interference between the two motors, ensuring that the lifting and lowering movements of the bionic leg 5 do not affect the walking drive movement of the rubber grooved wheel 10.

[0040] Furthermore, the bionic leg 5 and the frame 4 are arranged at a 60° upward angle.

[0041] Example 4 This embodiment is based on the above embodiment 3, such as Figure 4 As shown, the bionic leg 5 of the present invention is also securely fitted with a grooved wheel cover 1 at one end where the foot motor 2 is mounted. The rubber grooved wheel 10 is adapted to be accommodated in the inner cavity of the grooved wheel cover 1. The core purpose of the grooved wheel cover 1 is to provide protection and limit the rubber grooved wheel 10: on the one hand, it can effectively block the impact and entanglement of foreign objects during line inspection and obstacle crossing, avoid the obstruction of the operation of the rubber grooved wheel 10, and ensure the stable performance of its driving and guiding functions; on the other hand, the bottom of the grooved wheel cover 1 is designed with a Y-shaped opening. This structure does not interfere with the precise mounting and matching of the rubber grooved wheel 10 and the contact line 15, and can guide the contact line to smoothly slide into the groove of the rubber grooved wheel when the device moves.

[0042] Example 5 This invention relates to a method for breaking ice across obstacles on railway contact lines, employing the ice-breaking device described in the above embodiment, and includes the following steps: Step 1: The device is precisely pressed onto the railway contact line 15 using the rubber grooved wheel 10, ensuring that the rubber grooved wheel 10 fits tightly against the contact line 15, and that the grooved wheel cover 1 provides lateral protection to prevent the device from detaching from the line during initial mounting and subsequent operation, thus maintaining a stable inverted mounting posture.

[0043] Step 2: Simultaneously start the foot motors 2 on the four bionic legs 5. The foot motors 2 output stable torque to drive the rubber grooved wheels 10 to roll smoothly along the contact line 15, driving the device to patrol the line at a uniform speed. At the same time, start the ice-crushing motor 7. The ice-crushing motor 7 drives the two rotary disks 13 to rotate in opposite directions at high speed through the bevel gear transmission mechanism. The ice-crushing nylon rods 12 on the rotary disks 13 are stretched and extended by the tension springs 14 under the action of centrifugal force, and perform a clamping high-speed strike on the ice covering the surface of the contact line 15, so as to realize the synchronous and continuous operation of patrolling the line and crushing the ice, and ensure that the ice covering is removed without any omissions.

[0044] Step 3, as follows Figure 5 As shown, when the device reaches the line clamp obstacle, it first clears the ice in the obstacle area through the ice-breaking module, and then controls the leg motor 3 corresponding to the first bionic leg 5 at the front of the movement direction to drive the first bionic leg 5 to lift off the contact line 15. At this time, the device relies on the rubber groove wheels 10 of the remaining three bionic legs 5 to maintain reliable attachment to the contact line 15, and continues to move forward under the drive of the remaining three foot motors 2, ensuring that the posture is stable and does not deviate during the movement.

[0045] Step 4: After the first bionic leg 5 has completely crossed the wire clamp obstacle, control the second bionic leg 5 adjacent to the first bionic leg 5 to press down at a small angle through the leg motor 3 to perform height compensation, so that the corresponding area of ​​the contact line 15 forms a fitting space, avoiding the first bionic leg 5 from getting stuck on the contact line 15 when it falls back; then control the leg motor 3 corresponding to the first bionic leg 5 to move in the opposite direction, drive it to fall back smoothly and re-press precisely onto the contact line 15, restoring the coordinated support state of the four bionic legs.

[0046] Step 5: Following the obstacle-crossing logic of Steps 3-4, control the remaining three bionic legs 5 sequentially to complete the actions of lifting, crossing, posture compensation, and returning to their original positions. Throughout the obstacle-crossing process, the ice-breaking module remains in working condition, achieving seamless connection and synchronous progress between obstacle crossing and ice-breaking operations, until the entire contact line 15 is completed and the ice-breaking operation is finished.

