Automatic ice melting robot for electrified railway contact network based on electromagnetic eddy current

Abstract

The utility model discloses an automatic ice melting robot for an electrified railway contact network based on electromagnetic eddy current, which comprises a line climbing motion module, a turbine connecting shaft, two upper mechanical arms, a mechanical arm connecting shaft, two lower mechanical arms and an electromagnetic eddy current deicing module, and is characterized in that the line climbing motion module is used for carrying out line climbing motion along a bearing cable of the electrified railway contact network; the turbine connecting shaft, the two upper mechanical arms, the mechanical arm connecting shaft and the two lower mechanical arms are matched with one another and used for achieving angle-adjustable connection between the wire climbing movement module and the electromagnetic eddy current deicing module, and the electromagnetic eddy current deicing module is used for conducting deicing on a contact wire through electromagnetic eddy current heating. According to the utility model, safe and efficient automatic deicing of the electrified railway contact net is realized by adopting electromagnetic eddy current heating.

Description

Technical Field

[0001] The utility model belongs to the technical field of railway electrical automation, and more specifically, relates to an automatic ice-melting robot for an electrified railway contact network based on electromagnetic eddy current. Background Art

[0002] The contact network is an important part of the traction power supply system. However, under extreme weather conditions, such as heavy snow, rain and snow, freezing rain, etc., its surface is easily covered with ice and snow, resulting in poor contact between the pantograph carbon slide and the contact network, accompanied by frequent arcing and ablation of the surface of the carbon slide. When the carbon slide and the ice-covered contact network produce sliding friction, the icicles hanging on the contact network may fall or even break the contact network carbon slide, causing the train to slow down and stop operating. Secondly, when a large amount of ice covers the contact network, its increased deadweight will cause a certain deflection of the line, causing the contact network to deform and break. Although there are precedents for melting the contact network by injecting DC and AC power, due to the complex structure of the contact network and the uneven current distribution, the temperature distribution generated by Joule heat is also uneven, resulting in the risk of hanging string melting in actual application. Therefore, the current contact network deicing still mainly relies on manual knocking deicing. Although it can better protect the contact network, there is a certain risk to the personal safety of workers during construction and the deicing efficiency is low.

[0003] As an efficient, safe, environmentally friendly, comfortable and fast public transportation mode, electrified railways have been adopted by many countries, but some railway lines are located in areas with higher latitudes and lower average annual temperatures. As a key component in the traction power supply system, the overhead contact network is erected along the railway line. The dynamically running train obtains traction power through the sliding electrical contact between the carbon slide supported by the pantograph on the roof and the overhead contact network. The sliding electrical contact quality between the pantograph and the overhead contact network directly determines the stability and efficiency of traction power transmission.

[0004] In recent years, railways around the world have often been affected by extreme weather. For example, in 2024, high-speed railways in Hubei, Anhui and other places in my country were hit by freezing rain, and many lines stopped operating for up to 40 hours, causing a large number of passengers to be stranded. At present, although there have been experiments trying to melt the contact network by injecting Joule heat generated by direct current and alternating current into the contact network, the structure of the contact network is more complex than that of traditional transmission lines. It includes key components such as load-bearing cables, suspensions, wire clamps, and contact wires. The types, materials, and structural dimensions of the wires of each component are completely different, resulting in extremely uneven distribution of current in the various components of the contact network after current injection, that is, the Joule heat generated by the non-uniformly distributed current is unevenly distributed throughout the contact network. The temperature distribution of each component in the contact network is unpredictable, and it is difficult to prevent the risk of wire melting caused by excessive local temperature. Considering the risk of contact network melting, there are currently few engineering cases of using electric heating to melt ice to de-ice the contact network. Nowadays, more people use manual knocking to de-ice, but this method poses certain risks to the personal safety of construction workers and the de-icing efficiency is not high. Therefore, it is urgent to propose a more efficient and safe contact network ice-melting equipment. Utility Model Content

[0005] The utility model aims to overcome the deficiencies of the prior art and provide an automatic ice-melting robot for an electrified railway contact network based on electromagnetic eddy currents, which uses electromagnetic eddy current heating to achieve safe and efficient automatic deicing of the electrified railway contact network.

