Deicing robot

Abstract

The utility model discloses a deicing robot. The deicing robot comprises a rack, at least two moving assemblies and a deicing assembly, the rack comprises a bottom frame body and a mounting frame body, one end of the mounting frame body is connected with the bottom frame body, and the other end of the mounting frame body is a free end; the moving assemblies are located on the two sides of the bottom frame body correspondingly and hinged to the bottom frame body, and every two moving assemblies form a group and are symmetrically arranged along the central axis of the bottom frame body. The deicing assembly is arranged at the free end of the mounting frame body; wherein the deicing robot further comprises a magnetic attraction part and a navigation part, at least one of the rack and the moving assembly is provided with the magnetic attraction part, and the magnetic attraction part is used for keeping the connection state of the deicing robot and the tower drum; the navigation part is connected with the bottom frame body and is in communication connection with the moving assembly. The robot can be adsorbed on the tower drum to automatically work, manual work is replaced, and the blade deicing efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an ice removal robot. Background Art

[0002] As a renewable clean energy, wind power generation has been increasingly promoted and applied. Under the action of wind, the blade converts the kinetic energy of the wind into electrical energy by its own rotation. The length of the wind turbine blade is generally 20 - 120m, the blade diameter is 2 - 4m, and the weight reaches 50 tons. The size of the wind turbine blade is very large. In the cold and snowy environment in winter, there will be a large number of icing areas on the blade. The icing seriously affects the aerodynamic performance, load, power output and service life of the blade. Therefore, it is necessary to remove the ice on the surface of the blade in winter.

[0003] In the prior art, some use manual operation to remove ice. The operator attaches to the blade and performs ice removal operations in sequence from the root of the blade to the tip of the blade. This kind of ice removal method has low efficiency, long ice removal cycle and high risk factor. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the utility model provides an ice removal robot which can adsorb on the tower barrel and operate automatically, replacing manual operation and greatly improving the efficiency of blade ice removal.

[0005] The ice removal robot according to the first aspect embodiment of the utility model includes:

[0006] A frame, the frame includes a bottom frame body and a mounting frame body. One end of the mounting frame body is connected to the bottom frame body, and the other end is a free end;

[0007] At least two moving components, the moving components are respectively located on both sides of the bottom frame body and are hinged to the bottom frame body. The moving components are arranged in pairs and symmetrically about the central axis of the bottom frame body;

[0008] An ice removal component, the ice removal component is arranged at the free end of the mounting frame body;

[0009] Wherein, the ice removal robot further includes a magnetic attraction component and a navigation component. At least one of the frame and the moving components is provided with the magnetic attraction component, and the magnetic attraction component is used to maintain the connection state between the ice removal robot and the tower barrel; the navigation component is connected to the bottom frame body, and the navigation component is in communication connection with the moving components.

[0010] The ice removal robot according to the embodiment of the utility model has at least the following beneficial effects:

[0011] The deicing robot of the present application uses water jet technology to spray heated deicing agent onto the surface of the blade, melt the ice layer to achieve deicing operation, and has good deicing effect and high deicing efficiency. And by using the autonomous identification and positioning function of the navigation component, it can accurately locate and identify the ice layer on the surface of the blade and de-ice efficiently. In addition, due to the curved surface adaptive hinge structure between the mobile component and the bottom frame, it can automatically adapt to the changes in the upper and lower diameters of the tower, effectively fit with the concave and convex smooth curved surfaces with different curvature radii, have strong curved surface adaptive force, flexible movement, and good obstacle crossing ability. The deicing robot can automatically de-ice the surface of the blade, replace manual work, reduce the intensity of manual work, reduce the danger of high-altitude work, reduce the cost of manual work, improve the deicing efficiency and polishing effect of the blade, and is suitable for harsh environments such as low temperature and strong wind.

