CN106655060A - Deicing robot for four-cracking high-voltage power transmission line - Google Patents

Abstract

The invention provides a deicing robot for a four-cracking high-voltage power transmission line. The deicing robot comprises a robot support platform, two six-degree of freedom arms, deicing devices and an intermediate support arm, wherein the two six-degree of freedom arms are arranged at two ends of the robot support platform. By employing the two six-degree of freedom arms and mutual matching of the two deicing devices and the intermediate support arm, the deicing task of a single-phase four-cracking high-voltage power transmission line can be achieved, and the deicing robot is generally applied to a power transmission line of 500Kv; the robot can clear the single-phase four-cracking power transmission line in one time, the deicing robot can cross a four-cracking impedance isolation rod and also can cross a pole tower, and three pole towers which are continuously crossed can be arranged in a straight line and also can be arranged in a broken line; the deicing robot can directly cross the pole tower and is unnecessary to interrupt deicing operation; and the deicing robot is light in weight and relatively small in volume.

Description

Quadripartion deicing high-voltage power transmission line robot

Technical field

The present invention relates to a kind of quadripartion deicing high-voltage power transmission line robot, belongs to deicing robot technical field.

Background technology

Due to extreme weather, more weather cataclysm, no matter the north or south all suffer from ice and snow weather, on high-tension bus-bar After icing, ice is tied thicker and thicker, and electric wire can't bear the heavy load, and is finally pressed down or high tension electric tower collapses under pressure, to ultra-high-tension power transmission line etc. Altitude plant brings very major injury.Especially because of electric power facility damage caused by snow disaster, to industrial and agricultural production and communications and transportation Bring massive losses.Therefore, study deicing of high-voltage wires equipment to be significant.

By summarizing various clearing ice technology research work both domestic and external, high-tension line deicing is essentially divided into mechanical deicing's method With two kinds of thermal ice-melting method.Mechanical deicing's method has strength lash method, pulley one-lick, and the method is cheap, but deicing Efficiency is low；Thermal ice-melting mainly has the methods such as three-phase shortcircuit ice-melt, on-load ice-melt, compared with mechanical deicing, except speed of icing soon, It is safe, but it is only used for local line.Carry out many researchs to deicing of high-voltage wires machine people both at home and abroad, but it is true at present The deicing of high-voltage wires machine people just come into operation does not have substantially.Main cause is that in cold weather, deicing robot is in high-altitude Operation in environment, will not only sustain the test of low temperature, strong wind, also overcome the flexure of high-voltage line to crawl.

Typically, deicing robot all has walking and deicing Liang Ge mechanisms, and walking mechanism needs reliably to catch high-voltage line Moving obstacle-crossing；Deicing mechanism scrapes removing accumulated ice by tapping or shoveling.The technical difficult points of deicing robot are obstacle detourings, obstacle Including damping conductor spacer, shaft tower etc., therefore, in order to reduce cost, it is simple to operate, put forward efficient purpose, it should design It is a kind of to install or unload robot so as to reduce staff's climbing shaft tower repeatedly with the deicing robot of crossing pole Number of times.

The content of the invention

The invention aims to provide a kind of quadripartion deicing high-voltage power transmission line robot.

The object of the present invention is achieved like this：Including robot support platform, be symmetricly set in support platform two Individual structure identical six degree of freedom arm, the deicer for being arranged on each six degree of freedom arm upper end, the robot Support platform include gripper shoe, be symmetricly set on gripper shoe both sides two line slideways, the slide block on every guide rail and The connected control cabinet connector of slide block, the control cabinet being arranged between two control cabinet connectors, installed in gripper shoe one end Leading screw, installation that spindle motor and the gear b and line slideway of the connection of spindle motor output end be arranged in parallel on the supporting plate In the gear a of leading screw end, the gear b is engaged with gear a, and the control cabinet is located at the lower section of gripper shoe；