[0006] To achieve the above-mentioned purpose, the utility model of the automatic ice-melting robot for electrified railway contact network based on electromagnetic eddy current includes a line-climbing motion module, a turbine connecting shaft, two upper mechanical arms, a mechanical arm connecting shaft, two lower mechanical arms and an electromagnetic eddy current deicing module, wherein:

[0007] The climbing motion module is used for climbing motion along the load-bearing cable of the contact network of the electrified railway, and comprises a climbing motion wheel, a gear set and a turbine protection cover, wherein the climbing motion wheel is fixedly connected to the gear set, the gear set drives the climbing motion wheel to climb along the load-bearing cable under the drive of the motor, and the turbine protection cover is arranged on the outside of the climbing motion wheel and the gear set;

[0008] The turbine connecting shaft is fixedly connected to the turbine protection cover in the line climbing motion module;

[0009] The upper ends of the two upper mechanical arms are fixedly connected to the outer wheels of the turbine connecting shaft from both sides, and the lower ends of the two upper mechanical arms are fixedly connected to the outer wheels of the two mechanical arm connecting shafts;

[0010] The upper ends of the two lower mechanical arms are respectively fixedly connected to the outer wheels of the mechanical arm connecting shafts on the corresponding sides, and the lower ends are fixedly connected to the corresponding sides of the electromagnetic eddy current deicing module;

[0011] The electromagnetic eddy current deicing module is used to de-ice the contact line by electromagnetic eddy current heating, and includes a bearing structure, an electromagnetic eddy current housing and an electromagnetic eddy current coil, wherein both sides of the bearing structure are fixedly connected to two lower robotic arms, the electromagnetic eddy current housing is installed on the bearing structure, and the electromagnetic eddy current coil is arranged inside the electromagnetic eddy current housing, and the electromagnetic eddy current housing surrounds the contact line, so that the electromagnetic eddy current coil is in continuous close contact with the contact line, thereby realizing contactless deicing.

[0012] Furthermore, the line climbing motion wheel adopts a double motion wheel structure.

[0013] Furthermore, the gear set includes 2 moving gears, 2 horizontal moving gears, a horizontal motor transmission gear and a vertical motor transmission gear, wherein the moving gear is coaxially fixedly connected with the corresponding moving wheel, and the outer diameter of the moving gear is greater than or equal to the outer diameter of the moving wheel, the horizontal moving gear is engaged with the moving gear at 90°, the horizontal motor transmission gear is engaged with the horizontal moving gear at 180°, the vertical motor transmission gear is engaged with the horizontal motor transmission gear at 90°, and the vertical motor transmission gear rotates under the drive of the motor, thereby driving the climbing moving wheel to rotate.

[0014] Furthermore, the engine protection cover includes a moving wheel protection cover and a gear group protection cover. The moving wheel protection cover adopts a cover-mounted arch structure in the front-to-back direction, and the gear group protection cover adopts a cover-mounted arch structure in the left-to-right direction. The moving wheel protection cover and the gear group protection cover share a middle side wall, and the side shaft of the climbing moving wheel is installed on the side wall of the moving wheel protection cover, and is coaxially connected to the moving gear in the gear group through the hole in the middle side wall.

[0015] Furthermore, both the upper robotic arm and the lower robotic arm adopt a parallel double-arm structure.

[0016] Furthermore, the outer wheel of the robot arm connecting shaft adopts a double-layer structure, which is used to connect the upper robot arm and the lower robot arm respectively.

[0017] Furthermore, the bearing structure includes four buffer arms, two on each side of the electromagnetic eddy current housing, each buffer arm includes a positioning shaft, a connecting shaft, a telescopic rod, a shock-absorbing spring, a connecting column and a positioning pin, wherein the outer side of the positioning shaft is used to be fixedly connected to the lower mechanical arm on the corresponding side, and the inner side of the positioning shaft is fixedly connected to the connecting shaft, the connecting shaft is a hollow cylinder, and the telescopic rod is sleeved inside, the shock-absorbing spring is sleeved outside the telescopic rod, the size of the shock-absorbing spring needs to be close to the telescopic rod, and there can be no sliding friction between the two; the bottom of the shock-absorbing spring is fixed to the bottom of the connecting shaft, the telescopic rod moves in the same direction relative to the shock-absorbing spring within a predetermined range, and the ends of the two are connected with a connecting column, the angle of which is maintained at 90° with the positioning shaft, and the axis of the connecting column is perpendicular to the ground; the positioning pin is arranged in the connecting column, and the end of the positioning pin is tightly fitted and locked with the electromagnetic eddy current housing to limit the height of the electromagnetic eddy current coil.

