An overhead line unmanned aerial vehicle hanging type deicing device and operation method

Abstract

The present application relates to overhead line deicing device technical field, specifically for an overhead line unmanned aerial vehicle hanging type deicing device and operation method. The system comprises a carrying unmanned aerial vehicle, a traction hanging assembly, a deicing robot body, the body is configured with a robot rack, a coaxial forward and reverse knocking deicing mechanism, a top and side spring buffer mechanism. The present application adopts unmanned aerial vehicle suspension operation framework, realizes double-point synchronous deicing through the front and rear symmetrical double sets of forward and reverse knocking mechanism, relies on the reverse knocking force to offset the whole machine vibration; Cooperate with the bidirectional buffer mechanism to absorb the collision impact force in multiple directions, and prevent hard impact damage to the wire and equipment. The present application can realize high-altitude unmanned precise deicing, the operation efficiency, the running stability and the working condition adaptability are excellent, significantly improve the safety and reliability of overhead line icing operation and maintenance, adapt to various high-altitude line icing removal operation.

Description

Technical Field

[0001] This invention relates to the field of overhead line de-icing equipment technology, specifically to an overhead line UAV-mounted de-icing device and its operation method. Background Technology

[0002] Winter icing can significantly increase the load on high-voltage overhead lines, leading to major power safety accidents such as conductor breakage, tower collapse, and line tripping. Drone-mounted de-icing robots have become the mainstream equipment for de-icing overhead lines due to their flexible take-off and landing and ability to operate without power outages.

[0003] Currently, most mainstream drone-based suspended knocking de-icing devices on the market suffer from the following technical defects, which cannot be resolved by existing technologies:

[0004] 1. The coverage area of ​​a single operation is narrow, and the whole machine vibrates violently, resulting in poor suspension stability of the drone-suspended knocking de-icing equipment. The existing equipment is only equipped with a single knocking mechanism, which can only knock de-ic the overhead line at a single longitudinal point. The coverage length of the line in a single operation is short, and the de-icing efficiency is low. At the same time, all the reaction force generated by the knocking is directly transmitted to the drone's suspension frame, and the whole machine vibrates continuously and significantly. The drone-suspended knocking de-icing equipment is difficult to keep stable in the hovering posture, and it is very easy for the frame to deviate and collide with the power transmission line, scratch the insulation layer of the line, or even get stuck in the line and fall down.

[0005] 2. Lack of buffer protection structure leads to hard collisions between the frame and the overhead lines, damaging the equipment and wires. Existing drone de-icing frames generally do not have buffer devices. When the drone drifts during flight or the curvature of the overhead lines deviates, the frame will collide hard with the overhead lines from both above and below and left and right. On the one hand, this crushes and damages the outer insulation of the wires, causing potential leakage hazards. On the other hand, long-term impacts cause deformation and damage to the frame and impact mechanism, resulting in a short equipment lifespan.

[0006] Therefore, in response to the common problems of the existing technologies, it is essential to develop an overhead line drone-mounted de-icing device with a large single de-icing coverage, high de-icing effect, high overall stability, and good protection. Summary of the Invention

[0007] The purpose of this invention is to provide an overhead line UAV-mounted de-icing device and operation method to solve the above-mentioned defects in the prior art.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] This invention proposes an overhead line UAV-mounted de-icing device, which includes a carrier UAV, a traction and suspension assembly, and a de-icing robot body. The de-icing robot body includes a robot frame, a coaxial forward and reverse knocking de-icing mechanism, a top spring buffer mechanism, and a side spring buffer mechanism.

[0010] The carrier drone is suspended and connected to the robot frame via a traction suspension assembly. The robot frame has a through channel inside, which is used to fit onto the outside of the ice-covered overhead line.

[0011] Two sets of the coaxial forward and reverse knocking de-icing mechanism are symmetrically installed on the front and rear sides of the upper end of the robot frame. The two sets of coaxial forward and reverse knocking de-icing mechanisms simultaneously perform de-icing operations on two positions on the overhead line.

[0012] The top spring buffer mechanism is horizontally arranged above the upper through-passage of the robot frame to absorb the impact force generated by the vertical collision between the robot frame and the overhead line; the side spring buffer mechanisms are symmetrically arranged on the left and right sides of the through-passage of the robot frame to absorb the impact force generated by the lateral collision between the robot frame and the overhead line.

[0013] Preferably, the traction and suspension assembly includes a flexible traction rope and U-shaped hooks. Several U-shaped hooks are provided. The upper end of the flexible traction rope is tied and fixed to the center mounting point at the bottom of the transport drone, and the lower end of the flexible traction rope is evenly connected to several U-shaped hooks. Several annular hanging points are evenly distributed on both sides of the upper surface of the robot frame, and the U-shaped hooks are locked into the annular hanging points to achieve locking and limiting.

[0014] Preferably, each coaxial forward and reverse knocking de-icing mechanism includes a knocking motor, a gear transmission assembly, and knocking components. The knocking motor, in conjunction with the built-in gear transmission assembly, synchronously drives two sets of knocking components to rotate in opposite directions, thereby knocking off the ice layer on both sides of the overhead line. The two sets of knocking components in a single coaxial forward and reverse knocking de-icing mechanism rotate in opposite directions, and the reaction forces generated by the knocking cancel each other out, reducing the vibration of the entire machine.

[0015] The coaxial forward and reverse knocking de-icing mechanism is also equipped with a coaxial nested dual-axis system assembly. The coaxial nested dual-axis system assembly includes a hollow cylindrical shaft and a transmission stepped shaft passing through the inside of the cylindrical shaft. The transmission stepped shaft is arranged coaxially with the cylindrical shaft, and an isolation bearing is installed between the transmission stepped shaft and the cylindrical shaft to achieve independent rotation without interference.

[0016] The gear transmission assembly includes a closed housing and bevel gear one, bevel gear two, and bevel gear three assembled inside the closed housing. Each set of the striking assembly is divided into an outer striking assembly and an inner striking assembly.

[0017] The transmission stepped shaft passes through the enclosed box, the striking motor is horizontally fixed to the outer wall of the enclosed box, the output shaft of the striking motor is connected to the inner end of the transmission stepped shaft, and the outer striking component is rigidly connected to the outer end of the transmission stepped shaft.

[0018] The third bevel gear is mounted on the transmission step shaft inside the enclosed housing and is rigidly fixed circumferentially by a flat key; the second bevel gear is mounted on the inner end of the round shaft inside the enclosed housing and is rigidly fixed circumferentially by a flat key, and the inner striking assembly is rigidly connected to the outer end of the round shaft; the second bevel gear is fixedly mounted on the inner wall of the enclosed housing by a bearing, and the second bevel gear meshes perpendicularly with the third bevel gear and the first bevel gear respectively;

[0019] The striking motor synchronously controls the outer striking component and the inner striking component to rotate in opposite directions. The rotation trajectory of the outer striking component and the inner striking component covers the ice layer on the left and right sides of the overhead line at the corresponding point. The two sets of striking components in the single coaxial forward and reverse striking de-icing mechanism rotate in opposite directions, and the reaction force generated by the striking cancels each other out, reducing the vibration of the whole machine.

[0020] Preferably, the outer striking component and the inner striking component have the same structure and each includes a disc-shaped striking head, four cylindrical solid striking rods, a pin and a cotter pin.