Each six degree of freedom arm includes being arranged on the shoulder revolution bracket of gripper shoe lower end, turns round bracket installed in shoulder Interior shoulder revolution connects with the shoulder gyroaxis of the output shaft connection of shoulder revolution and the joint of shoulder gyroaxis upper end connection Meet the connected connecting rod a in shoulder pitch that frame and joint link be hinged and shoulder pitch upper end, installed in the elbow of connecting rod a ends Connecting rod b that portion's pitching and ancon pitching are articulated and connected and connecting rod c, the wrist pitching being arranged between connecting rod b and connecting rod c ends and The connected wrist revolution of wrist connector that wrist pitching is hinged and wrist connector drags case, be arranged on wrist revolution drags in case Wrist revolution and wrist rotary output shaft connection wrist gyroaxis and wrist gyroaxis upper end connection walking mechanism, institute State walking mechanism include with wrist gyroaxis upper end be connected driving box, the motor in driving box, installed in electricity Gear A on machine output shaft, the drive shaft being arranged on by bearing in driving box, installed in the gear B of drive shaft, gear A with Gear B is engaged, and the two ends of the drive shaft extend out to that driving box is outer and two ends of drive shaft are respectively arranged with to be walked in cable upstream Driving wheel；

The deicer is included being arranged on the installing plate of driving box upper end, is arranged on a mounting board by electric machine support Deicing mechanism motor, deicing driving gear on deicing motor output shaft, arranged on a mounting board by bearing block Deicing mechanism rotating shaft, the deicing driven gear in deicing mechanism rotating shaft, it is arranged on striking in deicing mechanism roller end Hit frame connector, be arranged on the percussion frame a and percussion frame b, deicing driving gear and deicing driven tooth for tapping frame connector two ends Wheel engagement, it is cross-shaped configuration to tap frame a and tap frame b, and be symmetrically arranged with four between frame a and bridge frame b tapping Bar axle is tapped, each to tap and be provided with percussion bar on bar axle.

Present invention additionally comprises such some architectural features：

1. intermediate supports arm is additionally provided with robot support platform centre position, intermediate supports arm includes being arranged on support The bottom fixing frame in plate centre position and bottom fixing frame two ends connection support bar, while the top being connected with two support bars Portion's connector, the gear cage cradle on top link, the gear-box in gear cage cradle and gear-box are defeated The middle gyroaxis of shaft connection and middle gyroaxis upper end connected bracing strut, the driven shaft on bracing strut, peace It is mounted in two driven pulleys coordinated with cable at driven shaft two ends.

2. shoulder revolution, wrist revolution are identical with the structure of gear-box described in, including a square box, external in side A motor on shape body side and motor output shaft connection and be horizontally set in a square box No. one Worm screw, a worm-wheel shaft being vertically installed in a square box, installed in a upper worm gear of a worm-wheel shaft, No. one Worm screw engages with a worm gear, and the upper end of a worm-wheel shaft is extend out to outside a square box as output shaft.

3. shoulder pitch, ancon pitching are identical with the structure of wrist pitching described in, including No. two square box, it is external No. two motors of No. two square box sides and the connection of No. two motor output shafts and be horizontally set in No. two square box No. two worm screws, No. two worm-wheel shafts, No. two worm gears on No. two worm-wheel shafts being horizontally set in No. two square box, two Number worm gear and No. two worm engagings, and the one end of No. two worm-wheel shafts extend out to outside No. two square box as output shaft.

