Cable deicing device self-adaptive to ice coating walking

Abstract

The utility model relates to the technical field of cable deicing, and particularly discloses a self-adaptive ice-covered walking cable deicing device, which comprises a rack, a walking mechanism, a deicing mechanism and a linkage mechanism, can be matched with an unmanned aerial vehicle for use, can be used for online and offline by using the unmanned aerial vehicle, and is more flexible in operation mode; the walking mechanism adopts a front walking assembly with power, in the process that the unmanned aerial vehicle hangs the cable deicing device on a line, along with lowering of the cable deicing device, an iced cable makes contact with the first crawler belt firstly, the swing end of the first crawler belt is jacked up, and under the action of gravity, the swing end of the first crawler belt can make contact with an iced layer of the cable all the time; in addition, a plurality of anti-skid teeth are arranged on the surface of the first crawler belt, and the anti-skid capacity of the self-adaptive ice-covered walking device walking on the ice surface can be improved.

Description

Technical Field

[0001] This utility model relates to the field of cable de-icing technology, and in particular to a cable de-icing device that adapts to icing and travels. Background Technology

[0002] In severe rain and snow, a thick layer of ice often forms on the surface of overhead cables. When the icing is severe, the stress on the power line facilities exceeds their design load, which may cause accidents such as line tripping, line breakage, tower collapse, insulator flashover and communication interruption at any time, causing huge property losses to the power grid and creating power safety problems for users.

[0003] Therefore, power maintenance personnel often need to remove the ice layer on cables. Currently, although there are various de-icing robots, such as the high-voltage transmission cable de-icing device disclosed in Chinese Patent Publication No. CN101567540B, which consists of a main unit, a striking device, and a walking device, its walking device adopts a design with two wheels, one in the front and one in the back. When the de-icing robot moves, the front wheel is prone to slipping, and because the thickness of the ice layer varies at different locations, the conventional front wheel design is difficult to adapt to the movement of ice layers of different thicknesses.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] In view of the shortcomings of the prior art, the purpose of this utility model is to provide an adaptive icing-walking cable de-icing device to solve the above problems.

[0006] An adaptive icing-prone cable de-icing device includes:

[0007] The frame has a cable inlet / outlet channel at its lower end for cables to enter or exit.

[0008] The walking mechanism includes a front walking component and a rear walking component;

[0009] The forward walking assembly includes a first rotating shaft rotatably mounted on the frame, a first pulley mounted on the first rotating shaft, two swing arms mounted on both sides of the frame with adjustable swing angles, a connecting rod connecting the two swing arms and parallel to the first rotating shaft, a second pulley rotatably mounted on the connecting rod, and a first track connected to the first pulley and the second pulley. The surface of the first track is provided with a plurality of anti-slip teeth.

[0010] The rear walking assembly includes a second rotating shaft rotatably mounted on the frame and a rear walking wheel mounted on the second rotating shaft;

[0011] The de-icing mechanism includes tracked de-icing assemblies disposed on the frame and located on both radial sides of the cable, a spacing adjustment assembly for adjusting the distance between one end of the two tracked de-icing assemblies, the other end of the two tracked de-icing assemblies being rotatably connected to the frame, and a de-icing channel for the cable to pass through being formed between the two tracked de-icing assemblies, the de-icing channel being located above the cable inlet / outlet groove.

[0012] The linkage mechanism includes a helical gear transmission assembly and a belt transmission assembly. The power output end of the tracked de-icing assembly is connected to the first rotating shaft through the cooperation of the helical gear transmission assembly and the belt transmission assembly.

[0013] Specifically, the cable de-icing device also includes a suspension mechanism, which includes a hook for suspending the UAV via a boom and a locking component for fixing the hook to the upper end of the frame.

[0014] Specifically, the cable de-icing device further includes a self-locking mechanism, which includes locking rods rotatably disposed on both sides of the frame in the direction of travel and used to lock the cable inlet and outlet slots; locking slots disposed on the frame and inserted into the locking rods; a first spring connected between the locking rods and the frame; a pull rope connected to one end of the locking rods and used to pull the locking rods out of the locking slots; a rotating rod rotatably disposed on the hook; and a second spring disposed on the hook and used to pull the rotating rods downward to reset. The other end of the pull rope is connected to the rotating rod.

