A high-voltage transmission line hard icing removal robot and a control method thereof

Abstract

The application discloses a high-voltage transmission line hard icing removing robot and a control method thereof. The robot comprises a shell which is a core bearing and protection structure, the front side and the rear side of the shell are provided with inverted V-shaped guide openings; a walking mechanism which is arranged at the top of the shell inside and is used for walking on the high-voltage transmission line; an auxiliary clamping mechanism which is arranged at the top of the shell inside and is used for clamping the high-voltage transmission line when walking on the high-voltage transmission line; an ultrasonic wave impact ice crushing mechanism which is arranged in front of the shell outside and is used for vibrating and crushing the hard icing on the high-voltage transmission line; and an ultrasonic wave auxiliary ice shoveling mechanism which is arranged in the shell and is located behind the ultrasonic wave impact ice crushing mechanism and is used for shoveling the crushed ice.

Description

Technical Field

[0001] This invention relates to the field of power transmission line de-icing technology, and in particular to a robot for removing hard ice from high-voltage power transmission lines and its control method. Background Technology

[0002] High-voltage transmission lines are the core carriers for the power system to transmit electricity across regions. They are constantly exposed to complex weather environments in the field, and are highly susceptible to hard icing during winter's low temperatures, rain, snow, and freezing rain. Icing significantly increases the load on conductors and towers, reduces line insulation performance, and can easily lead to major safety accidents such as conductor galloping, wire breakage, hardware fatigue damage, and even tower collapse, seriously threatening the safe and stable operation of the power grid and the reliable supply of electricity.

[0003] Currently, de-icing technologies for power transmission lines are mainly divided into three categories: manual de-icing, thermal de-icing, and mechanical de-icing. Manual de-icing relies on tower climbing and manual hammering, which is high-risk, labor-intensive, and inefficient, making it unsuitable for complex scenarios such as long distances, significant elevation differences, and high-altitude cold regions, and also cannot guarantee the safety of workers. Thermal de-icing is highly efficient, quickly melting and removing ice from power transmission lines; however, it consumes a huge amount of energy, is costly, and requires power outages, disrupting normal power transmission. Mechanical de-icing primarily uses de-icing robots. Existing de-icing robots are relatively mature; these robots are small and compact, employing cutting, hammering, and crushing methods to quickly remove loose ice from power transmission lines. However, they are less effective at breaking up dense, strongly adhered, hard ice, resulting in incomplete de-icing.

[0004] For the removal of hard ice accretion on power transmission lines, ultrasonic impact de-icing technology, with its high-frequency vibration characteristics and low likelihood of inducing conductor galloping during operation, is gradually becoming an emerging research direction in this field. However, existing ultrasonic generators used in this field generally suffer from problems such as large structural volume and inconvenience in on-site installation. Furthermore, the output amplitude of the ultrasonic transducers used in these devices is relatively small, making it difficult to effectively impact and break down hard ice accretion, resulting in low actual de-icing efficiency and failing to meet the engineering requirements for efficient removal of hard ice accretion.

[0005] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by proposing a robot for removing hard ice from high-voltage transmission lines and its control method. The robot aims to achieve efficient removal of hard ice through the synergistic effect of "high-frequency impact cracking" and "ultrasonic vibration-assisted peeling," and to improve the automation level and operational stability of the operation.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A robot for removing hard ice accretion from high-voltage transmission lines includes: a housing, which serves as the core load-bearing and protective structure, with inverted V-shaped guide openings on the front and rear sides; a walking mechanism located at the top inside the housing for walking on the high-voltage transmission line; an auxiliary clamping mechanism located at the top inside the housing for clamping the high-voltage transmission line during walking; and an ultrasonic impact ice-breaking mechanism located at the front outside the housing for breaking up the hard ice accretion on the high-voltage transmission line. The system includes: an ice-shoveling mechanism, wherein the ultrasonic-assisted ice-shoveling mechanism is located within the housing and following the ultrasonic impact ice-breaking mechanism, for removing the broken ice; an ultrasonic signal generating system, located within the housing, for generating ultrasonic signals; a camera system, located within the housing, for identifying ice accumulation and monitoring the operating status of the walking mechanism; a lithium battery power supply system, wherein two battery packs are located on both sides of the housing, for adjusting the center of gravity and providing power; and a drone hoisting mechanism, located at the top of the housing.

[0008] Furthermore, the walking structure includes V-shaped walking wheels and a first drive unit. There are two V-shaped walking wheels, which are arranged back and forth along the robot's walking direction. The first drive unit includes a drive motor and a motor bracket. The motor bracket is fixed to the top of the housing. The V-shaped walking wheels are rotatably connected to the motor bracket. The drive motor is fixed to the motor bracket. The drive motor drives the V-shaped walking wheels to rotate, driving the robot to move along the axis of the high-voltage power transmission line.

[0009] Furthermore, the auxiliary clamping mechanism is located between the two V-shaped walking wheels. The auxiliary clamping mechanism includes a second drive unit, a slide rail, sliders, auxiliary clamping wheel frames, and auxiliary clamping wheels. The slide rail is fixed to the top of the housing and is perpendicular to the robot's walking direction. The second drive unit is a dual-axis lead screw motor fixed to the top of the housing. There are four sliders, slidably connected to both ends of the slide rail, with two sliders at each end. There are two auxiliary clamping wheel frames, each fixed to one of the two sliders. There are two sets of auxiliary clamping wheels, rotatably connected to the two auxiliary clamping wheel frames, and the auxiliary clamping wheels are vertically arranged.

[0010] Furthermore, the ultrasonic impact ice-breaking mechanism comprises two sets, symmetrically arranged on both sides of the robot's walking direction. Each ultrasonic impact ice-breaking mechanism includes an ultrasonic impact ice-breaking bracket, a pre-tension spring, an ultrasonic impactor, a bushing, a spring guide bracket, an upper housing, a lower housing, an adjusting nut, and a compression spring. The ultrasonic impact ice-breaking bracket is fixed to the front of the outer side of the housing 1, and the spring guide bracket 45 is fixed to the ultrasonic impact ice-breaking bracket. The upper housing and the lower housing are fixed together to form a mounting cavity. The connection between the upper housing and the lower housing is located between the ultrasonic impact ice-breaking bracket and the spring guide bracket. The pre-tension spring is located between the connection between the upper housing and the lower housing and the spring guide bracket. The bushing is located at the connection between the upper housing and the lower housing, at the point where the ultrasonic impact ice-breaking mechanism is located. The ice support and the spring guide support are sleeved on the outside of the lower housing; the ultrasonic impact ice crusher includes a first piezoelectric transducer, an amplitude rod, a free mass block, an impact rod, and an impact head. The first piezoelectric transducer is fixed to the top of the amplitude rod. The amplitude rod is fixed to the connection between the upper housing and the lower housing via an amplitude rod flange. The free mass block is located at the lower end of the amplitude rod. A boss is provided near the top of the impact rod. The top part of the impact rod passes through the free mass block and is inserted into the bottom of the amplitude rod. The bottom of the lower housing has an opening. The adjusting nut is fixed to the opening. The compression spring is sleeved on the outside of the impact rod, located between the boss and the adjusting nut. The impact rod extends through the opening to the outside of the lower housing. The impact head is fixed to the bottom of the impact rod and is bowl-shaped.

