Wire de-icing robot with obstacle crossing function

Abstract

The application discloses a wire deicing robot with an obstacle-crossing function and relates to the technical field of deicing robots.The wire deicing robot comprises a shell, an obstacle-crossing unit arranged on the top of the shell and a walking unit arranged in the shell, a grinding sleeve is arranged in the advancing direction of the shell, the number of the grinding sleeves is two, the two grinding sleeves are both semicircular, the wire can be wrapped in the two grinding sleeves when the two grinding sleeves are combined, the grinding sleeve is conical, a grinding spike is fixed to the inner side of the grinding sleeve, a chip removal groove and a chip removal hole are arranged on the inner side of the grinding sleeve, the chip removal hole penetrates through the grinding sleeve and is in communication with the end of the chip removal groove.The wire can be wrapped in the grinding sleeve by adopting the wrapped rotary grinding sleeve structure, 360-degree non-blind area continuous grinding can be realized on the wrapped ice column through circumferential rotation, and the circumferential deicing blind area problem existing in unilateral knocking operation is solved completely.

Description

Technical Field

[0001] This invention relates to the field of de-icing robot technology, and in particular to a wire de-icing robot with obstacle-crossing capabilities. Background Technology

[0002] Icing on transmission lines is a typical meteorological disaster that threatens the safe and stable operation of power grids in cold and humid regions. Overload caused by icing can easily lead to accidents such as broken conductor strands, tilting and collapse of towers, and ice flashover tripping of insulators. In severe cases, it can cause large-scale power outages. High-altitude conductor de-icing robots can realize automated de-icing operations on live lines and are an important technical equipment for the current management of icing on transmission lines.

[0003] Existing wire de-icing robots mostly employ a hammer-type de-icing mechanism, relying on an impact hammer to apply an instantaneous radial impact force to the wire, causing the wire to bend and vibrate. The difference in elastic modulus between the ice and the wire is then used to peel off the ice. This method is effective for loose frost and localized ice buildup, and its simple structure and convenient deployment make it widely used in lightly iced scenarios.

[0004] However, in areas with frequent freezing rain and heavy icing, supercooled water droplets continuously collide with the conductor and freeze layer by layer, easily forming a dense cylindrical ice column that completely envelops the conductor. The ice layer embeds into the stranded gaps of the conductor, forming a mechanical interlock. The interface bonding strength is extremely high. For this type of icing, the knocking method for de-icing has obvious technical defects. The cylindrical ice layer has high circumferential structural strength, and the energy of a single-point knock spreads rapidly along the circumference, making it difficult to form an effective crack that penetrates the ice layer. The thick ice layer significantly increases the overall bending stiffness of the conductor, and the vibration caused by knocking is significantly attenuated. The relative deformation of the ice-conductor interface is insufficient, and it is impossible to destroy the interface bonding layer. There is a blind spot in the circumferential operation when knocking on one side, and the ice layer on the opposite side cannot be broken under load. The residual ice layer is prone to rapid refreezing and thickening, thus failing to meet the de-icing requirements of the enveloping dense icing. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems existing in the above and / or existing wire de-icing robots with obstacle crossing function, the present invention is proposed.

[0007] Therefore, the problem that this invention aims to solve is that tapping de-icing cannot remove dense cylindrical ice columns that completely encase the wire.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a wire de-icing robot with obstacle-crossing function, comprising a shell, an obstacle-crossing unit disposed on the top of the shell, and a walking unit disposed inside the shell. Two grinding sleeves are disposed in the forward direction of the shell, both of which are semi-circular. When the two grinding sleeves are combined, they can enclose the wire. The grinding sleeves are conical, with grinding protrusions fixed to the inner side of the grinding sleeves. A chip removal groove and a chip removal hole are provided on the inner side of the grinding sleeves. The chip removal hole penetrates the grinding sleeve and communicates with the end of the chip removal groove. A rotating unit is disposed on one side of the shell and connected to the grinding sleeves, used to drive the two combined grinding sleeves to rotate. A connecting unit is disposed at the connection point of the two grinding sleeves, used to drive the two grinding sleeves to combine or separate. After the shell lands on the wire, the connecting unit drives the two grinding sleeves to combine, enclosing the wire, and the rotating unit drives the combined grinding sleeves to rotate. The grinding sleeves, through the cooperation of the grinding protrusions, can grind and break the ice column, thus completing the wire de-icing.

