Ice removing device for insulator of transformer substation

Abstract

The invention belongs to the related technical field of power equipment deicing, and provides a transformer substation insulator ice coating removing device which comprises a holding mechanism, a cavity ice breaking mechanism and an outer ring ice breaking mechanism. The device is suitable for a large number of vertically-installed insulator strings in a transformer substation, through the arrangement of the holding mechanism, the cavity icebreaking mechanism and the outer ring icebreaking mechanism, ice covering between insulators is broken and crushed on the basis of the pulling and scraping action, meanwhile, falling and fixing of the device based on gravity are achieved through repeated holding and releasing actions, and the ice breaking efficiency is improved. Compared with the prior art, the full-automatic falling type ice removing and removing device is established, the automatic ice removing process can be achieved without long-time supervision of maintenance personnel, meanwhile, a pulling and scraping ice removing mode is adopted to replace a collision ice breaking mode, and damage to an insulator due to improper force exertion can be effectively avoided; and the easy-to-implement structure can further improve the popularization feasibility of the equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of power equipment de-icing, and particularly relates to a device for removing ice from insulators in substations. Background Technology

[0002] De-icing of power equipment is one of the important operations to ensure the safety of power equipment and the stability of power supply. In low-temperature rainy or snowy weather, or cold and humid weather, power equipment exposed to the environment is very prone to icing. This not only increases the weight, causing cables and equipment to exceed their safe load and be damaged, but also creates certain safety hazards.

[0003] To promptly eliminate potential hazards, de-icing is crucial. For cables, surface ice can be melted by methods such as increasing voltage. However, this method is not suitable for accessories like insulators. Existing insulator de-icing equipment often relies on impact to remove ice, but this method can easily damage the insulators. Furthermore, the automation of existing equipment is poor, usually requiring manual assistance for maintenance, which is inefficient in substations with a large number of insulators. Summary of the Invention

[0004] The purpose of this invention is to provide a device for removing ice from insulators in substations, which aims to solve the problems mentioned in the background art.

[0005] The present invention is implemented as follows: a substation insulator icing removal device includes a holding mechanism based on the insulator, and a cavity ice-breaking mechanism and an outer ring ice-breaking mechanism arranged sequentially and at intervals below the holding mechanism. The cavity ice-breaking mechanism and the outer ring ice-breaking mechanism are fixedly arranged relative to the holding mechanism.

[0006] The holding mechanism secures the insulator by clamping it.

[0007] The cavity ice-breaking mechanism includes multiple ice-breaking claws evenly distributed along the circumference. The ice-breaking claws are intermittently rotated to break ice on the surface of the connecting post of adjacent insulators.

[0008] The outer ring ice-breaking mechanism includes multiple ice-breaking blades evenly distributed along the circumference. The ice-breaking blades are attached to the outer edge of the insulator and are intermittently rotated to break ice on the outer edge surface of the insulator.

[0009] As a further aspect of the present invention: the cavity ice-breaking mechanism includes a support ring and a drive ring that are rotatably engaged, and the support ring is fixedly connected to the holding mechanism;

[0010] The ice-breaking claw is hinged to the hinge frame provided inside the drive ring via a radial pressure shaft. The ice-breaking claw rotates toward the center of the cavity ice-breaking mechanism via the radial pressure shaft, and the maximum rotation position is less than the position of the line connecting the radial pressure shaft and the center.

[0011] The cavity ice-breaking mechanism also includes a connecting rod hinged to the radial pressure shaft and a plow block at the end of the connecting rod. The hinge rotation surface of the connecting rod is perpendicular to the plane where the cavity ice-breaking mechanism is located.

[0012] The plow block is hinged to the connecting rod, and a coil spring is provided at the hinge. Under the elastic support of the coil spring, when the plow block is at the maximum elastic rotation angle, the plow block is perpendicular to the connecting rod.

[0013] The plow block is made of a heat-conducting material, and a heating element is pre-embedded inside the plow block for heating the plow block.