[0011] Furthermore, the ultrasonic-assisted ice-scraping mechanism includes a lead screw stepper motor, a connecting rod assembly, a surrounding frame, an ultrasonic-assisted ice-scraping blade, an upper base for the lead screw stepper motor, and a lower base for the lead screw stepper motor. The lead screw stepper motor is fixed to the top of the housing via the upper base, with its output shaft pointing vertically downwards. The bottom of the lead screw stepper motor is fixed to the lower base. The connecting rod assembly includes a connecting rod and a connecting plate. There are two connecting rods connected between the lower base and the connecting plate. Each connecting rod consists of two interlocking sections: the upper connecting rod is hinged to the lower base, and the lower connecting rod is hinged to the connecting plate. The plate is hinged, and the output shaft of the lead screw stepper motor cooperates with the connecting plate. The rotational motion output by the output shaft is converted into the up-and-down movement of the connecting plate. There are two enclosure frames, which are fixed to the bottom of the lower connecting rod of the connecting rod. The enclosure frames are arc-shaped, and the two enclosure frames form a constrained space. There are four ultrasonic-assisted ice scrapers, two of which are fixed to one enclosure frame and the other two are fixed to the other enclosure frame. The ultrasonic-assisted ice scraper includes a second piezoelectric transducer assembly and an ice scraper head. The ice scraper head is fixed to the side of the enclosure frame facing the ultrasonic impact ice-breaking mechanism through an ice scraper head flange. The second piezoelectric transducer assembly is fixedly connected to the end of the ice scraper head.

[0012] Furthermore, the ultrasonic signal generating system includes a first driver and a second driver, which are symmetrically fixed on both sides inside the housing to maintain counterweight balance; the first driver and the second driver are electrically connected to the ultrasonic impact ice-breaking mechanism and the ultrasonic-assisted ice-removing mechanism, respectively.

[0013] Furthermore, the camera system includes a first camera and a second camera, which are fixed inside the housing. The first camera is used to identify and monitor icing on the high-voltage transmission line, and the second camera is used to monitor the walking mechanism.

[0014] Furthermore, the lithium battery power supply system includes a triangular support frame, a battery bracket, and a lithium battery. The triangular support frame is fixed to the side wall outside the housing, the battery bracket is fixed to the triangular support frame, and the lithium battery is embedded in the battery bracket.

[0015] A control method for a robot to remove hard icing from high-voltage transmission lines, characterized in that it is applied to the robot described in any one of claims 1 to 8, and includes the following steps: Step 1: An external drone transports the de-icing robot to the designated location via the drone hoisting mechanism, and the cable is introduced into the housing through the inverted V-shaped guide opening; Step 2: Control the auxiliary clamping mechanism to grip the high-voltage transmission line; Step 3: Control the ultrasonic-assisted ice-scraping mechanism to surround the high-voltage power transmission line; Step 4: The walking mechanism drives the robot forward, and the camera system collects whether there is hard ice on the high-voltage transmission line. If there is, the ultrasonic impact ice-breaking mechanism is activated to perform the cracking operation, and the ultrasonic assisted ice-removing mechanism is activated to perform the peeling operation. Step 5: After the operation is completed, release the ultrasonic-assisted ice-removing mechanism and the auxiliary clamping mechanism, and the external drone will lift the ice-removing robot away through the drone hoisting mechanism 9.

[0016] Furthermore, during the operation in step 4, the speed of the walking mechanism is controlled through the following steps: Step 401: Set the initial speed V0 of the traveling mechanism according to the following formula: ; Among them, f min Where N is the minimum impact frequency of the impact head in the ultrasonic impact ice-breaking mechanism, D is the effective working length of the impact head in the ultrasonic impact ice-breaking mechanism, and N is the minimum impact frequency of the impact head in the ultrasonic impact ice-breaking mechanism. min The number of mechanical impacts is the preset reference ice thickness corresponding to the rated number of impacts, and ΔV is the reserved rate compensation constant. Step 402: Determine whether the current of the ultrasonic-assisted ice-shoveling mechanism driver is less than the baseline. If yes, proceed to step 403; otherwise, return to step 401. Step 403: Reduce the speed of the walking mechanism by ΔV; Step 404: Determine whether the current of the ultrasonic-assisted ice-shoveling mechanism driver is greater than or equal to the baseline. If yes, proceed to step 405; otherwise, return to step 403. Step 405: The timer starts counting down △T; Step 406: Determine whether the current of the ultrasonic-assisted ice-shoveling mechanism driver is less than the baseline. If yes, return to step 403; otherwise, proceed to step 407. Step 407: Increase the speed of the walking mechanism by ΔV; Step 408: Determine whether the current speed of the walking mechanism is greater than or equal to V0. If yes, proceed to step 409; otherwise, return to step 406. Step 409: Determine if the de-icing task is complete. If yes, proceed to step 5; otherwise, return to step 401.

[0017] Compared with the prior art, the beneficial effects of this invention are as follows: 1. A dual-stage collaborative process of "ice crushing-peeling" solves the problem of removing hard ice. Traditional mechanical de-icing robots often use single cutting, hammering, or crushing methods, which often result in incomplete de-icing or excessive resistance when dealing with hard ice with extremely strong adhesion. This invention uses a pre-positioned ultrasonic impact ice crushing mechanism to pre-impact the hard ice with high frequency, causing cracks inside the ice layer and destroying its adhesion interface with the power line. Then, a rear-positioned ultrasonic-assisted ice-scraping mechanism is used for peeling. During the operation of the ultrasonic-assisted ice-scraping mechanism, the overall enclosure frame is controlled to open and close. When the enclosure frame is fully closed, the four ice-scraping blades synchronously surround the high-voltage power line, completing the ice-scraping operation posture positioning. Subsequently, the ultrasonic signal generation system is activated, outputting high-frequency vibration signals to drive the ice-scraping blades to generate high-frequency ultrasonic vibrations, which can be achieved with existing technology. This "crush first, peel later" collaborative mode greatly reduces de-icing resistance and achieves efficient and thorough removal of thick, hard ice.

[0018] 2. Asymmetric bending cutter head design for efficient "longitudinal-bending" coupling: The ice-scraping cutter head of this invention adopts a unique bending asymmetric structure. Compared with traditional symmetrical or planar cutter heads, this structure, under the longitudinal excitation of piezoelectric ceramics, can spontaneously generate micro-amplitude composite vibrations that couple longitudinal extension and planar bending due to its center of mass deviating from the main vibration axis. This composite vibration mode produces a "high-frequency flutter" effect when the blade peels off the ice, enhancing the shearing force on the ice layer, effectively preventing the robot from getting stuck during operation, and avoiding secondary impacts.

[0019] 3. The impact head is designed as a bowl-shaped structure, and a floating mounting system is formed in conjunction with a pre-tension spring, a spring guide bracket, and a bushing. When the robot encounters drastic fluctuations in ice thickness or outline dimensions during its movement, the lateral tilt angle of the bowl-shaped impact head, assisted by the pre-tension spring, can guide the impact head to smoothly cross obstacles or quickly adjust its posture, ensuring that the impact head is always pressed against the ice surface, thus guaranteeing the continuity of operation.

