Power transmission line ice removal device and flying deicing robot thereof

Abstract

The utility model relates to power transmission line maintenance technical field especially is a kind of power transmission line icing removal device and flight deicing robot. Including the parallel arrangement of two groups of roll brush subassembly, the gap for power transmission line to pass through is left between the roll brush subassembly;The roll brush subassembly includes mounting seat, first power unit, deicing unit and cleaning unit;The mounting seat is fixedly installed at the bottom of deicing robot, and the first power unit and cleaning unit are respectively installed at the outside and the inside of the fixed seat, and the deicing unit and cleaning unit are all with power transmission line and resist;The first power unit is respectively connected with deicing unit and cleaning unit transmission;The deicing unit and cleaning unit are set before and after along the movement direction of deicing robot;The deicing unit is used to crush and crush the icing on power transmission line;Ice residue can be removed in the process of removing, to avoid power transmission line re-icing.

Description

Technical Field

[0001] This utility model relates to the field of power transmission line maintenance technology, and in particular to a power transmission line icing removal device and its flying de-icing robot. Background Technology

[0002] As my country's power transmission scale continues to expand, high-voltage overhead transmission lines have basically spread throughout all regions of the country. When the outside temperature drops below freezing, line icing often occurs. Icing of overhead transmission lines can lead to a variety of serious accidents. On the one hand, insulator strings are prone to ice flashover and tripping. On the other hand, the increased weight of the ice can cause damage to hardware, breakage of transmission lines, deformation, tilting and collapse of towers. Furthermore, once the ice reaches a certain level, it will detach on its own under the action of gravity, which can cause the transmission lines to gallop during the process.

[0003] Currently, the main methods for de-icing power lines are thermal de-icing and mechanical de-icing. Thermal de-icing mainly uses direct current (DC) melting and heating plate melting. DC melting uses a large current, which can cause short circuits and overheating of the lines. This requires interrupting power supply to the transmission lines, necessitating prior consultation with the power grid dispatch center to implement a power outage before reconnecting the de-icing transmission line for heating and de-icing. Power outages can result in huge economic losses. Furthermore, the short-circuit heating method has uncontrollable and irreversible effects on the conductivity, strength, and weather resistance of the lines, and can easily damage overhead lines. Heating plate melting uses robots as the main carrier, with the robot's battery powering the heating plate to melt the ice on the lines. However, the robots consume too much energy, and the melted ice adheres to the lines. After the operation, the residual water can easily act as a carrier for re-icing, which can lead to re-icing in a short time.

[0004] Mechanical de-icing primarily relies on robots as the main carrier, supplemented by actuators to perform the de-icing operation. Some power equipment suppliers have also launched line de-icing robots. For example, some de-icing robots use drones to assist in hoisting the line with winches, and employ walking wheels to crush ice and electric tracks to squeeze and break it up. Another example is a de-icing robot launched by a power group, which uses drones for hoisting, with an electric rotating scraper at the front of the robot. It uses the high-speed rotation of the scraper and the momentum of the robot's rapid movement to forcibly break up the ice. However, based on existing products, various de-icing structures are prone to producing residual ice fragments after de-icing. These fragments can easily act as carriers for icing, causing overhead transmission lines to re-ice. This results in the inability to completely remove the ice layer from the transmission lines. Utility Model Content

[0005] To address the aforementioned shortcomings, the purpose of this invention is to propose a power transmission line icing removal device and its flying de-icing robot to solve the problem of ice slag re-icing on power transmission lines.

[0006] To achieve this objective, the present invention adopts the following technical solution: a power transmission line ice removal device, comprising two sets of roller brush assemblies arranged in parallel, with a gap between the roller brush assemblies for the power transmission line to pass through; The roller brush assembly includes a mounting base, a first power unit, a de-icing unit, and a cleaning unit; The first power unit is connected to both the de-icing unit and the cleaning unit via transmission. The de-icing unit and the cleaning unit are arranged at intervals on the mounting base and can all abut against the power transmission line; The de-icing unit is used to crush and break up the ice covering the power transmission line. The cleaning unit is used to clean ice residue from power transmission lines.

[0007] Preferably, the de-icing unit includes a vertical toothed roller and a rotary toothed roller arranged sequentially, and the cleaning unit is a brush wheel. The central axis of the vertical toothed roller, the rotary toothed roller, and the brush wheel is perpendicular to the power transmission line.