[0047] Example 6 Based on Embodiment 5 above, in this embodiment, the method for breaking ice across obstacles on railway contact lines, after the first rubber grooved wheel 10 is lifted from the surface of the contact line 15, it no longer bears the weight of the entire machine; the weight of the entire machine is borne by the three subsequent rubber grooved wheels 10. Due to the flexibility of the contact line, the contact line 15 springs upward relative to the lowermost edge of the first rubber grooved wheel 10. Because the contact line is relatively thin, simply controlling the first leg motor 3 to reverse and let the first bionic leg 5 fall back will cause the lower side of the first rubber grooved wheel 10 to become laterally stuck with the contact line 15, making it difficult for the first rubber grooved wheel 10 to return to its original position.

[0048] Therefore, in step 4, the posture compensation precisely controls the bionic leg 5 that is adjacent to and behind the raised bionic leg 5. Power is output from the leg motor 3 corresponding to the raised bionic leg 5 to press down the angle of the rear bionic leg 5 by 5°. This creates a height-fitting space in the contact line 15 area on the side of the raised bionic leg 5, effectively preventing the raised bionic leg 5 from getting stuck on the contact line 15 when it falls back down. This ensures that it falls back smoothly and is precisely pressed against the upper surface of the contact line 15, quickly restoring the mounting and support function of the bionic leg 5.

[0049] Furthermore, when the bionic leg 5 at the rear end of the device needs to be raised to cross an obstacle, the leg motor 3 corresponding to the second-to-last bionic leg is controlled to lower its angle by 5°, so that the contact line 15 area on the corresponding side of the raised bionic leg 5 forms a height-adaptive space, ensuring that the rearmost bionic leg 5 falls back smoothly after crossing the obstacle and accurately snaps onto the upper surface of the contact line 15, thus completing the obstacle-crossing action and mounting reset of all bionic legs 5.

[0050] Finally, it should be noted that in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0052] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A device for crossing obstacles and deicing a contact wire of a railway, characterized in that, The rack (4) is provided with an ice breaking module for breaking ice shell on the contact line (15) at the front end of the rack (4), and two groups of walking modules are also mounted on the rack (4), each group of walking modules comprising two bionic legs (5) distributed in front and back along the running direction, and the two bionic legs (5) are distributed on opposite sides of the contact line (15); One end of the bionic leg (5) is connected with a leg motor (3) fixed on the upper surface of the rack (4), and the other end is connected with a foot motor (2), the output shaft of the foot motor (2) is connected with a rubber grooved wheel (10), the rubber grooved wheel (10) is hung on the contact line (15), the foot motor (2) drives the rubber grooved wheel (10) to rotate, and drives the ice breaking device to move forward along the extension direction of the contact line (15).

2. The over-obstacle ice-breaking device for railway contact line according to claim 1, characterized in that, The ice breaking module comprises an ice breaking motor (7) fixed on the surface of the rack (4) through a support frame (11), the output shaft end of the ice breaking motor (7) is connected with a driving bevel gear (18), the driving bevel gear (18) is engaged with two driven bevel gears (17), the two driven bevel gears (17) are symmetrically distributed along the axis of the driving bevel gear (18), and a short shaft is arranged on the axis of the driven bevel gear (17); The other end of the short shaft is connected with a rotary disc (13), a plurality of mounting holes are formed on the rotary disc (13) in the circumferential direction, the mounting holes are distributed at equal angles in the circumferential direction of the rotary disc (13), a pull spring (14) is mounted in the mounting hole, and a plurality of ice breaking nylon rods (12) are mounted at the other end of the pull spring (14), and the ice breaking nylon rods (12) are arranged in the radial direction of the rotary disc (13).