[0020] 4. The four-wheel auxiliary clamping mechanism driven by a dual-axis lead screw motor ensures the robot's stable movement in high-altitude, windy, sloping, and icy environments, giving it strong environmental tolerance. Attached Figure Description

[0021] Figure 1 A schematic diagram of the overall structure of a robot for removing hard ice accretion from high-voltage transmission lines; Figure 2 for Figure 1 A schematic diagram of the robot's main internal structure; Figure 3 for Figure 1 A schematic diagram of the robot's walking mechanism and auxiliary clamping mechanism; Figure 4 for Figure 1 A cross-sectional schematic diagram of the robot's ultrasonic ice-breaking mechanism; Figure 5 for Figure 1 A schematic diagram of the robot's ultrasonic-assisted ice-shoveling mechanism; Figure 6 for Figure 1 A schematic diagram of the structure of the robot's ultrasonic-assisted ice-scraping blade; Figure 7 for Figure 1 Vibration mode diagram of longitudinal-bending coupling of ultrasonic-assisted ice pick blade of robot Figure 8 for Figure 1 A schematic diagram of the layout of the robot's actuators and robot control box.

[0022] Figure label: 1. Housing; 11. Inverted V-shaped guide slide plate; 2. Walking mechanism; 21. V-shaped walking wheel; 22. First drive unit; 221. Drive motor; 222. Motor bracket; 3. Auxiliary clamping mechanism; 31. Second drive unit; 311. Dual-axis lead screw motor; 32. Slide rail; 33. Slider; 34. Auxiliary clamping wheel frame; 35. Auxiliary clamping wheel. 4. Ultrasonic impact ice-crushing mechanism; 41. Ultrasonic impact ice-crushing bracket; 42. Pre-tension spring; 43. Ultrasonic impactor; 431. First piezoelectric transducer; 4311. Rear cover plate; 4312. Electrode plate; 4313. Piezoelectric ceramic; 432. Amplitude rod; 4321. Amplitude rod flange; 433. Free mass block; 434. Impact rod; 4341. Second boss; 435. Impact head; 44. Bushing; 45. Spring guide bracket; 46. Upper housing; 47. Lower housing; 48. Adjusting nut; 49. Compression spring. 5. Ultrasonic-assisted ice-removing mechanism; 51. Lead screw stepper motor; 511. Lower base of lead screw stepper motor; 52. Connecting rod assembly; 521. Connecting rod; 522. Connecting plate; 53. Enclosure frame; 54. Ultrasonic-assisted ice-removing blade; 541. Second piezoelectric transducer assembly; 542. Ice-removing blade head; 5421. Ice-removing blade head flange; 55. Upper base of lead screw stepper motor. 6. Ultrasonic signal generating system 6, 61. First driver, 62. Second driver; 7. Camera system, 71. First camera, 72. Second camera; 8. Lithium battery power supply system; 81. Triangular support frame; 82. Battery bracket; 83. Lithium battery; 9. Unmanned aerial vehicle (UAV) hoisting mechanism; 10. Communication and control box. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] Example 1: A robot for removing hard ice accretion on high-voltage transmission lines includes: a housing 1, which serves as the core load-bearing and protective structure, with inverted V-shaped guide openings 11 on the front and rear sides; a walking mechanism 2, located at the top inside the housing 1, for walking on the high-voltage transmission line; an auxiliary clamping mechanism 3, located at the top inside the housing 1, for clamping the high-voltage transmission line while walking; an ultrasonic impact ice-breaking mechanism 4, located at the front outside the housing 1, for breaking up the hard ice accretion on the high-voltage transmission line; and an ultrasonic auxiliary shovel. Ice-removing mechanism 5, the ultrasonic-assisted ice-removing mechanism 5 is disposed in the housing 1, located after the ultrasonic impact ice-breaking mechanism 4, and is used to remove the broken ice; ultrasonic signal generating system 6, the ultrasonic signal generating system 6 is disposed in the housing 1, and is used to generate ultrasonic signals; camera system 7, the camera system 7 is disposed in the housing 1, and is used to identify ice accumulation and monitor the operating status of the walking mechanism 2; lithium battery power supply system 8, the battery assembly 8 consists of two sets, disposed on both sides of the housing 1, and is used to adjust the center of gravity and provide power; and drone hoisting mechanism 9, the drone hoisting mechanism 9 is disposed on the top of the housing 1.

[0025] In this embodiment, the housing 1 adopts a high-strength lightweight alloy structure. The front and rear sides of the housing 1 are provided with inverted V-shaped guide openings 11 for guiding the high-voltage transmission line. Together with the UAV hoisting mechanism 9 above, it realizes the automated guidance, mounting, and unloading of the robot on the transmission line. A sealed box can be set inside the housing 1 to integrate precision components such as the control board, drive module, and wireless communication module to provide physical protection in harsh environments.

[0026] In this embodiment, the walking structure 2 includes V-shaped walking wheels 21 and a first drive unit 22. There are two V-shaped walking wheels 21, which are arranged back and forth along the robot's walking direction. The first drive unit 22 includes a drive motor 221 and a motor bracket 222. The motor bracket 222 is fixed to the top of the housing 1. The V-shaped walking wheels 21 are rotatably connected to the motor bracket 222. The drive motor 221 is fixed to the motor bracket 222. The drive motor 221 drives the V-shaped walking wheels 21 to rotate, driving the robot to move along the axis of the high-voltage power transmission line.

[0027] In this embodiment, the auxiliary clamping mechanism 3 is located between the two V-shaped walking wheels 21. The auxiliary clamping mechanism 3 includes a second drive unit 31, a slide rail 32, sliders 33, an auxiliary clamping wheel frame 34, and auxiliary clamping wheels 35. The slide rail 32 is fixed to the top of the inside of the housing 1, perpendicular to the robot's walking direction. The second drive unit 31 is a dual-axis lead screw motor 311 fixed to the top of the inside of the housing 1. There are four sliders 33, slidably connected to both ends of the slide rail 32, with two sliders 32 at each end. There are two auxiliary clamping wheel frames 34, which are fixed to the two sliders 33 respectively; there are two sets of auxiliary clamping wheels 35, which are rotatably connected to the two auxiliary clamping wheel frames 34 respectively, and the auxiliary clamping wheels 35 are vertically arranged; the dual-axis lead screw motor 311 drives the auxiliary clamping wheel frames 34 fixed on the sliders 33 on both sides to make synchronous centripetal displacement along the slide rail 32 through bidirectional lead screw transmission, thereby driving the two sets of auxiliary clamping wheels 35 to lock from both sides of the high-voltage transmission line, and cooperate with the V-shaped traveling wheel 21 above to form a stable constraint on the high-voltage transmission line.