[0021] Four striking rods are arranged radially and evenly around the end face of the striking head, with the axis of the striking rods perpendicular to the end face of the striking head. The outer ends of the striking rods are arc-shaped caps. A shaft hole is opened in the center of the striking head. The outer ends of the transmission stepped shaft and the round shaft are respectively inserted into the shaft holes of the striking heads of the outer and inner striking components. An annular shaft end baffle is provided on the outer side of the shaft hole of the outer striking component. The shaft end baffle fits against the outer end face of the shaft hole of the striking head and is locked axially by a set screw to restrict the axial movement of the striking head. The outer end face of the striking head and the inner end of the striking rod are hinged by a pin. The pin passes laterally through the hinge point between the striking head and the striking rod. A cotter pin is inserted at the end of the pin to prevent the hinge from coming loose.

[0022] The output torque of the striking motor drives the striking heads of the outer striking component and the inner striking component to rotate continuously via the transmission stepped shaft and the round shaft, respectively, causing the striking rod to repeatedly strike the ice layer; the two sets of striking components in the single coaxial forward and reverse striking de-icing mechanism rotate in opposite directions, and the reaction forces generated by the striking cancel each other out, reducing the vibration of the whole machine.

[0023] Preferably, the top spring buffer mechanism includes a rectangular upper fixed plate, a rectangular buffer baffle, and buffer units; the upper fixed plate is horizontally and rigidly fixed to the top of the robot frame, the buffer baffle is arranged parallel to the upper fixed plate directly below it, and several buffer units are provided and symmetrically arranged between the rectangular upper fixed plate and the rectangular buffer baffle.

[0024] Each buffer unit includes a cylindrical buffer stepped shaft, a cylindrical linear bearing, and a helical compression spring. The linear bearing is vertically embedded in the bearing seat hole of the upper fixed plate and locked in place by a set screw. The buffer stepped shaft slides vertically through the linear bearing, and the lower end of the buffer stepped shaft is welded to the surface of the buffer baffle. The helical compression spring is vertically sleeved on the outside of the buffer stepped shaft, and the upper and lower ends of the helical compression spring abut against the upper fixed plate and the buffer baffle, respectively.

[0025] When the overhead line impacts the buffer baffle upwards, the buffer baffle drives all the buffer stepped shafts to slide upwards synchronously, and the helical compression springs absorb the vertical impact kinetic energy under compression deformation; after the external force disappears, the helical compression springs rebound and drive the buffer baffles to reset; the linear bearings constrain the radial offset of the buffer stepped shafts to avoid the mechanism from jamming.

[0026] Preferably, the side spring buffer mechanism includes a side baffle frame, an inclined baffle, a cylindrical rack, a gear shaft, a helical torsion spring, a U-shaped bearing seat, a metal fixing seat, and a guide and limiting assembly. The side baffle frame is arranged on one side of the through channel below the robot frame. The inclined baffle is obliquely installed inside the side baffle frame and slides through the guide and limiting assembly. The U-shaped bearing seat and the metal fixing seat are symmetrically fixed on the inner end face of the side baffle frame. One end of the gear shaft is mounted on the U-shaped bearing seat through a bearing. The helical torsion spring is coaxially sleeved on the other end of the gear shaft. One end of the helical torsion spring is welded and fixed to the outer wall of the gear shaft, and the other end of the helical torsion spring is limited and locked to the metal fixing seat by a pin. The end of the cylindrical rack is installed on the outer side plate of the inclined baffle away from the overhead line, and the extension direction of the cylindrical rack is consistent with the sliding direction of the inclined baffle. A meshing gear is integrally machined in the middle of the gear shaft, and the meshing gear precisely meshes with the tooth surface on the cylindrical rack.

[0027] The guide limiting assembly includes an upper guide ear plate, a lower guide ear plate, and a frame guide groove. The upper guide ear plate is located at the upper edge of the inclined baffle, and the lower guide ear plate is located at the lower edge of the inclined baffle. Multiple frame guide grooves are provided and are opened on the upper and lower end faces of the inner side baffle frame corresponding to the positions of the upper and lower guide ear plates. The upper and lower guide ear plates are slidably embedded in the frame guide grooves. The frame guide grooves constrain the inclined baffle to slide only along the extension direction of the cylindrical rack, thus limiting the offset of the inclined baffle.

[0028] When the overhead line laterally presses against the inner inclined surface of the inclined baffle, the inclined baffle slides along the extension direction of the cylindrical rack under the constraint of the guide and limit assembly, simultaneously driving the cylindrical rack to translate. The cylindrical rack drives the gear shaft to rotate in one direction, simultaneously twisting the helical torsion spring to generate torsional deformation, absorbing the lateral impact kinetic energy. After the lateral pressing force disappears, the helical torsion spring releases elastic potential energy to drive the gear shaft to rotate in the opposite direction. Through the meshing transmission of the meshing gears, the cylindrical rack and the inclined baffle are driven to translate outward synchronously and automatically reset, realizing cyclic buffer protection.

[0029] Preferably, the robot frame is also equipped with a closed motor protective shell and a bottom drawer-type battery protective shell;

[0030] The motor protective shell is a hollow rectangular shell that completely covers the outer wall of the gear transmission assembly of each coaxial forward and reverse knocking de-icing mechanism. The motor protective shell is fixed to the robot frame by bolts. The motor protective shell isolates rain, snow, ice, and dust, and protects the internal gear components.

[0031] The battery protective shell is horizontally arranged at the bottom of the robot frame and is detachably connected to the robot frame using a pull-out buckle structure. The battery protective shell houses a DC power supply battery, which is electrically connected to two striking motors through waterproof wires to provide power to two sets of coaxial forward and reverse striking de-icing mechanisms. The battery protective shell encloses and protects the power supply battery to prevent short circuits and damage caused by high altitude and low temperature or circuit collisions.

[0032] The carrier drone is equipped with a wireless remote control module and is powered by the drone's built-in battery. The remote control module establishes wireless communication connections with the striking motor and the drone's flight control system. Ground operators issue control commands through the wireless remote control module to remotely control the starting and stopping of the striking motor and the flight attitude and displacement of the carrier drone. The carrier drone uses its own flight power to drive the de-icing robot along the overhead line to complete the de-icing operation.

[0033] The present invention provides a method for coordinated de-icing operation of an overhead power line UAV-mounted de-icing device, applied to the aforementioned overhead power line UAV-mounted de-icing device, comprising the following steps:

[0034] S1. Ground debugging and assembly: Before operation, complete the overall functional debugging of the drone flight control system, wireless remote control module signal, striking motor and various buffer mechanisms; insert the U-shaped hook at the lower end of the flexible traction rope into the corresponding ring hanging point on the top of the robot frame and lock the limit position to complete the suspension assembly of the drone and the de-icing robot body.

[0035] S2. Aerial alignment and mounting: Ground operators use a wireless remote control module to control the carrier drone to take off smoothly, hover at a fixed point, adjust the flight altitude and horizontal position, and precisely fit the through channel in the middle of the robot frame onto the outside of the target icy overhead line to complete the operation alignment.

[0036] S3. Remote Collaborative De-icing: A start command is issued via a wireless remote control module to remotely activate two striking motors. The striking motors drive the corresponding outer and inner striking components to rotate synchronously in opposite directions via a gear transmission assembly and a coaxial nested dual-shaft assembly. The two sets of coaxial forward and reverse striking de-icing mechanisms work synchronously to cyclically knock off the ice layer on the left and right sides of the overhead line at two locations before and after the line. During the operation, the top spring buffer mechanism absorbs the vertical impact force in real time, and the side spring buffer mechanisms absorb the lateral impact force in real time, ensuring the stable operation of the entire machine.