[0015] Specifically, the tracked de-icing assembly includes a first drive device fixed to the inner side of the frame, a drive shaft connected to the output end of the first drive device, a second track driven by the drive shaft, a third pulley rotatably disposed at the other end of the second track, and a plurality of ice-crushing teeth distributed on the outer side of the second track. The upper end of the third pulley is connected to a rotating shaft mounting seat through a first positioning shaft, the upper end of the drive shaft is connected to a second positioning shaft, and the other end of the rotating shaft mounting seat rotates around the second positioning shaft.

[0016] Specifically, the spacing adjustment assembly includes two sliders whose spacing can be adjusted horizontally along the radial direction of the cable, and a second driving device for driving the two sliders to move synchronously in opposite directions or synchronously in reverse. The two sliders respectively drive the two rotating shaft mounting seats to swing.

[0017] Specifically, the helical gear transmission assembly includes a first helical tooth connected to the upper end of the second positioning shaft, a second helical tooth meshing with the first helical tooth, and a third rotating shaft that drives the second helical tooth coaxially.

[0018] The belt drive assembly includes a fourth pulley that is coaxially driven with the third rotating shaft, a fifth pulley that is coaxially driven with the first rotating shaft, and a drive belt that is connected to the fourth and fifth pulleys. The third rotating shaft is rotatably mounted on the frame via a first bearing.

[0019] Specifically, the swing arm is rotatably mounted on the frame via a second bearing seat, and the second bearing seat is provided with a limiting structure for limiting the swing angle of the swing arm.

[0020] Specifically, the cable de-icing device is equipped with foldable legs on both sides of its lower end, and a battery mounting bracket is provided on the leg, on which a battery can be detachably installed.

[0021] The beneficial effects of this utility model are:

[0022] 1. The cable de-icing device of this application can be used in conjunction with drones, allowing for more flexible operation by using drones for cable loading and unloading;

[0023] 2. A powered forward walking component is adopted. During the process of the UAV suspending cable de-icing device being put online, as the cable de-icing device is lowered, the icy cable comes into contact with the first track first. The swing end of the first track is lifted up. Under the action of gravity, the swing end of the first track can always be in contact with the ice layer of the cable, realizing the effect of adaptive ice walking. In addition, the surface of the first track is provided with several anti-slip teeth, which can improve its anti-slip ability when walking on ice.

[0024] 3. A spacing adjustment component is set up. When it is necessary to hang the cable, the spacing between one end of the two tracked de-icing components can be increased to allow the icy cable to enter the de-icing channel. After hanging the cable, the spacing between one end of the two tracked de-icing components can be decreased. The crushing and ice-breaking action of the tracked de-icing components when they rotate, combined with the squeezing action of the figure-eight structure, can efficiently crush the ice layer on the cable first and then squeeze it.

[0025] 4. A linkage mechanism is also set up, with the forward walking component and the tracked de-icing component sharing a power source, reducing the use of motors and other drive devices and lowering costs. Attached Figure Description

[0026] Figure 1 This is a perspective view of the cable de-icing device of this application;

[0027] Figure 2 This is a right view of the cable de-icing device of this application;

[0028] Figure 3 for Figure 2 A cross-sectional view of the AA plane;

[0029] Figure 4This is a perspective view of the frame, traveling mechanism, de-icing mechanism, and linkage mechanism of this application;

[0030] Figure 5 This is a perspective view of the tracked de-icing assembly of this application;

[0031] Figure 6 This is a top view of the frame, traveling mechanism, de-icing mechanism, and linkage mechanism of this application;

[0032] Figure 7 for Figure 6 A cross-sectional view of the BB plane.

[0033] The attached figures are labeled as follows: frame 10, cable inlet / outlet groove 11, second axle seat 12, leg 13, front travel assembly 21, first rotating shaft 211, first pulley 212, swing arm 213, connecting rod 214, second pulley 215, first track 216, rear travel assembly 22, second rotating shaft 221, rear travel wheel 222, tracked de-icing assembly 31, first drive device 311, drive shaft 312, second track 313, third pulley 314, ice crushing tooth 315, first positioning shaft 33, rotating shaft mounting seat. 34. Second positioning shaft; 35. Spacing adjustment assembly; 32. Slider; 321. Second drive device; 322. De-icing channel; 14. Helical gear transmission assembly; 41. First helical gear; 411. Second helical gear; 412. Third rotating shaft; 413. Belt transmission assembly; 42. Fourth pulley; 421. Fifth pulley; 422. Transmission belt; 423. First shaft seat; 424. Hanging mechanism; 50. Hanging hook; 51. Locking component; 52. Self-locking mechanism; 60. Locking rod; 61. Locking groove; 62. Pull rope; 63. Rotating rod; 64. Cable; 70. Detailed Implementation

[0034] This utility model provides an adaptive icing-walking cable de-icing device. To make the purpose, technical solution, and effects of this utility model clearer and more explicit, the following describes the utility model in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0035] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0036] Please refer to Figures 1 to 7 An adaptive icing-walking cable de-icing device according to this embodiment includes:

[0037] The frame 10 has a cable inlet / outlet trough 11 at its lower end for the cable 70 to enter or exit.

