Electrified railway contact line ice removal device

Abstract

This invention relates to an ice removal device for electrified railway contact lines. The device includes a drone, a traveling mechanism, a suspension crossing mechanism, and a striking mechanism. The drone and the suspension crossing mechanism work together to achieve automatic aerial installation and automatic retrieval and landing of the ice removal device. The entire process of installation and removal from the railway contact line does not require climbing, thus improving the safety of the railway contact line de-icing operation. During the striking de-icing operation, if a sling is encountered, the traveling mechanism and the crossing elastic element work together to automatically cross the sling, enabling continuous de-icing operations on the railway contact line, improving efficiency, and eliminating the need for manual operation by workers to cross the sling, further enhancing the safety of the railway contact line de-icing operation.

Description

Technical Field

[0001] This invention relates to the field of railway contact line maintenance technology, and in particular to an ice removal device for electrified railway contact lines. Background Technology

[0002] The contact wire of electrified railways is the power supply line for electric locomotives, providing them with electrical energy for operation. Because the contact wire is erected outdoors and exposed to the natural environment for extended periods, it is highly susceptible to icing under conditions such as low temperatures, extreme cold, and freezing rain. This icing forms an insulating layer between the locomotive's pantograph and the contact wire. This can lead to poor contact and power outages, or even damage to the pantograph due to impacts with the icing, severely impacting the normal operation of the electric locomotive.

[0003] Currently, because electrified railway contact lines require slings at regular intervals to maintain horizontality, traditional power line de-icing devices cannot be used for continuous de-icing operations. Even if they were used, workers would have to remove the device and reinstall it around the slings, a frequent process that not only reduces efficiency but also requires workers to climb frequently, increasing the risk. Manual de-icing of contact lines also suffers from low efficiency and requires workers to work at heights, further increasing the risk. Summary of the Invention

[0004] Based on this, it is necessary to provide an electrified railway contact wire icing removal device that can improve the efficiency of contact wire icing removal and reduce the risk factor of de-icing operations.

[0005] An ice removal device for electrified railway contact lines, comprising:

[0006] Drones;

[0007] A walking mechanism, mounted on the drone, is configured to enable the drone to move along the railway contact line;

[0008] A suspension crossing mechanism is mounted on the UAV. The suspension crossing mechanism includes two sets of suspension components and a suspension drive. The suspension drive is configured to drive the two sets of suspension components to move in directions approaching or moving away from each other until the two sets of suspension components partially intersect to suspend on the railway contact line, or until the two sets of suspension components are spaced such that the railway contact line can pass through the gap between the two sets of suspension components. Each set of suspension components includes at least one suspension component. Each suspension component has a crossing push portion at one end near the other set of suspension components. The crossing push portion is configured to cooperate with a sling when the UAV travels on the railway contact line to drive the suspension component to move in a direction away from the other set of suspension components until the suspension component passes over the sling. Each suspension component is provided with a crossing elastic element. The crossing elastic element is used to drive the suspension component to return to its original position after it passes over the sling.

[0009] The striking mechanism, mounted on the drone, is configured to strike the railway contact line when both sets of suspension components are suspended on the railway contact line.

[0010] The aforementioned electrified railway contact line icing removal device can be used by a drone to lift or lower the device. Once the device automatically rises to the designated position on the railway contact line, the two sets of suspension components are driven by the suspension drive to move in directions that are closer to or further apart from each other. This, combined with the drone's ascent and descent, enables the device to be automatically installed on or removed from the railway contact line. Therefore, the entire process of installation and removal from the railway contact line does not require workers to climb to heights, thus improving the safety of railway contact line icing removal operations.

[0011] When the traveling mechanism propels the entire electrified railway contact line icing removal device forward along the railway contact line, while the striking mechanism knocks down the ice on the contact line, if a sling is encountered, the sling will first contact the crossing and pushing part. Under the power provided by the traveling mechanism, the sling will slide on the crossing and pushing part, squeezing the suspension component to slide in a direction away from another set of suspension components until the suspension component passes the sling. At this point, the suspension component will be reset under the action of the crossing elastic structure, allowing the suspension component to be resuspended on the railway contact line, thus realizing the function of the suspension component crossing the sling. This process continues until all suspension components cross the sling, completing the entire crossing action of the electrified railway contact line icing removal device. This allows the electrified railway contact line icing removal device to operate continuously on the railway contact line, effectively improving the efficiency of de-icing operations. Furthermore, the entire operation does not require workers to climb high and manually operate to cross the sling, further improving the safety of railway contact line de-icing operations. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of an ice removal device for the contact wire of an electrified railway according to an embodiment of the present invention;

[0013] Figure 2 for Figure 1 The diagram shows a schematic of the suspension crossing mechanism in the ice removal device for the contact line of an electrified railway.

[0014] Figure 3 for Figure 2 The image shows a bottom view of the suspension crossing mechanism;

[0015] Figure 4 for Figure 2 A schematic diagram of the suspension mounting base in the suspension crossing mechanism shown;

[0016] Figure 5 for Figure 2 The diagram shows a suspension mechanism with a suspension roller as the suspension component.

[0017] Figure 6 for Figure 1 The diagram shows a schematic representation of the traveling mechanism in an electrified railway contact line icing removal device from one viewpoint.