[0018] Furthermore, it also includes an ice layer detection module, including a bracket and an infrared detection camera. The bracket is connected to the lower robotic arm, and the infrared detection camera is installed on the bracket. The infrared detection camera is provided with an infrared detection head and a camera. The infrared detection head is used to detect the distance between the irradiation end point and the transmitting end to determine the thickness of the contact line covering, and the camera is used to capture an image of the contact line covering.

[0019] Furthermore, the bracket includes a rotating joint, a coupling and a connecting rod, wherein the rotating joint is fixed at the side end of the lower robotic arm, and the coupling is rotatably connected to the rotating joint and the connecting rod, so that the infrared detection camera can be adjusted to different angles by adjusting the rotating joint 1 and the connecting rod.

[0020] The utility model discloses an automatic ice-melting robot for an electrified railway contact network based on electromagnetic eddy current, comprising a line-climbing motion module, a turbine connecting shaft, two upper mechanical arms, a mechanical arm connecting shaft, two lower mechanical arms and an electromagnetic eddy current deicing module. The line-climbing motion module is used for performing line-climbing motion along the load-bearing cables of the electrified railway contact network. The turbine connecting shaft, the two upper mechanical arms, the mechanical arm connecting shaft and the two lower mechanical arms cooperate with each other to realize an adjustable angle connection between the line-climbing motion module and the electromagnetic eddy current deicing module. The electromagnetic eddy current deicing module is used for deicing the contact line by adopting electromagnetic eddy current heating.

[0021] The utility model has the following beneficial effects:

[0022] 1) The utility model ensures the variability of the angle between the mechanical arms through the turbine connecting shaft, two upper mechanical arms, the mechanical arm connecting shaft and two lower mechanical arms, so as to make it easier to find the curve function of the bending of the load-bearing cable and better control the distance between the upper climbing motion module of the robot and the lower electromagnetic eddy current deicing module, thereby ensuring the deicing effect while reducing the impact on the contact line;

[0023] 2) The utility model adopts electromagnetic eddy current deicing, which can adapt to ice layers of different thicknesses by controlling the current size compared to traditional physical deicing methods;

[0024] 3) The contact line is more fragile than other power transmission lines, especially after being covered with ice when the overall temperature is low. Traditional deicing methods can easily cause damage to the contact line, resulting in unnecessary cost losses. The new method in this implementation uses non-contact electromagnetic eddy current deicing, which can effectively reduce the damage to the contact line during the deicing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a structural diagram of a specific implementation of the utility model of an automatic ice-melting robot for an electrified railway contact network based on electromagnetic eddy current;

[0026] Figure 2This is an application scenario diagram of the utility model of the automatic ice-melting robot for the electrified railway contact network based on electromagnetic eddy current;

[0027] Figure 3 It is a structural diagram of the wire climbing motion module in the utility model;

[0028] Figure 4 It is a structural diagram of the electromagnetic eddy current deicing module in the utility model;

[0029] Figure 5 is a structural diagram of a buffer arm in the load-bearing structure in this embodiment;

[0030] Figure 6 is a structural diagram of the ice layer detection module in this embodiment. DETAILED DESCRIPTION

[0031] The specific implementation of the utility model is described below in conjunction with the accompanying drawings so that those skilled in the art can better understand the utility model. It should be noted that in the following description, when the detailed description of known functions and designs may dilute the main content of the utility model, these descriptions will be omitted here.

[0032] Figure 1 It is a structural diagram of a specific implementation of the utility model of an automatic ice-melting robot for an electrified railway contact network based on electromagnetic eddy current. Figure 2 This is an application scenario diagram of the utility model of the automatic ice-melting robot for electrified railway contact network based on electromagnetic eddy current. Figure 1 As shown, the automatic ice-melting robot for the contact network of an electrified railway based on electromagnetic eddy current includes a line-climbing motion module 1, a turbine connecting shaft 2, two upper mechanical arms 3, a mechanical arm connecting shaft 4, two lower mechanical arms 5 and an electromagnetic eddy current deicing module 6, and each module will be described in detail below.