[0028] In this embodiment, the ultrasonic impact ice-breaking mechanism 4 consists of two sets, symmetrically arranged on both sides of the robot's walking direction. Each ultrasonic impact ice-breaking mechanism 4 includes an ultrasonic impact ice-breaking bracket 41, a pre-tension spring 42, an ultrasonic impactor 43, a bushing 44, a spring guide bracket 45, an upper housing 46, a lower housing 47, an adjusting nut 48, and a compression spring 49. The ultrasonic impact ice-breaking bracket 41 is fixed to the front of the outer side of the housing 1, and the spring guide bracket 45 is fixed to the ultrasonic impact ice-breaking bracket 41 (there is no relative movement between the ultrasonic impact ice-breaking bracket 41 and the spring guide bracket 45). The upper housing 46 and the lower housing 47 are fixed together to form a mounting cavity. The lower housing 47 is connected between the ultrasonic impact ice-crushing support 41 and the spring guide support 45. The pre-tension spring 42 is located between the upper housing 46 and the lower housing 47 and the spring guide support 45. The bushing 44 (which may be made of brass) is located between the ultrasonic impact ice-crushing support 41 and the upper housing 46 and the lower housing 47, and is sleeved on the lower housing 47 (the pre-tension spring 42 and the bushing 44 achieve a floating pre-tensioning structure, ensuring adaptive contact and rapid crushing of complex ice contours). The ultrasonic impact ice crusher 43 includes a first piezoelectric transducer 431 (including a rear cover plate). 4311, electrode plates 4312 and piezoelectric ceramics 4313, four of each, are alternately arranged and fixed under the rear cover plate, utilizing the inverse piezoelectric effect to generate longitudinal high-frequency micro-vibrations higher than 20kHz in the piezoelectric ceramics; an amplitude transformer 432 (which may be made of titanium alloy, with central holes in the rear cover plate 4311, electrode plates 4312 and piezoelectric ceramics 4313, and bolts screwed into the threaded hole at the top of the amplitude transformer 432); a free mass block 433 and an impact rod 434 (the amplitude transformer 432 amplifies the amplitude of the longitudinal high-frequency micro-vibrations higher than 20kHz generated by the piezoelectric ceramics and conveys them to the free mass block 433, which then impacts the impact rod 434). 34. The high-frequency low-amplitude vibration is converted into a high-energy low-frequency large-amplitude vibration of more than 300Hz, which is much higher than the frequency of traditional mechanical impact) and an impact head 435 (the impact head 435 is used to break up ice). The first piezoelectric transducer 431 is fixed to the top of the amplitude rod. The amplitude rod 432 is fixed to the connection between the upper housing 46 and the lower housing 47 through the amplitude rod flange 4321. The free mass block 433 is located at the lower end of the amplitude rod 432 (the free mass block 433 is not fixed at the top and can move freely in the vertical direction). The impact rod 434 is provided with a boss 4341 near the top. The top part of the impact rod 434 passes through the free mass block 433 and is inserted into the bottom of the amplitude rod 432.The lower housing 47 has an opening at its bottom, the adjusting nut 48 is fixed to the opening, the compression spring 49 is sleeved on the impact rod and located between the boss 4341 and the adjusting nut 48, the impact rod 434 extends through the opening to the outside of the lower housing, and the impact head 435 is fixed to the bottom of the impact rod 434. The impact head 435 is bowl-shaped.

[0029] In this embodiment, the bowl-shaped impact head 435 and the floating preload structure combine geometric guidance with elastic buffering, specifically designed to handle complex, hard icing with uneven thickness and abrupt contours on power transmission lines. The bowl-shaped impact head 435 (providing geometric guidance and force conversion): Traditional flat-head or vertical de-icing cutters generate significant horizontal resistance when encountering protruding ice nodules, thus affecting de-icing performance. In this embodiment, the impact head 435 in the ultrasonic impactor 43 is designed as a bowl-shaped structure with a 45° tilt angle on its sides. When the robot encounters ice blocks with rapidly changing thickness or size, this tilt angle acts as a "wedge" guide, smoothly converting the robot's horizontal resistance into radially upward thrust. The floating preload structure (providing elastic yielding and adaptive fit): The entire ultrasonic impactor 43 is not rigidly fixed but is floatingly mounted on the spring guide bracket 45 via the preload spring 42 and the bushing 44. The bushing 44 and the spring guide bracket 45 ensure that the impact mechanism can only make smooth linear displacement along the set guide bracket direction when under force, avoiding jamming. The preload spring 42 provides flexible buffer space and reset force, ensuring that the impact head 435 has the ability to elastically press against the surface of the power transmission line.

[0030] In this embodiment, the entire process of the ultrasonic impact ice-breaking mechanism 4 is divided into the following actions: 1. Obstacle Retreat: When the impact head 435 suddenly encounters a raised, hard ice layer or experiences a drastic fluctuation in its outline dimensions, the lateral tilt angle of the bowl-shaped structure converts the horizontal resistance into an upward force. Supported by the elastic force of the pre-tension spring 42, this upward force pushes the bushing 44, which carries the ultrasonic impactor 43, to displace along the spring guide bracket 45, guiding the impact head 435 to produce an adaptive retreat displacement.

[0031] 2. Obstacle-crossing energy storage: As the impact head 435 floats upward over the ice bulge, the pre-tensioned spring 42 is further compressed, accumulating greater elastic potential energy. At this time, the impact head 435 is not stuck, but instead adheres to the abruptly changing ice surface with greater clamping force. Combined with the high-frequency, high-amplitude impact continuously output by the ultrasonic mechanism, it ensures effective cracking of the protruding ice block.

[0032] 3. Follow-up Reset: When the robot passes over the icy protrusion area and enters a thinner ice layer or a normal contour area, the upward lifting force disappears instantly. At this time, with the assistance of the reset preload of the preload spring 42, the impact head 435 can be pushed to quickly adjust its posture and reset downward. This follow-up mechanism ensures that the impact head is always pressed against the ice surface, leaving no blind spots in the de-icing process.

[0033] In this embodiment, the ultrasonic-assisted ice-scraping mechanism 5 is a second-stage mechanism for peeling off the ice layer, including a lead screw stepper motor 51, a connecting rod assembly 52, a surrounding frame 53, an ultrasonic-assisted ice-scraping blade 54, an upper base 55 for the lead screw stepper motor, and a lower base 511 for the lead screw stepper motor. The lead screw stepper motor 51 is fixed to the top of the housing 1 via the upper base 55. The output shaft of the lead screw stepper motor 51 is vertically downward, and the bottom of the lead screw stepper motor 51 is fixed to the lower base 511. The connecting rod assembly 52 includes a connecting rod 521 and a connecting plate 522. There are two connecting rods 521, which are connected between the lower base 511 and the connecting plate 522. The connecting rod 521 consists of two interlocking connecting rods. The upper connecting rod is hinged to the lower base 511, and the lower connecting rod is hinged to the connecting plate 522. The output shaft (i.e., lead screw shaft) of the lever stepper motor 51 cooperates with the connecting plate 522. The rotational motion output by the output shaft is converted into the up-and-down movement of the connecting plate 522, which controls the up-and-down movement of the connecting plate 522 to drive the opening and closing of the enclosure frame 53. There are two enclosure frames 53, which are fixed to the bottom of the lower connecting rod of the connecting rod 521. The enclosure frame 53 is arc-shaped, and the two enclosure frames 53 form a constraint space. There are four ultrasonic-assisted ice scrapers 54, two of which are fixed to one enclosure frame 53 and the other two are fixed to another enclosure frame 53. The ultrasonic-assisted ice scraper 54 includes a second piezoelectric transducer assembly 541 and an ice scraper head 542. The ice scraper head 542 is fixed to the side of the enclosure frame 53 facing the ultrasonic impact ice crushing mechanism 4 through the ice scraper head flange 5421. The second piezoelectric transducer assembly 541 is fixedly connected to the end of the ice scraper head 542.