[0009] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, the rotating unit includes a support plate fixed to one side of the shell, an arc plate fixed to the bottom of the support plate, and a slot provided on the grinding sleeve, wherein the arc plate is engaged in the slot.

[0010] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, the rotating unit further includes a motor fixed to one side of the support plate, a gear fixed to the motor output shaft, and two half-gears respectively fixed to the outside of the two grinding sleeves. When the two grinding sleeves are combined, the two half-gears will combine into a circle.

[0011] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, the connecting unit includes a connecting sleeve fixed on one side of the grinding sleeve with the opening facing downward, a fixed shaft rotatably connected to one side of the connecting sleeve and fixed to another grinding sleeve, a drive motor fixed inside the connecting sleeve, and an output shaft fixed to the fixed shaft.

[0012] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, it further includes locking units respectively disposed on the two grinding sleeves. The locking unit includes a fixing frame fixed on one side of the grinding sleeve with the opening facing downward, and an insert block fixed on the other side of the grinding sleeve. The fixing frame has a slot. When the two grinding sleeves are combined, the insert block will be inserted into the slot.

[0013] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, the locking unit further includes a locking block, the locking block has a through groove, both locking blocks are located in the through groove, and a first spring is fixed between the two locking blocks.

[0014] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, the locking unit further includes a limiting rod disposed in the through groove and located below the two locking blocks. A support column is fixed on the inner wall of the through groove for supporting and positioning the limiting rod. The limiting rod is U-shaped. When the limiting rod moves upward, it will block and limit the two locking blocks, preventing them from entering the through groove.

[0015] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, the locking unit further includes a force-bearing rod fixed to the bottom of the limiting rod, one side of the bottom end of the force-bearing rod being inclined, a support frame fixed inside the fixed frame, and a squeezing rod disposed inside the support frame, the end of the squeezing rod cooperating with the inclined surface of the bottom end of the force-bearing rod.

[0016] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, one end of the extrusion rod is fixed with a fixing plate, and the sensing ball is disposed in the support frame and in contact with the fixing plate.

[0017] As a preferred embodiment of the wire de-icing robot with obstacle-crossing function described in this invention, a second spring is fixed to one side of the fixing plate, and the other end of the second spring is fixed to the inner wall of the support frame.

[0018] The beneficial effects of this invention are as follows: by adopting a wrap-around rotating grinding sleeve structure, the wire can be wrapped around the inside, and the wrap-around ice column can be continuously ground 360° without blind spots through circumferential rotation, which completely solves the problem of circumferential de-icing blind spots in single-sided knocking operations.

[0019] Unlike impact strikes, which are hampered by the structural strength of the cylindrical ice shell, the grinding sleeve directly breaks through the dense ice layer by cutting layer by layer. It can effectively act on the ice-wire bonding interface, destroy the mechanical interlocking structure at the stranded gap, and significantly improve the thoroughness of de-icing.

[0020] Meanwhile, the grinding operation load is stable and controllable, avoiding problems such as deformation of aluminum strands in the wires, wear of the coating, and instability of the robot operation that are easily caused by strong impacts and knocks. The operation safety and wire protection capabilities are better, making it suitable for the de-icing needs of densely covered ice in heavy ice areas. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. 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.

[0022] Figure 1 This is a structural diagram of a wire de-icing robot with obstacle-crossing capabilities.

[0023] Figure 2 This is a structural diagram of the combined grinding sleeve of a wire de-icing robot with obstacle-crossing capabilities.

[0024] Figure 3 This is a cross-sectional view of the connecting sleeve of a wire de-icing robot with obstacle-crossing capabilities.

[0025] Figure 4 This is a structural diagram of the locking unit of a wire de-icing robot with obstacle-crossing capabilities.

