Intelligent icing device for power supply line

Abstract

A power supply line intelligent icing device disclosed by the present invention comprises an intelligent icing main body, an industrial camera and a deicing arm, the intelligent icing main body is provided with a plurality of execution arms, the industrial camera is installed at the upper end of the intelligent icing main body to collect environment information and transmit the environment information to the intelligent icing main body, the intelligent icing main body generates an execution instruction, and the execution instruction is sent to the deicing arm. The deicing arm is installed in the middle of the intelligent icing body and comprises a third connecting arm, the third connecting arm is rotationally connected to the intelligent icing body, and a fourth connecting arm is detachably installed at the end, away from the intelligent icing body, of the third connecting arm; a first sliding groove is formed in one side wall of the fourth connecting arm. The intelligent ice coating device has the beneficial effects that due to the combined design of the execution arm and the modular deicing arm, the intelligent ice coating device can flexibly adjust the posture to avoid the spacer, continuous operation can be achieved without manual intervention, and the problem that operation of a traditional device is interrupted due to blocking of the spacer is thoroughly solved.

Description

Technical Field

[0001] This invention relates to the field of power line icing technology, specifically to an intelligent power line icing device. Background Technology

[0002] Currently, most intelligent icing devices for power lines utilize drones for hoisting, suspending the device on the power cables to perform de-icing operations. However, existing icing devices have functional limitations for four-, six-, and eight-split power lines. Four-, six-, and eight-split power lines are fixed and separated by spacers to ensure spacing and prevent impact and vibration caused by wind. While this structural design is effective, it also makes it difficult for traditional de-icing devices to autonomously cross the spacers to complete the de-icing operation, increasing operational complexity and time costs.

[0003] Currently, using drones to assist in de-icing is a common practice. While drones lifting icing devices can effectively overcome the drawbacks of traditional de-icing methods, this approach still has certain limitations. First, drone operation requires strict control by technicians, increasing labor costs and operational difficulty. Second, when using drones for de-icing operations, the drone's mechanical structure and operating conditions are highly dependent on weather and environmental conditions; in complex climates and geographical environments, the reliability of drone operation decreases.

[0004] In summary, existing icing devices are limited by the presence of spacers when dealing with four-split, six-split, and eight-split power supply lines, making it impossible to perform efficient de-icing operations directly, resulting in low de-icing efficiency for these power supply lines. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide an intelligent icing device for power supply lines to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: This invention provides an intelligent icing device for power lines, comprising an intelligent icing body, an industrial camera, and a de-icing arm. The intelligent icing body has multiple actuators mounted on it. The industrial camera is mounted on the upper part of the intelligent icing body to collect environmental information and transmit it to the intelligent icing body. The intelligent icing body generates execution commands, which are then transmitted to and executed by the actuators. The de-icing arm is mounted in the middle of the intelligent icing body and includes a third connecting arm rotatably connected to the intelligent icing body. A fourth connecting arm is detachably mounted on the end of the third connecting arm away from the intelligent icing body. A first sliding groove is formed on one side wall of the fourth connecting arm, and a slider matching the first sliding groove is slidably connected to the fourth connecting arm. A fourth motor is mounted on the slider, and a second elastic rod is fixedly connected to the output shaft of the fourth motor. A second hammer is fixedly connected to the end of the second elastic rod away from the fourth motor.

[0007] In one or more embodiments of the present invention, the actuator arm includes a first connecting arm, one end of which is rotatably connected to the intelligent icing body, a first joint is rotatably connected to the end of the first connecting arm away from the intelligent icing body, a second connecting arm is rotatably connected to the end of the first joint away from the second connecting arm, a second joint is installed at the end of the second connecting arm away from the first joint, and a gripping mechanism is installed at the end of the second joint away from the second connecting arm.

