Deicing assembly of electric wire deicing robot

Abstract

The utility model discloses a deicing assembly of an electric wire deicing robot, relates to the technical field of robots, and solves the problems that the deicing assembly of an existing electric wire deicing robot is limited in application range, possibly causes damage to an electric wire and is insufficient in cleanliness. The robot adapts to electric wires of different shapes and sizes through the laser range finder and the flexible deicing arm, and the application range of the robot is expanded. Through non-contact deicing technologies such as an ultrasonic deicing head, an electromagnetic induction heater and an optical fiber sensor array, direct contact with the electric wire is avoided, and the damage risk is reduced. Deicing parameters are monitored and adjusted in real time through the intelligent control system and the infrared thermal imager, and the safety of the deicing process is ensured. The cleaning brush is adjusted according to the hardness and the material of the surface of the electric wire, and thorough cleaning is ensured. Real-time feedback is provided through the camera and the infrared thermal imager, and an area needing to be further cleaned is indicated.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and more specifically to a deicing component of a wire deicing robot. Background Art

[0002] In the early 21st century, as climate change became increasingly evident, extreme weather events occurred frequently, and power supply faced unprecedented challenges. The cold winter covered with ice and snow was particularly troublesome, because power transmission lines were often affected by ice, threatening the transmission and supply of electricity. At this time, scientists began to study and solve this problem, and were committed to developing robots that could autonomously cruise on transmission lines to remove ice.

[0003] With the rapid development of robotics and artificial intelligence, power line deicing robots have emerged. These robots use advanced sensors and algorithms to accurately identify iced areas and use efficient electric heating deicing technology to perform deicing operations. By autonomously cruising on transmission lines, these robots can promptly and effectively solve the problem of power line icing, ensuring the stability and reliability of power supply.

[0004] However, although the existing wire deicing robots have solved the limitations of traditional deicing methods to a certain extent, there are still some problems. First, the scope of application of the deicing components is limited. Due to the design and technical limitations of the robot, the deicing components may only be applicable to specific types or specifications of wires and cannot cover all transmission lines, which limits the flexibility and applicability of the robot.

[0005] Secondly, the de-icing process may cause damage to the wires. During the de-icing process, the de-icing components may produce excessive friction or overheating, causing damage to the surface or internal structure of the wires, increasing maintenance costs and safety hazards.

[0006] Insufficient cleanliness of de-icing components is also a problem. Although robots can perform de-icing operations, the residual ice layer may not be completely removed, causing the wires to freeze again, increasing the frequency and cost of subsequent maintenance and affecting the quality and stability of power transmission. Utility Model Content

[0007] The purpose of the present invention is to design a deicing component of an electric wire deicing robot that can solve the shortcomings of the deicing components of the existing electric wire deicing robots, such as limited application range, possible damage to the electric wires and insufficient cleanliness.

[0008] In order to achieve the above technical effects, the utility model adopts the following technical solutions:

[0009] A deicing assembly of a wire deicing robot, comprising: a nano material injector, the nano material injector is located at the front of the deicing robot, the nano material injector sprays the nano material onto the surface of the wire through a hose to form a deicing film; a laser rangefinder is arranged above the nano material injector, the laser rangefinder transmits distance and shape information through a data line; an ultrasonic deicing head is arranged below the nano material injector; the ultrasonic deicing head transmits ultrasonic signals and control instructions through a cable; the ultrasonic deicing head is connected to an intelligent control system through a control line, and the intelligent control system is integrated in the main control unit of the deicing robot; a flexible deicing arm is arranged on the left side of the deicing robot, the flexible deicing arm is connected to the main control unit of the deicing robot through a control line; ... The telescopic structure and the cable transmit force and motion control signals; an infrared thermal imager is arranged on the top of the deicing robot, and the infrared thermal imager is connected to the central processing unit through a data cable for transmitting thermal imaging data and temperature information; a cleaning brush is arranged at the bottom of the deicing robot, and the cleaning brush is connected to the power supply and control unit through a cable; an optical fiber sensor array is arranged on the right side of the infrared thermal imager, and the optical fiber sensor array is connected to the central processing unit through a data cable; an electromagnetic induction heater is arranged on the right side of the cleaning brush; the electromagnetic induction heater is connected to the power supply and control unit through a cable; a camera is arranged on the left side of the flexible deicing arm, and the camera is connected to the central processing unit through a data transmission line for monitoring the deicing process.