[0014] As a further aspect of the present invention: the inner side of the support ring is made of magnetic material, and the outer side of the drive ring is provided with an electromagnetic ring;

[0015] The electromagnetic ring is magnetically coupled with the support ring. When the electromagnetic ring receives a pulsed power input, the electromagnetic ring rotates under the action of magnetic force.

[0016] The hinge frame is also provided with an angle sensor that cooperates with the radial pressure shaft. The angle sensor is used to obtain the rotation angle of the radial pressure shaft.

[0017] The drive ring also includes a conductive contact that slides with the radial pressure shaft, the conductive contact being used to provide contact-type power to the plow block.

[0018] As a further aspect of the present invention, it also includes a sensing and control module electrically connected to the cavity ice-breaking mechanism and the outer ring ice-breaking mechanism, wherein the sensing and control module specifically includes:

[0019] The feedback sensing unit is used to simultaneously acquire the rotation angle data of multiple angle sensors on the same cavity ice-breaking mechanism, compare and judge the multiple angle data, and generate a judgment result, wherein the judgment result is consistent or inconsistent.

[0020] The decision generation unit is used to make control scheme decisions based on the judgment results. When the judgment results are consistent, the control scheme is characterized by generating multiple sets of intermittent pulse control signals to control the pulse power input of the electromagnetic loop, and the judgment results are evaluated again after the multiple sets of pulse control signals are completed. If the results are inconsistent, the aforementioned process is repeated. If the judgment results are consistent after the multiple sets of pulse control signals are completed, the control scheme is characterized by generating a sinking control signal to control the release of the radial pressure shaft, and controlling the holding mechanism to release and re-hold.

[0021] As a further embodiment of the present invention: the holding mechanism includes a fixed support ring and a plurality of holding claws disposed on the inner side of the fixed support ring toward the insulator;

[0022] The multiple gripping claws are evenly distributed along the circumference. The gripping claws are connected to the fixed support ring through a gripping drive component. The gripping drive component is a controllable telescopic structure electrically connected to the sensing and control module.

[0023] The vertical cross-section of the gripping claw is arc-shaped, and its horizontal extension length above is greater than that of the mechanism below.

[0024] When the holding drive receives the sinking control signal, it performs a continuous control action of rapid contraction and reset.

[0025] As a further embodiment of the present invention: the outer ring ice-breaking mechanism includes a support ring and a drive ring that are configured to cooperate, and a plurality of ice-breaking blades that are evenly distributed on the inner side of the drive ring;

[0026] The icebreaker is connected to the drive ring by bolts. The icebreaker has an arc structure with the same curvature as the insulator in the horizontal direction. The icebreaker has an arc structure in the vertical cross-section, and the arc structure is gradually bent outwards and downwards along the vertical direction.

[0027] The ice-breaking sheet has multiple heat-conducting thin sheets vertically arranged on it. Both the heat-conducting thin sheets and the ice-breaking sheet are made of heat-conducting materials, and a heating element is pre-embedded inside the ice-breaking sheet.

[0028] As a further embodiment of the present invention: there are vertically downward mounting rods on both sides of the fixed support ring, and the mounting rods are threaded;

[0029] Both the cavity ice-breaking mechanism and the outer ring ice-breaking mechanism are equipped with adjustment and locking mechanisms at the positions corresponding to the assembly rods.

[0030] The adjusting locking mechanism includes a locking block fixedly connected to the cavity ice-breaking mechanism and the outer ring ice-breaking mechanism, and locking nuts symmetrically arranged on both sides of the locking block. The adjusting locking mechanism fixes the cavity ice-breaking mechanism and the outer ring ice-breaking mechanism on the assembly rod through threaded engagement.