[0008] In one or more embodiments of the present invention, the gripping mechanism includes a mounting rod, a top plate fixedly connected to one end of the mounting rod away from the second joint, a first wheel body rotatably connected inside the top plate, the first wheel body having an annular groove matching the power supply line, a bottom plate slidably connected to the mounting rod, a second wheel body rotatably connected to the bottom plate, an annular protrusion matching the annular groove fixedly connected to the second wheel body, and a second motor for driving the second wheel body fixedly connected to one side of the bottom plate.

[0009] In one or more embodiments of the present invention, a hydraulic push rod for lifting the base plate is mounted on the mounting rod.

[0010] In one or more embodiments of the present invention, a first motor is fixedly connected to the mounting rod, a first elastic rod is fixedly connected to the output shaft of the first motor, and a first hammering part is fixedly connected to the end of the first elastic rod away from the output shaft.

[0011] In one or more embodiments of the present invention, a second connecting part is fixedly connected to one end of the fourth connecting arm, a first connecting part is rotatably connected to the second connecting part, a third motor for driving the first connecting part to rotate is fixedly connected to one side of the second connecting part, an installation groove is provided at the end of the third connecting arm away from the intelligent icing body and the end of the fourth connecting arm away from the second connecting part, a threaded hole is provided on the bottom wall of the installation groove, a through hole matching the threaded hole is provided on the first connecting part, a bolt matching the through hole is installed on the first connecting part, and the bolt is threadedly connected to the threaded hole after passing through the through hole.

[0012] In one or more embodiments of the present invention, a wedge-shaped groove is provided on the side wall of the first slide groove, and a second slide groove matching the wedge-shaped groove is provided on the side wall of the slider. A wedge-shaped block is slidably connected in the second slide groove, and a spring is installed between the wedge-shaped block and the bottom wall of the second slide groove.

[0013] In one or more embodiments of the present invention, a plurality of electromagnetic blocks are installed on the sidewall of the first slide, and a permanent magnet block matching the electromagnetic blocks is installed on the slider.

[0014] In one or more embodiments of the present invention, an auxiliary support arm is installed on the intelligent icing body.

[0015] The beneficial effects of this invention are as follows: the combined design of the actuator arm and the modular de-icing arm allows the intelligent icing device to flexibly adjust its posture to avoid the spacer bar, and can operate continuously without manual intervention, completely solving the problem of operation interruption caused by the spacer bar obstruction of traditional devices, and greatly reducing time costs and operational complexity. Through the optimized design of its own gripping mechanism, it can achieve autonomous cable hanging and stable movement without the need for drone lifting assistance. This reduces the operating costs and difficulties for technicians and avoids the drawbacks of drones being limited by weather and geographical environment. It can adapt to complex scenarios such as high altitude and strong winds. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an intelligent icing device for power supply lines according to an embodiment of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of an intelligent icing device for power supply lines according to an embodiment of the present invention. Figure 2; Figure 3 This is a schematic diagram of the structure of an intelligent icing device for power supply lines according to an embodiment of the present invention. Figure 3 ; Figure 4 for Figure 3 Schematic diagram of the structure at point A in the middle; Figure 5 This is a schematic diagram of the structure of an intelligent icing device for power supply lines according to an embodiment of the present invention. Figure 4 ; Figure 6 This is an exploded view of the de-icing arm in one embodiment of the present invention; Figure 7 for Figure 6 Schematic diagram of the structure at point B; Figure 8 This is a cross-sectional view of the de-icing arm in one embodiment of the present invention; Figure 9 for Figure 8 Schematic diagram of the structure at point C.

[0018] Explanation of reference numerals in the attached figures: 1. Intelligent icing body; 2. Actuating arm; 3. First connecting arm; 4. First joint; 5. Second connecting arm; 6. Second joint; 7. Gripping mechanism; 8. Mounting rod; 9. Top plate; 10. First wheel; 1001. Annular groove; 11. First motor; 12. First elastic rod; 1201. First hammering part; 13. Base plate; 14. Second wheel; 1401. Annular protrusion; 15. Second motor; 16. Hydraulic push rod; 17. De-icing arm; 18. Third connecting arm; 19. Four connecting arms; 1901, first slide groove; 1902, wedge groove; 20, mounting groove; 2001, threaded hole; 21, first connecting part; 2101, through hole; 22, second connecting part; 2201, bolt; 23, third motor; 24, slider; 2401, second slide groove; 25, fourth motor; 26, second elastic rod; 27, second hammer part; 28, wedge block; 29, spring; 30, electromagnetic block; 31, permanent magnet block; 32, industrial camera; 33, auxiliary support arm. Detailed Implementation

[0019] 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.