[0037] S4. Adaptive Ice Adjustment Operation: During the operation, the ice layer status is observed in real time from the airborne perspective of the transport drone. When an ultra-thick ice layer is identified, the speed of the striking motor is increased remotely, and the transport drone is controlled to drive the robot frame to move back and forth at low speed along the overhead line, repeatedly striking the thick ice section until the ice layer is completely peeled off.

[0038] S5. Operation Recovery and Reset: After the ice on the target overhead line section is completely cleared, all striking motors are shut down via the wireless remote control module. After all striking components have come to a complete stop, the carrier drone is controlled to land smoothly and at a constant speed, placing the de-icing robot body in the preset position on the ground and unlocking the U-shaped hook to complete a single de-icing operation.

[0039] Preferably, in step S3, the vertical buffering operation process specifically includes:

[0040] During de-icing operations, if an overhead line impacts a rectangular buffer baffle from below, the buffer baffle will be forced to slide vertically upward along the corresponding linear bearings, causing the spiral compression springs to undergo elastic deformation. This will convert the vertical impact kinetic energy into elastic potential energy, thus achieving vertical impact buffering.

[0041] When the overhead line disengages from the buffer baffle and the vertical impact force disappears, the helical compression spring rebounds on its own elasticity, pushing the buffer baffle and buffer step shaft to reset downwards as a whole. The linear bearing constrains the radial displacement of the buffer step shaft throughout the entire process to prevent jamming and ensure the stable operation of the vertical buffer mechanism.

[0042] Preferably, in step S3, the lateral buffering operation process specifically includes:

[0043] During de-icing operations, if the overhead line laterally presses against the inner inclined surface of the inclined baffle, the inclined baffle, under the guiding and limiting action of the upper guide ear plate, the lower guide ear plate and the frame guide groove, will slide smoothly only along the extension direction of the cylindrical rack, and simultaneously drive the cylindrical rack to move horizontally.

[0044] The cylindrical rack drives the gear shaft to rotate in one direction through tooth surface meshing. During the rotation of the gear shaft, the helical torsion spring is torn, causing the helical torsion spring to undergo torsional deformation and store impact potential energy, absorbing the lateral impact force of the overhead line.

[0045] Once the lateral compressive force disappears, the helical torsion spring releases its elastic potential energy, driving the gear shaft to rotate in the opposite direction. Through tooth surface meshing, it drives the cylindrical rack and inclined baffle to automatically move outward and reset, achieving cyclic buffer protection against lateral collisions and effectively reducing the lateral sway amplitude of the entire machine.

[0046] The beneficial effects of this invention are as follows:

[0047] (1) The present invention has two sets of coaxial forward and reverse knocking de-icing mechanisms symmetrically arranged on the front and rear sides of the upper end of the robot frame. The two sets of mechanisms can simultaneously carry out de-icing operations on two longitudinal points on the overhead line, doubling the line coverage length in a single operation and significantly improving the efficiency of de-icing operations. The two sets of knocking components inside each set of mechanisms are driven by gear transmission to rotate synchronously in opposite directions. The reverse force generated by the knocking cancels each other out, greatly reducing the vibration amplitude of the whole machine, completely eliminating the problem of continuous shaking caused by unidirectional knocking, ensuring the stability of the attitude of the transport drone during suspension, avoiding the robot frame from deflecting and hitting the power transmission line, completely protecting the insulation layer of the line, and reducing the energy consumption of the flight control of the transport drone to continuously correct the attitude, thus extending the single operation endurance.

[0048] (2) The present invention arranges a top spring buffer mechanism horizontally above the through channel of the robot frame, and arranges side spring buffer mechanisms symmetrically on the left and right sides of the through channel; when the drone drifts or the line curvature deviates, causing the robot frame to collide with the overhead line in multiple directions, the top spring buffer mechanism absorbs the vertical impact, and the side spring buffer mechanism absorbs the lateral impact. The bidirectional buffer structure simultaneously removes the collision kinetic energy, avoiding hard squeezing contact between the robot frame and the overhead line, which not only prevents the insulation of the wire from being damaged and leaking electricity, but also reduces the deformation damage of the impact to the striking mechanism and the robot frame, and extends the service life of the whole machine.

[0049] (3) This invention integrates the UAV suspension structure, the dual-point knocking de-icing structure, and the bidirectional buffer protection structure into one unit. It relies on the wireless remote control module to realize the remote control of the entire process. The overall structure is compact and regular, and it is suitable for various high-altitude overhead line operation environments such as mountainous areas and open fields. The whole system operates in coordination, simultaneously taking into account multiple requirements such as de-icing efficiency, flight stability, and line and equipment protection. Compared with traditional split-type and single-function de-icing equipment, the overall reliability and scene adaptability are improved, the application range is wider, and the operation and maintenance value is higher. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the overall structure of the system of the present invention;

[0051] Figure 2 This is a schematic diagram of the overall structure of the de-icing robot body of the present invention. Figure 1 ;

[0052] Figure 3 This is a schematic diagram of the overall structure of the de-icing robot body of the present invention. Figure 2 ;

[0053] Figure 4 This is a schematic diagram of the overall structure of the coaxial forward and reverse reversible knocking de-icing mechanism of the present invention.

[0054] Figure 5 This is an assembly diagram of the top spring buffer mechanism of the present invention;

[0055] Figure 6 This is a schematic diagram of the side spring buffer mechanism of the present invention;

[0056] Figure 7 This is a schematic diagram of the structure of the guide and limiting component of the present invention;

[0057] Figure 8 This is a partial structural schematic diagram of the side spring buffer mechanism of the present invention;

[0058] In the diagram: 1. Transport drone; 2. Traction and suspension assembly; 3. De-icing robot body; 4. Robot frame; 5. Coaxial forward and reverse reversible knocking de-icing mechanism; 6. Top spring buffer mechanism; 7. Side spring buffer mechanism; 21. Flexible traction rope; 22. U-shaped hook; 41. Motor protective shell; 42. Battery protective shell; 51. Knocking motor; 52. Gear transmission assembly; 53. Outer knocking assembly; 54. Inner knocking assembly; 55. Coaxial nested dual-axis assembly; 521. Bevel gear one; 522. Bevel gear two; 523. Bevel gear three; 531. Knocking head; 532. Knocking mechanism. 533. Rod, 534. Pin, 535. Cotter pin, 536. Shaft end plate, 551. Set screw, 552. Transmission stepped shaft, 553. Round shaft, 61. Upper fixed plate, 62. Buffer baffle, 63. Buffer unit, 631. Buffer stepped shaft, 632. Linear bearing, 633. Helical compression spring, 71. Side baffle frame, 72. Inclined baffle, 73. Cylindrical rack, 74. Gear shaft, 75. Helical torsion spring, 76. U-shaped bearing seat, 77. Metal fixed seat, 78. Guide limit assembly, 781. Upper guide ear plate, 782. Lower guide ear plate, 783. Frame guide groove. Detailed Implementation

[0059] The present invention will be further described below with reference to the embodiments. It should be noted that these are merely examples and descriptions of the inventive concept. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the inventive concept or exceed the scope defined in the claims, they should all be considered to fall within the protection scope of the present invention.

[0060] Example 1:

[0061] like Figure 1 , Figure 2 , Figure 3 As shown, the present invention provides an overhead line UAV-mounted de-icing device, comprising three main parts: a carrier UAV 1, a traction and suspension assembly 2, and a de-icing robot body 3.

[0062] The supporting base of the de-icing robot body 3 is the robot frame 4. A through channel is opened inside the robot frame 4. The through channel is arranged vertically and is directly sleeved on the outside of the ice-covered overhead line during operation, providing limit guidance for the longitudinal movement of the whole machine along the overhead line.