[0012] According to some embodiments of the utility model, the de-icing assembly includes a first driving member, a nozzle and a pointing member, the first driving member is connected to the mounting frame, the nozzle is connected to the output shaft of the first driving member, the first driving member is used to drive the nozzle to rotate, the pointing member is connected to the nozzle, the length of the pointing member is greater than the length of the nozzle, and the pointing member is arranged parallel to the nozzle.

[0013] According to some embodiments of the present utility model, the pointing member is provided with an identification portion, and the identification portion can be identified by the navigation member.

[0014] According to some embodiments of the utility model, the mounting frame includes a first transfer rod and a first extension rod, the frame also includes a first fixed rod and a first support rod, one end of the first transfer rod is connected to the bottom frame, and the other end is connected to the first extension rod, the de-icing assembly is arranged at the free end of the first extension rod, the two ends of the first fixed rod are respectively connected to the first extension rods on both sides, and the two ends of the first support rod are respectively rotatably connected to the first fixed rod and the bottom frame.

[0015] According to some embodiments of the utility model, the rack also includes a second support rod, both ends of which are respectively connected to the first transfer rod and the bottom frame; wherein the second support rod and the first support rod are respectively located on both sides of the mounting frame.

[0016] According to some embodiments of the utility model, the first transfer rod is detachably connected to the bottom frame; and / or, the first transfer rod and the first extension rod are detachably connected; and / or, the first fixing rod and the first extension rod are detachably connected; and / or, both ends of the first support rod are detachably connected to the first fixing rod and the bottom frame respectively.

[0017] According to some embodiments of the present utility model, each of the moving components includes a second driving member and at least two driving wheels. The second driving member is hinged to the bottom frame, and the driving wheels are grouped in pairs and located on both sides of the second driving member respectively.

[0018] According to some embodiments of the present utility model, the deicing robot further includes two driven wheels. The two driven wheels are symmetrically arranged along the central axis. And, along the moving direction of the deicing robot, the driving wheels and the driven wheels are respectively located at both ends of the deicing robot.

[0019] According to some embodiments of the present utility model, the deicing robot further includes an adapter. The navigation member is connected to the bottom frame through the adapter and is located on the central axis.

[0020] According to some embodiments of the present utility model, the adapter includes a fixing part connected to the bottom frame and an adjusting part connected to the navigation member. The fixing part and the adjusting part are rotatably connected to adjust the inclination angle of the navigation member relative to the bottom frame;

[0021] Wherein, one end of the adjusting part is connected to the fixing part through a first rotating shaft, and an arc-shaped groove is formed at the other end. The adapter further includes a locking part. The locking part passes through the arc-shaped groove and is connected to the fixing part. The locking part has a release state and a locking state. In the release state, the adjusting part can rotate around the first rotating shaft as the rotation center, and the locking part slides in the arc-shaped groove; in the locking state, the locking part abuts against the adjusting part to limit the rotation of the adjusting part.

[0022] The additional aspects and advantages of the present utility model will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present utility model. Description of the Drawings

[0023] The following further describes the present utility model in conjunction with the drawings and embodiments, wherein:

[0024] Figure 1 is a schematic structural diagram of the deicing robot according to the embodiment of the present utility model;

[0025] Figure 2 is a top view of the bottom frame of the deicing robot according to the embodiment of the present utility model and the components arranged on the bottom frame;

[0026] Figure 3 is Figure 2 the bottom view of the structure in

[0027] Figure 4Schematic diagram of the articulated structure between the moving component and the bottom frame body of the embodiment of the present utility model;

[0028] Figure 5 Schematic diagram of the ice removal component of the embodiment of the present utility model;

[0029] Figure 6 Schematic diagram of the mounting frame body of the embodiment of the present utility model;

[0030] Figure 7 Side view of the ice removal robot of the embodiment of the present utility model;

[0031] Figure 8 Connection diagram of the navigation component and the bottom frame body of the embodiment of the present utility model.