[0026] Figure 5 This is a cross-sectional view of the insert structure of a wire de-icing robot with obstacle-crossing capabilities.

[0027] Figure 6 This is a cross-sectional view of the positioning frame of a wire de-icing robot with obstacle-crossing capabilities.

[0028] In the diagram: 1. Housing; 2. Obstacle-crossing unit; 3. Walking unit; 4. Grinding sleeve; 5. Grinding spike; 41. Chip removal groove; 42. Chip removal hole; 6. Rotating unit; 7. Connecting unit; 61. Support plate; 62. Arc plate; 43. Slot; 63. Motor; 64. Gear; 65. Half gear; 71. Connecting sleeve; 72. Fixed shaft; 73. Drive motor; 8. Locking unit; 81. Fixed frame; 82. Insert block; 83. Locking block; 84. First spring; 85. Limiting rod; 86. Force rod; 87. Support frame; 88. Pressing rod; 89. Fixed plate; 810. Sensing ball; 811. Second spring. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0032] Example 1, referring to Figure 1 and Figure 2This is the first embodiment of the present invention. This embodiment provides a wire de-icing robot with obstacle crossing function, including a shell 1, an obstacle crossing unit 2 disposed on the top of the shell 1, and a walking unit 3 disposed inside the shell 1. The obstacle crossing unit 2 is composed of a rotor mechanism, which can drive the shell 1 to fly, thereby enabling the shell 1 to cross obstacles such as spacers. The walking unit 3 is composed of walking wheels and a drive mechanism. When the shell 1 is attached to the wire, the walking unit 3 can drive the shell 1 forward.

[0033] The grinding sleeve 4 is located in the forward direction of the housing 1. There are two grinding sleeves 4. Both grinding sleeves 4 are semi-circular. Both grinding sleeves 4 have their openings facing downwards and are parallel to each other. One grinding sleeve 4 is coaxial with the walking unit 3.

[0034] After the housing 1 is hung on the wire, the grinding sleeve 4, which is coaxial with the walking unit 3, will press on the wire. At this time, another grinding sleeve 4 will rotate downward to the bottom of the wire and merge with the grinding sleeve 4 on the wire. When the two grinding sleeves 4 merge, they can wrap the wire inside. When the grinding sleeve 4 rotates, it can grind and break the ice column on the outside of the wire. By rotating circumferentially, 360° continuous grinding without blind spots can be achieved on the wrapped ice column, solving the problem of circumferential de-icing blind spots in single-sided knocking operation.

[0035] The grinding sleeve 4 is conical in shape and has a large diameter in the forward direction. When the grinding sleeve 4 comes into contact with the ice column, it can wrap the ice column inside. As the grinding sleeve 4 grinds the ice column, the diameter of the ice column will decrease, and the diameter of the grinding sleeve 4 will decrease synchronously. It can always fit against the outside of the ice column and continuously grind the ice column.

[0036] The grinding spikes 5 are fixed inside the grinding sleeve 4. The grinding spikes 5 can penetrate the dense ice layer first to form a broken groove, destroy the overall structure of the ice column, reduce the grinding resistance, facilitate subsequent grinding and peeling of the ice layer, and improve the de-icing efficiency of the encapsulated ice column.

[0037] The grinding sleeve 4 has a chip removal groove 41 and a chip removal hole 42 on its inner side. The chip removal hole 42 passes through the grinding sleeve 4 and is connected to the end of the chip removal groove 41. The chip removal groove 41 is arc-shaped and there are multiple of them. They are evenly distributed in a ring inside the two grinding sleeves 4. The number of chip removal holes 42 is the same as that of the chip removal groove 41. Through the cooperation of the chip removal groove 41 and the chip removal hole 42, the crushed ice generated after grinding can be discharged from the grinding sleeve 4, so as to avoid obstructing the grinding of the ice column by the grinding sleeve 4.

[0038] The rotating unit 6 is located on one side of the housing 1 and is connected to the grinding sleeve 4, which is used to drive the two combined grinding sleeves 4 to rotate.