[0033] The wire-climbing movement module 1 is used for performing wire-climbing movement along the load-bearing cables of the contact network of an electrified railway. Figure 3 2 is a structural diagram of the climbing motion module 2 in the present utility model. Figure 3 As shown, the climbing motion module 1 of the utility model includes a climbing motion wheel 11, a gear set 12 and a turbine protection cover 13, wherein:

[0034] The climbing wheel 11 is fixedly connected to the gear set 12, and the gear set 12 drives the climbing wheel 11 to perform climbing motion along the load-bearing cable under the drive of the motor. In this embodiment, the climbing wheel 11 adopts a double motion wheel structure to ensure the stability of the climbing motion. In addition, the climbing wheel can also be set as a double-layer structure, the inner layer can tightly bite the load-bearing cable with a smaller radius, and the inner second layer and the first layer are connected front and back, so that the driving wheel can avoid the suspension string between the load-bearing cable and the contact line during operation, so as to achieve a longer distance of deicing and a longer endurance.

[0035] In practical applications, the number and structure of the gears in the gear set 12 can be set according to actual needs. Figure 3 As shown, the gear set 12 in this embodiment includes 5 gears, namely, 2 motion gears 121, 2 horizontal motion gears 122, a horizontal motor transmission gear 123 and a vertical motor transmission gear 124, wherein the motion gear 121 is coaxially fixedly connected with the corresponding motion wheel, and the outer diameter of the motion gear 121 is greater than or equal to the outer diameter of the motion wheel, so as to act as a labor-saving lever, the horizontal motion gear 122 is engaged with the motion gear 121 at 90°, the horizontal motor transmission gear 123 is engaged with the horizontal motion gear 122 at 180°, and the vertical motor transmission gear 124 is engaged with the horizontal motor transmission gear 123 at 90°, and the vertical motor transmission gear 124 rotates under the drive of the motor, thereby driving the climbing motion wheel 11 to rotate. It can be seen that the use of the gear set in this embodiment can achieve the purpose of a single motor driving the rotation of the dual motion wheels, thereby avoiding the problem of different angular velocities caused by different currents of the dual motors due to the unbalanced wire resistance, ensuring the stability of the wheel rotation and avoiding the problem of dual wheel slippage, and ensuring the stability of the overall movement of the robot.

[0036] The turbine protection cover 13 is arranged on the outside of the climbing wheel 11 and the gear set 12. Figure 3 As shown, in this embodiment, the engine protection cover 13 includes a moving wheel protection cover 131 and a gear group protection cover 132. The moving wheel protection cover 131 adopts a front-to-back cover-mounted arch structure, and the gear group protection cover 132 adopts a left-to-right cover-shaped arch structure. The moving wheel protection cover 131 and the gear group protection cover 132 share a middle side wall, and the side shaft of the climbing moving wheel 11 is installed on the side wall of the moving wheel protection cover 131, and is coaxially connected to the moving gear 121 in the gear group 12 through the hole in the middle side wall.

[0037] The turbine connecting shaft 2 is fixedly connected to the turbine protection cover 13 in the wire-climbing motion module 1, which can prevent the two from slipping against each other during the movement of the robot, thereby ensuring the stability of the robot.

[0038] The upper ends of the two upper robotic arms 3 are fixedly connected to the outer wheels of the turbine connecting shaft 2 from both sides, and the lower ends of the two upper robotic arms 3 are fixedly connected to the outer wheels of the two robotic arm connecting shafts 4, so that the upper robotic arms 3 can rotate around the axis of the turbine connecting shaft 2 or the robotic arm connecting shaft 4.

[0039] The upper ends of the two lower robotic arms 5 are fixedly connected to the outer wheels of the robotic arm connecting shaft 4 on the corresponding side, so that the lower robotic arms 5 can rotate around the axis of the robotic arm connecting shaft 4, and the lower ends are fixedly connected to the corresponding sides of the electromagnetic eddy current deicing module 6.

[0040] like Figure 1As shown, in this embodiment, both the upper robot arm 3 and the lower robot arm 5 adopt a parallel double-arm structure to enhance the stability of the robot. The outer wheel of the robot arm connecting shaft 4 adopts a double-layer structure, which is used to connect the upper robot arm 3 and the lower robot arm 5 respectively, that is, the two layers of outer wheels are parallel but not coplanar, so that the upper and lower robot arms can be intertwined without affecting each other. In practical applications, the robot arm connecting shaft 4 can be connected to a motor controlled by a control center, so as to achieve the purpose of controlling the opening and closing of the upper and lower robot arms through the control center.