Compared with prior art, the invention has the beneficial effects as follows：The present invention includes robot support platform, 6DOF hand Arm, deicer, intermediate supports arm, two 6DOF arms are separately mounted to the two ends of robot support platform, two deicing Device is separately mounted to two 6DOF arm ends, and intermediate supports arm functions similarly to the effect of tensioning wheel.The present invention is adopted Two 6DOF arms and two deicers and intermediate supports arm cooperate, it is possible to achieve single-phase quadripartion high pressure is defeated The deicing task of electric wire, is generally used for the transmission line of electricity of 500Kv.One robot can once remove single-phase quadripartion transmission of electricity Line, deicing robot can not only cross quadripartion damping conductor spacer, but also can cross shaft tower, across continuous three bars Tower can be with aligned, it is also possible to into broken line arrangement.The present invention relative to other de-icing of power transmission lines machine people, with very big excellent Point：Easily cross over quadripartion damping conductor spacer；Whether shaft tower is arranged in a straight line, is in the shaft tower of angle point, and the present invention may be used To be directed across shaft tower without being interrupted deicing operation；Deicing robot is lightweight, volume is relatively small.Specifically：

1st, relative to other de-icing of power transmission lines machine people, with very big advantage, it significantly enhances ice removing machine to the present invention The obstacle climbing ability of device people, can not only cross quadripartion damping conductor spacer, but also can cross shaft tower, across continuous three Shaft tower can be with aligned, it is also possible to into broken line arrangement；

2nd, high degree of automation of the present invention:The present invention can be directed across shaft tower and without being interrupted deicing operation, it is to avoid The every shaft tower of trackman is accomplished by stepping on bar/tower repeatedly and installs and uninstalls robot；

3rd, design structure of the present invention is unique, and lightweight, small volume, reliability are high, are typically employed in 500Kv quadripartion high pressure On transmission line of electricity, deicing robot is installed and reaches easy to operate on cable.

Description of the drawings

Fig. 1 is the quadripartion deicing high-voltage power transmission line manipulator shaft mapping of the present invention；

Fig. 2 is the structural representation of the robot support platform I of the present invention；

Fig. 3 is the structural representation of the latter half of 6DOF arm II of the present invention；

Fig. 4 is the structural representation of the top half of 6DOF arm II of the present invention；

Fig. 5 is the structural representation that the shoulder of the present invention turns round II -1；

Fig. 6 is the structural representation of the ancon pitching II -9 of the present invention；

Fig. 7 is the structural representation of the walking mechanism II -18 of the present invention；

Fig. 8 is the structural representation of the deicer III of the present invention；

Fig. 9 is the structural representation of the intermediate supports arm IV of the present invention.

Specific embodiment

Below in conjunction with the accompanying drawings the present invention is described in further detail with specific embodiment.

With reference to Fig. 1 to Fig. 8, the quadripartion deicing high-voltage power transmission line robot of the present invention include robot support platform I, 6DOF arm II, deicer III, intermediate supports arm IV.Two 6DOF arms are separately mounted to robot support platform Two ends, two deicers are separately mounted to two 6DOF arm ends, and intermediate supports arm functions similarly to tensioning wheel Effect.

As shown in Fig. 2 robot support platform I it is main by：Control cabinet I -1, control cabinet connector I -2, THK line slideways I -3, leading screw I -4, deep groove ball bearing I -5, screw block I -6, spur gear a I -7, locking back-up ring I -8, motor cabinet I -9, gripper shoe I - 10th, the structure such as gear b I -11, spindle motor I -12, THK straight-line guide rail slide blocks I -13, feed screw nut I -14, feed screw nut seat I -15 Into.Described THK line slideways have two, are separately mounted to gripper shoe both sides, the THK straight-line guide rail slide blocks a total of four It is individual, two slide blocks are respectively arranged on each THK guide rail, a control cabinet connector is respectively mounted per the slide block of side two, it is described Control cabinet connector has two and is connected with control cabinet, there is controller, driver, power supply etc., the screw block inside control cabinet There are two, be symmetrically mounted on gripper shoe two ends, leading screw two ends are arranged on screw block, spur gear a, electricity are installed in leading screw wherein one end Support is arranged on gripper shoe one end, and spindle motor is arranged on motor cabinet, and gear b is installed in motor output, and gear a is nibbled with gear b Close transmission and move to leading screw, feed screw nut is arranged in screw block, and screw block is arranged on the control cabinet connector of side, so Control cabinet can just moved back and forth below gripper shoe, so as to change center of gravity position of the deicing robot during different operating Put, make center of gravity in the position most beneficial for crossing over blockage.There are controller, driver, power supply etc. inside control cabinet I -1, control Case weight is about 20Kg, by said mechanism, control cabinet can be made to move back and forth below gripper shoe I -10, is removed so as to adjust Position of centre of gravity of the ice robot during different operating, makes center of gravity in the position most beneficial for crossing over blockage.