[0010] As a further description of the above technical solution:

[0011] A spray generator is arranged inside the nanomaterial injector for extracting the nanomaterial solution from the liquid storage container and spraying it out through a nozzle; a nanomaterial liquid storage container is arranged below the spray generator for storing the nanomaterial solution or spray, and the nanomaterial liquid storage container is connected to the spray generator through a pipeline; a nozzle is arranged above the spray generator; a control system connection interface is arranged at the bottom of the nanomaterial injector for connecting with the intelligent control system; heating elements are arranged around the spray generator and the liquid storage container for ensuring fluidity and uniformity during the spraying process.

[0012] As a further description of the above technical solution:

[0013] The ultrasonic deicing head includes a deicing head body; the deicing head body is connected to a main controller via a connection interface; an ultrasonic generator is arranged inside the deicing head body; a vibrator is arranged above the ultrasonic generator; the ultrasonic generator is connected to the vibrator via a control circuit; an ultrasonic sensor is arranged below the ultrasonic generator for detecting the thickness and condition of the ice layer; a guide device is fixed on the left side of the ultrasonic deicing head; a connection interface is arranged at the bottom of the ultrasonic deicing head for connecting to a main controller.

[0014] As a further description of the above technical solution:

[0015] A telescopic device is provided inside the flexible deicing arm, and a hydraulic system is provided inside the telescopic device; the flexible deicing arm is connected to the flexible deicing arm body and the robot body through a joint connector; a sensor and a control module are provided below the telescopic device for sensing the shape of the wires and environmental conditions, and adjusting the deicing strategy according to real-time data; a temperature regulating device is provided near the end of the flexible deicing arm for controlling the temperature of the deicing brush head.

[0016] As a further description of the above technical solution:

[0017] The cleaning brush is composed of bristles, an adjusting mechanism and a supporting structure; the adjusting mechanism is located above the bristles, a motor is arranged inside the adjusting mechanism, and the adjusting mechanism is directly connected to the bristles through a connecting rod for adjusting the hardness and density of the bristles.

[0018] As a further description of the above technical solution:

[0019] The optical fiber sensor array consists of an optical fiber Bragg grating sensor, an optical fiber vibration sensor and an optical fiber temperature sensor, and is used to monitor the pressure, vibration, temperature and strain of the surface of the wire.

[0020] As a further description of the above technical solution:

[0021] The electromagnetic induction heater includes an induction heating coil, a protective layer, a temperature sensor, a power interface and a control unit; the induction heating coil is wound on the surface that contacts the wire; the surface of the induction heating coil is covered with the protective layer; a temperature sensor is arranged on the left side of the induction heating coil; the power interface is located at the bottom of the deicing assembly, and the power interface is connected to the induction heating coil through an electrical connector; the control unit is located inside the main body of the wire deicing robot, and the control unit is connected to the temperature sensor and the power interface through a communication interface.

[0022] Positive beneficial effects:

[0023] In summary, due to the adoption of the above technical solutions, the beneficial effects of the utility model are as follows: the utility model adapts to wires of different shapes and sizes through a laser rangefinder and a flexible deicing arm, thereby expanding the scope of application of the robot. Non-contact deicing technologies such as ultrasonic deicing heads, electromagnetic induction heaters, and optical fiber sensor arrays avoid direct contact with wires and reduce the risk of damage. The deicing parameters are monitored and adjusted in real time through an intelligent control system and an infrared thermal imager to ensure the safety of the deicing process. The cleaning brush is adjusted according to the hardness and material of the wire surface to ensure thorough cleaning. Real-time feedback is provided through a camera and an infrared thermal imager to indicate areas that require further cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor, among which:

[0025] Figure 1 This is the equipment architecture diagram of the utility model;

[0026] Figure 2 It is a schematic diagram of the overall structure of the utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the nano material injector of the utility model;

[0028] Figure 4 This is a schematic diagram of the structure of the ultrasonic deicing head of the utility model;

[0029] Numbers in the figure: 1. Nanomaterial injector; 2. Laser rangefinder; 3. Ultrasonic deicing head; 4. Intelligent control system; 5. Flexible deicing arm; 7. Infrared thermal imager; 8. Cleaning brush; 9. Fiber optic sensor array; 10. Electromagnetic induction heater; 11. Camera; 101. Spray generator; 102. Nanomaterial liquid storage container; 103. Nozzle; 104. Control system connection interface; 105. Heating element; 301. Deicing head body; 302. Ultrasonic generator; 303. Vibrator; 304. Ultrasonic sensor; 305. Guide device; 306. Connection interface. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this utility model.

[0031] like Figure 1-Figure 4 As shown, a deicing component of a wire deicing robot includes: a nano material injector 1, the nano material injector 1 is located at the front of the deicing robot, the nano material injector 1 injects nano material onto the surface of the wire through a hose to form a deicing film; a laser rangefinder 2 is arranged above the nano material injector 1, and the laser rangefinder 2 transmits distance and shape information through a data line; an ultrasonic deicing head 3 is arranged below the nano material injector 1; the ultrasonic deicing head 3 transmits ultrasonic signals and control instructions through a cable; the ultrasonic deicing head 3 is connected to an intelligent control system 4 through a control line, and the intelligent control system 4 is integrated in the main control unit of the deicing robot; a flexible deicing arm 5 is arranged on the left side of the deicing robot, and the flexible deicing arm 5 is connected to the main control unit of the deicing robot through a control line. The telescopic structure and the cable transmit force and motion control signals; an infrared thermal imager 7 is arranged on the top of the deicing robot, and the infrared thermal imager 7 is connected to the central processing unit through a data line for transmitting thermal imaging data and temperature information; a cleaning brush 8 is arranged at the bottom of the deicing robot, and the cleaning brush 8 is connected to the power supply and control unit through a cable; an optical fiber sensor array 9 is arranged on the right side of the infrared thermal imager 7, and the optical fiber sensor array 9 is connected to the central processing unit through a data line; an electromagnetic induction heater 10 is arranged on the right side of the cleaning brush 8; the electromagnetic induction heater 10 is connected to the power supply and control unit through a cable; a camera 11 is arranged on the left side of the flexible deicing arm 5, and the camera 11 is connected to the central processing unit through a data transmission line for monitoring the deicing process.

[0032] In the above embodiment, a spray generator 101 is provided inside the nanomaterial injector 1 for extracting the nanomaterial solution from the liquid storage container and spraying it out through a nozzle; a nanomaterial liquid storage container 102 is provided below the spray generator 101 for storing the nanomaterial solution or spray, and the nanomaterial liquid storage container 102 is connected to the spray generator 101 through a pipeline; a nozzle 103 is provided above the spray generator 101; a control system connection interface 104 is provided at the bottom of the nanomaterial injector 1 for connecting to the intelligent control system 4; a heating element 105 is provided around the spray generator and the liquid storage container for ensuring fluidity and uniformity during the spraying process.