[0020] Example 1: like Figures 1-5As shown, an intelligent icing device for power supply lines according to an embodiment of the present invention includes an intelligent icing body 1, a plurality of actuators 2 are installed on the intelligent icing body 1, and a gripping mechanism 7 is installed at the end of the actuator 2 away from the intelligent icing body 1. The intelligent icing body 1 is hung on the power supply line through the actuators 2 and the gripping mechanism 7, and the gripping mechanism 7 provides power for the intelligent icing body 1 to run on the power supply line.

[0021] An industrial camera 32 is also installed on the upper end of the intelligent icing body 1. The industrial camera 32 is installed on the upper end of the intelligent icing body 1 to collect environmental information and transmit the environmental information to the intelligent icing body 1. The intelligent icing body 1 generates execution instructions, which are then transmitted to the execution arm 2 and the gripping mechanism 7 and executed by the execution arm 2 and the gripping mechanism 7.

[0022] like Figures 1-5 As shown, the actuator arm 2 includes a first connecting arm 3, a first joint 4, a second connecting arm 5, and a second joint 6. One end of the first connecting arm 3 is rotatably connected to the intelligent icing body 1. The first joint 4 is rotatably connected to the end of the first connecting arm 3 away from the intelligent icing body 1. The second connecting arm 5 is rotatably connected to the end of the first joint 4 away from the first connecting arm 3. The second joint 6 is installed at the end of the second connecting arm 5 away from the first joint 4. The first connecting arm 3 and the second connecting arm 5 are rotatably connected via the first joint 4. The gripping mechanism 7 is installed at the end of the second joint 6 away from the second connecting arm 5, and the second joint 6 provides a rotatable connection between the second connecting arm 5 and the gripping mechanism 7.

[0023] The actuator 2 and the gripping mechanism 7 constitute a multi-axis robotic arm. The multi-axis robotic arm can adaptively grip according to the width of the power supply line and can grip power supply lines with four, six, and eight splits.

[0024] The device comprises two sets of actuator arms 2, each set consisting of two arms 2 symmetrically positioned on the intelligent icing body 1. When the intelligent icing device encounters a spacer bar, the rear set of actuator arms 2 provides support, enabling the device to move forward using only this rear set. The front set of actuator arms 2 slides downwards, deforms, and then clamps onto the power supply line after passing the spacer bar. The rear set of actuator arms 2 then loses contact with the power supply line, and the front set moves along the power supply line. This allows the intelligent icing device to autonomously cross the spacer bar without the need for drone intervention, avoiding the reduced de-icing efficiency caused by the drone's poor control in extreme environments.

[0025] like Figures 1-4As shown, the gripping mechanism 7 includes a mounting rod 8, with a top plate 9 fixedly connected to one end of the mounting rod 8 away from the second joint 6. A first wheel 10 is rotatably connected inside the top plate 9. A bottom plate 13 is slidably connected to the mounting rod 8, and a second wheel 14 is rotatably connected to the bottom plate 13. A second motor 15 for driving the second wheel 14 is fixedly connected to one side of the bottom plate 13.

[0026] During the sliding process, the base plate 13 can change the distance between the first wheel 10 and the second wheel 14. By sliding the base plate 13, the force of the first wheel 10 and the second wheel 14 clamping the power supply line is increased. Then, the second motor 15 drives the second wheel 14 to rotate, forcing the intelligent ice-covering body 1 to run along the power supply line.