[0018] Figure 7 for Figure 1 The diagram shows the structure of the traveling mechanism in the ice removal device for the contact line of an electrified railway from another perspective.

[0019] Figure 8 for Figure 1 The diagram shows the structure of the striking unit in the ice removal device for the contact line of an electrified railway.

[0020] Figure 9 for Figure 8 A cross-sectional view of the striking unit shown;

[0021] Figure 10 for Figure 8 The diagram shows the structure of the wheel in the striking unit.

[0022] Labeling Explanation: 10. Electrified railway contact line icing removal device; 100. Unmanned aerial vehicle (UAV); 200. Walking mechanism; 210. Mounting plate; 220. Connecting shaft; 230. Walking linkage; 240. Walking drive wheel; 250. Walking driven wheel; 260. Walking drive component; 270. Adaptive elastic structure; 271. Spring rod; 280. Wire slack slider; 290. Wire slack drive component; 2010. Walking transmission component; 2011. Adjusting screw; 2012, Adjusting nut; 300, Suspension crossing mechanism; 310, Suspension assembly; 311, Suspension component; 3111, Crossing pusher; 3112, Suspension rod; 31121, Straight rod section; 3113, Suspension part; 31131, Straight roller section; 31132, Conical roller section; 31133, Roller chamfer; 3114, Roller limiter; 312, Crossing elastic element; 320, Suspension drive component; 330 331. Mounting base; 332. Mounting upright plate; 3321. First sliding hole; 340. Suspension sliding seat; 350. Mounting limiter; 360. Suspension transmission screw; 370. Suspension transmission nut; 380. Suspension transmission rod; 400. Striking mechanism; 410. Striking unit; 411. Striking head; 4111. Chamfered surface; 4112. Striking surface; 412. Fixed seat; 4121. Cylinder; 4122. 413. Guide groove; 414. Drive piston; 415. Driven piston; 416. Striking connecting rod; 417. Transmission connecting rod; 418. Transmission wheel; 419. Drive mounting position; 410. Transmission eccentricity point; 4110. Wheel body; 4111. Striking slider; 4112. Striking elastic element; 4113. Eccentricity adjustment groove; 4114. Straight groove section; 4115. Connecting rod; 4116. Striking drive element; 4117. Guide rod. Detailed Implementation

[0023] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] When describing positional relationships, unless otherwise specified, when an element is referred to as being "on" another element, it may be directly on the other element or there may be intermediate elements. It is also understood that when an element is referred to as being "between" two elements, it may be the only one between the two elements, or there may be one or more intermediate elements.

[0026] When using the terms “including,” “having,” and “comprising” as described herein, another component may be added unless explicitly qualifying terms such as “only,” “consisting of,” etc. are used. Unless otherwise stated, singular terms may include plural forms and should not be construed as having a quantity of one.

[0027] Please see Figure 1 The electrified railway contact line icing removal device 10 in a preferred embodiment of the present invention includes a drone 100, a walking mechanism 200, a suspension crossing mechanism 300, and a striking mechanism 400.

[0028] The walking mechanism 200 is mounted on the drone 100 and is configured to enable the drone 100 to move along the railway contact line. That is, the walking mechanism 200 provides power for the drone 100 to move automatically along the railway contact line.

[0029] A suspension crossing mechanism 300 is mounted on the drone 100. The suspension crossing mechanism 300 includes two sets of suspension member assemblies 310 and a suspension drive member 320. The suspension drive member 320 is configured to drive the two sets of suspension member assemblies 310 to move in directions toward or away from each other, until the two sets of suspension member assemblies 310 partially intersect to suspend themselves on the railway contact line, or until the two sets of suspension member assemblies 310 are spaced such that the railway contact line can pass through the gap between the two sets of suspension member assemblies 310. Each set of suspension member 310 includes at least one suspension member 311. Each suspension member 311 has a crossing push portion 3111 at one end near the other set of suspension member assemblies 310. The crossing push portion 3111 is configured to cooperate with a sling when the drone 100 travels on the railway contact line to move the suspension member 311 in a direction away from the other set of suspension member assemblies 310, until the suspension member 311 passes over the sling. Each suspension member 311 is provided with a crossing elastic member 312. The cross-elastic element 312 is used to drive the suspension element 311 to return to its original position after the suspension element 311 has passed over the sling.

[0030] The striking mechanism 400 is mounted on the drone 100 and is configured to strike the railway contact line when the two sets of suspension groups 310 are suspended on the railway contact line.

[0031] For ease of understanding, the following is a brief description of the process by which the above-mentioned electrified railway contact line icing removal device 10 performs railway contact line icing removal operations:

[0032] (1) The entire electrified railway contact line icing removal device 10 is automatically lifted into the air by the drone 100 until it reaches the designated position of the railway contact line;

[0033] (2) Drive the two sets of suspension components 310 to move in a direction away from each other by the suspension drive component 320, and then use the drone 100 to drive the entire electrified railway contact line icing removal device 10 to rise until the railway contact line passes through the gap between the two sets of suspension components 310, so that the two sets of suspension components 310 reach above the railway contact line.