[0033] In a specific embodiment, first, the nanomaterial is selected for its excellent properties, such as high thermal conductivity, electrical conductivity, hygroscopicity or antifreeze. These properties enable the nanomaterial to form a uniform film on the surface and help to quickly transfer heat to the surface of the wire, accelerating the melting process of ice and snow. Secondly, the nanomaterial injector adopts high-pressure injection technology to inject the nanomaterial in the form of tiny particles onto the surface of the wire by increasing the pressure. This injection technology can ensure that the nanomaterial evenly covers the entire surface of the wire, forming a continuous and uniform film, thereby effectively preventing ice and snow from adhering. The injection process of the nanomaterial may be affected by surface tension. In order to ensure that the injected nanomaterial can fully cover the surface of the wire, the injector is equipped with a surface tension control device. In this way, the distribution of the injected nanomaterial on the surface of the wire can be adjusted to make it more uniform. Once the nanomaterials are injected onto the surface of the wire, they will quickly contact the surface of ice and snow and use their special properties to show their effects. For example, the nanomaterials may absorb surface moisture, causing local melting of the ice layer; or the nanomaterials may form a protective film to prevent new ice and snow from adhering. The effect of the nanomaterial is also affected by temperature. In extremely low temperature environments, the nanomaterial injector will be equipped with a temperature control device to ensure that the nanomaterial can function normally and effectively remove ice.

[0034] In the above embodiment, the ultrasonic deicing head 3 includes a deicing head body 301; the deicing head body 301 is connected to the main controller through a connection interface; an ultrasonic generator 302 is arranged inside the deicing head body 301; a vibrator 303 is arranged above the ultrasonic generator 302; the ultrasonic generator 302 is connected to the vibrator 303 through a control circuit; an ultrasonic sensor 304 is arranged below the ultrasonic generator for detecting the thickness and condition of the ice layer; a guide device 305 is fixed on the left side of the ultrasonic deicing head 3; a connection interface 306 is arranged at the bottom of the ultrasonic deicing head 3 for connecting with the main controller.

[0035] In a specific embodiment, an ultrasonic generator 302 is provided inside the ultrasonic deicing head body 301. The ultrasonic generator 302 generates high-frequency sound waves, which have the characteristics of ultrasonic waves, that is, the frequency is higher than the sound range that humans can hear (above 20kHz). A vibrator 303 is provided above the ultrasonic generator 302. The vibrator 303 is connected to the ultrasonic generator 302 through a control circuit. The vibrator 303 receives the signal from the ultrasonic generator 302 and converts it into vibration energy. An ultrasonic sensor 304 is provided below the ultrasonic generator for detecting the thickness and condition of the ice layer. The ultrasonic sensor 304 emits ultrasonic waves and receives the reflected ultrasonic waves. By measuring the propagation time and intensity of the ultrasonic waves, the thickness and condition of the ice layer can be determined. A guide device 305 is fixed on the left side of the ultrasonic deicing head 3. The guide device 305 can ensure that the ultrasonic deicing head moves along the correct path during the deicing process to ensure that the ice layer is effectively processed.

[0036] The ultrasonic waves generated by the ultrasonic generator 302 are transmitted to the surface of the ice layer through the vibrator 303. When the ultrasonic waves interact with the ice layer, they cause tiny vibrations inside the ice layer, thereby destroying the structure of the ice layer. These tiny vibrations cause the ice layer to become loose, making it easy to fall off or melt further. By continuously moving the ultrasonic deicing head and combining the feedback information of the ultrasonic sensor 304, it is possible to achieve fast and effective deicing of the ice layer on the surface of the wire.

[0037] In the above embodiment, a telescopic device is provided inside the flexible deicing arm 5, and a hydraulic system is provided inside the telescopic device; the flexible deicing arm 5 is connected to the flexible deicing arm body and the robot body through a joint connector; a sensor and a control module are provided under the telescopic device for sensing the shape of the wires and environmental conditions, and adjusting the deicing strategy according to real-time data; a temperature regulating device is provided near the end position of the flexible deicing arm 5 for controlling the temperature of the deicing brush head.