[0034] In this embodiment, in the ultrasonic-assisted ice-removing mechanism 5, four ice-removing blades 541 surround the outer periphery of the high-voltage transmission line (arranged orthogonally at 90 degrees). The ice-removing blades 541 employ an asymmetrical bending structure, with their ends directly connected to the second piezoelectric transducer assembly 541 (piezoelectric ceramic stack), outputting high-frequency micro-longitudinal-bending coupled vibrations above 20kHz to achieve rapid peeling of cracked ice. Furthermore, the cutting edges of the ice-removing blades 541 are provided with micro-rounded corners to ensure that the blades do not damage the aluminum strands of the conductor.

[0035] In this embodiment, the longitudinal-bending coupled vibration principle of the asymmetric ice scraper head 541 is as follows: The key to the asymmetric bending structure design is to deviate the centroid of the blade head from the central axis of the piezoelectric ceramic stack. When the longitudinal vibration generated by the piezoelectric ceramic stack is transmitted to the bending part, a dynamic bending moment is generated due to the inertial force not being on the axis, forcibly exciting the bending vibration mode. The bending envelope angle affects the magnitude of the lateral amplitude. If the bending envelope angle is too large, energy will be excessively consumed in the bending vibration, causing the blade head to generate huge shear stress and break; if the bending envelope angle is too small, chatter cannot be generated. The chamfer at the blade edge is complementary to the bending envelope angle, so that the flat working surface at the end of the ice scraper head 541 remains parallel to the axial direction of the power transmission line. The ice scraper head flange 5421 (fixed end) connecting the ice scraper head 541 to the enclosure frame 53 is the "displacement node" (the point of minimum amplitude) of the ultrasonic vibration, which can prevent acoustic energy from leaking into the robot shell and causing resonance and energy loss.

[0036] In this embodiment, a collaborative ice-breaking and peeling principle of "first cracking, then peeling" is adopted. When the robot moves and operates, the front-mounted ultrasonic impact ice-breaking mechanism 4 is activated. The first piezoelectric transducer 431 generates high-frequency micro-vibrations under the inverse piezoelectric effect. These high-frequency micro-vibrations are transmitted to the free mass block 433 via the amplitude transformer 432, driving the free mass block 433 to impact the impact rod 434 connected to the impact head 435. This converts the high-frequency micro-vibrations output by the first piezoelectric transducer 431 into lower-frequency, larger-amplitude vibrations. The high-energy impact force carried by the large-amplitude vibration acts on the hard ice on the surface of the transmission line, causing through cracks to form inside the hard ice, thereby destroying the interfacial adhesion between the ice and the surface of the transmission line. After the ultrasonic impact ice-breaking mechanism 4 completes the ice cracking, the ultrasonic-assisted ice-scraping mechanism 5 follows closely behind. Its four asymmetrically curved ice-scraping blades 541 generate longitudinal-bending coupled composite vibrations of more than 20kHz under the combined action of high-frequency micro longitudinal-bending coupled vibrations, and completely remove the ice with through cracks from the surface of the transmission line with a small cutting force and make it fall off.

[0037] In this embodiment, "impact-induced cracking" and "subsequent peeling" are not simply the superposition of two independent working modules, but rather constitute a "strongly coupled, mutually causal" two-stage physical de-icing system. The core function of the preceding ultrasonic impact ice-breaking mechanism 4 is to reduce the adhesion of hard ice. Without the preceding cracking, if the subsequent ice-scraping blade 541 directly pushes and scrapes the hard ice, it will face enormous cutting resistance, which could easily lead to blade jamming, robot drive wheel slippage, and even blade breakage due to stress concentration at the moment of impact between the ice-scraping blade 541 and the ice. The preceding impact force of the ultrasonic impact ice-breaking mechanism 4 causes the ice to break, reducing the adhesion between the ice and the aluminum stranded wire, allowing the subsequent ice-scraping blade to peel off the ice with a smaller cutting force.

[0038] Compared to traditional mechanical knocking de-icing techniques, this embodiment improves upon the impact frequency. Traditional mechanical knocking generally operates at a low frequency, relying on heavy hammer blows to break ice. This not only results in low overall ice-breaking efficiency but also easily causes significant shaking and vibration of the power lines and the de-icing robot itself, affecting the stability and safety of the robot's online operation. In this embodiment, the front-mounted symmetrical ultrasonic impact ice-breaking mechanism 4 uses the high-frequency collision of its internal components to continuously output high-frequency, large-amplitude mechanical impacts at a frequency of no less than 300Hz to the ice-covered power lines. This quickly breaks up hard ice, improving the robot's de-icing efficiency and operational stability.

[0039] Traditional mechanical ice-removing tools rely solely on the horizontal traction provided by the robot's wheels to impact the hard ice. As the ice thickness increases, the cutting resistance of the tool rises sharply, potentially preventing the ice from being removed in one pass. This necessitates repeated backward movement and impacts from the robot to remove thicker layers of ice, severely reducing de-icing efficiency. This embodiment overcomes the limitations of single-tool cutting by achieving a reduction in cutting resistance through the coordinated operation of front and rear mechanisms.

[0040] To remove as much ice as possible from the base of the power line, traditional mechanical de-icing uses a sharp metal blade against the transmission line. However, under the influence of high-altitude wind loads and the sag of the transmission line, the blade can easily damage the surface of the transmission line while scraping the ice, causing structural damage and affecting the lifespan of the transmission line. This embodiment abandons the traditional approach of "relying on a sharp blade to cut ice" and designs the cutting edge of the ice-scraping head 541 with a "micro-rounded" transition. Under simple mechanical thrust, a rounded corner is difficult to cut into a hard ice layer; however, with the support of ultrasonic "longitudinal-bending" coupled vibration, the rounded blade can easily wed into the hard ice layer weakened by the pre-impact mechanism using high-frequency vibration, achieving the goal of removing ice without damaging the transmission line.

[0041] Compared to ultrasonic de-icing schemes without free mass blocks and ultrasonic impact de-icing schemes with free mass blocks, this embodiment has technical advantages. While ultrasonic de-icing mechanisms without free mass blocks can output high-frequency vibrations of tens of thousands of hertz, their vibration amplitude is only on the order of micrometers, resulting in extremely low amplitude levels that are insufficient to induce macroscopic fractures in hard ice layers. Furthermore, the high-frequency micrometer-level vibrations primarily convert into heat within dense, thick ice layers, achieving only a melting effect and resulting in low overall de-icing efficiency. Although the ultrasonic impact ice-breaking mechanism 4 with free mass blocks 433 can amplify the amplitude and break up the ice layer by impacting the head, it can only create cracks within the ice layer and cannot completely remove the ice. This embodiment overcomes the physical bottleneck of pure ultrasonic de-icing systems, which suffer from low vibration amplitude and inability to effectively break up thick ice layers. It also avoids the shortcomings of ultrasonic impact de-icing technology relying solely on free mass blocks 433, which results in incomplete de-icing and residual ice, thus improving the overall removal efficiency of hard ice.