[0034] (3) The two sets of suspension components 310 are driven by the suspension drive component 320 to move in a direction that approaches each other until the two sets of suspension components 310 partially intersect, and the bottom of all the suspension components 311 in the two sets of suspension components 310 are in contact with the railway contact line. At the same time, the traveling mechanism 200 contacts the railway contact line, so as to realize the suspension installation of the electrified railway contact line ice removal device 10 on the railway contact line.

[0035] (4) The traveling mechanism 200 operates to drive the electrified railway contact line icing removal device 10 forward on the railway contact line, and at the same time, the striking mechanism 400 is activated to strike the railway contact line while moving forward, so as to remove ice from the railway contact line.

[0036] (5) When the de-icing operation is completed or interrupted, the walking mechanism 200 stops running and drives the two sets of suspension components 310 to move in a direction away from each other through the suspension drive component 320. Then, the drone 100 drives the entire electrified railway contact line icing removal device 10 to descend until the railway contact line passes through the gap between the two sets of suspension components 310 to completely leave the two sets of suspension components 310. Then, the drone 100 continues to drive the electrified railway contact line icing removal device 10 to descend and land at the designated position on the ground.

[0037] Of course, during the execution of step (4), if a sling is encountered, the sling will first come into contact with the crossing push part 3111, and under the power provided by the traveling mechanism 200, the sling will slide on the crossing push part 3111 to squeeze the suspension member 311 to slide in the direction away from the other set of suspension members 310. When the crossing push part 3111 passes the sling, the crossing elastic member 312 will drive the suspension member 311 to slide in the direction towards the other set of suspension members 310 until the suspension member 311 is resuspended on the railway contact line. In this way, the suspension member 311 can realize the function of crossing the sling. This is repeated until all the suspension members 311 cross the sling to complete the action of the electrified railway contact line icing removal device 10 crossing the sling.

[0038] Therefore, the drone 100 enables the electrified railway contact line icing removal device 10 to automatically take off and land. The suspension drive 320 drives the two sets of suspension components 310 to move, and in conjunction with the drone 100's lifting function, the electrified railway contact line icing removal device 10 can automatically suspend and install onto and remove from the railway contact line. Thus, the entire process of installation onto and removal from the railway contact line does not require workers to climb to heights, improving the safety of railway contact line icing removal work.

[0039] Although there are many slings on the railway contact line, the crossover pushing part 3111, the crossover elastic element 312 and the traveling mechanism 200 on the suspension 311 work together to ensure that the electrified railway contact line icing removal device 10 can safely and automatically cross the slings while reliably removing ice, thus realizing continuous de-icing operation on the railway contact line. This improves the efficiency of railway contact line de-icing operation. Moreover, the entire de-icing operation does not require workers to climb up and manually operate to cross the slings, further improving the safety of railway contact line de-icing operation.

[0040] Please refer to the following: Figure 4 In some embodiments, the suspension crossing mechanism 300 further includes a suspension mounting base 330 and two suspension sliding seats 340. The suspension mounting base 330 includes a mounting base 331 mounted on the UAV 100 and two mounting uprights 332 spaced apart on the mounting base 331. Each mounting upright 332 has at least one first sliding hole 3321 formed on it.

[0041] Two suspension sliding seats 340 are mounted on the mounting base plate 331 and spaced apart along the interval direction of the two mounting uprights 332. Each suspension sliding seat 340 forms a second sliding hole (not shown) opposite the first sliding hole 3321. The end of each suspension member 311 away from the pushing portion 3111 slidably passes through the corresponding second sliding hole and the first sliding hole 3321 in sequence, and is detachably mounted with a mounting limiter 350. The mounting limiter 350 prevents the suspension member 311 from slipping off the suspension sliding seat 340, improving the safety of the device. A suspension drive member 320 is connected to each of the two suspension sliding seats 340 and drives the two suspension sliding seats 340 to move the two sets of suspension member assemblies 310 in directions that are closer to or further away from each other.

[0042] In practical applications, the suspension drive 320 drives the two suspension mounting seats 330 to slide in directions that bring them closer together or further apart, thereby moving the two sets of suspension components 310 in the same direction until the bottoms of all the suspension components 311 in both sets of suspension components 310 are in contact with the railway contact line, or ensures that the railway contact line can pass through the gap between the two sets of suspension components 310. This facilitates the installation and removal of the electrified railway contact line icing removal device 10 from the railway contact line. The suspension mounting seats 330 and the two suspension sliding seats 340 enable the two sets of suspension components 310 to move linearly in directions that bring them closer together or further apart, facilitating the installation and removal of the electrified railway contact line icing removal device 10 from the railway contact line and ensuring a smooth and reliable installation and removal process.

[0043] Please refer to it again. Figure 2 and Figure 3 Furthermore, in some embodiments, the suspension member 311 includes a suspension rod 3112 and a suspension portion 3113. The suspension rod 3112 includes a straight rod section 31121 and a crossing push portion 3111 formed by bending relative to the straight rod section 31121. The end of the straight rod section 31121 away from the crossing push portion 3111 slidably passes through a corresponding second sliding hole and a corresponding first sliding hole 3321 in sequence, and is detachably connected to the mounting limiting member 350. The suspension portion 3113 is disposed on the straight rod section 31121 and is used to suspend the railway contact line when the two sets of suspension member groups 310 partially intersect, so as to limit the position of the railway contact line on the suspension member 311 during suspension. When the two sets of suspension member groups 310 partially intersect, all suspension portions 3113 in the two sets of suspension member groups 310 are suspended on the railway contact line. The crossing elastic member 312 is disposed between the suspension portion 3113 and the corresponding mounting plate 332.