[0038] The walking mechanism includes a front walking component 21 and a rear walking component 22;

[0039] The forward travel assembly 21 includes a first rotating shaft 211 rotatably mounted on the frame 10, a first pulley 212 mounted on the first rotating shaft 211, two swing arms 213 mounted on both sides of the frame 10 with adjustable swing angle, a connecting rod 214 connecting the two swing arms 213 and parallel to the first rotating shaft 211, a second pulley 215 rotatably mounted on the connecting rod 214, and a first track 216 connected to the first pulley 212 and the second pulley 215. The surface of the first track 216 is provided with a plurality of anti-slip teeth.

[0040] The rear travel assembly 22 includes a second rotating shaft 221 rotatably mounted on the frame 10 and a rear travel wheel 222 mounted on the second rotating shaft 221;

[0041] The de-icing mechanism includes tracked de-icing assemblies 31 mounted on the frame 10 and located on both radial sides of the cable 70, and a spacing adjustment assembly 32 for adjusting the distance between one end of the two tracked de-icing assemblies 31. The other ends of the two tracked de-icing assemblies 31 are rotatably connected to the frame 10. A de-icing channel 14 for the cable 70 to pass through is formed between the two tracked de-icing assemblies 31. The de-icing channel 14 is located above the cable inlet / outlet groove 11.

[0042] The linkage mechanism includes a helical gear transmission assembly 41 and a belt transmission assembly 42. The power output end of the tracked de-icing assembly 31 is connected to the first rotating shaft 211 through the cooperation of the helical gear transmission assembly 41 and the belt transmission assembly 42.

[0043] The cable de-icing device of this embodiment can be used in conjunction with a drone. The operator can pre-install a hanging pole on the drone's arm. When it is necessary to attach the cable de-icing device to the cable 70, the hanging pole is first hooked onto the hook 11, the drone is started, and the drone is controlled to take off via remote control. After the drone takes off, the hanging pole pulls the cable de-icing device up. The drone is controlled to rise above the icy cable 70 via remote control, and then lowered to a certain height so that the icy cable 70 can enter the de-icing channel 14 along the cable inlet / outlet groove 11. The drone controls the hanging pole to no longer hook onto the hanging mechanism 50, so that the forward walking component 21 of the walking mechanism can autonomously walk along the length of the icy cable 70. When it is necessary to remove the cable de-icing device from the cable 70, the hanging pole is re-hooked onto the hook 11 via the drone, and then the drone drives the cable de-icing device to rise, so that the walking mechanism 30 is detached from the cable 70. The height is then lowered to the ground, and the cable de-icing device can be removed. This application uses a drone for loading and unloading, making the operation more flexible.

[0044] The walking mechanism of this embodiment includes a front walking component 21 and a rear walking component 22. The front walking component 21 includes a first rotating shaft 211, a first pulley 212, two swing arms 213, a connecting rod 214, a second pulley 215, and a first track 216. The swing angle of the two swing arms 213 is adjustable. During the process of the UAV suspending the cable de-icing device, as the cable de-icing device is lowered, the icy cable 70 first contacts the first track 216, and the swing end of the first track 216 is lifted up. Under the action of gravity, the swing end of the first track 216 can always contact the ice layer of the cable 70. After the first track 216 starts to rotate, it can walk on the upper part of ice layers of different thicknesses to achieve the effect of adaptive ice walking. Moreover, the surface of the first track 216 is provided with several anti-slip teeth, which can improve its anti-slip ability on the ice surface and avoid slipping.

[0045] The de-icing mechanism of this application includes a tracked de-icing assembly 31 and a spacing adjustment assembly 32. By setting the spacing adjustment assembly 32, when the cable de-icing device needs to hang a cable, the spacing at one end of the two tracked de-icing assemblies 31 can be increased so that the spacing at that position is greater than the diameter of the icy cable 70. Therefore, when the drone lowers the cable de-icing device, the icy cable 80 can enter the de-icing channel 14, allowing the walking mechanism to walk on the upper end of the icy cable 80.