[0027] The intelligent icing unit 1 has a built-in battery and control module. The battery ensures the long-term operation of the intelligent icing device, and the control module can send messages to the ground control system to monitor the status of the intelligent icing device.

[0028] Preferably, the outer walls of the first wheel 10 and the second wheel 14 are provided with teeth. The teeth increase the friction between the first wheel 10 and the second wheel 14 and the power supply line, preventing slippage during the operation of the intelligent icing device. In addition, compared with a smooth outer wall, the teeth can crush the ice on the surface of the power supply line during movement, so the power supply line held by the gripping mechanism 7 does not require an additional ice-breaking device.

[0029] like Figure 4 As shown, a hydraulic push rod 16 for lifting the base plate 13 is installed on the mounting rod 8. The hydraulic push rod 16 lifts the base plate 13 to approach the top plate 9, forcing the second wheel 14 to move closer to one end of the first wheel 10 and providing the second wheel 14 with a force to clamp the power supply line.

[0030] like Figures 1 to 7 As shown, an ice-removing arm 17 is installed in the middle of the intelligent ice-coating body 1. In this embodiment, there are two ice-removing arms 17, which are symmetrically arranged on both sides of the intelligent ice-coating body 1. Multiple ice-breaking devices are provided on the ice-removing arms 17. The positions of the multiple ice-breaking devices can be adjusted to correspond to the power supply lines of four-split, six-split, and eight-split configurations.

[0031] like Figures 1 to 7As shown, the de-icing arm 17 includes a third connecting arm 18, which is rotatably connected to the intelligent icing body 1. A fourth connecting arm 19 is detachably installed at the end of the third connecting arm 18 away from the intelligent icing body 1. An ice-breaking device is slidably connected to the fourth connecting arm 19. Each fourth connecting arm 19 is equipped with one ice-breaking device. Since the fourth connecting arm 19 is detachable, different numbers of fourth connecting arms 19 can be installed for four-split, six-split, and eight-split power supply lines, minimizing the weight of the intelligent icing device. When dealing with four-split power supply lines, the intelligent icing device is lighter and can operate for a longer time, which is beneficial to improving the de-icing efficiency.

[0032] like Figures 1 to 7 As shown, one end of the fourth connecting arm 19 is fixedly connected to a second connecting part 22, and a first connecting part 21 is rotatably connected to the second connecting part 22. A third motor 23 for driving the first connecting part 21 to rotate is fixedly connected to one side of the second connecting part 22. The output shaft of the third motor 23 is fixedly connected to the first connecting part 21, and the third motor 23 is fixedly connected to the second connecting part 22. Mounting grooves 20 are provided at the end of the third connecting arm 18 away from the intelligent icing body 1 and at the end of the fourth connecting arm 19 away from the second connecting part 22. A threaded hole 2001 is provided on the bottom wall of the mounting groove 20. A through hole 2101 matching the threaded hole 2001 is provided on the first connecting part 21. A bolt 2201 matching the through hole 2101 is installed on the first connecting part 21. The bolt 2201 passes through the through hole 2101 and is threadedly connected to the threaded hole 2001.

[0033] The first connecting part 21 and the mounting groove 20 are fixed by bolts 2201 and threaded holes 2001, so that the two can be detached and installed. This is beneficial for installing and removing the fourth connecting arm 19 when facing power lines of different specifications.

[0034] like Figures 1 to 7 As shown, a first groove 1901 is provided on one side wall of the fourth connecting arm 19. The de-icing device includes a slider 24, which is slidably connected to the fourth connecting arm 19 and matches the first groove 1901. A fourth motor 25 is installed on the slider 24. A second elastic rod 26 is fixedly connected to the output shaft of the fourth motor 25. A second hammer part 27 is fixedly connected to the end of the second elastic rod 26 away from the fourth motor 25.