[0008] Preferably, in a top view, the two sets of roller brush assemblies are arranged side by side on the left and right sides of the power transmission line, respectively. The rotation directions of the vertical tooth roller, the rotary tooth roller, and the brush wheel on the left side are, in order: counterclockwise, clockwise, counterclockwise; the rotation directions of the vertical tooth roller, the rotary tooth roller, and the brush wheel on the right side are, in order: clockwise, counterclockwise, clockwise.

[0009] Preferably, the mounting base includes a first plate, a second plate, a third plate, a fourth plate, and a fifth plate; The first plate is vertically arranged, and a second plate is vertically arranged at the top of the first plate. The second plate is used to be fixedly connected to the equipment. The fourth plate and the third plate are respectively vertically arranged on the inner side of the first plate. The cleaning unit is movably installed between the third plate and the fourth plate. The fifth plate is installed on the outside of the first plate, the first power unit is installed on the fifth plate, and the first plate is also provided with an opening for the first power unit to connect with the cleaning unit.

[0010] Preferably, the output end of the first power unit is connected to a first driving gear, and the ends of the vertical tooth roller, the helical tooth roller and the brush wheel are respectively provided with first driven gears. Adjacent first driven gears mesh with each other, and the first driving gear passes through the opening and meshes with the first driven gear of the helical tooth roller.

[0011] Preferably, the diameter of the first driving gear is larger than the diameter of the first driven gear.

[0012] A flying de-icing robot, using the aforementioned power line icing removal device, includes a frame and a flight mechanism. The flight mechanism includes a battery unit, an arm, and a propeller. The arm and battery unit are mounted on the frame, and the propeller is mounted at the end of the arm. The battery unit is used to provide power to the propeller. The mobile device is installed at the bottom of the frame and is used to move the frame along the power transmission line.

[0013] Preferably, it also includes two battery compartments, which are respectively inclined downwards and disposed on the left and right sides of the frame, and the battery units are installed in the battery compartments; The battery cell is at a lower horizontal height than the mobile device.

[0014] Preferably, it also includes a de-icing device, which includes a second power unit, a drill bit unit, and a front-end mounting plate; The front mounting plate is fixedly installed at the front end of the bottom of the frame. An arc-shaped clearance groove is provided at the bottom of the front mounting plate. The drill bit unit is installed on the front end face of the front mounting plate, and several drill bit units are distributed along the edge of the arc-shaped clearance groove. The second power unit is installed on the rear end face of the front mounting plate, and the second power unit is connected to the drill bit unit in a transmission manner.

[0015] Preferably, the mounting end of the drill bit unit passes through the front mounting plate and protrudes from the rear end face of the front mounting plate. The drill bit unit is also connected to a third driven gear, and a fourth driven gear is provided between adjacent third driven gears. The fourth driven gear meshes with the adjacent third driven gear. The output end of the second power unit is connected to a second driving gear, which meshes with any of the fourth driven gears.

[0016] One of the above technical solutions has the following advantages or beneficial effects: it can be flexibly combined with an electric rotary scraper to remove ice from transmission lines of different thicknesses, and can also remove ice slag during the removal process to prevent the transmission lines from refreezing. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the ice removal device in one embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the steering of the ice removal device in one embodiment of this utility model.

[0019] Figure 3 This is a side view of an ice removal device in one embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the structure of a flying de-icing robot in one embodiment of this utility model.

[0021] Figure 5 This is a side view of a flying de-icing robot in another embodiment of this utility model.

[0022] Figure 6 This is a schematic diagram of the de-icing device in one embodiment of the present invention.

[0023] Figure 7 This is a front view of the de-icing device in one embodiment of the present invention.

[0024] The components include: a first roller brush assembly 11, a mounting base 111, a first plate 1111, a second plate 1112, a third plate 1113, a fourth plate 1114, and a fifth plate 1115. First power unit 112, de-icing unit 113, vertical toothed roller 1131, helical toothed roller 1132, cleaning unit 114, second roller brush assembly 12, first driving gear 13, first driven gear 14 De-icing device 2, second power unit 21, drill bit unit 22, front mounting plate 23, arc-shaped clearance groove 231, third driven gear 24, fourth driven gear 25, second driving gear 26. Flight mechanism 3, battery unit 31, arm 32, propeller 33, battery compartment 34 4. Frame; 5. Power transmission line; 6. Mobile device. Detailed Implementation

[0025] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying 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 with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0026] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] like Figures 1-7 As shown, a power transmission line icing removal device includes two sets of roller brush assemblies arranged in parallel, with a gap between the roller brush assemblies for the power transmission line 5 to pass through. The roller brush assembly includes a mounting base 111, a first power unit 112, a de-icing unit 113, and a cleaning unit 114; The first power unit 112 is connected to the de-icing unit 113 and the cleaning unit 114 respectively; The de-icing unit 113 and the cleaning unit 114 are arranged at intervals on the mounting base 111 and can both abut against the power transmission line 5; The de-icing unit 113 is used to crush and break up the ice on the power transmission line 5. The cleaning unit 114 is used to clean ice residue on the power transmission line 5.