[0031] Compared with the prior art, the beneficial effects of the present invention are as follows: The substation insulator icing removal device provided by the present invention is suitable for a large number of vertically installed insulator strings in substations. Through the setting of a holding mechanism, a cavity ice-breaking mechanism and an outer ring ice-breaking mechanism, it achieves ice breaking and crushing of the insulators and the ice between the insulators based on the pulling and scraping action, while the device is fixed by gravity through repeated holding and releasing actions. It establishes a fully automated falling-type de-icing and ice removal device. Compared with the prior art, it can achieve an automated ice removal process without the long-term supervision of maintenance personnel. At the same time, the use of pulling and scraping de-icing method instead of collision ice breaking method can effectively avoid damage to the insulators due to improper force, and the easy-to-implement structure can further improve the feasibility of the equipment. Attached Figure Description

[0032] Figure 1 This is a schematic diagram illustrating the use and coordination of a substation insulator ice removal device according to an embodiment of the present invention;

[0033] Figure 2 A three-dimensional structural diagram of a substation insulator icing removal device provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the cavity ice-breaking mechanism in a substation insulator ice removal device according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the drive ring structure in a substation insulator icing removal device according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of the structure of an ice-breaking claw in a substation insulator ice removal device provided in an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of the plow block structure in a substation insulator ice removal device provided in an embodiment of the present invention;

[0038] Figure 7 This is a schematic diagram of the structure of an ice-breaking plate in a substation insulator de-icing device provided in an embodiment of the present invention;

[0039] Figure 8 This is a schematic diagram of the holding mechanism in a substation insulator ice removal device provided in an embodiment of the present invention.

[0040] In the attached diagram: 1-Insulator, 2-Holding mechanism, 21-Holding claw, 211-Holding drive component, 22-Assembly rod, 3-Cavity ice-breaking mechanism, 31-Support ring, 32-Drive ring, 321-Electromagnetic ring, 322-Hinge frame, 323-Conductive contact piece, 33-Ice-breaking claw, 331-Radial pressure shaft, 332-Connecting rod, 333-Plow block, 4-Outer ring ice-breaking mechanism, 41-Ice-breaking plate, 411-Heat-conducting sheet, 5-Adjustment and locking mechanism. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0042] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0043] like Figures 1 to 3 As shown, a substation insulator icing removal device according to an embodiment of the present invention includes a holding mechanism 2 based on an insulator 1, and a cavity ice-breaking mechanism 3 and an outer ring ice-breaking mechanism 4 arranged sequentially and at intervals below the holding mechanism 2. The cavity ice-breaking mechanism 3 and the outer ring ice-breaking mechanism 4 are fixedly arranged relative to the holding mechanism 2.

[0044] The holding mechanism 2 clamps the insulator 1 to fix it in place;

[0045] The cavity ice-breaking mechanism 3 includes multiple ice-breaking claws 33 evenly distributed along the circumference. The ice-breaking claws 33 are intermittently rotated to break ice on the surface of the connecting post of adjacent insulators 1.

[0046] The outer ring ice-breaking mechanism 4 includes a plurality of ice-breaking blades 41 evenly distributed along the circumference. The ice-breaking blades are attached to the outer edge of the insulator 1 and are intermittently rotated to break ice on the outer edge surface of the insulator 1.

[0047] In this embodiment of the invention, a substation insulator icing removal device is provided, suitable for a large number of vertically installed insulator strings in substations. By setting up a holding mechanism 2, a cavity ice-breaking mechanism 3, and an outer ring ice-breaking mechanism 4, it achieves the simultaneous breaking of ice on the insulator 1 and the ice between the insulators 1 based on a pulling and scraping action, and the repeated holding and releasing actions to achieve gravity-based device descent and fixation. This establishes a fully automated descent-type de-icing device. Compared with the prior art, it can achieve an automated ice removal process without the need for long-term supervision by maintenance personnel. At the same time, the use of pulling and scraping de-icing methods instead of collision-based ice breaking methods can effectively avoid damage to the insulators due to improper force, and the easy-to-implement structure can further improve the feasibility of the equipment's promotion.