[0042] In this embodiment, the ultrasonic signal generating system 6 includes a first driver 61 and a second driver 62, which are symmetrically fixed on both sides inside the housing 1 to maintain counterweight balance. The first driver 61 and the second driver 62 are electrically connected to the ultrasonic impact ice-breaking mechanism 4 and the ultrasonic-assisted ice-removing mechanism 5, respectively. The first driver 61 and the second driver 62 convert 24V DC power into high-voltage, high-frequency AC power above 300V through high-frequency inverter boosting and power amplification. They also integrate an automatic frequency tracking module, which locks the resonant frequency of the ultrasonic components in the first piezoelectric transducer assembly 431 and the second piezoelectric transducer assembly 541 in real time, thereby driving the first piezoelectric transducer assembly 431 and the second piezoelectric transducer assembly 541 to ensure that each stage of the mechanism maintains maximum amplitude output and energy transmission stability under variable load conditions.

[0043] In this embodiment, the camera system 7 includes a first camera 71 and a second camera 72, which are fixed inside the housing. The first camera 71 is used to identify and monitor icing on the high-voltage transmission line, and the second camera 72 is used to monitor the walking mechanism 2.

[0044] In this embodiment, the lithium battery power supply system 8 includes a triangular support frame 81, a battery bracket 82, and a lithium battery 83. The triangular support frame 81 is fixed to the side wall of the outer shell 1, the battery bracket 82 is fixed to the triangular support frame 81, and the lithium battery 83 is embedded in the battery bracket 82. Two sets of lithium battery power supply systems 8 are located on both sides of the shell 1. This layout utilizes battery counterweights to adjust the overall center of gravity, ensuring the robot's operational stability on a single power line. Furthermore, the lithium battery 83 may be equipped with a handle and a pressure-type anti-drop buckle, supporting quick and safe replacement when the battery is low.

[0045] In this embodiment, a communication and control box 10 can be installed inside the housing 1 for communication with the ground control terminal and control of the robot's internal electronic components.

[0046] Example 2: A de-icing control method for a robot used to remove hard icing from high-voltage transmission lines includes the following steps: Step 1: An external drone transports the de-icing robot to the designated location via the drone hoisting mechanism 9, and the cable is introduced into the housing through the inverted V-shaped guide opening 11.

[0047] Step 2: Control the auxiliary clamping mechanism 3 to clamp the high-voltage transmission line.

[0048] In this embodiment, the control process of the auxiliary clamping mechanism 3 is as follows: The dual-axis lead screw motor 311 is started, which drives the auxiliary clamping wheel frames 34 on both sides to move centripetally, thereby driving the auxiliary clamping wheels 35 to clamp the high-voltage transmission line from both sides. During this process, the control system monitors the drive current of the dual-axis lead screw motor 311 in real time. When the torque reaches a preset threshold (i.e., it can no longer output torque), it determines that the clamping is in place and automatically stops the drive. Subsequently, the mechanical self-locking characteristic of the lead screw mechanism is used to maintain a stable clamping force.

[0049] Step 3: Control the ultrasonic-assisted ice-scraping mechanism 5 to surround the high-voltage power transmission line.

[0050] In this embodiment, the ultrasonic-assisted ice-scraping mechanism 5's control process for gripping the high-voltage power transmission line is as follows: The lead screw stepper motor 51 starts and drives the enclosure frame 53 to close via the connecting rod 521. The torque feedback of the lead screw stepper motor 51 determines the closing endpoint. After the enclosure frame 53 closes, the four ice-scraping blades 541 fixed on the enclosure frame 53 form a circumferential envelope around the high-voltage power transmission line. Specifically, the lead screw stepper motor 51, through lead screw transmission and the connecting rod 521, converts the motor's rotational motion into the centripetal closing action of the enclosure frame 53. By setting a target torque upper limit within the driver of the lead screw stepper motor 51, when the enclosure frame 53 fully closes, causing a surge in resistance and the torque reaching the set saturation threshold, a signal is instantly sent to the control system. Upon receiving the signal, the control system immediately stops issuing motion commands, thereby achieving precise closing and stopping.

[0051] Step 4: The walking mechanism 2 drives the robot forward, and the camera system 7 collects data on whether there is hard ice on the high-voltage transmission line. If there is, the ultrasonic impact ice-breaking mechanism 4 is activated to perform the cracking operation, and the ultrasonic assisted ice-removing mechanism 5 is activated to perform the peeling operation.

[0052] In this embodiment, in step 4, the high-voltage transmission line can be photographed by the first camera 71 to determine whether there is hard ice. During the operation, the ultrasonic signal generating system 6 automatically tracks the resonant frequency of the ultrasonic transducer in real time to ensure that the ice-scraping blade 542 and the impact head 435 maintain maximum amplitude under variable load.

[0053] In this embodiment, the complex environment and harsh climate of high-voltage transmission lines, as well as the limited computing power and power sensitivity of high-altitude operation robots, are addressed. In step 4, the YOLOv8-Nano lightweight target detection algorithm is used to identify icing on the transmission lines. Compared to high-precision but computationally cumbersome models, the YOLOv8-Nano model has a small parameter size and millisecond-level inference speed, making it suitable for low-power edge hardware deployment, effectively saving equipment power consumption and improving battery life. Specifically, the first camera 71 collects image data of the transmission line in front in real time and sends the input feature map directly to the host computer running YOLO for inference calculation. The inferred and refined visual data undergoes multi-frame time-series verification. When multiple consecutive frames confirm the extraction of a high-confidence valid icing target, a control command is sent to the control system to automatically activate and start the ultrasonic impact ice-breaking mechanism 4 and the ultrasonic-assisted ice-removing mechanism 5 to perform de-icing operations. During the robot's continuous inspection process, once the system detects that there is no ice accumulation in the field of view, the host computer will automatically send a command to shut down the ultrasonic de-icing mechanism, thereby achieving low-power closed-loop control of "ice accumulation recognition and automatic fixed-point removal".

[0054] In this embodiment, during step 4, the control process of the first piezoelectric transducer component 431 and the second piezoelectric transducer component 541 is as follows: First, the current and phase signals of both are acquired in real time. Then, a frequency sweep program is executed within a frequency range of 15kHz to 25kHz to capture and record the phase value and resonant frequency corresponding to the maximum current value. Subsequently, the phase locking and comparison adjustment stage begins. By continuously comparing the real-time measured value with the preset maximum value, the output frequency is dynamically fine-tuned to correct frequency drift; ensuring that the actual phase always dynamically fluctuates near the locked phase, maintaining the transducer in a resonant state.