[0044] The suspension part 3113 can be a structure integrally formed with the straight rod section 31121, or a structure fixed to the straight rod section 31121 by welding or other means, or a structure such as a roller that can be detachably installed on the straight rod section 31121. In short, any structure that can stably suspend the railway contact line and limit the position of the railway contact line on the suspension part 311, and allows the railway contact line to slide out and slide in from the end near the crossing push part 3111, is acceptable.

[0045] Thus, the crossing and pushing section 3111 is a rod structure formed by bending the suspension rod 3112, which is easy to process and has a low manufacturing cost. The connection between the crossing and pushing section 3111 and the straight rod section 31121 is more robust, which helps to extend the service life of the suspension component 311. The setting of the suspension section 3113 can ensure that when the electrified railway contact line icing removal device 10 is suspended on the railway contact line, the probability of lateral swaying is reduced, thereby improving the stability and reliability of the de-icing operation.

[0046] Furthermore, in some embodiments, the suspension member 311 further includes a suspension roller and a roller limiting member 3114 serving as a suspension portion 3113. The suspension roller is rotatably sleeved on the straight rod section 31121. The roller limiting member 3114 is detachably mounted on the straight rod section 31121 and is located at the end of the suspension roller opposite to the crossing pushing portion 3111. Thus, the roller limiting member 3114 and the crossing pushing portion 3111 define the installation position of the suspension roller on the straight rod section 31121.

[0047] When the electrified railway contact line icing removal device 10 is suspended on the railway contact line, the suspension rollers on both sets of suspension components 310 are in contact with the railway contact line. Therefore, the suspension part 3113 is set as a rolling suspension roller, so that the suspension part 3113 rolls in contact with the circuit contact line when the electrified railway contact line icing removal device 10 moves forward on the railway contact line, making the movement of the electrified railway contact line icing removal device 10 on the railway contact line smoother and more stable.

[0048] Please refer to the following: Figure 5 Furthermore, in some embodiments, the suspension roller includes a straight roller section 31131 and a tapered roller section 31132 disposed at the end of the straight roller section 31131 away from the end spanning the pushing portion 3111. The outer diameter of the tapered roller section 31132 gradually increases in the direction away from the straight roller section 31131. The outer wall edge of the straight roller section 31131 away from the tapered roller section 31132 forms a roller chamfer 31133 in the circumferential direction. Specifically, the outer wall of the straight roller section 31131 and the outer wall of the tapered roller section 31132 intersect or smoothly transition.

[0049] When the electrified railway contact line icing removal device 10 is suspended on the railway contact line for normal de-icing, the straight roller section 31131 contacts the railway contact line. The conical roller sections 31132 of the two sets of suspension components 310 limit the position of the railway contact line on the suspension rollers from the left and right sides of the UAV 100, reducing the probability of the railway contact line detaching from the suspension rollers during the forward movement, and improving the stability and safety reliability of the electrified railway contact line icing removal device 10 when moving on the railway contact line. Moreover, a roller chamfer 31133 is formed at one end of the straight roller section 31131 to ensure that the railway contact line can smoothly slide out of the straight roller section 31131 when crossing the suspension cable and smoothly slide into the straight roller section 31131 after crossing the suspension cable, so that the electrified railway contact line icing removal device 10 can cross the suspension cable more smoothly.

[0050] Of course, in other embodiments, the suspension part 3113 may also be a tapered roller whose diameter gradually increases along the direction from the cross-pushing part 3111 to the roller limiting member 3114, or it may be a T-shaped track wheel with a large diameter near the end of the cross-pushing part 3111 and a small diameter near the end of the roller limiting member 3114, etc.

[0051] Furthermore, in some embodiments, the bridging elastic element 312 is a compression spring. The bridging elastic element 312 is sleeved on the straight rod section 31121 and clamped between the corresponding mounting plate 332 and the roller limiting member 3114. Setting the bridging elastic element 312 as a compression spring improves the ease of installation, reliability, and durability of the bridging elastic element 312.

[0052] Furthermore, in some embodiments, the suspension drive 320 is a dual-output shaft motor. The suspension crossing mechanism 300 also includes two suspension drive screws 360, two suspension drive nuts 370 respectively screwed onto the two suspension drive screws 360, and two suspension drive rods 380. One end of each of the two suspension drive screws 360 is rotatably connected to the two output shafts of the suspension drive 320, and the other end is rotatably mounted on the mounting base 331. One end of each of the two suspension drive rods 380 is rotatably connected to the two suspension drive nuts 370, and the other end is rotatably connected to their respective corresponding suspension sliding seats 340.