[0030] When the ice coating on the transmission line 5 is thin, a separate ice removal device can be installed to remove the ice from the transmission line 5. In this case, the distance between the two roller brush assemblies needs to be increased. The de-icing units 113 located on the left and right sides of the transmission line 5 crush the ice on the transmission line 5 by squeezing. At this time, some ice slag will remain on the transmission line 5. If the ice slag is not removed, it will refreeze. Therefore, a cleaning unit 114 is also provided. The cleaning unit 114 is driven to rotate by the first power unit 112. During the rotation, the brushes of the cleaning unit 114 will sweep away the ice slag on the transmission line 5 and remove it from the transmission line 5.

[0031] When the ice on the transmission line 5 is thick, it can be used in conjunction with the existing electric rotary scraper. The ice removal device is placed behind the electric rotary scraper. After the electric rotary scraper removes the ice on the transmission line 5, a thin layer of ice slag will still cover the surface of the transmission line 5. If this is not removed, the transmission line 5 may continue to freeze. At this time, the ice removal device can be used to remove this layer of ice slag. The ice removal device is equipped with a de-icing unit 113. The de-icing units 113 located on the left and right sides of the transmission line 5 crush the ice by squeezing, and then drive the cleaning unit 114 to rotate. The brushes of the cleaning unit 114 sweep the ice slag on the transmission line 5 and remove it from the transmission line 5 to prevent the ice slag from refreezing.

[0032] The ice removal device of this utility model can be flexibly combined with an electric rotating scraper to remove ice from transmission lines 5 of different thicknesses. Moreover, ice slag can be removed during the removal process to prevent the transmission lines 5 from refreezing.

[0033] Preferably, the de-icing unit 113 includes a vertical toothed roller 1131 and a rotary toothed roller 1132 arranged sequentially, and the cleaning unit 114 is a brush wheel. The central axis of the vertical toothed roller 1131, the rotary toothed roller 1132 and the brush wheel are perpendicular to the power transmission line 5.

[0034] In one embodiment of this utility model, the de-icing unit 113 consists of a vertical toothed roller 1131 and a rotary toothed roller 1132. When removing thin ice from the power transmission line 5, the vertical toothed rollers 1131 on both sides simultaneously squeeze and disperse the ice in the direction of travel. Then, the rotary toothed roller 1132 squeezes and crushes the ice, turning the ice into ice shavings. Finally, a brush wheel sweeps the ice shavings outward in the direction of travel, thereby achieving the effect of completely removing the ice. During the process of squeezing and crushing the ice by the rotary toothed roller 1132, ice shavings may remain between the teeth, which can be cleaned by the brush wheel.

[0035] Preferably, with the travel direction of the frame 4 as the Y-axis, in a top-down view, the two sets of roller brush assemblies are arranged side by side on the left and right sides of the power transmission line 5, respectively. The roller brush assembly 11 is located on the left side of the power transmission line, and the roller brush assembly 12 is located on the right side of the power transmission line. The rotation directions of the vertical tooth roller 1131, the rotary tooth roller 1132 and the brush wheel of the first roller brush assembly 11 are counterclockwise, clockwise and counterclockwise, respectively. The rotation directions of the vertical tooth roller 1131, the rotary tooth roller 1132 and the brush wheel of the second roller brush assembly 12 are clockwise, counterclockwise and clockwise, respectively.

[0036] like Figure 2As shown, at this time, the vertical toothed rollers 1131 on both sides rotate outward to push the ice forward and reduce the amount of ice entering the device. The rotary toothed rollers 1132 rotate inward in the direction of travel to crush the remaining ice and push it backward. The brush wheel rotates outward in the direction of travel to increase the relative friction with the power transmission line and sweep the remaining ice to the left and right sides, while cleaning the rotary toothed rollers 1132.