[0063] Two sets of coaxial forward and reverse knocking de-icing mechanisms 5 are symmetrically fixed on the front and rear sides of the upper end of the robot frame 4. The two sets of coaxial forward and reverse knocking de-icing mechanisms 5 start and run synchronously, and simultaneously knocking de-icing two adjacent longitudinal points on the overhead line. Each set of coaxial forward and reverse knocking de-icing mechanisms 5 is equipped with an independent knocking motor 51. The knocking motor 51 is linked to its built-in gear transmission component. The two sets of knocking components inside the mechanical drive mechanism rotate synchronously in opposite directions. The movement trajectory of the two sets of counter-rotating knocking components covers the left and right outer walls of the corresponding point of the overhead line, and simultaneously peels off the ice covering the outer perimeter of the line.

[0064] A top spring buffer mechanism 6 is horizontally mounted above the through passage of the robot frame 4. When the robot frame 4 is impacted by the flight fluctuations of the carrier drone 1 and hits the overhead line, the top spring buffer mechanism 6 absorbs the vertical impact force. Side spring buffer mechanisms 7 are symmetrically arranged on the left and right sides of the through passage of the robot frame 4. When the overhead line squeezes the robot frame 4 laterally, the side spring buffer mechanisms 7 absorb the lateral impact force and prevent the robot frame from being damaged by hard collision with the conductor.

[0065] The robot frame 4 is suspended from the bottom of the transport drone 1 by the traction and suspension assembly 2. The transport drone 1 is equipped with a wireless remote control module, which is independently powered by the built-in battery of the transport drone 1. The wireless remote control module establishes wireless communication links with the striking motor 51 and the flight control system of the transport drone 1. The ground operator issues wireless control commands through the matching ground controller to remotely control the starting and stopping of the striking motor 51 and adjust the flight attitude and forward and backward displacement of the transport drone 1. The transport drone 1 uses its own lift power to drive the entire de-icing robot body 3 to move at a constant speed along the overhead line and continuously complete the ice removal operation of the entire line.

[0066] This embodiment discloses an overhead power line UAV-mounted de-icing device. Through the overall technical framework of suspended movement of the carrier UAV 1, synchronous de-icing by dual mechanisms, bidirectional buffer protection, and wireless remote collaborative control, the device improves the de-icing coverage by synchronous operation of front and rear double-set knocking mechanisms, offsets the vibration of the whole machine by reverse knocking, and avoids hard collision damage through top and side bidirectional buffer structures. It solves the core problems of traditional UAV de-icing equipment, such as low efficiency, large vibration, poor stability, and easy damage to lines and equipment, from the structural root, and provides basic technical support for subsequent detailed structural and process implementation.

[0067] Example 2:

[0068] like Figures 1 to 8As shown, the present invention discloses an overhead power line UAV-mounted de-icing device, comprising a carrier UAV 1, a traction and suspension assembly 2, and a de-icing robot body 3. The de-icing robot body 3 includes a robot frame 4, two sets of coaxial forward and reverse counter-rotating knocking de-icing mechanisms 5, a top spring buffer mechanism 6, and two sets of side spring buffer mechanisms 7. The detailed structure is as follows:

[0069] The traction and suspension assembly 2 includes a flexible traction rope 21 and U-shaped hooks 22, with several U-shaped hooks 22. The upper end of the flexible traction rope 21 is tied and fixed to the center mounting point at the bottom of the carrier drone 1, and the lower end of the flexible traction rope 21 is evenly connected to several U-shaped hooks 22. Several annular hanging points are evenly distributed on both sides of the upper surface of the robot frame 4, and the U-shaped hooks 22 are locked into the annular hanging points to achieve locking and limiting. After the suspension assembly is completed, the centers of gravity of the carrier drone 1 and the robot frame 4 are aligned vertically, the force of the high-altitude suspension is uniform, and the risk of hook detachment in strong winds at high altitudes is reduced.

[0070] Two sets of coaxial forward and reverse knocking de-icing mechanisms 5 are symmetrically fixedly installed on the upper surface of the robot frame 4. Each set of mechanisms includes a knocking motor 51, a closed gear transmission assembly 52, a coaxial nested double shaft system assembly 55, an outer knocking assembly 53, and an inner knocking assembly 54. The coaxial nested double shaft system assembly 55 includes a hollow cylindrical shaft 552 and a transmission stepped shaft 551 passing through the shaft 552. The transmission stepped shaft 551 and the shaft 552 are coaxially mounted. An isolation bearing is installed between the transmission stepped shaft 551 and the shaft 552 to achieve independent reverse rotation of the two shafts without motion interference.

[0071] The gear transmission assembly 52 is a closed rectangular housing. Inside the housing are assembled bevel gear 1 521, bevel gear 2 522, and bevel gear 3 523. The striking motor 51 is horizontally bolted to the outer wall of the closed housing. The output shaft of the striking motor 51 is rigidly connected to the inner end of the transmission stepped shaft 551, and the outer end of the transmission stepped shaft 551 is rigidly connected to the outer striking assembly 53. Bevel gear 3 523 is circumferentially rigidly fixed to the transmission stepped shaft 551 inside the housing via a flat key. Bevel gear 1 521 is circumferentially rigidly fixed to the inner end of the round shaft 552 inside the housing via a flat key, and the outer end of the round shaft 552 is rigidly connected to the inner striking assembly 54. Bevel gear 2 521... 22 is fixedly installed on the inner wall of the enclosed box by bearings. The second bevel gear 522 meshes perpendicularly with the third bevel gear 523 and the first bevel gear 521. The striking motor 51 outputs unidirectional torque, which is reversed through the three-stage vertically meshing bevel gears, and synchronously drives the transmission stepped shaft 551 and the round shaft 552 to rotate in the opposite direction. This drives the outer striking component 53 and the inner striking component 54 to rotate synchronously in the opposite direction, completely covering the ice layer on the outer periphery of the overhead line on both sides of the point. The two sets of striking components rotate synchronously in the opposite direction, and the impact reaction force generated by the striking cancels each other out, greatly reducing the vibration amplitude of the whole machine, avoiding the swaying and deviation of the suspended attitude of the carrier UAV 1, and improving the stability of high-altitude operations.

[0072] The outer striking assembly 53 and the inner striking assembly 54 have completely identical structures, both including a disc-shaped striking head 531, four cylindrical solid striking rods 532, a pin 533, and a cotter pin 534. The striking head 531 is a disc structure, and the four cylindrical solid striking rods 532 are arranged radially and evenly around the end face of the striking head 531. The axis of the striking rods 532 is perpendicular to the end face of the striking head 531. The outer end of the striking rods 532 is provided with an arc-shaped end cap structure to avoid scratching the insulation of the overhead line. The inner end of the striking rod 532 is inserted into the radial through hole of the striking head 531 and passes through the pin 534. 33 completes the hinge connection, and a cotter pin 534 passes through the end of the pin 533 to prevent the hinge from detaching; the center of the striking head 531 has a shaft hole, and the outer ends of the transmission stepped shaft 551 and the round shaft 552 are respectively inserted into the corresponding shaft holes of the striking head 531. An annular shaft end baffle 535 is fitted to the outer end face of the shaft hole of the striking head 531 of the outer striking assembly 53. The set screw 536 locks the annular shaft end baffle 535 axially to limit the axial movement of the striking head 531; the two sets of striking assemblies of the single set of mechanism rotate in opposite directions, and the reverse impact force generated by the striking cancels each other out, greatly reducing the vibration amplitude of the whole machine.