[0053] Thus, by driving two suspension transmission screws 360 to rotate via a dual-output shaft motor, two suspension transmission nuts 370 are moved in directions toward or away from each other, which in turn drives two suspension transmission rods 380 to rotate synchronously, thereby pulling or pushing two suspension sliding seats 340 to slide in directions toward or away from each other. This achieves electric control of the linear motion of the two sets of suspension components 310 during suspension installation or removal, improving control accuracy and thus enhancing the reliability of the electrified railway contact line icing removal device 10 during suspension installation and removal on the railway contact line.

[0054] In some embodiments, there are two suspension crossing mechanisms 300. The two suspension crossing mechanisms 300 are spaced apart along the travel direction of the UAV 100. The striking mechanism 400 is located between the two suspension crossing mechanisms 300. Thus, with a suspension crossing mechanism 300 at each end of the striking mechanism 400, the electrified railway contact line icing removal device 10 has two suspension support positions on the railway contact line, and these two suspension support positions are at both ends of the striking and de-icing positions. This improves the stability and safety reliability of the electrified railway contact line icing removal device 10 during de-icing on the railway contact line, and makes the electrified railway contact line icing removal device 10 lighter and simpler in structure.

[0055] Of course, in other embodiments, the suspension crossing mechanism 300 can be one or more than two.

[0056] In some embodiments, there are multiple striking mechanisms 400. The multiple striking mechanisms 400 are spaced apart along the traveling direction of the traveling mechanism 200. Using multiple striking mechanisms 400 can further improve the de-icing efficiency and effect of the railway contact line.

[0057] In some embodiments, there are two walking mechanisms 200, which are respectively installed at the front and rear ends of the UAV 100 to provide dual power for the UAV 100 to walk on the railway contact line.

[0058] Please refer to the following: Figure 6 and Figure 7In some embodiments, the walking mechanism 200 includes a mounting plate 210 mounted on the drone 100, a connecting shaft 220 mounted on the mounting plate 210, two walking links 230, a walking drive wheel 240, a walking driven wheel 250, a walking drive component 260, an adaptive elastic structure 270, a slack line slider 280, and a slack line drive component 290. The mounting plate 210 is mounted on the drone 100. The middle portions of the two walking links 230 are rotatably mounted to one end of the connecting shaft 220 to form a scissor-like structure. The walking drive wheel 240 and the walking driven wheel 250 are respectively mounted to one end of the two walking links 230. The walking drive component 260 is drive-connected to the walking drive wheel 240 and is used to drive the walking drive wheel 240 to rotate, thereby achieving movement above the railway contact line. The adaptive elastic structure 270 drives the two traveling links 230 to move the driving wheel 240 and the driven wheel 250 closer together, enabling them to clamp the railway contact wire. The wire release slider 280 is mounted on the mounting plate 210 and located on the side of the connecting shaft 220 away from the driving wheel 240. The wire release drive 290 is connected to the wire release slider 280 and drives it to slide closer to or further away from the connecting shaft 220, thereby opening or releasing the two traveling links 230.

[0059] Before suspension installation, the slack line drive 290 drives the slack line slider 280 to slide in the direction towards the connecting shaft 220, thereby spreading the two traveling links 230 and increasing the distance between the traveling drive wheel 240 and the traveling driven wheel 250. Then, the drone 100 drives the entire electrified railway contact line icing removal device 10 to rise until the railway contact line enters the gap between the traveling drive wheel 240 and the traveling driven wheel 250. Then, the slack line drive 290 drives the slack line slider 280 to slide in the direction away from the connecting shaft 220 to the farthest limit position of the sliding trajectory of the slack line slider 280 on the mounting plate 210. At this time, the adaptive elastic structure 270 drives the two traveling links 230 to rotate in a direction closer to each other, thereby reducing the gap between the traveling drive wheel 240 and the traveling driven wheel 250. Under the action of the adaptive elastic structure 270, the traveling drive wheel 240 and the traveling driven wheel 250 can stably clamp the railway contact line, ensuring high travel reliability and safety and avoiding slippage during travel. After the de-icing operation is completed or interrupted, the distance between the driving wheel 240 and the driven wheel 250 is increased by the wire release drive 290 and the wire release slider 280 to achieve the action of the traveling mechanism 200 releasing the railway contact line. The farthest limit position of the sliding trajectory of the wire release slider 280 on the mounting plate 210 refers to the farthest limit position of the wire release slider 280 from the connecting shaft 220 when it slides on the mounting plate 210.

[0060] When the driving wheel 240 and the driven wheel 250 clamp the railway contact line, the driving drive 260 is activated to drive the driving wheel 240 to rotate, thereby enabling the drone 100 to move on the railway contact line and realize the automatic movement of the electrified railway contact line icing removal device 10 on the railway contact line.

[0061] Therefore, when the slack line slider 280 slides to the farthest limit position of the sliding trajectory on the mounting plate 210, the slack line slider 280 does not contact or only slightly contacts the traveling link 230. At this time, the adaptive elastic structure 270 is in a free state. Therefore, when the traveling drive wheel 240 and the traveling driven wheel 250 clamp the railway contact line, under the action of the adaptive elastic structure 270, both the traveling drive wheel 240 and the traveling driven wheel 250 apply a clamping force to the railway contact line to ensure that the traveling drive wheel 240 can effectively contact the railway contact line, thereby driving the UAV 100 to walk on the railway contact line.