[0035] The first chute 1901 is located on the side wall opposite to the power supply line of the fourth connecting arm 19. When the fourth motor 25 starts, the second hammer part 27 contacts the power supply line, thus striking the power supply line. As the fourth motor 25 continues to rotate, the second elastic rod 26 deforms, allowing the second hammer part 27 to pass over the power supply line. During the movement of the intelligent icing device, the power supply line is continuously struck to remove the ice on the surface of the power supply line.

[0036] In this embodiment, the working principle of the intelligent icing device for power supply lines is as follows: Multiple actuators 2 on the intelligent icing body 1 and the gripping mechanism 7 at its end complete the hanging of the power supply line. The gripping mechanism 7 can adaptively adjust the clamping width according to the width of the power supply line. Then, a hydraulic push rod 16 lifts the base plate 13, causing the second wheel 14 to approach the first wheel 10 on the top plate 9, thereby achieving stable clamping of the power supply line. Simultaneously, the industrial camera 32 on the upper end of the intelligent icing body 1 synchronously collects environmental information and transmits it to the built-in control module. The control module generates corresponding execution commands and sends them to the actuators 2, gripping mechanism 7, and other actuators. After hanging the power supply line and collecting information, with the gripping mechanism 7 clamping the power supply line, the second motor 15 drives the second wheel 14 to rotate. The toothed grooves on the outer wall of the first wheel 10 and the second wheel 14 increase friction, driving the entire device to move along the power supply line. The toothed grooves can also initially break up the thin ice on the surface of the power supply line, eliminating the need for an additional ice-breaking device. During movement, the control module can communicate with the ground control system to provide real-time feedback on the device's operating status.

[0037] While the device moves, the de-icing arms 17, symmetrically arranged on both sides of the intelligent icing body 1, carry out the core de-icing operation. The de-icing arms 17 are rotatably connected to the body through the third connecting arm 18, and the end of the third connecting arm 17 can be detachably installed with the fourth connecting arm 19. The number of the fourth connecting arms 19 can be increased or decreased according to different specifications of power lines such as four-split, six-split, and eight-split to adapt to the needs. The slider 24 on the fourth connecting arm 19 slides along the first slide groove 1901 to adjust the position of the ice-breaking device. The fourth motor 25 drives the second elastic rod 26 and the second hammer part 27 to rotate, so that the second hammer part 27 contacts the power line to knock and de-ice. The deformation of the second elastic rod 26 allows the second hammer part 27 to pass over the power line, and in conjunction with the movement of the device, it can achieve continuous knocking and de-icing.

[0038] In this embodiment, the execution arm 2 of the multi-axis robotic arm structure can adaptively adjust the clamping width. Combined with the detachable fourth connecting arm 19 and the slidingly adjustable ice-breaking device, it can adapt to various power supply lines such as four-split, six-split, and eight-split, eliminating the need to design special devices for different lines and reducing usage costs.

[0039] The toothed design of the first wheel 10 and the second wheel 14 has both anti-slip and preliminary ice-breaking functions, which improves walking stability while simplifying the structure. The de-icing device drives the hammer part to continuously strike through the elastic rod, and achieves dynamic de-icing in conjunction with the device's movement. The de-icing efficiency is high, and the elastic rod deformation design can avoid jamming and adapt to irregular track shapes.

[0040] As a further improvement to this embodiment, such as Figures 8-9As shown, a wedge-shaped groove 1902 is provided on the side wall of the first slide groove 1901, and a second slide groove 2401 matching the wedge-shaped groove 1902 is provided on the side wall of the slider 24. A wedge-shaped block 28 is slidably connected in the second slide groove 2401, and a spring 29 is installed between the wedge-shaped block 28 and the bottom wall of the second slide groove 2401.

[0041] Specifically, the slider 24 slides in the first groove 1901, and its position can be fixed by the cooperation of the wedge block 28, the spring 29, and the wedge groove 1902. When a large force pushes the slider 24, the spring 29 is compressed, and the wedge block 28 and the wedge groove 1902 disengage, allowing the slider 24 to slide in the first groove 1901, thereby changing the position of the slider 24. When the wedge block 28 enters the other wedge groove 1902, the position of the slider 24 can be fixed.