[0038] In a specific embodiment, a telescopic device is provided inside the flexible deicing arm 5, wherein a hydraulic system is provided inside the telescopic device. The hydraulic system can realize the telescopic and contraction of the flexible deicing arm by controlling the telescopic movement of the hydraulic cylinder, thereby adjusting the contact force and position of the deicing brush head. The flexible deicing arm 5 connects the flexible deicing arm body and the robot body through a joint connector. These joint connectors can enable the flexible deicing arm to move flexibly in the horizontal and vertical directions to adapt to the wire structure at different positions and angles. A sensor and a control module are provided below the telescopic device to sense the shape and environmental conditions of the wire and adjust the deicing strategy according to real-time data. The sensor can detect the shape, diameter and temperature, humidity and other information of the surrounding environment of the wire, and the control module adjusts the working mode of the flexible deicing arm according to this information to optimize the deicing effect. A temperature regulating device is provided near the end of the flexible deicing arm 5 to control the temperature of the deicing brush head. The temperature regulating device can adjust the temperature of the deicing brush head by heating or cooling to adapt to the deicing requirements under different environmental conditions and ensure the stability and reliability of the deicing effect.

[0039] In the specific implementation, the flexible deicing arm 5 is telescopically adjusted through a hydraulic system, the robot body and the deicing arm body are connected through joint connectors, the environmental conditions are sensed and the deicing strategy is adjusted through sensors and control modules, and the temperature of the deicing brush head is controlled through a temperature regulating device, thereby realizing flexible, intelligent and efficient operation of deicing of wires.

[0040] In the above embodiment, the cleaning brush 8 is composed of bristles, an adjusting mechanism and a supporting structure; the adjusting mechanism is located above the bristles, an electric motor is arranged inside the adjusting mechanism, and the adjusting mechanism is directly connected to the bristles through a connecting rod for adjusting the hardness and density of the bristles.

[0041] In a specific embodiment, the cleaning brush 8 is equipped with a mechanism that can automatically adjust the hardness and density of the bristles. This mechanism can be adjusted according to the hardness and material of the wire surface to ensure the gentleness and thoroughness of the deicing process. For example, for a harder wire surface, the bristles can be adjusted to a harder and denser state to improve the cleaning effect; for a softer or easily damaged wire surface, the bristles can be adjusted to a softer and sparser state to avoid damaging the wire surface. In addition, a sensor and a control system are provided inside the cleaning brush 8 to sense the hardness and material of the wire surface and adjust the hardness and density of the bristles according to real-time data. The sensor can detect the hardness, material and state of the wire surface, and the control system adjusts the working mode of the cleaning brush based on this information to achieve the best deicing effect. The cleaning brush 8 is usually driven by an electric drive system, and the speed and direction of rotation can be adjusted as needed. This ensures that the cleaning brush can fully cover the wire surface during the deicing process and effectively remove ice, snow and other dirt.

[0042] In the specific implementation, the cleaning brush 8 automatically adjusts the hardness and density of the bristles according to the hardness and material of the wire surface, which can minimize the damage to the wire surface while ensuring thorough deicing. The sensor and control system equipped with the cleaning brush 8 can sense the state of the wire surface in real time and make corresponding adjustments, making the deicing process more adaptive and intelligent. Secondly, the cleaning brush 8 is electrically driven, which can efficiently remove ice, snow and dirt from the wire surface, thereby improving deicing efficiency and reducing manual intervention and energy consumption.

[0043] In the above embodiment, the optical fiber sensor array 9 is composed of optical fiber Bragg grating sensors, optical fiber vibration sensors and optical fiber temperature sensors, and is used to monitor the pressure, vibration, temperature and strain of the surface of the wire.

[0044] In a specific embodiment, the fiber Bragg grating sensor uses the principle of grating to detect the pressure on the surface of the wire by measuring the change in the grating period inside the optical fiber. When pressure is applied to the surface of the wire, it causes a slight change in the period of the grating, and the magnitude and location of the pressure can be determined by measuring this change.

[0045] Fiber optic vibration sensors use the vibration of optical fibers to detect the vibration of the wire surface. When the wire surface is vibrated, it causes a slight bend in the optical fiber, which changes the transmission path of light. By measuring this path change, the frequency and amplitude of the vibration can be determined.

[0046] Fiber optic temperature sensors use the material properties of optical fibers to detect the temperature of the wire surface by measuring the temperature changes inside the optical fiber. When the temperature of the wire surface changes, the optical properties of the optical fiber material will change. By measuring this change, the size and change trend of the temperature can be determined.