[0046] After the wiring is completed, the distance between one end of the two tracked de-icing components 31 can be reduced. The effect after adjustment is as follows: Figure 6 As shown, the vertical projection of the de-icing channel 14 is a figure-eight structure. Due to the reduced distance between one end of the two tracked de-icing components 31, and the ability to adjust the distance between one end of the two tracked de-icing components 31 to be slightly larger than the diameter of the bare wire of the cable 70, the tracked de-icing components 31 can be activated. In conjunction with the compression of the figure-eight structure, the ice layer on the cable 70 is efficiently crushed and then compressed. Then, the crushed ice is removed from the cable 70 under the action of gravity, thus completing the ice removal operation of the cable 70.

[0047] This embodiment also includes a linkage mechanism, which includes a helical gear transmission assembly 41 and a belt transmission assembly 42. The power output end of the tracked de-icing assembly 31 is connected to the first rotating shaft 211 through the cooperation of the helical gear transmission assembly 41 and the belt transmission assembly 42. The forward walking assembly 21 and the tracked de-icing assembly 31 share a power source, reducing the use of drive devices such as motors and lowering costs.

[0048] For further details, please refer to... Figure 2 and Figure 3The cable de-icing device in this embodiment also includes a hanging mechanism 50. The hanging mechanism 50 includes a hook 51 for the drone to be hung by a boom and a locking member 52 for fixing the hook 51 to the upper end of the frame 10. The hook 51 can be detachably fixed to the frame 10 by the locking member 52. The hook 51 can be removed for easy storage. The locking member 52 can be a spring pin, screw pin, etc., and the locking and unlocking operations are simple.

[0049] For further details, please refer to... Figure 1 and Figure 2 The cable de-icing device in this embodiment also includes a self-locking mechanism 60. The self-locking mechanism 60 includes a locking rod 61 rotatably disposed on both sides of the frame 10 in the direction of travel and used to lock the cable inlet and outlet 11; a locking groove 62 disposed on the frame 10 and inserted into the locking rod 61; a first spring connecting the locking rod 61 and the frame 10; a pull rope 63 connected to one end of the locking rod 61 and used to pull the locking rod 61 out of the locking groove 62; a rotating rod 64 rotatably disposed on the hook 51; and a second spring disposed on the hook 51 and used to pull the rotating rod 64 downward to reset. The other end is connected to the rotating rod 64; when the boom at the bottom of the drone is attached to the hook 51, the boom causes one end of the rotating rod 64 to tilt up. The tilted end of the rotating rod 64 is also connected to the pull rope 63, which allows the pull rope 63 to pull the locking rod 61 to swing upward, so that there is no obstruction on both sides of the lower end of the cable tray 11, realizing automatic unlocking, so that the cable 31 can enter the de-icing channel 14 along the cable tray 11. When the boom at the bottom of the drone is no longer attached, under the tension of the first spring, one end of the locking rod 61 rotates downward and inserts into the locking groove 62 to complete the locking and achieve the anti-fall effect.

[0050] Please refer to Figure 4 and Figure 5 The tracked de-icing assembly 31 of this embodiment includes a first drive device 311 fixed inside the frame 10, a drive shaft 312 connected to the output end of the first drive device 311, a second track 313 driven by the drive shaft 312, a third pulley 314 rotatably disposed at the other end of the second track 313, and a plurality of ice-crushing teeth 315 distributed on the outside of the second track 313. The upper end of the third pulley 314 is connected to a rotating shaft mounting seat 34 through a first positioning shaft 33. The upper end of the drive shaft 312 is connected to a second positioning shaft 35. The other end of the rotating shaft mounting seat 34 rotates around the second positioning shaft 35. The first drive device 311 can be a high-speed motor. After the first drive device 311 is started, it drives the second track 313 and the ice-crushing teeth 315 to rotate. The self-rotation of the second track 313 and the ice-crushing teeth 315 causes the tracked de-icing assembly 31 to move along the length of the cable 70 while crushing and breaking ice.