[0055] In this embodiment, during step 4, the control process of the first driver 61 and the second driver 62 is as follows: First, the 24V lithium battery base DC power is boosted to 300-400V high voltage DC power by the boost module, and a high-precision reference sine signal of 15-25kHz is generated synchronously by the built-in chip. Then, the power amplification module performs chopping modulation on the high voltage DC power with the reference signal as input. The high-power square wave output is smoothly restored to low-distortion high-frequency high voltage sine AC power by the filter network. Then, the static capacitance is canceled by the impedance matching network and the transducer is applied to the ultrasonic transducer to ensure that the transducer is a purely resistive load, thereby maximizing the electroacoustic energy transmission efficiency to ensure efficient de-icing.

[0056] In this embodiment, during the operation in step 4, the speed of the walking mechanism 2 is controlled through the following steps: Step 401: Set the initial speed V0 of the walking mechanism 2 according to the following formula: ; Among them, f min Where N is the minimum impact frequency of the impact head in the ultrasonic impact ice-breaking mechanism 4, D is the effective working length of the impact head in the ultrasonic impact ice-breaking mechanism 4, and N is the minimum impact frequency of the impact head in the ultrasonic impact ice-breaking mechanism 4. min The number of mechanical impacts is the preset reference ice thickness corresponding to the rated number of impacts, and ΔV is the reserved rate compensation constant.

[0057] In this embodiment, the initial velocity in step 401 ensures that ice of normal thickness can receive sufficient impact at the front ultrasonic impact ice-breaking mechanism 4 before contacting the rear ice-scraping head 542 (thereby significantly reducing the adhesion force at the ice-line interface and ensuring that the rear ice-scraping head removes the ice in one go), which meets the safety benchmark of "temporal-spatial" physical constraints.

[0058] Step 402: Determine whether the current of the driver of the ultrasonic-assisted ice-shoveling mechanism 5 is less than the baseline. If yes, proceed to step 403; otherwise, return to step 401.

[0059] In this embodiment, in step 402, the driver of the ultrasonic-assisted ice-shoveling mechanism 5 refers to the second driver 62.

[0060] In this embodiment, the thinner the ice layer, the smaller the residual adhesion after the initial impact; when the rear-mounted ice-scraping blade 542 cuts in under resonant conditions, the mechanical resistance it faces also varies. This change in external mechanical load impedance directly maps to fluctuations in the drive current of the second driver 62. By real-time acquisition of the characteristics of the drive current change of the second driver 62, the ice thickness is assessed, and the travel speed of the drive wheel is adjusted in a closed loop to ensure automatic speed reduction when encountering thick ice that is difficult to remove, thus achieving thorough cleaning. This method has strong resistance to severe weather interference, avoids errors present in visual recognition algorithms, and does not require additional hardware costs.

[0061] Step 403: Reduce the speed of the walking mechanism 2 by ΔV.

[0062] In this embodiment, in step 403, when the ice thickness increases and the ice scraper head 542 comes into contact with hard residual ice with high adhesion, the end face of the ice scraper head 542 is strongly resisted by mechanical damping, and the driving current of the second driver 62 will suddenly fluctuate greatly. When the driving current of the ultrasonic-assisted ice scraper mechanism 5 is less than the baseline, the driving speed of the walking wheel 2 is reduced.

[0063] Step 404: Determine whether the current of the driver of the ultrasonic-assisted ice-shoveling mechanism 5 is greater than or equal to the baseline. If yes, proceed to step 405; otherwise, return to step 403.

[0064] Step 405: The timer starts timing △T.

[0065] Step 406: Determine whether the current of the driver of the ultrasonic-assisted ice-shoveling mechanism 5 is less than the baseline. If yes, return to step 403; otherwise, proceed to step 407.

[0066] Step 407: Increase the speed of the walking mechanism 2 by ΔV.

[0067] Step 408: Determine whether the current speed of the walking mechanism 2 is greater than or equal to V0. If yes, proceed to step 409; otherwise, return to step 405.

[0068] In this embodiment, in steps 405-408, if the driving current still has not recovered to the baseline after ΔT, the driving speed is reduced by ΔV, and this cycle continues until the driving current recovers to the default baseline. When the current recovers to the default baseline and the driving current does not drop sharply within ΔT, the speed is increased by ΔV. If the driving current does not drop sharply after ΔT, the speed is increased by ΔV again until the default speed V0 is reached. If the driving current drops sharply again within ΔT, the speed is reduced by ΔV after ΔT.

[0069] Step 409: Determine if the de-icing task is complete. If yes, proceed to step 5; otherwise, return to step 401.

[0070] In this embodiment, steps 401-409 ensure that the drive motor of the walking mechanism 2 maintains an adaptive speed adjustment state throughout the entire de-icing process until the de-icing task is completed. Different thicknesses of ice will cause the ice-shoveling blade 542 to experience varying mechanical load impedances, resulting in significant fluctuations in the drive current. This allows for adaptive speed adjustment, thereby changing the impact frequency of the front-mounted ice-breaking mechanism on the same ice layer. This method ensures that ice layers of varying thicknesses can be removed, reducing the risk of robot jamming during operation.

[0071] Step 5: After the operation is completed, release the ultrasonic-assisted ice-removing mechanism 5 and the auxiliary clamping mechanism 3, and the external drone will lift the ice-removing robot away through the drone hoisting mechanism 9.

[0072] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for removing hard icing from high-voltage transmission lines, characterized in that, include: The housing serves as the core load-bearing and protective structure, and inverted V-shaped guide openings are provided on the front and rear sides of the housing; The system comprises: a walking mechanism located at the top of the housing for traversing high-voltage transmission lines; an auxiliary clamping mechanism located at the top of the housing for clamping the high-voltage transmission lines during traversal; an ultrasonic impact ice-breaking mechanism located at the front of the housing for breaking up hard ice on the high-voltage transmission lines; an ultrasonic auxiliary ice-scraping mechanism located inside the housing, behind the ultrasonic impact ice-breaking mechanism, for removing the broken ice; an ultrasonic signal generating system located inside the housing for generating ultrasonic signals; a camera system located inside the housing for identifying ice and monitoring the operating status of the walking mechanism; a lithium battery power supply system consisting of two battery packs located on both sides of the housing for adjusting the center of gravity and providing power; and a drone hoisting mechanism located at the top of the housing.

2. The robot for removing hard icing from high-voltage transmission lines according to claim 1, characterized in that, The walking structure includes V-shaped walking wheels and a first drive unit. There are two V-shaped walking wheels, which are arranged back and forth along the robot's walking direction. The first drive unit includes a drive motor and a motor bracket. The motor bracket is fixed to the top of the housing. The V-shaped walking wheels are rotatably connected to the motor bracket. The drive motor is fixed to the motor bracket. The drive motor drives the V-shaped walking wheels to rotate, driving the robot to move along the axis of the high-voltage power transmission line.

3. The robot for removing hard icing from high-voltage transmission lines according to claim 2, characterized in that, The auxiliary clamping mechanism is located between the two V-shaped walking wheels. The auxiliary clamping mechanism includes a second drive unit, a slide rail, sliders, auxiliary clamping wheel frames, and auxiliary clamping wheels. The slide rail is fixed to the top of the housing and is perpendicular to the robot's walking direction. The second drive unit is a dual-axis lead screw motor fixed to the top of the housing. There are four sliders, slidably connected to both ends of the slide rail, with two sliders at each end. There are two auxiliary clamping wheel frames, each fixed to one of the two sliders. There are two sets of auxiliary clamping wheels, rotatably connected to the two auxiliary clamping wheel frames, and the auxiliary clamping wheels are vertically arranged.