[0048] In one embodiment of the present invention, the specific implementation process is as follows: During de-icing, the device operates from top to bottom. The holding mechanism 2 holds and fixes the outside of the topmost insulator 1. At this time, in the adjusted device, the cavity ice-breaking mechanism 3 is located at the connection position between the upper and lower insulators 1. The ice-breaking claw 33 contacts the ice and embeds itself into the ice block under pressure. Under the motion control of intermittent rotation, the embedded ice-breaking claw 33 rotates around the circumference and pulls and breaks the ice. The de-icing operation is achieved through repeated processes. The outer ring ice-breaking mechanism 4 cooperates with the outside of the lower insulator 1. Through the intermittent rotation of the ice-breaking plate 41, the ice on the surface of the insulator 1 is broken and scraped off in the same way. After the ice is scraped off, the insulator 1 is exposed and can be grabbed and fixed by the holding mechanism 2. Therefore, after completing this part of the de-icing work, the holding mechanism 2 is released and the device falls. Under the action of the ice, the outer ring ice-breaking mechanism 4 is blocked and slowed down during the fall. The holding mechanism 2 can then hold the next section of the insulator to start a new round of operation.

[0049] like Figures 1 to 6 As shown, in a preferred embodiment of the present invention, the cavity ice-breaking mechanism 3 includes a support ring 31 and a drive ring 32 that are rotatably coupled, and the support ring 31 is fixedly connected to the holding mechanism 2;

[0050] The ice-breaking claw 33 is hinged to the hinge frame 322 provided on the inner side of the drive ring 32 via the radial pressure shaft 331. The ice-breaking claw 33 rotates toward the center of the cavity ice-breaking mechanism 3 via the radial pressure shaft 331, and the maximum rotation position is less than the position of the line connecting the radial pressure shaft 331 and the center.

[0051] The cavity ice-breaking mechanism 3 also includes a connecting rod 332 hinged to the radial pressure shaft 331 and a plow block 333 at the end of the connecting rod 332. The hinge rotation surface of the connecting rod 332 is perpendicular to the plane where the cavity ice-breaking mechanism 3 is located.

[0052] The plow block 333 is hinged to the connecting rod 332, and a coil spring is provided at the hinge. Under the elastic support of the coil spring, when the plow block 333 is at the maximum elastic rotation angle, the plow block 333 is perpendicular to the connecting rod 332.

[0053] The plow block 333 is made of a thermally conductive material, and a heating element is pre-embedded inside the plow block 333 for heating the plow block 333.

[0054] Furthermore, the inner side of the support ring 31 is made of magnetic material, and the outer side of the drive ring 32 is provided with an electromagnetic ring 321;

[0055] The electromagnetic ring 321 is magnetically coupled with the support ring 31. When the electromagnetic ring 321 receives a pulse power input, the electromagnetic ring 321 rotates under the action of magnetic force.

[0056] The hinge frame 322 is also provided with an angle sensor that cooperates with the radial pressure shaft 331. The angle sensor is used to obtain the rotation angle of the radial pressure shaft.

[0057] The drive ring 32 also includes a conductive contact 323 that slides with the radial pressure shaft 331, the conductive contact 323 being used to provide contact power to the plow block 333.

[0058] Furthermore, it also includes a sensing and control module electrically connected to the cavity ice-breaking mechanism 3 and the outer ring ice-breaking mechanism 4, the sensing and control module specifically including:

[0059] The feedback sensing unit is used to simultaneously acquire the rotation angle data of multiple angle sensors on the same cavity ice-breaking mechanism 3, compare and judge the multiple angle data, and generate continuous judgment results, wherein the judgment results are consistent or inconsistent.

[0060] The decision generation unit is used to make control scheme decisions based on the judgment results. When the judgment results are consistent, the control scheme is characterized by generating multiple sets of intermittent pulse control signals to control the pulse power input of the electromagnetic ring 321, and re-evaluating the judgment results after the multiple sets of pulse control signals are completed. If the results are inconsistent, the aforementioned process is repeated. If the judgment results are consistent after the multiple sets of pulse control signals are completed, the control scheme is characterized by generating a sinking control signal to control the release of the radial pressure shaft 331, and controlling the holding mechanism 2 to release and re-hold.