[0051] The spacing adjustment component 32 includes two sliders 321 whose spacing can be adjusted horizontally along the radial direction of the cable 70, and a second drive device 322 for driving the two sliders 321 to move synchronously in opposite directions or synchronously in reverse. The two sliders 321 drive the two rotating shaft mounting seats 34 to swing. The second drive device 322 can be a motor screw module with positive and negative screws. The two sliders 321 are threadedly connected to the two threaded parts of the motor screw module. When it is necessary to hang the cable, the second drive device 322 can be used to drive the two sliders 321 to move synchronously in reverse, thereby increasing the spacing between the two sliders 321. This makes the vertical projection of the de-icing channel 14 a parallel channel structure. Since the spacing at one end of the two second tracks 313 is increased, and the spacing at one end of the two second tracks 313 is greater than the diameter of the icing cable 70, the icing cable 370 can enter the de-icing channel 14 when the UAV lowers the cable de-icing device.

[0052] After the wire is attached, the second drive device 322 can be used to drive the two sliders 321 to move synchronously in opposite directions. The adjusted effect is as follows. Figure 6 As shown, the vertical projection of the de-icing channel 14 has an "eight" shaped structure. Due to the reduced distance between the two sliders 321, and the ability to adjust the distance between one end of the two second tracks 313 to be slightly larger than the diameter of the bare cable 70, when the second track 313 rotates, it drives the ice-breaking teeth 315 to gradually contract and break the ice in an alligator mouth shape, so that the ice layer of the cable 70 is crushed and broken. The structure is ingenious.

[0053] For further details, please refer to... Figure 4 The helical gear transmission assembly 41 includes a first helical gear 411 connected to the upper end of the second positioning shaft 35, a second helical gear 412 meshing with the first helical gear 411, and a third rotating shaft 413 coaxially driven with the second helical gear 412; the belt transmission assembly 42 includes a fourth pulley 421 coaxially driven with the third rotating shaft 413, a fifth pulley 422 coaxially driven with the first rotating shaft 211, and a transmission belt 423 connected to the fourth pulley 421 and the fifth pulley 422; the third rotating shaft 413 is rotatably mounted on the frame 10 via a first bearing 424. While the first drive device 311 drives the drive shaft 312, the second positioning shaft 35 is connected to the upper end of the drive shaft 312. The first helical tooth 411 is connected to the upper end of the second positioning shaft 35, so it can drive the first helical tooth 411 to rotate. The second helical tooth 412 meshes with the first helical tooth 411, so it can drive the second helical tooth 412 to rotate. The third rotating shaft 413 is coaxially driven with the second helical tooth 412. The fourth pulley 421 is coaxially driven with the third rotating shaft 413. The fifth pulley 422 is coaxially driven with the first rotating shaft 211. The fourth pulley 421 and the fifth pulley 422 are connected by a transmission belt 423, so they can drive the first rotating shaft 211 to rotate. Finally, the first track 216 rotates, so that the forward walking component 21 can move autonomously along the ice layer of the cable 70. The structure is ingenious.

[0054] For further details, please refer to... Figure 4 and Figure 6 The swing arm 213 is rotatably mounted on the frame 10 via the second axle seat 12. The second axle seat 12 is provided with a limiting structure for limiting the swing angle of the swing arm 213. The limiting structure can be a conventional rotation limiting structure. The limiting effect prevents the swing end of the swing arm 213 from falling vertically, so that the swing end of the first track 216 can be positioned above the ice-covered cable 70 during the cable hanging process, so that the first track 216 can subsequently travel along the ice layer of the cable 70.

[0055] For further details, please refer to... Figure 1 and Figure 2 In this embodiment, the cable de-icing device is provided with foldable legs 13 on both sides of the lower end for easy storage; and the legs 13 are provided with battery mounting brackets, on which batteries can be detachably installed. By placing the batteries in the position of the legs 13, the large mass of the batteries effectively shifts the center of gravity to the legs 13, which helps maintain the balance of the cable de-icing device during the walking and de-icing process.

[0056] The preferred embodiments of this utility model have been described in detail above. However, this invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this invention.