[0062] Due to various natural factors, the icing thickness on railway contact lines is often uneven. During the icing process of the electrified railway contact line icing removal device 10, the adaptive elastic structure 270 allows the angle between the two traveling links 230 to be adjusted adaptively according to the change in the icing thickness on the railway contact line. This ensures that the traveling mechanism 200 can reliably travel on the railway contact line even when the icing thickness changes, adapting to the icing removal work of railway contact lines with different icing thicknesses. This improves the icing removal reliability of the electrified railway contact line icing removal device 10 under complex working conditions with varying icing thicknesses.

[0063] Specifically, the adaptive elastic structure 270 includes two spring rods 271; one end of each spring rod 271 is rotatably connected to two traveling links 230, and the other end is rotatably connected to the mounting plate 210; each spring rod 271 is located on the side of the corresponding traveling link 230 away from the slack line slider 280.

[0064] Of course, in other embodiments, the adaptive elastic structure 270 can be a single elastic structure, such as a metal spring or torsion spring whose two free ends are respectively connected to the side of the two walking links 230 away from the slack line slider 280. The adaptive elastic structure 270 can also be an elastic component composed of two elastic elements, such as two springs located on the side of the two walking links 230 away from the slack line slider 280.

[0065] Specifically, the connecting shaft 220 is rotatably mounted on the mounting plate 210. One end of the connecting shaft 220 is connected to the travel drive component 260, and the other end is connected to the travel drive wheel 240 through the travel transmission component 2010. The travel transmission component 2010 can be a belt drive assembly, a chain and sprocket assembly, etc.

[0066] Specifically, the wire loosening drive 290 is a drive motor. The traveling mechanism 200 also includes an adjusting screw 2011 and an adjusting nut 2012 screwed onto the adjusting screw 2011. One end of the adjusting screw 2011 is rotatably mounted on the mounting plate 210, and the other end is connected to the output shaft of the wire loosening drive 290. The adjusting nut 2012 is fixedly connected to the wire loosening slider 280. Thus, through the screw mechanism composed of the adjusting screw 2011 and the adjusting nut 2012, the rotational motion output by the wire loosening drive 290 is converted into the linear motion of the wire loosening slider 280, so the longitudinal direction of the adjusting screw 2011 is consistent with the sliding direction of the wire loosening slider 280.

[0067] Please refer to the following: Figure 8 and Figure 9 In some embodiments, the striking mechanism 400 includes two spaced-apart and oppositely arranged striking units 410. Each striking unit 410 has a striking head 411 at one end facing the other striking unit 410. The striking unit 410 is configured to drive the striking head 411 to reciprocate in a direction toward or away from the other striking unit 410. When the electrified railway contact line de-icing device 10 is suspended on the railway contact line, the two striking units 410 move to strike the railway contact line from both sides using the two striking heads 411, thereby performing de-icing operations quickly and reliably, improving the stability and reliability of the de-icing operation.

[0068] Further, in some embodiments, the striking unit 410 includes a fixed base 412 with a cylinder 4121, a driving piston 413, a driven piston 414, a striking connecting rod 415, a striking head 411, a transmission connecting rod 416, a transmission wheel 417, and a striking drive component 418. The cylinder 4121 is a cylindrical structure open at both ends. The fixed base 412 is mounted on the UAV 100. The driving piston 413 and the driven piston 414 are spaced apart and slidably mounted inside the cylinder 4121, and are in sealed contact with the inner wall of the cylinder 4121. The two ends of the striking connecting rod 415 are fixedly connected to the driven piston 414 and the striking head 411, respectively. The transmission wheel 417 has spaced-apart driving mounting positions 4171 and transmission eccentric points 4172. The two ends of the transmission connecting rod 416 are rotatably connected to the driving piston 413 and the transmission eccentric point 4172, respectively. The striking drive component 418 is connected to the drive mounting position 4171 and is used to drive the drive wheel 417 to rotate around the drive mounting position 4171.

[0069] When it is necessary to remove ice from the railway contact line, the striking drive component 418 drives the transmission wheel 417 to rotate around the drive mounting position 4171. This causes the transmission eccentric point 4172 to drive the transmission connecting rod 416 to move eccentrically. The transmission connecting rod 416 then drives the drive piston 413 and the driven piston 414 to reciprocate linearly within the cylinder 4121, thereby causing the striking head 411 to reciprocate in a direction perpendicular to the travel direction of the traveling mechanism 200. The drive piston 413, the driven piston 414, and the inner wall of the cylinder 4121 form a sealed air-filled chamber. This allows the distance between the driven piston 414 and the drive piston 413 to be adaptively adjusted to a certain extent according to different ice thicknesses. This, in turn, adjusts the stroke of the striking head 411, preventing the striking mechanism 400 from jamming when the ice thickness changes, thus improving the reliability of the de-icing operation.

[0070] To improve the reliability of the adaptive adjustment of the stroke of the striking head 411, a striking adaptive spring 4101 is specifically provided inside the cylinder 4121; the striking adaptive spring 4101 is clamped between the driving piston 413 and the driven piston 414.