[0061] In one embodiment of the present invention, the structure and operation of the cavity ice-breaking mechanism 3 are further described. The sensing and control module, which includes a feedback sensing unit and a decision generation unit, is used to implement the device control function. In the current embodiment, it is mainly used to control the intermittent rotation action described in the previous embodiment. Specifically, during the de-icing process, the ice-breaking claw 33, under the action of the radial pressure shaft 331, presses the plow block 333 at its end against the ice-covered surface. Because the plow block 333 contains a heating element, after contacting the ice, the plow block 333 melts a portion of the ice and contacts the connecting surface of the insulator 1. Simultaneously, after the partial melting is complete, the radial pressure shaft 331 compresses the connecting coil spring of the plow block 333. The plow block 333 is made to fit against the surface of the connector. At this time, the rotation angle data of multiple angle sensors are consistent. The decision generation unit controls the electromagnetic ring 321 to be energized intermittently multiple times by generating a pulse signal with a certain control duration, thereby pulling the plow block 333 embedded in the ice and achieving the purpose of breaking the ice. After repeating this static-melting-breaking cycle multiple times, the purpose of breaking the ice is completed. At this time, after the signal response, if the judgment result is still consistent, it means that the breaking of ice is completed, and then the sinking control signal is executed to enter the ice breaking operation of the next insulator. The connecting rod 332 is hinged here to avoid the situation where the connecting rod 332 cannot fall because it is not fully retracted and is blocked by the insulator 1 when the device sinks into the next insulator.

[0062] like Figure 2 and Figure 8 As shown, in another preferred embodiment of the present invention, the holding mechanism 2 includes a fixed support ring and a plurality of holding claws 21 disposed on the inner side of the fixed support ring toward the insulator 1;

[0063] Multiple gripping claws 21 are evenly distributed along the circumference. The gripping claws 21 are connected to the fixed support ring through a gripping drive component 211. The gripping drive component 211 is a controllable telescopic structure electrically connected to the sensing and control module.

[0064] The vertical cross-section of the gripping claw 21 is arc-shaped, and its horizontal extension length above is greater than that of the mechanism below.

[0065] When the holding drive 211 receives the sinking control signal, it performs a continuous control action of rapid contraction and reset.

[0066] In one embodiment of the present invention, the holding mechanism 2 is described. The reason why the holding claw 21 is set with the upper horizontal extension length being greater than the lower one is that when the switching insulator 1 is falling, during the process of retracting and quickly resetting, the longer upper extension structure can play a certain role in quickly restricting the movement, so as to avoid the device falling too fast when the lower insulator 1 has less ice and thus not being able to be accurately grasped by the holding claw 21.

[0067] like Figure 2 and Figure 7 As shown, in another preferred embodiment of the present invention, the outer ring ice-breaking mechanism 4 includes a support ring 31 and a drive ring 32 that are configured to cooperate, and a plurality of ice-breaking blades 41 that are evenly distributed inside the drive ring 32.

[0068] The ice-breaking blade 41 is connected to the drive ring 32 by bolts. The ice-breaking blade 41 has an arc structure with the same curvature as the insulator 1 in the horizontal direction. The ice-breaking blade 41 has an arc structure in the vertical cross-section, and the arc structure is gradually bent outwards and downwards in the vertical direction.

[0069] The ice-breaking sheet 41 is vertically provided with multiple heat-conducting thin sheets 411. Both the heat-conducting thin sheets 411 and the ice-breaking sheet 41 are made of heat-conducting materials, and a heating element is pre-embedded inside the ice-breaking sheet 41.

[0070] In one embodiment of the present invention, the outer ring ice-breaking mechanism 4 and the cavity ice-breaking mechanism 3 respond together to the pulse control signal to realize intermittent rotation to break the ice. The structure of the ice-breaking plate 41 is designed to quickly position the insulator 41 through the structure extending outward from the lower end, and then heat and melt it through the heat-conducting sheet 411 and embed it in the ice. Thus, during intermittent rotation, the ice on the surface of the insulator 1 can be peeled off by the force of rotation.