[0073] The top spring buffer mechanism 6 includes a rectangular upper fixed plate 61, a rectangular buffer baffle 62, and buffer units 63, with several buffer units 63. The rectangular upper fixed plate 61 is horizontally and rigidly fixed to the top of the robot frame 4. The rectangular buffer baffle 62 is arranged parallel to the rectangular upper fixed plate 61 directly below it. Several buffer units 63 are symmetrically arranged between the rectangular upper fixed plate 61 and the rectangular buffer baffle 62. Each buffer unit 63 includes a cylindrical buffer stepped shaft 631, a cylindrical linear bearing 632, and a helical compression spring 633. The linear bearing 632 is vertically embedded in the pre-set bearing seat hole of the rectangular upper fixed plate 61 and locked in place by a set screw. The buffer stepped shaft 631 slides vertically through the inner hole of the linear bearing 632, and the lower end of the buffer stepped shaft 631 is welded and fixed to the surface of the rectangular buffer baffle 62. The helical compression spring 633 is vertically sleeved on the outside of the buffer stepped shaft 631, and the upper and lower ends of the helical compression spring 633 abut against the upper fixed plate 61 and the buffer baffle 62, respectively. When the overhead line impacts the buffer baffle 62 from bottom to top, the buffer baffle 62 drives all the buffer stepped shafts 631 to slide upward synchronously. The spiral compression spring 633 absorbs the vertical impact kinetic energy under pressure deformation. After the external force disappears, the spiral compression spring 633 rebounds and drives the buffer baffle 62 to reset. The linear bearing 632 constrains the radial displacement of the buffer stepped shafts 631 throughout the entire process to prevent the buffer mechanism from jamming and failing.

[0074] The robot frame 4 has symmetrically arranged side spring buffer mechanisms 7 on both sides of the through passage. The robot frame 4 has a portal structure and at least four side spring buffer mechanisms 7 are provided, that is, at least two are symmetrically arranged on each side inner wall of the portal structure robot frame 4.

[0075] The single-sided side spring buffer mechanism 7 includes a side baffle frame 71, an inclined baffle 72, a cylindrical rack 73, a gear shaft 74, a helical torsion spring 75, a U-shaped bearing seat 76, a metal fixing seat 77, and a guide limit assembly 78. The side baffle frame 71 is a frame structure composed of multiple baffles and is integrally welded and fixed to one side of the through passage under the robot frame 4. The inclined baffle 72 is installed obliquely inside the side baffle frame 71 and slides through the guide limit assembly 78. The inclined baffle 72 is inclined towards the overhead line. The outer side plate surface of the inclined baffle 72 away from the overhead line is fixed with a cylindrical rack 73. The extension direction of the cylindrical rack 73 is consistent with the sliding direction of the inclined baffle 72. The U-shaped bearing seat 76 and the metal fixing seat 77 are symmetrically fixed on the inner end face of the side baffle frame 71. One end of the gear shaft 74 is installed on the U-shaped bearing seat 76 through a bearing. The helical torsion spring 75 is coaxially sleeved on the other end of the gear shaft 74. One end of the helical torsion spring 75 is welded and fixed to the outer wall of the gear shaft 74. The other end of the helical torsion spring 75 is limited and locked to the metal fixing seat 77 through a pin. The gear shaft 74 is integrally machined into a meshing gear, which precisely meshes with the tooth surface of the cylindrical rack 73.

[0076] The guide limiting assembly 78 includes an upper guide ear plate 781, a lower guide ear plate 782, and a frame guide groove 783. The upper guide ear plate 781 is integrally formed and disposed on the upper edge of the inclined baffle 72, and the lower guide ear plate 782 is integrally formed and disposed on the lower edge of the inclined baffle 72. The side baffle frame 71 has multiple horizontal frame guide grooves 783 corresponding to the upper and lower positions, and the upper guide ear plate 781 and the lower guide ear plate 782 are respectively slidably embedded in the frame guide grooves 783. The extension direction of the frame guide groove 783 is parallel to the axis of the cylindrical rack 73, constraining the inclined baffle 72 to only extend along the cylindrical rack 73. The horizontal translation restricts the up-and-down movement, forward-and-backward shift, and self-flipping of the inclined baffle 72, ensuring continuous effective meshing of the gear and rack. When the overhead line laterally presses against the inner inclined surface of the inclined baffle 72, the inclined baffle 72 slides inward along the extension direction of the cylindrical rack 73, driving the cylindrical rack 73 to translate and drive the gear shaft 74 to rotate unidirectionally, simultaneously twisting the helical torsion spring 75 to store the impact potential energy. After the lateral pressing force disappears, the helical torsion spring 75 releases its elastic potential energy and drives the gear shaft 74 to rotate in the opposite direction. Through gear and rack transmission, the inclined baffle 72 automatically translates outward to reset, achieving cyclic lateral buffer protection.

[0077] The robot frame 4 is equipped with a closed motor protective shell 41 and a bottom drawer-type battery protective shell 42. The motor protective shell 41 is a hollow rectangular shell that completely covers the outer wall of the gear transmission assembly 52 of each coaxial forward and reverse knocking de-icing mechanism 5. The motor protective shell 41 is fixed to the robot frame 4 by bolts, which isolates rain, snow, ice and dust and protects the internal gear transmission components from low-temperature corrosion and impact damage. The battery protective shell 42 is horizontally arranged at the bottom of the robot frame 4 and is detachably connected to the robot frame 4 by a pull-out buckle structure. The battery protective shell 42 contains a DC power supply battery, which is electrically connected to the two knocking motors 51 through waterproof wires, providing independent power to the knocking mechanism. The battery protective shell 42 encloses the internal DC battery to prevent damage and short circuit caused by high altitude, low temperature, or circuit collision and compression.

[0078] The carrier drone 1 is equipped with a wireless remote control module. The wireless remote control module is independently powered by the built-in battery of the carrier drone 1. The wireless remote control module establishes a wireless communication connection with the two striking motors 51 and the flight control system of the carrier drone 1. Ground operators can issue commands through the wireless remote control module to remotely control the start and stop of the striking motors 51 and the flight attitude and displacement of the carrier drone 1.

[0079] This embodiment of an overhead power line UAV suspended de-icing device achieves bidirectional reverse impact driven by a single motor through coaxial dual-axis bevel gear transmission, completely offsetting the impact reaction force and eliminating the vibration problem of the entire machine; it achieves omnidirectional adaptive anti-collision protection through a dual-dimensional buffer structure of vertical helical compression spring + lateral helical torsion spring; at the same time, it is equipped with a closed protective shell to improve the weather resistance and operational reliability of the equipment. The overall structure is compact, the transmission is precise, and the protection is comprehensive. It completely solves the technical drawbacks of traditional UAV de-icing equipment, such as low de-icing efficiency, large overall vibration, poor flight stability, easy damage to wires and equipment, and poor weather resistance. The device structure is fully disclosed and can be manufactured and assembled locally.

[0080] Example 3:

[0081] Combination Figures 1 to 8 This embodiment discloses a method for collaborative de-icing operation of an overhead power line UAV-mounted de-icing device, based on an overhead power line UAV-mounted de-icing device disclosed in Embodiment 2, and includes the following steps:

[0082] S1. Ground debugging and assembly steps: Before the operation, the operator completes the overall function debugging and testing on the ground, and sequentially tests the operating status of the flight control system of the carrier UAV 1, the stability of the wireless signal transmission of the wireless remote control module, the rotation condition of the two knocking motors 51, and the sliding reset performance of the top spring buffer mechanism 6 and the side spring buffer mechanism 7. After all mechanisms are debugged and qualified, the several U-shaped hooks 22 at the lower end of the flexible traction rope 21 are inserted one by one into the annular hanging points on the upper surface of the robot frame 4 and locked and limited, thus completing the suspension assembly of the carrier UAV 1 and the de-icing robot body 3.