[0032] Reference numerals:

[0033] Frame 100; bottom frame body 110; central axis 111; second rotating shaft 112; mounting frame body 120; first adapter rod 121; first extension rod 122; first fixing rod 130; first support rod 140; second support rod 150;

[0034] Moving component 200; second driving member 210; driving wheel 220; driven wheel 230;

[0035] Ice removal component 300; first driving member 310; nozzle 320; pointing member 330;

[0036] Magnetic component 400;

[0037] Navigation component 500;

[0038] Adapter 600; fixing part 610; adjusting part 620; arc-shaped groove 621; first rotating shaft 630; locking part 640;

[0039] Controller 700. Detailed implementation manners

[0040] The embodiments of the present utility model are described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model and should not be construed as limiting the present utility model.

[0041] In the description of the present utility model, it should be understood that when it comes to orientation descriptions, such as the orientations or positional relationships indicated by up, down, front, back, left, right, etc., they are based on the orientations or positional relationships shown in the drawings. This is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0042] In the description of the present utility model, the meaning of several is more than one, and the meaning of multiple is more than two. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0043] In the description of the present utility model, unless otherwise clearly defined, words such as setting, installation, connection, etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in the present utility model in combination with the specific content of the technical solution.

[0044] In the description of the present utility model, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0045] As a renewable clean energy source, wind power generation has been increasingly promoted and applied. Under the action of the wind, the blade converts the kinetic energy of the wind into electrical energy through its own rotation. The length of the wind power blade is generally 20 - 120m, the blade diameter is 2 - 4m, and the weight reaches 50 tons. The size of the wind power blade is very large. In the cold and snowy environment in winter, there will be a large number of icing areas on the blade surface. The icing seriously affects the aerodynamic performance, load, power output, and service life of the blade. Therefore, it is necessary to de-ice the icing areas on the blade surface in winter.

[0046] In the prior art, some people use the method of manual operation for de-icing. The operator attaches to the blade and performs de-icing operations in sequence from the blade root to the blade tip. This de-icing method has low efficiency, a long de-icing cycle, and a high risk factor.

[0047] To this end, the present application proposes an ice removal robot that can adsorb on the tower barrel for automatic operation, replacing manual operation and greatly improving the efficiency of blade ice removal. As Figures 1 to 3 shown, the ice removal robot of the present application includes a frame 100, at least two moving components 200, an ice removal component 300, a magnetic attraction component 400, and a navigation component 500. The frame 100 is the framework of the ice removal robot and the installation foundation for other structures. The frame 100 includes a bottom frame body 110 and an installation frame body 120. The bottom frame body 110 is the installation foundation for structures such as the moving component 200, the controller 700, and the magnetic attraction component 400. One end of the installation frame body 120 is connected to the bottom frame body 110, and the other end extends away from the bottom frame body 110 to form a free end. It should be noted that the meaning of the free end is that this end is not subject to fixed constraints. The ice removal component 300 is arranged at the free end of the installation frame body 120 to perform ice removal operations on the blades.

[0048] For ease of subsequent understanding, the usage scenario of the ice removal robot will be briefly introduced first. Existing wind turbines often include a tower barrel and blades. Multiple blades are connected to the top of the tower barrel. After the blades are driven by the wind to rotate, they drive the generator in the tower barrel to work to generate electric energy. When performing ice removal work, one of the blades is controlled to rotate to a vertically downward posture. At this time, the blade and the tower barrel are arranged side by side. The ice removal robot adheres to the outer peripheral side of the tower barrel and performs ice removal treatment on this blade. After the current blade is processed, the next blade is controlled to rotate to a vertically downward posture for ice removal work, and so on in a cycle until all the blades are cleaned.