[0042] like Figures 8-9 As shown, multiple electromagnetic blocks 30 are installed on the side wall of the first slide groove 1901, and permanent magnet blocks 31 matching the electromagnetic blocks 30 are installed on the slider 24. By supplying power to the electromagnetic blocks 30, the electromagnetic blocks 30 and the permanent magnet blocks 31 can repel or attract each other, thereby changing the position of the slider 24. When the wedge block 28 moves into the corresponding wedge groove 1902, the position of the slider 24 is locked.

[0043] The power supply status of the electromagnetic block 30 can be remotely controlled via the control module, enabling automatic adjustment of the slider 24's position to meet the needs of unmanned operation. Furthermore, the controllable force of the electromagnetic drive allows for precise movement of the slider 24 to the target position. Combined with the positioning of the wedge block 28 and wedge groove 1902, this ensures the ice-breaking device accurately aligns with different specifications of wiring. The electromagnetic drive has a fast response speed, allowing for rapid adjustments when wiring specifications change, thus improving operational efficiency.

[0044] Most notably, this electromagnetic drive structure is stable and not easily affected by circuit icing, low ambient temperature, etc., ensuring the stable realization of the regulation function.

[0045] like Figures 1-2 As shown, an auxiliary support arm 33 is installed on the intelligent icing body 1. The auxiliary support arm 33 mainly serves as an auxiliary support. When the intelligent icing device separates the spacer bar, the auxiliary support arm 33 can grab the power supply line at the rear end. The actuator arm 2 deforms, and after the intelligent icing device completely passes the spacer bar, that is, after both sets of actuator arms 2 have completely passed the spacer bar, the auxiliary support arm 33 loses contact with the power supply line.

[0046] Example 2: Unlike Embodiment 1, the first wheel body 10 has an annular groove 1001 that matches the power supply line, and the second wheel body 14 has an annular protrusion 1401 that matches the annular groove 1001. The width of the annular groove 1001 and the annular protrusion 1401 is equal to the diameter of the power supply line, so that the power supply line can be just right to be stuck in the annular groove 1001.

[0047] The width of the annular groove 1001 and the annular protrusion 1401 are precisely matched with the diameter of the power supply line. The power supply line can be stably locked in the annular groove 1001, forming a limit constraint, which effectively prevents the device from shifting or shaking when it moves along the line. It is especially suitable for scenarios where the line surface is smooth or slightly deformed after icing, and solves the positioning deviation problem that may exist if the tooth pattern is used for anti-slip.

[0048] Secondly, the concave-convex fit structure of the annular groove 1001 and the annular protrusion 1401 increases the contact area between the first wheel body 10, the second wheel body 14 and the power supply line. Combined with the clamping force provided by the hydraulic push rod 16, it can form a more secure clamping effect, avoid the risk of the device falling off in complex environments such as high-altitude operation and strong winds, and at the same time reduce the vibration caused by unstable clamping during walking, ensuring the stable operation of the overall structure.

[0049] Example 3: Unlike Examples 1 and 2, like Figure 4 As shown, a first motor 11 is fixedly connected to the mounting rod 8, a first elastic rod 12 is fixedly connected to the output shaft of the first motor 11, and a first hammer part 1201 is fixedly connected to the end of the first elastic rod 12 away from the output shaft. During the start-up process of the first motor 11, it rotates with the first elastic rod 12, and the first hammer part 1201 strikes the surface of the power supply line.

[0050] A new rotary hammer was added to 7 gripping mechanisms to pre-break up ice on the line surface, especially for thin or tightly adhered ice layers. This can break down the ice structure in advance, reduce the load on the subsequent de-icing arm 17, and improve the overall de-icing efficiency.