[0041] In the contact network of electrified railways, since the load-bearing cables are affected by gravity, they tend to be high at both ends and low in the middle. Generally, a suspension string is set between the load-bearing cables and the contact wire so that the relatively fragile contact wire under the load-bearing cables can maintain a horizontal state. However, this causes the distance between the upper climbing motion module 1 and the lower electromagnetic eddy current deicing module 6 to change when the robot climbs the rope. The robot arm connecting shaft 4 provides the robot with the function of changing the angle, so that the distance between the climbing motion module 1 and the electromagnetic eddy current deicing module 6 on the longitudinal axis changes with the change of the distance between the load-bearing cable and the contact wire. This ensures the stability of the robot's movement on the load-bearing cable and ensures that the eddy current in the electromagnetic eddy current deicing module 6 is always consistent, thereby ensuring the deicing effect.

[0042] The electromagnetic eddy current deicing module 6 is used to de-ice the contact wire by using electromagnetic eddy current heating. Figure 4 : is a structural diagram of the electromagnetic eddy current deicing module 6 in the utility model. Figure 1 and Figure 4 As shown, the electromagnetic eddy current deicing module 6 in the utility model includes a bearing structure 61, an electromagnetic eddy current housing 62 and an electromagnetic eddy current coil 63, wherein both sides of the bearing structure 61 are fixedly connected to the two lower robotic arms 5, the electromagnetic eddy current housing 62 is installed on the bearing structure 61, and the electromagnetic eddy current coil 63 is arranged inside the electromagnetic eddy current housing 62, and the electromagnetic eddy current housing 62 surrounds the contact wire, so that the electromagnetic eddy current coil 63 is in continuous close contact with the contact wire, realizing contactless deicing, thereby achieving the purpose of protecting the contact wire.

[0043] In order to keep the position of the electromagnetic eddy current coil 63 and the contact line relatively stable, the bearing structure 61 in this embodiment adopts a shock-absorbing and buffering structure, such as Figure 4 As shown, in this embodiment, the bearing structure 61 includes four buffer arms, two on each side of the electromagnetic eddy current housing 62 . Figure 5 is a structural diagram of the buffer arm in the load-bearing structure of this embodiment. Figure 5As shown, each buffer arm includes a positioning shaft 611, a connecting shaft 612, a telescopic rod 613, a shock absorbing spring 614, a connecting column 615 and a positioning pin 616, wherein the outer side of the positioning shaft 611 is used for fixed connection with the lower mechanical arm 5 on the corresponding side, and the inner side of the positioning shaft 611 is fixedly connected with the connecting shaft 612, the connecting shaft 612 is a hollow cylinder, and the telescopic rod 613 is sleeved inside, and the shock absorbing spring 614 is sleeved outside the telescopic rod 613, and the size of the shock absorbing spring 614 needs to be close to the telescopic rod, and there should be no sliding friction between the two. The bottom of the shock absorbing spring 614 is fixed to the bottom of the connecting shaft 612, and the telescopic rod 613 moves relatively statically and in the same direction with the shock absorbing spring 614 within a predetermined range, and the ends of the two are connected with a connecting column 615, whose angle is maintained at 90° with the positioning shaft 611, and the axis of the connecting column 615 is perpendicular to the ground. The positioning pin 616 is disposed in the connecting column, and the end of the positioning pin 616 is tightly fitted and locked with the electromagnetic eddy current housing 62 to limit the height of the electromagnetic eddy current coil 63 .

[0044] like Figure 2 As shown, the electromagnetic eddy current housing 62 needs to be kept horizontal, that is, it needs to be kept parallel to the contact line. The climbing wheel 11 located in the climbing motion module 1 is always in engagement with the load-bearing cable, but the load-bearing cable may sag at the middle end away from the flat wrist due to the influence of gravity, resulting in a change in the tangent angle, which may cause the robot to tilt as a whole. Through the variable angle of the upper and lower mechanical arms in this embodiment and the positioning pin 616 inside the connecting column 615 in the bearing structure 61 and the electromagnetic eddy current housing 62, the purpose of overall shock absorption and maintaining a fixed height of the electromagnetic eddy current deicing module 6 can be achieved.