[0083] S2. Aerial alignment and mounting steps: The operator holds the ground-based controller and issues the takeoff command through the wireless remote control module to control the carrier drone 1 to take off smoothly and vertically. After flying to the corresponding height of the target icy overhead line, it hovers at a fixed point. The operator then finely adjusts the front-to-back and left-to-right horizontal position of the carrier drone 1 and precisely fits the central through-channel of the robot frame 4 from top to bottom onto the outside of the icy overhead line to complete the alignment. At this time, the overhead line passes through the through-channel and is located between the two sets of coaxial forward and reverse knocking de-icing mechanisms 5.

[0084] S3. Remote Collaborative De-icing Procedure: The operator issues a start command through the ground controller, and the wireless remote control module transmits a wireless signal to synchronously start two striking motors 51. The output torque of the striking motors 51 is transmitted to the gear transmission assembly 52, and the power is reversed through a three-stage vertical meshing bevel gear. This drives the internal transmission stepped shaft 551 and round shaft 552 of the coaxial nested dual shaft assembly 55 to rotate synchronously in opposite directions, which in turn drives the outer striking assembly 53 and the inner striking assembly 54 to rotate continuously in opposite directions. The two sets of striking assemblies rotate synchronously in opposite directions, and the impact reaction force generated by the striking cancels each other out, greatly reducing the vibration amplitude of the whole machine, avoiding the swaying and deviation of the suspended attitude of the carrier UAV 1, improving the stability of high-altitude operations, and ensuring the stable hovering of the carrier UAV 1 during long-term de-icing processes.

[0085] The robot frame 4 has two sets of coaxial forward and reverse knocking de-icing mechanisms 5 operating synchronously. They continuously and cyclically knock on the ice layer on the left and right sides of two adjacent points before and after the overhead line. The knocking rod 532 repeatedly hits the ice layer to remove it.

[0086] The entire operation involves a synchronized two-way buffering protection process: In terms of vertical buffering, if the flight fluctuations of the carrier UAV 1 or the overhead line impacts the rectangular buffer baffle 62 upwards, the buffer baffle 62, under the force, causes all the buffer stepped shafts 631 to slide vertically upwards along the linear bearing 632, simultaneously compressing the spiral compression spring 633 to contract and deform, converting the vertical collision kinetic energy into the elastic potential energy of the spring, thus buffering the impact. When the overhead line disengages from the buffer baffle 62, the vertical impact force disappears, and the spiral compression spring 633 rebounds downwards by its own elastic force, pushing the buffer baffle 62 and the buffer stepped shafts 631 to reset downwards as a whole. The linear bearing 632 constrains the radial displacement of the buffer stepped shafts 631 throughout the entire process, preventing the buffer unit from jamming and failing. In terms of lateral buffering, if the overhead line laterally compresses the inclined baffle 72, the inclined baffle 72, under the limiting constraints of the upper guide ear plate 781, the lower guide ear plate 782, and the frame guide groove 783, only slides horizontally inward along the extension direction of the cylindrical rack 73, simultaneously driving the cylindrical rack 73 to move horizontally; the tooth surface of the cylindrical rack 73 meshes and drives the gear shaft 74 to rotate unidirectionally. During the rotation of the gear shaft 74, the helical torsion spring 75 is torn, and the helical torsion spring 75 undergoes torsional deformation to store lateral impact potential energy, offsetting the lateral extrusion force of the line; when the robot frame 4 is away from the overhead line and the lateral extrusion force disappears, the helical torsion spring 75 releases the stored elastic potential energy, driving the gear shaft 74 to rotate in the opposite direction, and through the gear and rack meshing transmission, the cylindrical rack 73 and the inclined baffle 72 automatically move outward and reset, continuously providing lateral buffering protection and reducing the lateral sway amplitude of the whole machine.

[0087] S4. Ice Layer Adaptive Adjustment Operation Steps: The carrier drone 1 is equipped with an onboard camera to capture real-time images of the ice layer on the overhead line and wirelessly transmit them back to the ground controller display screen; when the operator observes and identifies the section with an ultra-thick ice layer, the operator increases the operating speed of the striking motor 51 through the wireless remote control module to increase the impact frequency of the striking rod 532 on the ice layer; simultaneously, the carrier drone 1 is controlled to move back and forth at low speed along the overhead line, driving the two sets of striking mechanisms of the robot frame 4 to repeatedly strike the thick ice section, continuously breaking the ice layer until the ice layer is completely broken off.

[0088] S5. Operation Recovery and Reset Steps: After all sections of the target overhead line have been cleared of ice, the operator issues a stop command through the ground controller, and the wireless remote control module simultaneously shuts down the two striking motors 51; the operator waits for the striking components to completely stop rotating to eliminate the risk of ice splashing; the operator controls the carrier drone 1 to descend vertically at a constant speed and places the robot frame 4 stably on the pre-set parking platform on the ground; all U-shaped hooks 22 are manually unlocked to separate the carrier drone 1 from the de-icing robot body 3, completing a single complete de-icing operation.

[0089] This embodiment of a method for de-icing overhead lines using a drone-mounted de-icing device relies on the wireless remote collaborative control of the carrier drone 1, dual-point synchronous reverse knocking de-icing, bidirectional adaptive elastic buffering, and a thick ice frequency conversion reciprocating knocking strategy. This achieves unmanned, non-power-outage, highly stable, and highly adaptable de-icing operations on overhead lines, effectively avoiding the risks of high-altitude operations. It is adaptable to various icing conditions such as ordinary thin ice and locally thick ice. The operational stability, safety, and adaptability are significantly better than traditional manual de-icing and simple mechanical de-icing methods. It has high engineering practical value and strong scalability.

[0090] The above is an exemplary description of the invention. Obviously, the specific implementation of the invention is not limited to the above-described manner. Any non-substantial improvement made using the inventive concept and technical solution of the invention, or the direct application of the inventive concept and technical solution to other situations without modification, is within the protection scope of the invention.

Claims

1. A suspended de-icing device for overhead power lines, characterized in that, It includes a carrier drone (1), a towing and suspension assembly (2), and a de-icing robot body (3). The de-icing robot body (3) includes a robot frame (4), a coaxial forward and reverse knocking de-icing mechanism (5), a top spring buffer mechanism (6), and a side spring buffer mechanism (7). The carrier drone (1) is suspended and connected to the robot frame (4) through the traction and suspension assembly (2). The robot frame (4) has a through channel inside, which is used to be fitted onto the outside of the ice-covered overhead line. The coaxial forward and reverse knocking de-icing mechanism (5) is provided in two sets and is symmetrically installed on the front and rear sides of the upper end of the robot frame (4). The two sets of coaxial forward and reverse knocking de-icing mechanisms (5) simultaneously perform de-icing operations on the front and rear positions of the overhead line. The top spring buffer mechanism (6) is horizontally arranged above the upper through passage of the robot frame (4) to absorb the impact force generated by the vertical collision between the robot frame (4) and the overhead line; The side spring buffer mechanism (7) is symmetrically arranged on the left and right sides of the through passage of the robot frame (4) to absorb the impact force generated by the lateral collision between the robot frame (4) and the overhead line.