[0071] Specifically, a guide rod 419 is provided at one end of the striking head 411 facing the fixed base 412, and a guide groove 4122 is formed on the outer wall of the cylinder 4121; the guide rod 419 is slidably disposed in the guide groove 4122 to improve the stability of the striking head 411 when performing reciprocating striking action and the stability of the striking head 411 on the fixed base 412, which is conducive to improving the de-icing reliability of the striking mechanism 400 and extending its service life.

[0072] Please refer to the following: Figure 10Furthermore, in some embodiments, the transmission wheel 417 includes a wheel body 4173, a connecting rod 4177 serving as a transmission eccentricity point 4172, two striking sliders 4174, and two striking elastic elements 4175. The wheel body 4173 has spaced-apart drive mounting positions 4171 and eccentricity adjustment grooves 4176. In the direction extending from the middle of the eccentricity adjustment groove 4176 to both ends, the distance between the eccentricity adjustment groove 4176 and the drive mounting position 4171 gradually decreases. One end of the connecting rod 4177 is slidably inserted into the eccentricity adjustment groove 4176, and the other end is rotatably connected to one end of the transmission connecting rod 416. Therefore, the position of the transmission eccentricity point 4172 on the wheel body 4173 is adjustable. Both striking sliders 4174 are slidably installed in the eccentricity adjustment groove 4176 and are located on both sides of the connecting rod 4177. Two striking elastic elements 4175 are connected to two striking sliders 4174 in a one-to-one correspondence, and are used to drive their respective striking sliders 4174 to slide in the direction toward the connecting rod 4177. The eccentric adjustment groove 4176 can be a regular arc-shaped groove, or other irregularly shaped grooves, or it can be a groove composed of two interconnected straight or arc-shaped grooves, as long as it ensures that the distance between the eccentric adjustment groove 4176 and the drive mounting position 4171 gradually decreases in the direction extending from the middle to both ends.

[0073] Thus, under the action of the two striking elastic elements 4175, the position of the transmission eccentric point 4172 on the wheel body 4173 can be adaptively adjusted according to the different ice thickness on the railway contact line. That is, the distance between the transmission eccentric point 4172 and the drive mounting position 4171 can be adaptively adjusted according to the different ice thickness, so as to further adjust the stroke of the striking head 411. Even when facing a larger range of ice thickness variation, the striking mechanism 400 can be prevented from jamming.

[0074] Furthermore, in some embodiments, the eccentric adjustment groove 4176 includes two straight groove segments 41761. The two straight groove segments 41761 are perpendicular to each other and their ends are connected to each other. Two striking sliders 4174 are slidably mounted in the two straight groove segments 41761 respectively. The drive mounting position 4171 is located within the included angle of the two straight groove segments 41761. One end of the connecting rod 4177 is slidably inserted into one of the straight groove segments 41761 or at the end connection of the two straight groove segments 41761. In this way, the eccentric adjustment groove 4176 is configured as two straight groove segments 41761 that are perpendicular to each other and whose ends are connected, so as to obtain an effective adjustment range for the striking head 411, while facilitating the processing of the eccentric adjustment groove 4176.

[0075] Furthermore, in some embodiments, the end face of the striking head 411 away from the fixed base 412 includes two inclined chamfered surfaces 4111 and a striking surface 4112 connecting the two chamfered surfaces 4111. Both the chamfered surfaces 4111 and the striking surface 4112 extend in a direction perpendicular to the traveling direction of the traveling mechanism 200. It should be noted that the chamfered surface 4111 refers to the inclined plane formed by chamfering at the end of the striking head 411 away from the cylinder 4121.

[0076] Two chamfered surfaces 4111 and a striking surface 4112 are formed at the end of the striking head 411 away from the fixed seat 412. This allows the striking mechanism 400 to ensure the effect of removing ice while the chamfered surface 4111 can reduce the damage to the railway contact line caused by the striking head 411, and further improve the safety of the de-icing operation.

[0077] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A device for removing ice accretion from contact lines of electrified railways, characterized in that, include: Drones; A walking mechanism, mounted on the drone, is configured to enable the drone to move along the railway contact line; A suspension crossing mechanism is mounted on the UAV. The suspension crossing mechanism includes two sets of suspension components and a suspension drive. The suspension drive is configured to drive the two sets of suspension components to move in directions approaching or moving away from each other until the two sets of suspension components partially intersect to suspend on the railway contact line, or until the two sets of suspension components are spaced such that the railway contact line can pass through the gap between the two sets of suspension components. Each set of suspension components includes at least one suspension component. Each suspension component has a crossing push portion at one end near the other set of suspension components. The crossing push portion is configured to cooperate with a sling when the UAV travels on the railway contact line to drive the suspension component to move in a direction away from the other set of suspension components until the suspension component passes over the sling. Each suspension component is provided with a crossing elastic element. The crossing elastic element is used to drive the suspension component to return to its original position after it passes over the sling. A striking mechanism, mounted on the drone, is configured to strike the railway contact line when both sets of suspension components are suspended on the railway contact line. The suspension crossing mechanism further includes a suspension mounting base and two suspension sliding seats; The suspension mount includes a mounting base mounted on the UAV and two mounting uprights spaced apart on the mounting base; each mounting upright has at least one first sliding hole formed therein. Two suspension sliding seats are mounted on the mounting base plate and spaced apart along the interval direction of the two mounting uprights; each suspension sliding seat forms a second sliding hole at a position opposite to the first sliding hole; one end of each suspension member away from the crossing push part slides through the corresponding second sliding hole and the first sliding hole in sequence, and is detachably mounted with a mounting limit member; the suspension drive member is respectively connected to the two suspension sliding seats and is used to drive the two suspension sliding seats to move the two sets of suspension member groups in a direction that approaches or moves away from each other.