4. The robot for removing hard icing from high-voltage transmission lines according to claim 1, characterized in that, The ultrasonic impact ice-breaking mechanism consists of two sets, symmetrically arranged on both sides of the robot's walking direction. Each mechanism includes an ultrasonic impact ice-breaking support, a pre-tension spring, an ultrasonic impactor, a bushing, a spring guide bracket, an upper housing, a lower housing, an adjusting nut, and a compression spring. The ultrasonic impact ice-breaking support is fixed to the front of the outer side of the housing 1, and the spring guide bracket 45 is fixed to the ultrasonic impact ice-breaking support. The upper and lower housings are fixed together to form a mounting cavity. The connection between the upper and lower housings is located between the ultrasonic impact ice-breaking support and the spring guide bracket. The pre-tension spring is located between the connection between the upper and lower housings and the spring guide bracket. The bushing is located at the connection between the upper and lower housings and the ultrasonic impact ice-breaking support. The frame is fitted between the spring guide bracket and the lower housing; the ultrasonic impact ice crusher includes a first piezoelectric transducer, an amplitude transformer, a free mass block, an impact rod, and an impact head. The first piezoelectric transducer is fixed to the top of the amplitude transformer. The amplitude transformer is fixed to the connection between the upper and lower housings via an amplitude transformer flange. The free mass block is located at the lower end of the amplitude transformer. A boss is provided near the top of the impact rod. The top part of the impact rod passes through the free mass block and is inserted into the bottom of the amplitude transformer. The bottom of the lower housing has an opening. The adjusting nut is fixed to the opening. The compression spring is fitted outside the impact rod, located between the boss and the adjusting nut. The impact rod extends through the opening to the outside of the lower housing. The impact head is fixed to the bottom of the impact rod and is bowl-shaped.

5. A robot for removing hard icing from high-voltage transmission lines according to claim 1, characterized in that, The ultrasonic-assisted ice-scraping mechanism includes a lead screw stepper motor, a connecting rod assembly, a surrounding frame, an ultrasonic-assisted ice-scraping blade, an upper base for the lead screw stepper motor, and a lower base for the lead screw stepper motor. The lead screw stepper motor is fixed to the top of the housing via the upper base, with its output shaft pointing vertically downwards. The bottom of the lead screw stepper motor is fixed to the lower base. The connecting rod assembly includes connecting rods and a connecting plate. There are two connecting rods, connecting the lower base of the lead screw stepper motor and the connecting plate. Each connecting rod consists of two interlocking sections: the upper connecting rod is hinged to the lower base of the lead screw stepper motor, and the lower connecting rod is hinged to the connecting plate. Next, the output shaft of the lead screw stepper motor cooperates with the connecting plate, and the rotational motion output by the output shaft is converted into the up-and-down movement of the connecting plate; there are two enclosure frames, which are fixed to the bottom of the lower connecting rod of the connecting rod. The enclosure frames are arc-shaped, and the two enclosure frames form a constrained space; there are four ultrasonic-assisted ice scrapers, two of which are fixed to one enclosure frame and the other two are fixed to the other enclosure frame. The ultrasonic-assisted ice scraper includes a second piezoelectric transducer assembly and an ice scraper head. The ice scraper head is fixed to the side of the enclosure frame facing the ultrasonic impact ice-breaking mechanism through an ice scraper head flange. The second piezoelectric transducer assembly is fixedly connected to the end of the ice scraper head.

6. A robot for removing hard icing from high-voltage transmission lines according to claim 1, characterized in that, The ultrasonic signal generating system includes a first driver and a second driver, which are symmetrically fixed on both sides inside the housing to maintain counterweight balance; the first driver and the second driver are electrically connected to the ultrasonic impact ice-breaking mechanism and the ultrasonic-assisted ice-removing mechanism, respectively.

7. A robot for removing hard icing from high-voltage transmission lines according to claim 1, characterized in that, The camera system includes a first camera and a second camera, which are fixed inside the housing. The first camera is used to identify and monitor icing on high-voltage transmission lines, and the second camera is used to monitor the walking mechanism.

8. A robot for removing hard icing from high-voltage transmission lines according to claim 1, characterized in that, The lithium battery power supply system includes a triangular support frame, a battery bracket, and a lithium battery. The triangular support frame is fixed to the side wall outside the housing, the battery bracket is fixed to the triangular support frame, and the lithium battery is embedded in the battery bracket.

9. A control method for a robot to remove hard icing from high-voltage transmission lines, characterized in that, The application to the robot according to any one of claims 1 to 8 includes the following steps: Step 1: An external drone transports the de-icing robot to the designated location via the drone hoisting mechanism, and the cable is introduced into the housing through the inverted V-shaped guide opening; Step 2: Control the auxiliary clamping mechanism to grip the high-voltage transmission line; Step 3: Control the ultrasonic-assisted ice-scraping mechanism to surround the high-voltage power transmission line; Step 4: The walking mechanism drives the robot forward, and the camera system collects whether there is hard ice on the high-voltage transmission line. If there is, the ultrasonic impact ice-breaking mechanism is activated to perform the cracking operation, and the ultrasonic assisted ice-removing mechanism is activated to perform the peeling operation. Step 5: After the operation is completed, release the ultrasonic-assisted ice-removing mechanism and the auxiliary clamping mechanism, and the external drone will lift the ice-removing robot away through the drone hoisting mechanism 9.

10. The control method for a robot to remove hard icing from high-voltage transmission lines according to claim 1, characterized in that, During the operation in step 4, the speed of the walking mechanism is controlled through the following steps: Step 401: Set the initial speed V0 of the traveling mechanism according to the following formula: ； Among them, f min Where N is the minimum impact frequency of the impact head in the ultrasonic impact ice-breaking mechanism, D is the effective working length of the impact head in the ultrasonic impact ice-breaking mechanism, and N is the minimum impact frequency of the impact head in the ultrasonic impact ice-breaking mechanism. min The number of mechanical impacts is the preset reference ice thickness corresponding to the rated number of impacts, and ΔV is the reserved rate compensation constant. Step 402: Determine whether the current of the ultrasonic-assisted ice-shoveling mechanism driver is less than the baseline. If yes, proceed to step 403; otherwise, return to step 401. Step 403: Reduce the speed of the walking mechanism by ΔV; Step 404: Determine whether the current of the ultrasonic-assisted ice-shoveling mechanism driver is greater than or equal to the baseline. If yes, proceed to step 405; otherwise, return to step 403. Step 405: The timer starts counting down △T; Step 406: Determine whether the current of the ultrasonic-assisted ice-shoveling mechanism driver is less than the baseline. If yes, return to step 403; otherwise, proceed to step 407. Step 407: Increase the speed of the walking mechanism by ΔV; Step 408: Determine whether the current speed of the walking mechanism is greater than or equal to V0. If yes, proceed to step 409; otherwise, return to step 405. Step 409: Determine if the de-icing task is complete. If yes, proceed to step 5; otherwise, return to step 401.

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