2. The overhead power line UAV suspended de-icing device according to claim 1, characterized in that, The traction and suspension assembly (2) includes a flexible traction rope (21) and a U-shaped hook (22). Several U-shaped hooks (22) are provided. The upper end of the flexible traction rope (21) is tied and fixed to the center mounting point at the bottom of the transport drone (1). The lower end of the flexible traction rope (21) is evenly connected to several U-shaped hooks (22). Several annular hanging points are evenly distributed on both sides of the upper surface of the robot frame (4). The U-shaped hooks (22) are correspondingly inserted into the annular hanging points to achieve locking and limiting.

3. The overhead power line UAV suspended de-icing device according to claim 1, characterized in that, Each coaxial forward and reverse knocking de-icing mechanism (5) includes a knocking motor (51), a gear transmission assembly (52), and knocking components. The knocking motor (51) drives the two sets of knocking components to rotate in opposite directions in conjunction with the built-in gear transmission assembly (52), thereby knocking off the ice layer on both sides of the overhead line. The two sets of knocking components rotate in opposite directions in a synchronous manner, and the impact reaction force generated by the knocking cancels each other out on the overhead line, reducing the vibration of the whole machine. The coaxial forward and reverse knocking de-icing mechanism (5) is also equipped with a coaxial nested double shaft assembly (55). The coaxial nested double shaft assembly (55) includes a hollow cylindrical shaft (552) and a transmission stepped shaft (551) passing through the inside of the shaft (552). The transmission stepped shaft (551) and the shaft (552) are arranged coaxially. An isolation bearing is installed between the transmission stepped shaft (551) and the shaft (552) to achieve independent rotation without interference. The gear transmission assembly (52) includes a closed housing and bevel gear one (521), bevel gear two (522), and bevel gear three (523) assembled inside the closed housing. Each set of the striking assembly is divided into an outer striking assembly (53) and an inner striking assembly (54). The transmission step shaft (551) passes through the closed box, the striking motor (51) is horizontally fixed to the outer wall of the closed box, the output shaft of the striking motor (51) is connected to the inner end of the transmission step shaft (551), and the outer striking component (53) is rigidly connected to the outer end of the transmission step shaft (551). The third bevel gear (523) is sleeved on the transmission step shaft (551) inside the closed housing and rigidly fixed circumferentially by a flat key; the first bevel gear (521) is sleeved on the inner end of the round shaft (552) inside the closed housing and rigidly fixed circumferentially by a flat key; the inner striking component (54) is rigidly connected to the outer end of the round shaft (552); the second bevel gear (522) is fixedly installed on the inner wall of the closed housing by a bearing, and the second bevel gear (522) meshes perpendicularly with the third bevel gear (523) and the first bevel gear (521) respectively; The striking motor (51) synchronously controls the outer striking component (53) and the inner striking component (54) to rotate in opposite directions. The rotation trajectory of the outer striking component (53) and the inner striking component (54) covers the ice layer on the left and right sides of the overhead line at the corresponding point. The two sets of striking components in the single coaxial forward and reverse striking de-icing mechanism (5) rotate synchronously in opposite directions, which can offset the striking reaction force and reduce the vibration amplitude of the whole machine.

4. The overhead power line UAV suspended de-icing device according to claim 3, characterized in that, The outer striking assembly (53) and the inner striking assembly (54) have the same structure and each includes a disc-shaped striking head (531), four cylindrical solid striking rods (532), a pin (533) and a cotter pin (534). Four striking rods (532) are arranged radially and evenly around the end face of the striking head (531). The axis of the striking rods (532) is perpendicular to the end face of the striking head (531), and the outer end of the striking rods (532) is an arc-shaped end cap structure. The striking head (531) has a shaft hole in the center. The outer ends of the transmission stepped shaft (551) and the round shaft (552) are respectively inserted into the shaft holes of the striking head (531) of the outer striking assembly (53) and the inner striking assembly (54). An annular shaft end baffle (535) is provided on the outer side of the shaft hole of the outer striking assembly (53). The shaft end baffle (535) fits against the outer end face of the shaft hole of the striking head (531) and is locked axially by the set screw (536) to restrict the axial movement of the striking head (531). The outer end face of the striking head (531) and the inner end of the striking rod (532) are hinged by a pin (533). The pin (533) passes through the hinge point between the striking head (531) and the striking rod (532) laterally. The cotter pin (534) is inserted at the end of the pin (533) to achieve the hinge anti-detachment setting. The output torque of the striking motor (51) drives the striking heads (531) of the outer striking component (53) and the inner striking component (54) to rotate continuously via the transmission stepped shaft (551) and the round shaft (552), respectively, thereby driving the striking rod (532) to repeatedly strike the ice layer; the two sets of striking components in the single coaxial forward and reverse striking de-icing mechanism (5) rotate in opposite directions, and the reaction force generated by the striking cancels each other out, reducing the vibration of the whole machine.

5. The overhead power line UAV suspended de-icing device according to claim 1, characterized in that, The top spring buffer mechanism (6) includes a rectangular upper fixed plate (61), a rectangular buffer baffle (62), and a buffer unit (63); the upper fixed plate (61) is horizontally and rigidly fixed to the top of the robot frame (4), the buffer baffle (62) is arranged parallel to the upper fixed plate (61) directly below it, and several buffer units (63) are arranged symmetrically between the rectangular upper fixed plate (61) and the rectangular buffer baffle (62); Each buffer unit (63) includes a cylindrical buffer stepped shaft (631), a cylindrical linear bearing (632), and a helical compression spring (633). The linear bearing (632) is vertically embedded in the bearing seat hole of the upper fixing plate (61) and locked and fixed by a set screw. The buffer stepped shaft (631) slides vertically through the linear bearing (632). The lower end of the buffer stepped shaft (631) is welded and fixed to the surface of the buffer baffle (62). The helical compression spring (633) is vertically sleeved on the outside of the buffer stepped shaft (631). The upper and lower ends of the helical compression spring (633) abut against the upper fixing plate (61) and the buffer baffle (62) respectively. When the overhead line impacts the buffer baffle (62) upwards, the buffer baffle (62) drives all the buffer stepped shafts (631) to slide upwards synchronously, and the helical compression spring (633) absorbs the vertical impact kinetic energy under pressure deformation; after the external force disappears, the helical compression spring (633) rebounds and drives the buffer baffle (62) to reset; the linear bearing (632) constrains the radial offset of the buffer stepped shafts (631) to avoid the mechanism from jamming.