2. The icing removal device for electrified railway contact lines according to claim 1, characterized in that, The suspension component includes a suspension rod and a suspension part; the suspension rod includes a straight rod section and a crossing and pushing part formed by bending relative to the straight rod section; one end of the straight rod section away from the crossing and pushing part slidably passes through the corresponding second sliding hole and the corresponding first sliding hole in sequence, and is detachably connected to the mounting limiting member; the suspension part is disposed on the straight rod section and is used to suspend on the railway contact line when the two sets of suspension component groups partially intersect; when the two sets of suspension component groups partially intersect, all the suspension parts in the two sets of suspension component groups are suspended on the railway contact line; the crossing elastic member is disposed between the suspension part and the corresponding mounting plate.

3. The icing removal device for electrified railway contact lines according to claim 2, characterized in that, The suspension component also includes a suspension roller and a roller limiting member as the suspension part; the suspension roller is rotatably sleeved on the straight rod section; the roller limiting member is detachably installed on the straight rod section and is located at the end of the suspension roller away from the crossing and pushing part.

4. The icing removal device for electrified railway contact lines according to claim 3, characterized in that, The suspended roller includes a straight roller section and a tapered roller section disposed at the end of the straight roller section away from the crossing push part; the outer diameter of the tapered roller section gradually increases in the direction away from the straight roller section; the outer wall edge of the straight roller section away from the tapered roller section is formed with a roller chamfer in the circumferential direction.

5. The icing removal device for electrified railway contact lines according to claim 1, characterized in that, The walking mechanism includes a mounting plate mounted on the UAV, a connecting shaft mounted on the mounting plate, two walking links, a walking drive wheel, a walking driven wheel, a walking drive component, an adaptive elastic structure, a line slack slider, and a line slack drive component. The middle portions of the two walking links are rotatably mounted on one end of the connecting shaft to form a scissor-like structure. The walking drive wheel and the walking driven wheel are respectively mounted on one end of the two walking links. The walking drive component is driven by the walking drive wheel. The adaptive elastic structure drives the two walking links to move the walking drive wheel and the walking driven wheel in a direction that approaches each other. The line slack slider is mounted on the mounting plate and is located on the side of the connecting shaft away from the walking drive wheel. The line slack drive component is driven by the line slack slider and drives the line slack slider to slide in a direction that approaches or moves away from the connecting shaft to open or release the two walking links.

6. The icing removal device for electrified railway contact lines according to claim 1, characterized in that, The striking mechanism includes two spaced-apart and oppositely arranged striking units; each striking unit has a striking head at one end facing the other striking unit; the striking unit is configured to drive the striking head to reciprocate in a direction toward or away from the other striking unit.

7. The icing removal device for electrified railway contact lines according to claim 6, characterized in that, The striking unit includes a fixed base with a cylinder, a driving piston, a driven piston, a striking connecting rod, the striking head, a transmission connecting rod, a transmission wheel, and a striking drive component. The fixed base is mounted on the UAV. The driving piston and the driven piston are slidably mounted in the cylinder at intervals and in sealed contact with the inner wall of the cylinder. The two ends of the striking connecting rod are fixedly connected to the driven piston and the striking head, respectively. The transmission wheel has spaced-apart driving mounting positions and transmission eccentric points. The two ends of the transmission connecting rod are rotatably connected to the driving piston and the transmission eccentric points, respectively. The striking drive component is tractively connected to the driving mounting positions and is used to drive the transmission wheel to rotate around the driving mounting positions.

8. The icing removal device for electrified railway contact lines according to claim 7, characterized in that, The transmission wheel includes a wheel body, a connecting rod serving as the transmission eccentricity point, two striking sliders, and two striking elastic elements. The wheel body has spaced-apart drive mounting positions and eccentricity adjustment grooves. The distance between the eccentricity adjustment groove and the drive mounting position gradually decreases in the direction extending from the middle of the eccentricity adjustment groove towards both ends. One end of the connecting rod is slidably inserted into the eccentricity adjustment groove, and the other end is rotatably connected to one end of the transmission connecting rod. Both striking sliders are slidably installed in the eccentricity adjustment groove and are located on opposite sides of the connecting rod. The two striking elastic elements are connected to the two striking sliders in a one-to-one correspondence and are used to drive their respective striking sliders to slide towards the connecting rod.

9. The icing removal device for electrified railway contact lines according to claim 8, characterized in that, The eccentric adjustment groove includes two straight groove segments; the two straight groove segments are perpendicular to each other and their ends are connected to each other; the two tapping sliders are slidably installed in the two straight groove segments respectively; the drive mounting position is located within the included angle of the two straight groove segments; one end of the connecting rod is slidably inserted into one of the straight groove segments or at the end connection of the two straight groove segments.

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