[0049] Based on the foregoing, as Figures 1 to 3 shown, the moving component 200 is connected to the bottom frame body 110 and is located on both sides of the bottom frame body 110 respectively. The moving components 200 are symmetrically arranged in pairs along the central axis 111 of the bottom frame body 110. The moving component 200 is used to drive the entire ice removal robot to move on the tower barrel. The number of the moving components 200 can be 2, 4, etc., which needs to be determined according to the size and load of the ice removal robot. It should be noted that since the outer diameter of the tower barrel is not uniform, for a conventional tower barrel, the outer diameter of the tower barrel gradually decreases along the direction from bottom to top. During ice removal work, the ice removal robot needs to move on the tower barrel in the vertical direction. Furthermore, for the changing outer diameter of the tower barrel, the ice removal robot is also provided with an adaptation structure.

[0050] Specifically, as Figure 2 and Figure 4As shown, the moving component 200 is hinged to the bottom frame 110 through the second rotating shaft 112, and the axial direction of the second rotating shaft 112 extends along the moving direction of the de-icing robot. Thus, the moving component 200 can deflect to a certain extent relative to the bottom frame 110 to adapt to different outer diameters of the tower barrel, which is beneficial to ensuring the close fit between the de-icing robot and the outer peripheral side of the tower barrel and preventing risks such as tipping and falling.

[0051] During the de-icing operation, the bottom of the de-icing robot is connected to the tower barrel, and the mounting frame 120 extends in the direction close to the blade. That is, the mounting frame 120 can extend horizontally, or extend at a small angle to the horizontal direction. The setting of the mounting frame 120 is beneficial to shortening the distance from the de-icing component 300 to the blade, so that the de-icing component 300 can perform de-icing work with higher efficiency. It should be noted that the de-icing principle of the de-icing component 300 can be jet de-icing, laser de-icing, etc. Jet de-icing can be to eject a high-pressure fluid through the nozzle 320 to break the ice layer, or to eject a high-temperature fluid to melt the ice layer. Or a combination of high temperature and high pressure, etc.

[0052] In Figure 5 In the shown embodiment, the jet de-icing method is adopted. The de-icing component 300 includes a nozzle 320, and the nozzle 320 can spray the heated ice-melting agent onto the surface of the blade, thereby melting the ice layer to achieve the de-icing operation.

[0053] The magnetic attraction member 400 is used to adsorb the de-icing robot on the tower barrel to maintain the connection state between the de-icing robot and the tower barrel. The magnetic attraction member 400 can be one or more, and can be arranged on any one of the frame 100 and the moving component 200. Or, magnetic attraction members 400 are arranged on both the frame 100 and the moving component 200. In Figure 3 In the shown embodiment, the number of magnetic attraction members 400 is three, which are respectively located on the moving components 200 on both sides and the rear end of the bottom frame 110, so as to perform three-point adsorption to ensure the adsorption stability of the de-icing robot. It should be noted that although there is an attractive force between the magnetic attraction member 400 and the outer wall of the tower barrel, there is still a certain gap between the magnetic attraction member 400 and the tower barrel. The de-icing robot is in direct contact with the tower barrel through the moving component 200 to reduce the frictional resistance when the moving component 200 moves. More specifically, the magnetic attraction member 400 arranged on the moving component 200 is composed of multiple specially arranged neodymium iron boron permanent magnets, a magnet protective sleeve, and a magnetic conduction yoke iron block, and has a certain distance from the wall surface of the tower barrel, forming a magnetic gap type adsorption structure.

[0054] It should be noted that in the embodiments of the present application, in order to improve the automation level of the de-icing robot, the de-icing robot is further provided with a navigation member 500. The navigation member 500 is connected to the bottom frame 110, and the navigation member 500 is communicatively connected to the moving assembly 200. The navigation member 500 can be components such as an infrared detector, a CCD camera, a camera, etc., which can be used to detect the ice-covered area on the blade, and then feedback to the controller 700, so that the controller 700 controls the movement of the moving assembly 200, and further moves the de-icing robot to a specified position. It can be understood that the control principle of image recognition and positioning by the navigation member 500 is a conventional technical means for those skilled in the art, and will not be elaborated here.