[0045] In addition, during the deicing process, the ice on the contact line may be uneven, that is, the thickness of the ice layer on the contact line at different layers is inconsistent. In order to improve the deicing performance, an ice layer detection module 7 can be added in actual application to detect the ice layer thickness in real time and upload it to the control center so that the control center can adjust the power of the electromagnetic eddy current coil 63. Figure 6 : is a structural diagram of the ice layer detection module in this embodiment. The ice layer detection module 7 includes a bracket 71 and an infrared detection camera 72. The bracket 71 is connected to the lower mechanical arm 5. The infrared detection camera 72 is installed on the bracket. The infrared detection camera 72 is provided with an infrared detection head 721 and a camera 722. The infrared detection head 721 is used to detect the distance between the irradiation end point and the transmitting end to determine the thickness of the contact line covering. The camera 722 is used to take an image of the contact line covering and upload it to the control center to determine whether it is an ice layer, thereby eliminating the influence of other debris such as mud and water film.

[0046] like Figure 6As shown, the bracket 71 of the ice layer detection module 7 in this embodiment includes a rotating joint 711, a connecting shaft 712 and a connecting rod 713, wherein the rotating joint 711 is fixed to the side end of the lower robotic arm 5, and the connecting shaft 712 is rotatably connected to the rotating joint 711 and the connecting rod 713, so that the infrared detection camera 72 can be adjusted to different angles by adjusting the rotating joint 711 and the connecting rod 713.

[0047] In practical applications, the automatic ice-melting robot for the electrified railway contact network can be controlled by the control center. For example, the curve function of the load-bearing cable is calculated in real time to monitor the change in the distance between it and the contact line, and the upper robot arm 3 and the lower robot arm 5 are adjusted in time to achieve a suitable angle. The detection data and images uploaded by the infrared detection camera 72 are used to detect the ice layer processing status and the infrared detection distance is used to reflect the ice layer thickness in real time, so as to perform automated eddy current deicing operations erected on the load-bearing cable.

[0048] Although the above describes an illustrative specific implementation manner of the present invention to facilitate technical personnel in this technical field to understand the present invention, it should be clear that the present invention is not limited to the scope of the specific implementation manner. For ordinary technical personnel in this technical field, as long as various changes are within the spirit and scope of the present invention defined and determined by the attached claims, these changes are obvious, and all inventions and creations using the concept of the present invention are protected.

Claims

1. An electromagnetic eddy current based automatic ice-melting robot for electrified railway contact network, comprising a line-climbing motion module (1), a turbine connecting shaft (2), two upper mechanical arms (3), a mechanical arm connecting shaft (4), two lower mechanical arms (5) and an electromagnetic eddy current deicing module (6), wherein: The line climbing movement module (1) is used for performing line climbing movement along the load-bearing cable of the contact network of an electrified railway, and comprises a line climbing movement wheel (11), a gear set (12) and a turbine protection cover (13), wherein the line climbing movement wheel (11) is fixedly connected to the gear set (12), the gear set (12) drives the line climbing movement wheel (11) to perform line climbing movement along the load-bearing cable under the drive of a motor, and the turbine protection cover (13) is arranged on the outer sides of the line climbing movement wheel (11) and the gear set (12); The turbine connecting shaft (2) is fixedly connected to the turbine protection cover (13) in the line climbing motion module (1); The upper ends of the two upper mechanical arms (3) are fixedly connected to the outer wheels of the turbine connecting shaft (2) from both sides, and the lower ends of the two upper mechanical arms (3) are fixedly connected to the outer wheels of the two mechanical arm connecting shafts (4); The upper ends of the two lower mechanical arms (5) are respectively fixedly connected to the outer wheels of the mechanical arm connecting shafts (4) on the corresponding sides, and the lower ends are fixedly connected to the corresponding sides of the electromagnetic eddy current deicing module (6); The electromagnetic eddy current deicing module (6) is used to de-ice the contact line by electromagnetic eddy current heating, and comprises a bearing structure (61), an electromagnetic eddy current housing (62) and an electromagnetic eddy current coil (63), wherein the two sides of the bearing structure (61) are fixedly connected to the two lower mechanical arms (5), the electromagnetic eddy current housing (62) is installed on the bearing structure (61), and the electromagnetic eddy current coil (63) is arranged inside the electromagnetic eddy current housing (62), and the electromagnetic eddy current housing (62) surrounds the contact line, so that the electromagnetic eddy current coil (63) and the contact line are in continuous close contact, thereby realizing contactless deicing.

2. The automatic ice-melting robot for electrified railway contact network according to claim 1, characterized in that: The line-climbing motion wheel (11) adopts a double motion wheel structure.