[0039] The connecting unit 7 is located at the connection of the two grinding sleeves 4, and is used to drive the two grinding sleeves 4 to merge or separate.

[0040] After the housing 1 lands on the wire, the connecting unit 7 drives the two grinding sleeves 4 to merge and wrap the wire inside. The rotating unit 6 drives the merged grinding sleeves 4 to rotate. The grinding sleeves 4 can grind and break the ice column through the cooperation of the grinding protrusions 5, and complete the de-icing of the wire.

[0041] Example 2, refer to Figure 2 and Figure 3 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0042] Specifically, the rotating unit 6 includes a support plate 61 fixed to one side of the housing 1, an arc plate 62 fixed to the bottom of the support plate 61, and slots 43 are provided on both grinding sleeves 4. The inside of the slots 43 is T-shaped. When the two grinding sleeves 4 are combined, the two slots 43 will also be combined. The arc plate 62 is engaged in the slots 43. The two work together to support and position the grinding sleeves 4, so as to prevent the grinding sleeves 4 from shifting during rotation.

[0043] The rotating unit 6 also includes a motor 63 fixed to one side of the support plate 61, a gear 64 fixed to the output shaft of the motor 63, and two half-gears 65 fixed to the outside of the two grinding sleeves 4 respectively. When the two grinding sleeves 4 are combined, the two half-gears 65 will combine into a circle. At this time, the motor 63 is started to drive the gear 64 to rotate, and the gear 64 drives the two combined half-gears 65 to rotate, thereby enabling the half-gears 65 to drive the grinding sleeves 4 to rotate.

[0044] The connecting unit 7 includes a connecting sleeve 71 fixed to one side of the grinding sleeve 4 with the opening facing downward, a fixed shaft 72 rotatably connected to one side of the connecting sleeve 71 and fixed to another grinding sleeve 4, a drive motor 73 fixed inside the connecting sleeve 71, and an output shaft fixed to the fixed shaft 72.

[0045] When one polishing sleeve 4 is pressed on the wire, the drive motor 73 is started to drive the fixed shaft 72 to rotate, and through the fixed shaft 72, the other polishing sleeve 4 is driven to rotate downward to the bottom of the wire, so that the two polishing sleeves 4 can be merged and the wire can be wrapped inside.

[0046] Example 3, referring to Figures 4-6 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0047] Specifically, it also includes locking units 8 respectively disposed on the two grinding sleeves 4. There are two sets of locking units 8, located on both sides of the two grinding sleeves 4. The locking unit 8 includes a fixing frame 81 fixed on one side of the grinding sleeve 4 with the opening facing downward, and a plug 82 fixed on the other side of the grinding sleeve 4. The fixing frame 81 has a slot. When the two grinding sleeves 4 are combined, the plug 82 will be inserted into the slot.

[0048] The locking unit 8 also includes a locking block 83. The insert block 82 has a through groove, and both locking blocks 83 are located in the through groove. The end of the locking block 83 located outside the through groove is triangular. When the insert block 82 enters the slot, the end of the locking block 83 will contact the top of the fixing frame 81 and limit the insert block 82, so that the insert block 82 cannot be separated from the fixing frame 81, thereby locking the position of the two combined grinding sleeves 4 and preventing the grinding sleeves 4 from separating during the grinding process.

[0049] The first spring 84 is fixed between the two locking blocks 83, and the first spring 84 is used to apply an outward pushing force to the two locking blocks 83.

[0050] The locking unit 8 also includes a limiting rod 85 disposed in the through groove and located below the two locking blocks 83. A support column is fixed on the inner wall of the through groove to support and position the limiting rod 85. The limiting rod 85 is U-shaped and the top of the limiting rod 85 is inclined. When the limiting rod 85 moves upward, it will block and limit the two locking blocks 83, preventing them from entering the through groove.

[0051] The locking unit 8 also includes a force-bearing rod 86 fixed to the bottom of the limiting rod 85. The bottom end of the force-bearing rod 86 is inclined on one side. The support frame 87 is fixed inside the fixed frame 81. The pressing rod 88 is located inside the support frame 87. The end of the pressing rod 88 cooperates with the inclined surface at the bottom end of the force-bearing rod 86.