Claims

1. A cable de-icing device with adaptive icing movement, characterized in that, include: The frame (10) has a cable inlet / outlet groove (11) at its lower end for the cable (70) to enter or exit. The walking mechanism includes a front walking component (21) and a rear walking component (22); The forward walking assembly (21) includes a first rotating shaft (211) rotatably mounted on the frame (10), a first pulley (212) mounted on the first rotating shaft (211), two swing arms (213) mounted on both sides of the frame (10) with adjustable swing angle, a connecting rod (214) connected between the two swing arms (213) and parallel to the first rotating shaft (211), a second pulley (215) rotatably mounted on the connecting rod (214), and a first track (216) connected to the first pulley (212) and the second pulley (215). The surface of the first track (216) is provided with a plurality of anti-slip teeth. The rear walking assembly (22) includes a second rotating shaft (221) rotatably mounted on the frame (10) and a rear walking wheel (222) mounted on the second rotating shaft (221); The de-icing mechanism includes tracked de-icing assemblies (31) disposed on the frame (10) and located on both radial sides of the cable (70), and a spacing adjustment assembly (32) for adjusting the distance between one end of the two tracked de-icing assemblies (31). The other ends of the two tracked de-icing assemblies (31) are rotatably connected to the frame (10). A de-icing channel (14) for the cable (70) to pass through is formed between the two tracked de-icing assemblies (31). The de-icing channel (14) is located above the inlet and outlet cable groove (11). The linkage mechanism includes a helical gear transmission assembly (41) and a belt transmission assembly (42). The power output end of the tracked de-icing assembly (31) is connected to the first rotating shaft (211) through the cooperation of the helical gear transmission assembly (41) and the belt transmission assembly (42).

2. The adaptive icing-walking cable de-icing device according to claim 1, characterized in that, The cable de-icing device also includes a hanging mechanism (50), which includes a hook (51) for the UAV to be hung by a boom and a locking member (52) for fixing the hook (51) to the upper end of the frame (10).

3. The adaptive icing-walking cable de-icing device according to claim 2, characterized in that, The cable de-icing device also includes a self-locking mechanism (60), which includes a locking rod (61) rotatably disposed on both sides of the frame (10) in the direction of travel and used to lock the cable inlet / outlet groove (11), a locking groove (62) disposed on the frame (10) and inserted into the locking rod (61), a first spring connected between the locking rod (61) and the frame (10), a pull rope (63) connected to one end of the locking rod (61) and used to pull the locking rod (61) out of the locking groove (62), a rotating rod (64) rotatably disposed on the hook (51), and a second spring disposed on the hook (51) and used to pull the rotating rod (64) downward to reset. The other end of the pull rope (63) is connected to the rotating rod (64).

4. The adaptive icing-walking cable de-icing device according to claim 1, characterized in that, The tracked de-icing assembly (31) includes a first drive device (311) fixed inside the frame (10), a drive shaft (312) connected to the output end of the first drive device (311), a second track (313) driven by the drive shaft (312), a third pulley (314) rotatably disposed at the other end of the second track (313), and a plurality of ice-crushing teeth (315) distributed on the outside of the second track (313). The upper end of the third pulley (314) is connected to a rotating shaft mounting seat (34) through a first positioning shaft (33), the upper end of the drive shaft (312) is connected to a second positioning shaft (35), and the other end of the rotating shaft mounting seat (34) rotates around the second positioning shaft (35).

5. The adaptive icing-walking cable de-icing device according to claim 4, characterized in that, The spacing adjustment assembly (32) includes two sliders (321) whose spacing can be adjusted horizontally along the radial direction of the cable (70), and a second drive device (322) for driving the two sliders (321) to move synchronously in opposite directions or synchronously in reverse. The two sliders (321) respectively drive the two rotating shaft mounting seats (34) to swing.

6. The adaptive icing-walking cable de-icing device according to claim 4, characterized in that, The helical gear transmission assembly (41) includes a first helical tooth (411) connected to the upper end of the second positioning shaft (35), a second helical tooth (412) meshing with the first helical tooth (411), and a third rotating shaft (413) that drives the second helical tooth (412) on the same axis. The belt drive assembly (42) includes a fourth pulley (421) that is coaxially driven with the third rotating shaft (413), a fifth pulley (422) that is coaxially driven with the first rotating shaft (211), and a drive belt (423) that is connected to the fourth pulley (421) and the fifth pulley (422). The third rotating shaft (413) is rotatably mounted on the frame (10) via a first bearing seat (424).

7. The adaptive icing-walking cable de-icing device according to claim 1, characterized in that, The swing arm (213) is rotatably mounted on the frame (10) via a second bearing (12), and the second bearing (12) is provided with a limiting structure for limiting the swing angle of the swing arm (213).

8. The adaptive icing-walking cable de-icing device according to claim 1, characterized in that, The cable de-icing device is provided with foldable legs (13) on both sides of the lower end. A battery mounting bracket is provided on the leg (13), and a battery can be detachably installed on the battery mounting bracket.

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