3. The automatic ice-melting robot for electrified railway contact network according to claim 2, characterized in that: The gear set (12) comprises two moving gears (121), two horizontal moving gears (122), a horizontal motor transmission gear (123) and a vertical motor transmission gear (124), wherein the moving gear (121) is coaxially fixedly connected with the corresponding moving wheel, and the outer diameter of the moving gear (121) is greater than or equal to the outer diameter of the moving wheel, the horizontal moving gear (122) is meshed with the moving gear (121) at 90 degrees, the horizontal motor transmission gear (123) is meshed with the horizontal moving gear (122) at 180 degrees, and the vertical motor transmission gear (124) is meshed with the horizontal motor transmission gear (123) at 90 degrees. The vertical motor transmission gear (124) rotates under the drive of the motor, thereby driving the climbing moving wheel (11) to rotate.

4. The automatic ice-melting robot for electrified railway contact network according to claim 1, characterized in that: The turbine protection cover (13) comprises a moving wheel protection cover (131) and a gear set protection cover (132); the moving wheel protection cover (131) adopts a front-to-back cover-mounted arch structure, and the gear set protection cover (132) adopts a left-to-right cover-shaped arch structure; the moving wheel protection cover (131) and the gear set protection cover (132) share a middle side wall; the side shaft of the climbing moving wheel (11) is installed on the side wall of the moving wheel protection cover (131) and is coaxially connected to the moving gear (121) in the gear set (12) through a hole in the middle side wall.

5. The automatic ice-melting robot for electrified railway contact network according to claim 1, characterized in that: The upper mechanical arm (3) and the lower mechanical arm (5) both adopt a parallel double-arm structure.

6. The automatic ice-melting robot for electrified railway contact network according to claim 1, characterized in that: The outer wheel of the mechanical arm connecting shaft (4) adopts a double-layer structure and is used to connect the upper mechanical arm (3) and the lower mechanical arm (5) respectively.

7. The automatic ice-melting robot for electrified railway contact network according to claim 1, characterized in that: The bearing structure (61) comprises four buffer arms, two of which are provided on each side of the electromagnetic eddy current housing (62); each buffer arm comprises a positioning shaft (611), a connecting shaft (612), a telescopic rod (613), a shock absorbing spring (614), a connecting column (615) and a positioning pin (616); the outer side of the positioning shaft (611) is used for fixed connection with the lower mechanical arm (5) on the corresponding side; the inner side of the positioning shaft (611) is fixedly connected with the connecting shaft (612); the connecting shaft (612) is a hollow cylinder with a telescopic rod (613) sleeved inside; the shock absorbing spring (614) is sleeved outside the telescopic rod (613) The size of the shock absorbing spring (614) needs to be close to the telescopic rod, and there should be no sliding friction between the two. The bottom of the shock absorbing spring (614) is fixed to the bottom of the connecting shaft (612), and the telescopic rod (613) moves in the same direction as the shock absorbing spring (614) relative to each other within a predetermined range. The ends of the two are connected with a connecting column (615), and the angle between the connecting column and the positioning shaft (611) is maintained at 90 degrees, and the axis of the connecting column (615) is perpendicular to the ground. The positioning pin (616) is arranged in the connecting column, and the end of the positioning pin (616) is tightly fitted and locked with the electromagnetic eddy current housing (62) to limit the height of the electromagnetic eddy current coil (63).

8. The automatic ice-melting robot for electrified railway contact network according to claim 1, characterized in that: It also includes an ice layer detection module (7), including a bracket (71) and an infrared detection camera (72), the bracket (71) is connected to the lower mechanical arm (5), the infrared detection camera (72) is installed on the bracket, and the infrared detection camera (72) is provided with an infrared detection head (721) and a camera (722), the infrared detection head (721) is used to detect the distance between the irradiation end point and the transmitting end to determine the thickness of the contact line covering, and the camera (722) is used to capture an image of the contact line covering.

9. The automatic ice-melting robot for overhead contact network of electrified railway according to claim 8, characterized in that: The bracket (71) comprises a rotating joint (711), a connecting shaft (712) and a connecting rod (713), wherein the rotating joint (711) is fixed to the side end of the lower mechanical arm (5), and the connecting shaft (712) is rotatably connected with the rotating joint (711) and the connecting rod (713), so that the infrared detection camera (72) can be adjusted to different angles by adjusting the rotating joint (711) and the connecting rod (713).

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