[0055] Based on the above, the de-icing robot of the present application uses the water jet technology to spray the heated de-icing agent onto the blade surface to melt the ice layer and achieve the de-icing operation. The de-icing effect on the blade is good and the de-icing efficiency is high. And by using the navigation member 500 with the function of autonomous recognition and positioning, it can accurately identify and position the ice layer on the blade surface and de-ice efficiently. In addition, since a curved surface adaptive hinge structure is adopted between the moving assembly 200 and the bottom frame 110, it can automatically adapt to the change of the upper and lower diameters of the tower barrel, effectively fit with the concave and convex smooth curved surfaces with different curvature radii, has strong curved surface adaptability, flexible movement and good obstacle-crossing ability. This de-icing robot can perform automatic de-icing on the blade surface, replace manual operation, reduce the intensity of manual operation, reduce the danger of high-altitude operation, reduce the cost of manual operation, improve the de-icing efficiency and grinding effect of the blade, and is suitable for harsh environments such as low temperature and strong wind.

[0056] In some embodiments, the de-icing assembly 300 includes a first driving member 310, a nozzle 320 and a pointing member 330. The first driving member 310 is connected to the mounting frame 120, the nozzle 320 is connected to the output shaft of the first driving member 310, and the first driving member 310 is used to drive the nozzle 320 to rotate to adjust the ejection angle of the water flow. The pointing member 330 is connected to the nozzle 320. It should be noted that the length of the pointing member 330 is greater than the length of the nozzle 320, and the pointing member 330 is arranged parallel to the nozzle 320 and can rotate with the rotation of the nozzle 320. Thus, the pointing member 330 and the ejection angle of the ejection water flow of the nozzle 320 are the same.

[0057] Further, the pointing member 330 is provided with an identification portion. For example, the identification portion may be a coating of a color such as red or yellow with a large contrast to the ambient color, which is sprayed on the outer surface of the pointing member 330, so that the pointing member 330 can be more easily recognized and captured by the navigation member 500. It can be understood that the identification portion may also be a signal transmitting component, etc. For example, a micro antenna is respectively provided at both ends of the pointing member 330. The navigation member 500 can receive the signals of the antennas to identify the positions of the antennas, and obtain the tilt angle of the pointing member 330 by integrating the position information of the two antennas, so as to know the angle of the water flow ejected from the nozzle 320.

[0058] In some embodiments, the mounting frame 120 further includes a first adapter rod 121 and a first extension rod 122. The frame 100 further includes a first fixing rod 130 and a first support rod 140. One end of the first adapter rod 121 is connected to the bottom frame 110, and the other end is connected to the first extension rod 122. As Figure 1 and Figure 6 shown, the first adapter rod 121 is inclined with respect to the bottom frame 110, and the inclination directions of the two first adapter rods 121 are opposite, so as to increase the distance between the two first extension rods 122, so that the blades can be accommodated between the two first extension rods 122. Thus, the deicing assemblies 300 on the two first extension rods 122 can simultaneously perform deicing treatment on the two side surfaces of the blades.

[0059] One end of the first extension rod 122 is used for connecting to the first adapter rod 121, and the other end is a free end. The deicing assembly 300 is provided at the free end of the first extension rod 122. Both ends of the first fixing rod 130 are respectively connected to the first extension rods 122 on both sides. Both ends of the first support rod 140 are respectively rotatably connected to the first fixing rod 130 and the bottom frame 110. The settings of the first fixing rod 130 and the first support rod 140 are both to increase the structural strength of the mounting frame 120 and avoid deformation of the rods.

[0060] In addition, the frame 100 further includes a second support rod 150. As Figure 7 shown, both ends of the second support rod 150 are respectively connected to the first adapter rod 121 and the bottom frame 110. The second support rod 150 and the first support rod 140 are respectively located on both sides of the mounting frame 120, so that both sides of the mounting frame 120 are respectively supported by the first support rod 140 and the second support rod 150, reducing the probability that the mounting frame 120 tilts and deforms towards the side of the first support rod 140 or towards the side of the second support rod 150.