[0051] Obviously, the above-described embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A power line intelligent icing device, characterized by, The utility model relates to an intelligent deicing body (1) is installed with a plurality of execution arm (2), industrial camera (32) is installed at the upper end of intelligent deicing body (1) to gather environmental information, and the environmental information is passed to intelligent deicing body (1), and the execution instruction is generated by intelligent deicing body (1), and the execution instruction is passed to execution arm (2) and is executed by execution arm (2), deicing arm (17) is installed in the middle part of intelligent deicing body (1), and the deicing arm (17) includes third connecting arm (18), and the third connecting arm (18) is rotatably connected on intelligent deicing body (1), and the fourth connecting arm (19) is detachably installed on the end of third connecting arm (18) away from intelligent deicing body (1). The execution arm (2) includes first connecting arm (3), one end of the first connecting arm (3) is rotatably connected to the intelligent deicing body (1), the first joint (4) is rotatably connected to the end of the first connecting arm (3) away from the intelligent deicing body (1), the second connecting arm (5) is rotatably connected to the end of the first joint (4) away from the second connecting arm (5), the second joint (6) is installed at the end of the second connecting arm (5) away from the first joint (4), and the grabbing mechanism (7) is installed at the end of the second joint (6) away from the second connecting arm (5). The grabbing mechanism (7) includes a mounting rod (8), the top plate (9) is fixedly connected to the end of the mounting rod (8) away from the second joint (6), the first wheel body (10) is rotatably connected in the top plate (9), and the annular groove (1001) matched with the power supply line is formed in the first wheel body (10). The bottom plate (13) is slidably connected to the mounting rod (8), the second wheel body (14) is rotatably connected to the bottom plate (13), and the annular convex portion (1401) matched with the annular groove (1001) is fixedly connected to the second wheel body (14). The second motor (15) for driving the second wheel body (14) is fixedly connected to one side of the bottom plate (13).

2. The power line ice accretion device of claim 1, wherein, The hydraulic push rod (16) for jacking the bottom plate (13) is installed on the mounting rod (8).

3. The power line ice accretion device of claim 2, wherein, The first motor (11) is fixedly connected to the mounting rod (8), the first elastic rod (12) is fixedly connected to the output shaft of the first motor (11), and the first hammering part (1201) is fixedly connected to the end of the first elastic rod (12) away from the output shaft. ​ ​ 4. The power line ice accretion device of claim 3, wherein, ​ 5. A power line ice accretion device according to any one of claims 2 to 4, wherein, ​ 6. The power line ice accretion device of claim 1, wherein, One end of the fourth connecting arm (19) is fixedly connected with a second connecting part (22), the second connecting part (22) is rotatably connected with a first connecting part (21), one side of the second connecting part (22) is fixedly connected with a third motor (23) for driving the first connecting part (21) to rotate; The third connecting arm (18) and the fourth connecting arm (19) are both provided with an installation groove (20) at one end away from the intelligent icing body (1), the bottom wall of the installation groove (20) is provided with a threaded hole (2001), the first connecting part (21) is provided with a through hole (2101) matched with the threaded hole (2001), the first connecting part (21) is installed with a bolt (2201) matched with the through hole (2101), and the bolt (2201) is screwed with the threaded hole (2001) after passing through the through hole (2101).

7. The power line ice accretion device of claim 1, wherein, The side wall of the first sliding groove (1901) is provided with a wedge-shaped groove (1902), the side wall of the sliding block (24) is provided with a second sliding groove (2401) matched with the wedge-shaped groove (1902), the second sliding groove (2401) is slidably connected with a wedge-shaped block (28), and the wedge-shaped block (28) and the bottom wall of the second sliding groove (2401) are installed with a spring (29).

8. The power line ice accretion device of claim 7, wherein, The side wall of the first sliding groove (1901) is provided with a plurality of electromagnetic blocks (30), and the sliding block (24) is provided with a permanent magnet block (31) matched with the electromagnetic blocks (30).

9. The power line ice accretion device of claim 1, wherein, The intelligent icing body (1) is installed with an auxiliary supporting arm (33).

10. A power line ice accretion device according to any one of claims 6 to 8, wherein, The intelligent icing body (1) is installed with an auxiliary supporting arm (33).

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