6. The overhead power line UAV suspended de-icing device according to claim 1, characterized in that, The side spring buffer mechanism (7) includes a side baffle frame (71), an inclined baffle (72), a cylindrical rack (73), a gear shaft (74), a helical torsion spring (75), a U-shaped bearing seat (76), a metal fixing seat (77), and a guide limiting assembly (78). The side baffle frame (71) is arranged on one side of the through channel below the robot frame (4). The inclined baffle (72) is obliquely installed inside the side baffle frame (71) and slides through the guide limiting assembly (78). The U-shaped bearing seat (76) and the metal fixing seat (77) are symmetrically fixed on the inner end face of the side baffle frame (71). The gear shaft... (74) One end is mounted on a U-shaped bearing seat (76) via a bearing; the helical torsion spring (75) is coaxially sleeved on the other end of the gear shaft (74), one end of the helical torsion spring (75) is welded and fixed to the outer wall of the gear shaft (74), and the other end of the helical torsion spring (75) is limited and snapped onto the metal fixing seat (77) by a pin shaft; the end of the cylindrical rack (73) is mounted on the outer side plate of the inclined baffle (72) away from the overhead line, and the extension direction of the cylindrical rack (73) is consistent with the sliding direction of the inclined baffle (72); the gear shaft (74) has an integrally machined meshing gear in the middle, and the meshing gear precisely meshes with the tooth surface on the cylindrical rack (73); The guide limiting component (78) includes an upper guide ear plate (781), a lower guide ear plate (782), and a frame guide groove (783). The upper guide ear plate (781) is located at the upper edge of the inclined baffle (72), and the lower guide ear plate (782) is located at the lower edge of the inclined baffle (72). The frame guide groove (783) has multiple grooves and is located on the upper and lower end faces of the inner side baffle frame (71) corresponding to the positions of the upper guide ear plate (781) and the lower guide ear plate (782). The upper guide ear plate (781) and the lower guide ear plate (782) are slidably embedded in the frame guide groove (783). The frame guide groove (783) restricts the inclined baffle (72) to slide only along the extension direction of the cylindrical rack (73), thus limiting the offset of the inclined baffle (72). When the overhead line laterally presses the inner inclined surface of the inclined baffle (72), the inclined baffle (72) slides along the extension direction of the cylindrical rack (73) under the constraint of the guide limit assembly, and synchronously drives the cylindrical rack (73) to translate. The cylindrical rack (73) drives the gear shaft (74) to rotate in one direction, and synchronously twists the helical torsion spring (75) to generate torsional deformation, absorbing the lateral impact kinetic energy. After the lateral pressing force disappears, the helical torsion spring (75) releases elastic potential energy to drive the gear shaft (74) to rotate in the opposite direction. Through the meshing transmission of the meshing gear, the cylindrical rack (73) and the inclined baffle (72) are synchronously translated outward and automatically reset, realizing cyclic buffer protection.

7. The overhead power line UAV suspended de-icing device according to claim 1, characterized in that, The robot frame (4) is also equipped with a closed motor protective shell (41) and a bottom drawer-type battery protective shell (42). The motor protective shell (41) is a hollow rectangular shell that completely covers the outer wall of the gear transmission assembly (52) of each coaxial forward and reverse knocking de-icing mechanism (5). The motor protective shell (41) is fixed to the robot frame (4) by bolts. The motor protective shell (41) isolates rain, snow, ice and dust and protects the internal gear components. The battery protective shell (42) is horizontally arranged at the bottom of the robot frame (4) and is detachably connected to the robot frame (4) using a pull-out buckle structure; the battery protective shell (42) contains a DC power supply battery, which is electrically connected to two striking motors (51) through waterproof wires to provide power for two sets of coaxial forward and reverse striking de-icing mechanisms (5); Battery protective case (42) encloses and protects the power supply battery to prevent short circuit and damage caused by high altitude, low temperature, or line collision; The carrier drone (1) is equipped with a wireless remote control module and powered by the built-in battery of the carrier drone (1). The remote control module establishes wireless communication connections with the knocking motor (51) and the flight control system of the carrier drone (1). Ground operators issue control commands through the wireless remote control module to remotely control the start and stop of the knocking motor (51), the flight attitude and displacement of the carrier drone (1), and the carrier drone (1) moves along the overhead line and completes the de-icing operation by relying on its own flight power to drive the de-icing robot body (3).

8. A method for coordinated de-icing operation of an overhead power line UAV-mounted de-icing device, applied to the overhead power line UAV-mounted de-icing device according to any one of claims 1 to 7, characterized in that, Includes the following steps: S1. Ground debugging and assembly: Before operation, complete the overall functional debugging of the flight control system, wireless remote control module signal, knocking motor (51) and buffer mechanism of the transport drone (1); insert the U-shaped hook (22) at the lower end of the flexible traction rope (21) into the top ring hanging point of the robot frame (4) and lock the limit position to complete the suspension assembly of the transport drone (1) and the de-icing robot body (3); S2, Aerial Alignment and Mounting: Ground operators control the carrier drone (1) to take off smoothly and hover at a fixed point through the wireless remote control module, adjust the flight altitude and horizontal position, and accurately attach the through channel in the middle of the robot frame (4) to the outside of the target icy overhead line to complete the operation alignment; S3. Remote Collaborative De-icing: The start command is sent through the wireless remote control module to remotely start two striking motors (51); the striking motors (51) drive the corresponding outer striking component (53) and inner striking component (54) to rotate synchronously in opposite directions through the gear transmission component (52) and the coaxial nested double shaft system component (55). The two sets of coaxial forward and reverse striking de-icing mechanisms (5) work synchronously to repeatedly strike and peel off the ice layer on the left and right sides of the two locations before and after the overhead line; during the operation, the top spring buffer mechanism (6) absorbs the vertical impact force in real time, and the side spring buffer mechanisms (7) absorb the lateral impact force in real time to ensure the stable operation of the whole machine; S4. Ice layer adaptive adjustment operation: During the operation, the ice layer status is observed in real time through the airborne perspective of the transport drone (1). When an ultra-thick ice layer is identified, the speed of the striking motor (51) is increased remotely, and the transport drone (1) is controlled to drive the robot frame (4) to move back and forth at low speed along the overhead line, repeatedly striking the thick ice section until the ice layer is completely peeled off. S5. Operation recovery and reset: After the ice on the target overhead line section is completely cleared, all the knocking motors (51) are turned off by the wireless remote control module. After all the knocking components are completely still, the carrier drone (1) is controlled to land smoothly and at a constant speed. The de-icing robot body (3) is placed in the preset position on the ground and the U-shaped hook (22) is unlocked to complete the single de-icing operation.

9. A method for coordinated de-icing operation of an overhead power line UAV-mounted de-icing device according to claim 8, characterized in that, In step S3, the vertical buffering operation process is as follows: During the de-icing operation, if the overhead line hits the rectangular buffer baffle (62) from bottom to top, the buffer baffle (62) will be driven by the force to slide each buffer step shaft (631) vertically upward along the corresponding linear bearing (632), and simultaneously squeeze the spiral compression spring (633) to undergo elastic deformation, converting the vertical collision kinetic energy into elastic potential energy, thus realizing vertical impact buffering; When the overhead line disengages from the buffer baffle (62) and the vertical impact force disappears, the helical compression spring (633) rebounds on its own elasticity, pushing the buffer baffle (62) and the buffer step shaft (631) to reset downward as a whole. The linear bearing (632) constrains the radial offset of the buffer step shaft (631) throughout the entire process to prevent jamming and ensure the stable operation of the vertical buffer mechanism.

10. A method for coordinated de-icing operation of an overhead power line UAV-mounted de-icing device according to claim 8, characterized in that, In step S3, the lateral buffering operation process is as follows: During the de-icing operation, if the overhead line laterally presses the inner inclined surface of the inclined baffle (72), the inclined baffle (72) will slide smoothly only along the extension direction of the cylindrical rack (73) under the guiding and limiting action of the upper guide ear plate (781), the lower guide ear plate (782) and the frame guide groove (783), and simultaneously drive the cylindrical rack (73) to move horizontally. The cylindrical rack (73) drives the gear shaft (74) to rotate in one direction through tooth surface meshing. During the rotation of the gear shaft (74), the helical torsion spring (75) is twisted, causing the helical torsion spring (75) to undergo torsional deformation and store impact potential energy, absorbing the lateral collision impact force of the overhead line. When the lateral compressive force disappears, the helical torsion spring (75) releases its elastic potential energy and drives the gear shaft (74) to rotate in the opposite direction. Through tooth surface meshing transmission, the cylindrical rack (73) and the inclined baffle (72) are automatically moved outward to reset, realizing the cyclic buffer protection of lateral collision and effectively reducing the lateral sway amplitude of the whole machine.

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