[0061] Furthermore, the first transfer rod 121 is detachably connected to the bottom frame 110, the first transfer rod 121 and the first extension rod 122 are detachably connected, the first fixing rod 130 is detachably connected to the first extension rod 122, and both ends of the first support rod 140 are respectively detachably connected to the first fixing rod 130 and the bottom frame 110. Moreover, both ends of the second support rod 150 are respectively detachably connected to the first transfer rod 121 and the bottom frame 110. Thus, during the transportation of the de-icing robot, each rod can be disassembled, greatly reducing the packaging volume of the de-icing robot during transportation, greatly facilitating transportation, and reducing the possibility of damage to the rods during transportation.

[0062] It can be understood that the first extension rod 122 and the first transfer rod 121 can be made of lightweight materials such as aluminum or carbon fiber, so as to reduce the weight and lower the overall load of the de-icing robot. And, the center of the entire mounting frame 120 is close to the bottom frame 110 to reduce the tipping moment of the de-icing robot, thereby making the adsorption more stable and reliable.

[0063] In some embodiments, each moving component 200 includes a second driving member 210 and at least two driving wheels 220. The second driving member 210 is hinged to the bottom frame 110, and the driving wheels 220 are connected to the output shaft of the second driving member 210. As Figure 2 and Figure 3 In the illustrated embodiment, each moving component 200 includes two driving wheels 220. The two driving wheels 220 form a group and are respectively located on both sides of the second driving member 210. In other embodiments, multiple groups of driving wheels 220 can also be provided on the moving component 200, and a second driving member 210 drives multiple groups of driving wheels 220 through a gear transmission structure.

[0064] Furthermore, the de-icing robot further includes two driven wheels 230. The two driven wheels 230 are symmetrically arranged along the central axis 111. And, along the moving direction of the de-icing robot, the driving wheels 220 and the driven wheels 230 are respectively located at the front and rear ends of the de-icing robot. For example, in the embodiment as Figure 3 shown, the driving wheels 220 are located at the front end of the de-icing robot, the driven wheels 230 are located at the rear end of the de-icing robot, and the magnetic adsorption member 400 provided at the rear end is located between the two driven wheels 230. It can be understood that the driven wheels 230 can be universal wheels.

[0065] In some embodiments, such as Figure 2 , Figure 3 and Figure 8As shown in the figure, the de-icing robot further includes an adapter 600. The navigation member 500 is connected to the bottom frame 110 through the adapter 600, and the navigation member 500 is located on the central axis 111. The icing information obtained by the navigation member 500 can more truly reflect the spatial relationship between the icing area and the current position of the de-icing robot, so that the controller 700 can efficiently process the icing information and control the movement of the moving component 200.

[0066] Further, the adapter 600 includes a fixing portion 610 connected to the bottom frame 110 and an adjusting portion 620 connected to the navigation member 500. The fixing portion 610 and the adjusting portion 620 are rotatably connected to adjust the inclination angle of the navigation member 500 relative to the bottom frame 110. One end of the adjusting portion 620 is connected to the fixing portion 610 through a first rotating shaft 630, and an arc-shaped groove 621 is formed at the other end. The adapter 600 further includes a locking portion 640. The locking portion 640 passes through the arc-shaped groove 621 and is connected to the fixing portion 610. The locking portion 640 has a release state and a locking state. In the release state, the adjusting portion 620 can rotate around the first rotating shaft 630, and at the same time, the locking portion 640 slides in the arc-shaped groove 621, thereby adjusting the inclination angle of the navigation member 500. In the locking state, the locking portion 640 abuts against the adjusting portion 620 to limit the rotation of the adjusting portion 620.