[0037] Preferably, the mounting base 111 includes a first plate 1111, a second plate 1112, a third plate 1113, a fourth plate 1114, and a fifth plate 1115; The first plate 1111 is vertically arranged, and the top of the first plate 1111 is vertically arranged with a second plate 1112. The second plate 1112 is fixedly connected to the bottom of the de-icing robot. The fourth plate 1114 and the third plate 1113 are respectively vertically arranged inside the first plate 1111. The cleaning unit 114 is movably installed between the third plate 1113 and the fourth plate 1114. The fifth plate 1115 is installed on the outside of the first plate 1111, and the first power unit 112 is installed on the fifth plate 1115. The first plate 1111 also has an opening for connecting the first power unit 112 and the cleaning unit 114.

[0038] In one embodiment, the first power unit 112 is a motor, which drives the cleaning unit 114 to rotate and clean the ice slag. The ice removal device includes a first roller brush assembly 11 and a second roller brush assembly 12 arranged on the left and right sides. The first roller brush assembly 11 and the roller brush assembly are symmetrically arranged to clean both sides of the power transmission line 5, ensuring that most of the ice slag will be swept off the power transmission line 5 by the ice removal device.

[0039] Preferably, the output end of the first power unit 112 is connected to a first driving gear 13, and the ends of the vertical tooth roller 1131, the helical tooth roller 1132 and the brush wheel are respectively provided with first driven gears 14. Adjacent first driven gears 14 mesh with each other, and the first driving gear 13 passes through the opening and meshes with the first driven gear 14 of the helical tooth roller 1132.

[0040] In one embodiment, the first power unit 112 is driven by gear transmission. At this time, the first driving gear 13 of the first roller brush assembly 11 rotates counterclockwise, and the first driven gear 14 of the helical roller 1132 of the first roller brush assembly 11 rotates clockwise. Meanwhile, the adjacent vertical tooth roller 1131 and the brush wheel rotate counterclockwise. Meanwhile, the first drive gear 13 of the second roller brush assembly 12 rotates clockwise, and the first driven gear 14 of the helical roller 1132 of the second roller brush assembly 12 rotates counterclockwise. At this time, the vertical toothed rollers 1131 on both sides rotate outward, and the helical roller 1132 crushes the remaining ice and pushes it backward; while the brush wheel rotates outward to sweep away the ice shards.

[0041] Preferably, the diameter of the first driving gear 13 is larger than the diameter of the first driven gear 14.

[0042] By setting different transmission ratios for the input and output gears, the rotational speed can be adjusted. When the diameter of the first driving gear 13 is larger than the diameter of the first driven gear 14, the de-icing unit 113 and the cleaning unit 114 will rotate at a faster speed. During the de-icing or cleaning process, the problem of ice slag adhering to the surface due to slow rotation speed can be avoided. At the same time, the fast rotation speed can shake off the ice slag adhering to the surface of the de-icing unit 113 and the cleaning unit 114 during the rotation, thereby performing de-icing better.

[0043] A flying de-icing robot, using the aforementioned power line icing removal device, includes a frame 4, a moving device 6 mounted on the frame 4, and a flying mechanism 3. The flying mechanism 3 includes a battery unit 31, an arm 32, and a propeller 33. The arm 32 and the battery unit 31 are mounted on the frame 4. The propeller 33 is mounted at the end of the arm 32. The battery unit 31 is used to provide power to the propeller 33. The mobile device 6 is installed at the bottom of the frame 4 and is used to drive the frame 4 to move on the power transmission line 5.

[0044] The mobile device 6 can be a grooved H-shaped roller. The groove of the H-shaped roller is engaged with the power transmission line, so that the de-icing robot is suspended on the power transmission line. The grooved H-shaped roller can be driven to rotate by a coaxially configured motor, thereby driving the frame 4 to move.

[0045] In one embodiment, a flight mechanism 3 is provided, comprising four arms 32 and four propellers 33. The four arms 32 are located at the four corners of the frame 4, and each of the four arms 32 is equipped with a motor and a propeller 33. Each battery unit 31 is connected to the motor of the corresponding propeller 33. The battery unit 31 provides power to the motor. The flight mechanism 3 enables the de-icing robot to be loaded and unloaded from the power line 5 without the need for manual placement of the de-icing robot, greatly improving the ease of use of the de-icing robot.

[0046] Preferably, it also includes two battery compartments 34, which are respectively inclined downwards and disposed on the left and right sides of the frame 4, and the battery unit 31 is installed in the battery compartment 34; The horizontal height of the battery unit 31 is lower than the horizontal height of the mobile device.