[0052] One end of the extrusion rod 88 is fixed with a fixing plate 89, and the sensing ball 810 is located inside the support frame 87 and is in contact with the fixing plate 89.

[0053] When the grinding sleeve 4 rotates, the centrifugal force generated will cause the induction ball 810 to push the fixed plate 89 to move, and the fixed plate 89 will drive the pressing rod 88 to press the bottom inclined surface of the force rod 86. Through the cooperation of the two, the limiting rod 85 will move upward, so that the limiting rod 85 is inserted between the two locking blocks 83 and the position of the locking blocks 83 is locked, so that the locking blocks 83 cannot move into the through groove, thereby improving the stability of the grinding sleeve 4 when locked.

[0054] A second spring 811 is fixed to one side of the fixed plate 89, and the other end of the second spring 811 is fixed to the inner wall of the support frame 87. When the grinding sleeve 4 stops rotating, the second spring 811 will push the fixed plate 89 and the pressing rod 88 to move in the opposite direction and reset. At this time, the limiting rod 85 will lose its thrust. When the insert block 82 moves to the outside of the slot, the inclined surface of the end of the locking block 83 will press against the inner wall of the slot. At this time, the locking block 83 will enter the through groove and press against the inclined surface of the end of the limiting rod 85, causing the limiting rod 85 to move downward and not continue to hinder the movement of the locking block 83, so that the locking block 83 can enter the through groove and the two grinding sleeves 4 can be separated.

[0055] When in use, after the housing 1 is hung on the wire, the grinding sleeve 4, which is coaxial with the walking unit 3, will press on the wire. At this time, the drive motor 73 is started to drive the fixed shaft 72 to rotate, and through the fixed shaft 72, another grinding sleeve 4 is driven to rotate downward to the bottom of the wire, so that the two grinding sleeves 4 can be merged and wrap the wire inside.

[0056] When the two grinding sleeves 4 are combined, the insert 82 will be inserted into the slot, and the end of the locking block 83 will contact the top of the fixing frame 81 and limit the insert 82, so that the insert 82 cannot be separated from the fixing frame 81, thereby locking the position of the two combined grinding sleeves 4 and preventing the grinding sleeves 4 from separating during the grinding process.

[0057] At this time, the start motor 63 drives the gear 64 to rotate, which in turn drives the two combined half-gears 65 to rotate. In turn, the half-gears 65 drive the grinding sleeve 4 to rotate. When the grinding sleeve 4 rotates, the centrifugal force generated will cause the induction ball 810 to push the fixed plate 89 to move, and the fixed plate 89 will drive the pressing rod 88 to press the bottom inclined surface of the force rod 86. Through the cooperation of the two, the limiting rod 85 will move upward, so that the limiting rod 85 is inserted between the two locking blocks 83 and locks the position of the locking blocks 83, so that the locking blocks 83 cannot move into the through groove, thereby improving the stability of the grinding sleeve 4 when locked.

[0058] At this time, when the grinding sleeve 4 rotates, it can grind and break the ice column on the outside of the wire. By rotating around the circumference, it can achieve 360° continuous grinding of the wrapped ice column without blind spots, which solves the problem of blind spots in the circumferential de-icing operation that exists in the single-sided knocking operation. With the cooperation of the grinding spikes 5, it destroys the overall structure of the ice column, reduces the grinding resistance, facilitates the subsequent grinding and peeling of the ice layer, and improves the de-icing efficiency of the wrapped ice column.