[0067] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. De-icing robot, characterized in that, Comprising: A frame, the frame including a bottom frame body and a mounting frame body, one end of the mounting frame body being connected to the bottom frame body and the other end being a free end; At least two moving components, the moving components being respectively located on both sides of the bottom frame body and hinged to the bottom frame body, and the moving components being arranged in pairs symmetrically about the central axis of the bottom frame body; An ice removal component, the ice removal component being arranged at the free end of the mounting frame body; Wherein, the ice removal robot further includes a magnetic attraction member and a navigation member, at least one of the frame and the moving components being provided with the magnetic attraction member, and the magnetic attraction member being used for maintaining the connection state between the ice removal robot and the tower barrel; the navigation member is connected to the bottom frame body, and the navigation member is communicatively connected to the moving components.

2. The de-icing robot according to claim 1, characterized in that, The ice removal component includes a first driving member, a nozzle, and a pointing member, the first driving member being connected to the mounting frame body, the nozzle being connected to the output shaft of the first driving member, the first driving member being used for driving the nozzle to rotate, the pointing member being connected to the nozzle, the length of the pointing member being greater than the length of the nozzle, and the pointing member being arranged parallel to the nozzle.

3. The de-icing robot according to claim 2, characterized in that, The pointing member is provided with an identification portion, and the identification portion can be identified by the navigation member.

4. The de-icing robot according to claim 1, characterized in that, The mounting frame body includes a first adapter rod and a first extension rod, the frame further includes a first fixing rod and a first support rod, one end of the first adapter rod being connected to the bottom frame body and the other end being connected to the first extension rod, the ice removal component being arranged at the free end of the first extension rod, both ends of the first fixing rod being respectively connected to the first extension rods on both sides, and both ends of the first support rod being respectively rotatably connected to the first fixing rod and the bottom frame body.

5. The de-icing robot according to claim 4, characterized in that, The frame further includes a second support rod, both ends of the second support rod being respectively connected to the first adapter rod and the bottom frame body; wherein, the second support rod and the first support rod are respectively located on both sides of the mounting frame body.

6. The de-icing robot according to claim 4, characterized in that, The first adapter rod is detachably connected to the bottom frame body; and / or, the first adapter rod and the first extension rod are detachably connected; and / or, the first fixing rod is detachably connected to the first extension rod; and / or, both ends of the first support rod are respectively detachably connected to the first fixing rod and the bottom frame body.

7. The de-icing robot according to claim 1, characterized in that, Each of the moving components includes a second driving member and at least two driving wheels, the second driving member being hinged to the bottom frame body, and the driving wheels being arranged in pairs respectively on both sides of the second driving member.

8. The de-icing robot according to claim 7, characterized in that, The ice removal robot further includes two driven wheels, the two driven wheels being arranged symmetrically about the central axis, and, along the moving direction of the ice removal robot, the driving wheels and the driven wheels are respectively located at both ends of the ice removal robot.

9. The de-icing robot according to claim 1, characterized in that, The ice removal robot further includes an adapter member, and the navigation member is connected to the bottom frame body through the adapter member and makes the navigation member located on the central axis.

10. The de-icing robot according to claim 9, characterized in that, The adapter member includes a fixing portion connected to the bottom frame body and an adjusting portion connected to the navigation member, and the fixing portion and the adjusting portion are rotatably connected to adjust the inclination angle of the navigation member relative to the bottom frame body; Wherein, one end of the adjusting part is connected to the fixing part through a first rotating shaft, and an arc-shaped groove is formed at the other end. The adapter further includes a locking part, the locking part passes through the arc-shaped groove and is connected to the fixing part, and the locking part has a loosening state and a locking state. In the loosening state, the adjusting part can rotate around the first rotating shaft as the rotation center, and the locking part slides in the arc-shaped groove; in the locking state, the locking part abuts against the adjusting part to limit the rotation of the adjusting part.

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