[0071] like Figure 2 , Figure 3 and Figure 8 As shown, in another preferred embodiment of the present invention, there are vertically downward mounting rods 22 on both sides of the fixed support ring, and the mounting rods 22 have a threaded structure;

[0072] Both the cavity ice-breaking mechanism 3 and the outer ring ice-breaking mechanism 4 are provided with adjustment and locking mechanisms 5 at the positions corresponding to the assembly rod 22;

[0073] The adjusting locking mechanism 5 includes a locking block fixedly connected to the cavity ice-breaking mechanism 3 and the outer ring ice-breaking mechanism 4, and locking nuts symmetrically arranged on both sides of the locking block. The adjusting locking mechanism 5 fixes the cavity ice-breaking mechanism 3 and the outer ring ice-breaking mechanism 4 on the assembly rod 22 through threaded engagement.

[0074] In one embodiment of the present invention, since the assembly interval of the insulator 1 has different standards in different usage scenarios, the assembly spacing of the multiple cavity ice-breaking mechanisms 3 and the bottom end outer ring ice-breaking mechanism 4 is made more flexible by setting the structural cooperation between the assembly rod 22 and the locking mechanism 5. It can be adaptively adjusted according to the specific user. Through the detachable setting, the number of cavity ice-breaking mechanism 3 can also be freely matched.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A device for removing ice buildup on substation insulators, characterized in that, It includes a holding mechanism (2) based on an insulator (1), and a cavity ice-breaking mechanism (3) and an outer ring ice-breaking mechanism (4) arranged sequentially and at intervals below the holding mechanism (2), wherein the cavity ice-breaking mechanism (3) and the outer ring ice-breaking mechanism (4) are fixedly arranged relative to the holding mechanism (2); The holding mechanism (2) is used to fix the insulator (1) by clamping it; The cavity ice-breaking mechanism (3) includes multiple ice-breaking claws (33) evenly distributed along the circumference. The ice-breaking claws (33) are intermittently rotated to break ice on the connecting column surface of adjacent insulators (1). The outer ring ice-breaking mechanism (4) includes multiple ice-breaking blades (41) evenly distributed along the circumference. The ice-breaking blades are attached to the outer edge of the insulator (1) and are intermittently rotated to break the ice on the outer edge surface of the insulator (1).

2. The substation insulator icing removal device according to claim 1, characterized in that, The cavity ice-breaking mechanism (3) includes a rotating support ring (31) and a drive ring (32), and the support ring (31) is fixedly connected to the holding mechanism (2); The ice-breaking claw (33) is hinged to the hinge frame (322) provided inside the drive ring (32) via the radial pressure shaft (331). The ice-breaking claw (33) rotates toward the center of the cavity ice-breaking mechanism (3) via the radial pressure shaft (331), and the maximum rotation position is less than the position of the line connecting the radial pressure shaft (331) and the center. The cavity ice-breaking mechanism (3) further includes a connecting rod (332) hinged to the radial pressure shaft (331) and a plow block (333) at the end of the connecting rod (332). The hinge rotation surface of the connecting rod (332) is perpendicular to the plane where the cavity ice-breaking mechanism (3) is located. The plow block (333) is hinged to the connecting rod (332), and a coil spring is provided at the hinge. Under the elastic support of the coil spring, when the plow block (333) is at the maximum elastic rotation angle, the plow block (333) is perpendicular to the connecting rod (332).

3. The substation insulator icing removal device according to claim 2, characterized in that, The plow block (333) is made of a thermally conductive material, and a heating element is pre-embedded inside the plow block (333) for heating the plow block (333).