[0047] In addition, the optical fiber sensor array also includes strain sensors for detecting the strain on the wire surface. This sensor uses the stretching or compression of the optical fiber to detect the deformation of the wire surface, thereby determining the degree of strain on the wire surface.

[0048] In the deicing assembly of the wire deicing robot, the optical fiber sensor array 9 is composed of a fiber Bragg grating sensor, a fiber vibration sensor, a fiber temperature sensor and a possible strain sensor, and uses optical principles and the characteristics of optical fiber materials to monitor the pressure, vibration, temperature and strain of the wire surface. By measuring the changes in these parameters, real-time monitoring and control of the wire deicing process can be achieved to ensure the effectiveness and safety of the deicing effect.

[0049] In the above embodiment, the electromagnetic induction heater 10 includes an induction heating coil, a protective layer, a temperature sensor, a power interface and a control unit; the induction heating coil is wound on the surface contacting the wire; the surface of the induction heating coil is covered with the protective layer; a temperature sensor is arranged on the left side of the induction heating coil; the power interface is located at the bottom of the deicing assembly, and the power interface is connected to the induction heating coil through an electrical connector; the control unit is located inside the main body of the wire deicing robot, and the control unit is connected to the temperature sensor and the power interface through a communication interface.

[0050] In a specific embodiment, the induction heating coil is the core component of the electromagnetic induction heater. When the coil is energized, a changing electromagnetic field is generated. This changing electromagnetic field passes through the surface of the wire and generates eddy currents therein. According to Faraday's law of electromagnetic induction, when the current in the electromagnetic induction heating coil changes, eddy currents will be generated in the wire. These eddy currents will cause the inside of the wire to heat up, thereby heating and melting the ice and snow near the surface of the wire. The protective layer is mainly used to protect the induction heating coil from damage by the external environment and provide a certain insulation effect to ensure safety and durability. The temperature sensor is used to monitor the temperature of the wire surface. By real-time monitoring of the temperature of the wire surface, the power of the induction heater can be adjusted as needed to ensure the safety and effectiveness of the deicing process. The power interface is used to connect the electromagnetic induction heater to the power supply, and the control unit is responsible for controlling the working state and power output of the heater. The control unit adjusts the working state of the induction heater in real time according to the feedback information of the temperature sensor to achieve precise control of the wire deicing process.

[0051] In a deicing component of a wire deicing robot, the electromagnetic induction heater 10 generates a changing electromagnetic field through an induction heating coil, which induces eddy currents inside the wire to generate heat, thereby heating and melting ice and snow near the wire surface. Through the cooperation of the temperature sensor and the control unit, real-time monitoring and precise control of the deicing process are achieved to ensure the effectiveness and safety of the deicing effect.

[0052] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that these specific embodiments are only examples, and those skilled in the art may omit, replace, and change the details of the above methods and systems without departing from the principles and essence of the present invention. For example, merging the above method steps so as to perform substantially the same functions in substantially the same manner to achieve substantially the same results is within the scope of the present invention. Therefore, the scope of the present invention is limited only by the appended claims.

Claims

1. A deicing assembly for a wire deicing robot, characterized in that: include: A nano material injector (1) is located at the front of the deicing robot, and the nano material injector (1) injects nano material onto the surface of the wire through a hose to form a deicing film; a laser rangefinder (2) is arranged above the nano material injector (1), and the laser rangefinder (2) transmits distance and shape information through a data line; an ultrasonic deicing head (3) is arranged below the nano material injector (1); the ultrasonic deicing head (3) transmits ultrasonic signals and control instructions through a cable; the ultrasonic deicing head (3) is connected to an intelligent control system (4) through a control line, and the intelligent control system (4) is integrated into the main control unit of the deicing robot; a flexible deicing arm (5) is arranged on the left side of the deicing robot, and the flexible deicing arm (5) transmits force through a telescopic structure and a cable. The deicing robot is provided with an infrared thermal imager (7) on the top, and the infrared thermal imager (7) is connected to the central processing unit via a data line for transmitting thermal image data and temperature information; the deicing robot is provided with a cleaning brush (8) on the bottom, and the cleaning brush (8) is connected to the power supply and control unit via a cable; an optical fiber sensor array (9) is provided on the right side of the infrared thermal imager (7), and the optical fiber sensor array (9) is connected to the central processing unit via a data line; an electromagnetic induction heater (10) is provided on the right side of the cleaning brush (8); the electromagnetic induction heater (10) is connected to the power supply and control unit via a cable; a camera (11) is provided on the left side of the flexible deicing arm (5), and the camera (11) is connected to the central processing unit via a data transmission line for monitoring the deicing process.