3. The over-obstacle ice-breaking device for railway contact line according to claim 2, characterized in that, A bevel gear box (16) is arranged above the ice breaking motor (7), the bevel gear box (16) is connected with the ice breaking motor (7) through bolts, the driving bevel gear (17) and the driven bevel gear (18) are located in the bevel gear box (16), and the transmission shaft of the ice breaking motor (7) penetrates the bottom of the bevel gear box (16) and is connected with the driving bevel gear (17); the short shaft connecting the rotary disc (13) and the driven bevel gear (17) also penetrates the bevel gear box (16) and is movably connected with the bevel gear box (16).

4. The over-obstacle ice-breaking device for railway contact line according to claim 1, characterized in that, The front end of the rack (4) in the advancing direction is in a sharp angle shape, and an ice blocking plate (6) is arranged between the ice breaking module and the walking module, and the ice blocking plate (6) is vertically fixed on the upper surface of the rack (4).

5. The over-obstacle ice-breaking device for railway contact line according to claim 1, characterized in that, The leg motor (3) is fixed on the upper surface of the rack (4) through a motor support (19), the leg motor (3) is a turbine worm reducer motor, the output shaft of the leg motor (3) is connected with the bionic leg (5), and the extension direction of the output shaft of the leg motor (3) is perpendicular to the extension direction of the output shaft of the foot motor (2).

6. The over-obstacle ice-breaking device for railway contact line according to claim 1, characterized in that, The included angle between the bionic leg (5) and the rack (4) is 60°.

7. The over-obstacle ice-breaking device for railway contact line according to claim 1, characterized in that, The end of the bionic leg (5) provided with the foot motor (2) is also provided with a grooved wheel guard (1), the rubber grooved wheel (10) is located on the inner side of the grooved wheel guard (1), and the lower part of the grooved wheel guard (1) is in a Y-shaped opening.

8. Method for the crossing of obstacles and the de-icing of the contact wire of a railway, characterized in that, The ice breaking device of any one of the above claims 1-7 comprises the following steps: Step 1, the device is hung on the railway contact line (15) through the rubber grooved wheel (10); Step 2, start the foot motor (2) on the four bionic legs (5) to drive the device to patrol the contact line (15) forward; start the ice crushing motor (7) to drive the two rotating discs (13) to rotate in opposite directions, so that the ice crushing nylon rod (12) clamps and hits the ice on the contact line (15), realizing continuous ice crushing during the patrol process; Step 3, when the device travels to the line clamp obstacle, the first bionic leg (5) at the front of the travel direction is lifted off the contact line (15) by the leg motor (3), and the remaining three bionic legs (5) remain stable and continue to move forward; Step 4, after the first bionic leg (5) crosses the line clamp obstacle, adjust the posture of the adjacent bionic leg (5) to compensate for the height, control the first bionic leg (5) to fall back and re-press on the contact line (15); Step 5, repeat steps 3-4 to complete the obstacle crossing action of the remaining three bionic legs (5) in turn, during which the ice crushing module continues to work, realizing the synchronization of obstacle crossing and ice crushing, until the whole contact line (15) is patrolled and the ice is crushed.

9. The method for crossing obstacles and de-icing the contact wire of a railway according to claim 8, characterized in that, The posture compensation in step 4 is to control the next bionic leg (5) adjacent to the lifted bionic leg (5) to lower the angle of the next bionic leg (5) by 5° through the leg motor (3), so that a height matching space is formed in the area of the contact line (15) corresponding to the lifted bionic leg (5), ensuring that the lifted bionic leg (5) falls back smoothly and accurately presses on the upper surface of the contact line (15).

10. The method for crossing obstacles and de-icing the contact wire of a railway according to claim 9, characterized in that, When the last bionic leg (5) is lifted in step 5, control the leg motor (3) of the second last bionic leg (5) to lower its angle by 5°, so that a height matching space is formed in the area of the contact line (15) corresponding to the lifted bionic leg (5), ensuring that the last bionic leg (5) falls back smoothly and accurately presses on the upper surface of the contact line (15).

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