[0047] During de-icing, this invention uses a flight mechanism 3 to assist the mobile device in movement. However, at high altitudes, it is easily affected by airflow or wind, and this effect is exacerbated after the flight mechanism 3 is installed. To further maintain the stable operation of the de-icing robot, in one embodiment of this invention, a battery compartment 34 is provided. The battery unit 31 is installed in the battery compartment 34. The battery unit 31 is a battery that provides power to the motors of the two propellers 33 on the side where the battery unit 31 is located. Compared to the design of directly installing the battery unit 31 on the frame 4, setting up a battery compartment 34 to load the battery unit 31 can increase the loading capacity of the battery unit 31, using a larger and heavier battery to power the propellers 33, allowing the de-icing robot to travel a longer distance. At the same time, the horizontal height of the battery unit 31 is lower than the horizontal height of the mobile device. At this time, the center of gravity of the two battery units 31 is located below the power transmission line 5. The overall center of gravity of the de-icing robot shifts downwards towards the power transmission line 5. Through the adjustment of the center of gravity and the support of the power transmission line 5, the de-icing robot can resist the influence of airflow or wind, ensuring the stable movement of the de-icing robot.

[0048] Preferably, it also includes a de-icing device 2, which includes a second power unit 21, a drill bit unit 22, and a front mounting plate 23; The front mounting plate 23 is fixedly installed at the front end of the bottom of the frame 4. The bottom of the front mounting plate 23 is provided with an arc-shaped clearance groove 231. The drill bit unit 22 is installed on the front end face of the front mounting plate 23, and several drill bit units 22 are distributed along the edge of the arc-shaped clearance groove 231. The second power unit 21 is installed on the rear end face of the front mounting plate 23, and the second power unit 21 is connected to the drill bit unit 22 in a transmission connection.

[0049] The second power unit 21 is a motor. When the frame 4 is on the line, the arc-shaped clearance groove 231 in the front mounting plate 23 can fit with the power transmission line 5. At this time, the drill bit unit 22 is distributed on the edge of the arc-shaped clearance groove 231 so that the drill bit unit 22 can fit better with the power transmission line 5. The second power unit 21 drives the drill bit unit 22 to rotate and remove the ice on the power transmission line 5.

[0050] Preferably, the mounting end of the drill bit unit 22 passes through the front mounting plate 23 and protrudes from the rear end face of the front mounting plate 23. The drill bit unit 22 is also connected to a third driven gear 24, and a fourth driven gear 25 is provided between adjacent third driven gears 24. The fourth driven gear 25 meshes with the adjacent third driven gear 24. The output end of the second power unit 21 is connected to a second drive gear 26, which meshes with any of the fourth driven gears 25.

[0051] In one embodiment of this utility model, the second power unit 21 transmits power to the drill bit unit 22 via gear transmission. The second power unit 21 drives the second drive gear 26 to rotate, at which time the fourth driven gear 25 meshing with it also rotates, and the third driven gear 24 connected to the fourth driven gear 25 also rotates, driving the drill bit unit 22 to rotate and remove ice. The engagement of multiple third driven gears 24 with the engagement of fourth driven gears 25 achieves simultaneous rotational speed driving of all drill bit units 22.

[0052] To prevent large blocks of ice from getting stuck in the rotary drill bit of drill unit 22, the rotary drill bit of drill unit 22 is designed as a stepped cone with a vertical cutting edge along the direction of rotation. Through rapid rotation and travel power, it initially breaks up large blocks of ice on the transmission line.

[0053] During de-icing, a higher rotation speed is required to drive the drill bit unit 22. When multiple drill bit units 22 are driven by gears, the meshing between the gears is prone to vibration at high speeds. This vibration is transmitted to the frame 4. The slight vibration of the frame 4 removes the ice residue adhering to the power transmission line 5, ensuring the de-icing effect.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A device for removing ice from power transmission lines, characterized in that, It includes two sets of roller brush assemblies arranged side by side, with a gap between the roller brush assemblies for the transmission line (5) to pass through; The roller brush assembly includes a mounting base (111), a first power unit (112), a de-icing unit (113), and a cleaning unit (114). The first power unit (112) is connected to the de-icing unit (113) and the cleaning unit (114) respectively; The de-icing unit (113) and the cleaning unit (114) are arranged at intervals on the mounting base (111) and can both abut against the power transmission line (5). The de-icing unit (113) is used to crush and break up the ice on the power transmission line (5); The cleaning unit (114) is used to clean ice residue on the power transmission line (5).