[0059] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A wire de-icing robot with obstacle-crossing capability, characterized in that: include, The housing (1) and the obstacle-crossing unit (2) disposed on the top of the housing (1) and the walking unit (3) disposed inside the housing (1). The grinding sleeve (4) is located in the forward direction of the housing (1). There are two grinding sleeves (4), both of which are semi-circular. When the two grinding sleeves (4) are joined together, they can wrap the wire inside. The grinding sleeve (4) is conical. The grinding protrusion (5) is fixed inside the grinding sleeve (4). The grinding sleeve (4) has a chip removal groove (41) and a chip removal hole (42) inside. The chip removal hole (42) passes through the grinding sleeve (4) and is connected to the end of the chip removal groove (41). The rotating unit (6) is located on one side of the housing (1) and connected to the grinding sleeve (4), used to drive the two combined grinding sleeves (4) to rotate. The connecting unit (7) is located at the connection point of the two grinding sleeves (4) and is used to drive the two grinding sleeves (4) to merge or separate. After the shell (1) lands on the wire, the connecting unit (7) drives the two grinding sleeves (4) to merge and wrap the wire inside. The rotating unit (6) drives the merged grinding sleeves (4) to rotate. The grinding sleeves (4) can grind and break the ice column through the cooperation of the grinding spikes (5) and complete the de-icing of the wire.

2. The wire de-icing robot with obstacle-crossing function as described in claim 1, characterized in that: The rotating unit (6) includes a support plate (61) fixed on one side of the housing (1), an arc plate (62) fixed at the bottom of the support plate (61), and a slot (43) on the grinding sleeve (4), and the arc plate (62) is engaged in the slot (43).

3. The wire de-icing robot with obstacle-crossing function as described in claim 2, characterized in that: The rotating unit (6) also includes a motor (63) fixed on one side of the support plate (61), a gear (64) fixed on the output shaft of the motor (63), and two half-gears (65) fixed on the outside of the two grinding sleeves (4). When the two grinding sleeves (4) are combined, the two half-gears (65) will combine into a circle.

4. The wire de-icing robot with obstacle-crossing function as described in claim 2 or 3, characterized in that: The connecting unit (7) includes a connecting sleeve (71) fixed on one side of the grinding sleeve (4) with the opening facing downward, a fixed shaft (72) rotatably connected to one side of the connecting sleeve (71) and fixed to another grinding sleeve (4), a drive motor (73) fixed inside the connecting sleeve (71), and an output shaft fixed to the fixed shaft (72).

5. The wire de-icing robot with obstacle-crossing function as described in claim 4, characterized in that: It also includes locking units (8) respectively disposed on the two grinding sleeves (4). The locking unit (8) includes a fixing frame (81) fixed on one side of the grinding sleeve (4) with the opening facing downward, and a plug (82) fixed on one side of the other grinding sleeve (4). The fixing frame (81) has a slot. When the two grinding sleeves (4) are combined, the plug (82) will be inserted into the slot.

6. The wire de-icing robot with obstacle-crossing function as described in claim 5, characterized in that: The locking unit (8) also includes a locking block (83), and the insert block (82) has a through groove. Both locking blocks (83) are located in the through groove, and the first spring (84) is fixed between the two locking blocks (83).

7. The wire de-icing robot with obstacle-crossing function as described in claim 5 or 6, characterized in that: The locking unit (8) also includes a limiting rod (85) located in the through groove and below the two locking blocks (83). A support column is fixed on the inner wall of the through groove to support and position the limiting rod (85). The limiting rod (85) is U-shaped. When the limiting rod (85) moves upward, it will block and limit the two locking blocks (83), preventing them from entering the through groove.

8. The wire de-icing robot with obstacle-crossing function as described in claim 7, characterized in that: The locking unit (8) also includes a force rod (86) fixed at the bottom of the limiting rod (85). The bottom end of the force rod (86) is inclined on one side. The support frame (87) is fixed in the fixed frame (81). The pressing rod (88) is located in the support frame (87). The end of the pressing rod (88) is engaged with the inclined surface at the bottom end of the force rod (86).

9. The wire de-icing robot with obstacle-crossing function as described in claim 8, characterized in that: One end of the extrusion rod (88) is fixed with a fixing plate (89), and the sensing ball (810) is located inside the support frame (87) and is in contact with the fixing plate (89).

10. The wire de-icing robot with obstacle-crossing function as described in claim 9, characterized in that: A second spring (811) is fixed on one side of the fixing plate (89), and the other end of the second spring (811) is fixed to the inner wall of the support frame (87).

Images