2. The deicing assembly of a wire deicing robot according to claim 1, characterized in that: The nanomaterial injector (1) is provided with a spray generator (101) inside, which is used to extract the nanomaterial solution from the liquid storage container and spray it out through a nozzle; a nanomaterial liquid storage container (102) is provided below the spray generator (101) for storing the nanomaterial solution or spray, and the nanomaterial liquid storage container (102) is connected to the spray generator (101) through a pipeline; a nozzle (103) is provided above the spray generator (101); a control system connection interface (104) is provided at the bottom of the nanomaterial injector (1) for connecting to the intelligent control system (4); heating elements (105) are provided around the spray generator and the liquid storage container for ensuring fluidity and uniformity during the spraying process.

3. The deicing assembly of the wire deicing robot according to claim 1, characterized in that: The ultrasonic deicing head (3) comprises a deicing head body (301); the deicing head body (301) is connected to a main controller via a connection interface; an ultrasonic generator (302) is arranged inside the deicing head body (301); a vibrator (303) is arranged above the ultrasonic generator (302); the ultrasonic generator (302) is connected to the vibrator (303) via a control circuit; an ultrasonic sensor (304) is arranged below the ultrasonic generator for detecting the thickness and condition of an ice layer; a guide device (305) is fixed on the left side of the ultrasonic deicing head (3); and a connection interface (306) is arranged at the bottom of the ultrasonic deicing head (3) for connecting to a main controller.

4. The deicing assembly of a wire deicing robot according to claim 1, characterized in that: The flexible deicing arm (5) is provided with a telescopic device inside, and a hydraulic system is provided inside the telescopic device; the flexible deicing arm (5) is connected to the flexible deicing arm body and the robot body through a joint connection; a sensor and a control module are provided below the telescopic device, which are used to sense the shape and environmental conditions of the wires and adjust the deicing strategy according to real-time data; the flexible deicing arm (5) is provided with a temperature regulating device near the end position, which is used to control the temperature of the deicing brush head.

5. The deicing assembly of a wire deicing robot according to claim 1, characterized in that: The cleaning brush (8) is composed of bristles, an adjusting mechanism and a supporting structure; the adjusting mechanism is located above the bristles, an electric motor is arranged inside the adjusting mechanism, and the adjusting mechanism is directly connected to the bristles via a connecting rod, and is used to adjust the hardness and density of the bristles.

6. The deicing assembly of a wire deicing robot according to claim 1, characterized in that: The optical fiber sensor array (9) is composed of an optical fiber Bragg grating sensor, an optical fiber vibration sensor and an optical fiber temperature sensor, and is used to monitor the pressure, vibration, temperature and strain conditions on the surface of the electric wire.

7. The deicing assembly of a wire deicing robot according to claim 1, characterized in that: The electromagnetic induction heater (10) comprises an induction heating coil, a protective layer, a temperature sensor, a power interface and a control unit; the induction heating coil is wound on a surface in contact with the electric wire; the surface of the induction heating coil is covered with the protective layer; a temperature sensor is arranged on the left side of the induction heating coil; the power interface is located at the bottom of the deicing component, and the power interface is connected to the induction heating coil via an electrical connector; the control unit is located inside the main body of the electric wire deicing robot, and the control unit is connected to the temperature sensor and the power interface via a communication interface.

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