2. The power transmission line icing removal device according to claim 1, characterized in that, The de-icing unit (113) includes a vertical toothed roller (1131) and a rotary toothed roller (1132) arranged sequentially. The cleaning unit (114) is a brush wheel. The central axis of the vertical toothed roller (1131), the rotary toothed roller (1132) and the brush wheel is perpendicular to the power transmission line (5).

3. The power transmission line icing removal device according to claim 2, characterized in that, In a top-down view, the two sets of roller brush assemblies are arranged side by side on the left and right sides of the power transmission line (5). The rotation directions of the vertical tooth roller (1131), the rotary tooth roller (1132) and the brush wheel on the left side are: counterclockwise, clockwise, counterclockwise; the rotation directions of the vertical tooth roller (1131), the rotary tooth roller (1132) and the brush wheel on the right side are: clockwise, counterclockwise, clockwise.

4. The power transmission line icing removal device according to claim 3, characterized in that, The mounting base (111) includes a first plate (1111), a second plate (1112), a third plate (1113), a fourth plate (1114), and a fifth plate (1115). The first plate (1111) is vertically arranged, and a second plate (1112) is vertically arranged at the top of the first plate (1111). The second plate (1112) is used to be fixedly connected to the equipment. The fourth plate (1114) and the third plate (1113) are respectively vertically arranged inside the first plate (1111). The de-icing unit (113) and the cleaning unit (114) are movably installed between the third plate (1113) and the fourth plate (1114). The fifth plate (1115) is installed on the outside of the first plate (1111), and the first power unit (112) is installed on the fifth plate (1115). The first plate (1111) also has an opening for connecting the first power unit (112) and the cleaning unit (114).

5. The power transmission line icing removal device according to claim 4, characterized in that, The output end of the first power unit (112) is connected to a first driving gear (13). The ends of the vertical tooth roller (1131), the helical tooth roller (1132) and the brush wheel are respectively provided with first driven gears (14). Adjacent first driven gears (14) mesh with each other. The first driving gear (13) passes through the opening and meshes with the first driven gear (14) of the helical tooth roller (1132).

6. The power transmission line icing removal device according to claim 5, characterized in that, The diameter of the first driving gear (13) is larger than the diameter of the first driven gear (14).

7. A flying de-icing robot, using the power line icing removal device according to any one of claims 1 to 6, characterized in that, The device includes a frame (4), a moving device (6) mounted on the frame (4), and a flight mechanism (3). The flight mechanism (3) includes a battery unit (31), an arm (32), and a propeller (33). The arm (32) and the battery unit (31) are mounted on the frame (4). The propeller (33) is mounted at the end of the arm (32). The battery unit (31) is used to provide power to the propeller (33). The moving device (6) is installed at the bottom of the frame (4) and is used to drive the frame (4) to move on the power transmission line (5).

8. A flying de-icing robot according to claim 7, characterized in that, It also includes two battery compartments (34), which are respectively inclined downwards and disposed on the left and right sides of the frame (4), and the battery unit (31) is installed in the battery compartment (34); The battery cell (31) is at a lower horizontal height than the mobile device.

9. A flying de-icing robot according to claim 7, characterized in that, It also includes a de-icing device (2), which includes a second power unit (21), a drill bit unit (22), and a front mounting plate (23). The front mounting plate (23) is fixedly installed at the front end of the bottom of the frame (4). The bottom of the front mounting plate (23) is provided with an arc-shaped clearance groove (231). The drill bit unit (22) is installed on the front end face of the front mounting plate (23), and several drill bit units (22) are distributed along the edge of the arc-shaped clearance groove (231). The second power unit (21) is installed on the rear end face of the front mounting plate (23), and the second power unit (21) is connected to the drill bit unit (22) in a transmission connection.

10. A flying de-icing robot according to claim 9, characterized in that, The mounting end of the drill bit unit (22) passes through the front mounting plate (23) and protrudes from the rear end face of the front mounting plate (23). The drill bit unit (22) is also connected to a third driven gear (24). A fourth driven gear (25) is also provided between adjacent third driven gears (24). The fourth driven gear (25) meshes with the adjacent third driven gear (24). The output end of the second power unit (21) is connected to a second drive gear (26), which meshes with any of the fourth driven gears (25).

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