4. The substation insulator icing removal device according to claim 3, characterized in that, The inner side of the support ring (31) is made of magnetic material, and the outer side of the drive ring (32) is provided with an electromagnetic ring (321). The electromagnetic ring (321) is magnetically coupled with the support ring (31). When the electromagnetic ring (321) receives a pulse power input, the electromagnetic ring (321) rotates under the action of magnetic force.

5. The substation insulator icing removal device according to claim 4, characterized in that, The hinge frame (322) is also provided with an angle sensor that cooperates with the radial pressure shaft (331), and the angle sensor is used to obtain the rotation angle of the radial pressure shaft.

6. The substation insulator icing removal device according to claim 5, characterized in that, The drive ring (32) also includes a conductive contact (323) that slides with the radial pressure shaft (331), the conductive contact (323) being used to provide contact power to the plow block (333).

7. The substation insulator icing removal device according to claim 6, characterized in that, It also includes a sensing and control module electrically connected to the cavity ice-breaking mechanism (3) and the outer ring ice-breaking mechanism (4), wherein the sensing and control module specifically includes: The feedback sensing unit is used to synchronously acquire the rotation angle data of multiple angle sensors on the same cavity ice-breaking mechanism (3), compare and judge the multiple angle data, and generate a judgment result, wherein the judgment result is consistent or inconsistent. The decision generation unit is used to make a control scheme decision based on the judgment result. When the judgment result is consistent, the control scheme is characterized by generating multiple sets of intermittent pulse control signals to control the pulse power input of the electromagnetic ring (321), and evaluating the judgment result again after the multiple sets of pulse control signals are completed. If the judgment result is inconsistent, the above process is repeated. If the judgment result is consistent after the multiple sets of pulse control signals are completed, the control scheme is characterized by generating a sinking control signal to control the release of the radial pressure shaft (331), and controlling the holding mechanism (2) to release and re-hold.

8. The substation insulator icing removal device according to claim 7, characterized in that, The holding mechanism (2) includes a fixed support ring and a plurality of holding claws (21) disposed on the inner side of the fixed support ring facing the insulator (1); Multiple gripping claws (21) are evenly distributed along the circumference. The gripping claws (21) are connected to the fixed support ring through a gripping drive (211). The gripping drive (211) is a controllable telescopic structure electrically connected to the sensing and control module. The vertical cross-section of the gripping claw (21) is arc-shaped, and its horizontal extension length above is greater than that of the mechanism below. When the holding drive (211) receives the sinking control signal, it performs a continuous control action of rapid contraction and reset.

9. The substation insulator icing removal device according to claim 7, characterized in that, The outer ring ice-breaking mechanism (4) includes a support ring (31) and a drive ring (32) that are configured to cooperate, and a plurality of ice-breaking blades (41) that are evenly distributed inside the drive ring (32). The icebreaker (41) is connected to the drive ring (32) by bolts. The icebreaker (41) has an arc structure with the same curvature as the insulator (1) in the horizontal direction. The icebreaker (41) has an arc structure in the vertical section, and the arc structure is gradually bent outwards and downwards in the vertical direction. The icebreaker (41) is vertically provided with multiple heat-conducting thin sheets (411). Both the heat-conducting thin sheets (411) and the icebreaker (41) are made of heat-conducting materials, and a heating element is pre-embedded inside the icebreaker (41).

10. The substation insulator icing removal device according to claim 1, characterized in that, The fixed support ring also has vertically downward mounting rods (22) on both sides, and the mounting rods (22) are threaded. The cavity ice-breaking mechanism (3) and the outer ring ice-breaking mechanism (4) are both provided with adjustment and locking mechanisms (5) at the positions corresponding to the assembly rod (22). The adjusting locking mechanism (5) includes a locking block fixedly connected to the cavity ice-breaking mechanism (3) and the outer ring ice-breaking mechanism (4) and locking nuts symmetrically arranged on both sides of the locking block. The adjusting locking mechanism (5) fixes the cavity ice-breaking mechanism (3) and the outer ring ice-breaking mechanism (4) on the assembly rod (22) by threaded connection.

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