As shown in Figure 3, Figure 4,6DOF arm II it is main by：Shoulder revolution II -1, shoulder revolution bracket II -2, revolution Axle II -3, taper roll bearing II -4, bearing sleeve II -5, joint connector II -6, shoulder pitch II -7, connecting rod a II -8, elbow Case II -13, wrist is dragged in portion's pitching II -9, connecting rod b and c II -10, wrist pitching II -11, the revolution of wrist connector II -12, wrist Revolution II -14, gripper shoe II -15, wrist bearing sleeve II -16, taper roll bearing II -17, walking mechanism II -18.Wherein Shoulder pitch II -7, ancon pitching II -9, wrist pitching II -11 are identical modular construction；Shoulder revolution II -1 and wrist II -14 structure of revolution is essentially identical.Shoulder revolution bracket II -2 is arranged on robot support platform bottom, returns for installing shoulder Turn II -1, bearing sleeve II -5 is arranged on robot support platform upper surface, for fixing gyroaxis II -3, thus can be by 6DOF mechanical arm II and robot support platform I are coupled together.It is control walking mechanism that wrist turns round II -14 effect II -18 revolution, to avoid interfering with high voltage cable, smoothly moves to cable top.Two 6DOF arms II are arranged on machine The two ends of people's support platform I, the mechanical arm of joint form causes the obstacle crossing ability of deicing robot to greatly enhance.Specifically Say：Shoulder is pivotally mounted in robot support platform, and the output shaft of shoulder revolution is connected with gyroaxis, and gyroaxis passes through axle Bearing sleeve cylinder is fixed, and joint connector couples together gyroaxis and shoulder pitch, and connecting rod a connects shoulder pitch and ancon pitching Get up, connecting rod b, connecting rod c couple together ancon pitching and wrist pitching, wrist connector connects wrist pitching and wrist revolution Pick up and, wrist bearing sleeve is arranged in wrist revolution, it is interior and with wrist revolution that gyroaxis is arranged on wrist bearing sleeve Output shaft connects, and walking mechanism connector couples together gyroaxis and walking mechanism；Described shoulder revolution includes gear-box Bracket, gear-box, worm-wheel shaft, worm gear, worm screw, worm shaft bearing, motor, gear cage cradle is by gear-box installed in robot On support platform, straight up, worm gear is arranged on output shaft output shaft, and worm screw one end is arranged on gear-box, and one end is arranged on In worm shaft bearing, worm shaft bearing is arranged on gear-box side, and motor is arranged on gear housing outside, and connects with worm screw one end Pick up and；Described shoulder pitch, ancon pitching, wrist pitching are identical modular construction, including casing, motor, worm screw, Worm shaft bearing, worm-wheel shaft, worm gear, motor is arranged on casing outside and is connected with worm screw, and worm screw one end is installed on casing, and one End is installed in worm shaft bearing, and worm gear is installed on worm-wheel shaft, and worm-wheel shaft is arranged on two side box bodies and externally transmission motion； Wrist revolution is consistent with shoulder revolving structure；The walking mechanism includes driving box, motor, motor cabinet, drive shaft, gear A, gear B, driving wheel, motor cabinet is arranged on driving box base plate, and motor is arranged on motor cabinet, motor output shaft connection gear A, gear b are installed on the driving shaft, and drive shaft is arranged in the drive case of both sides and often end is respectively mounted a driving wheel, is driven Wheel is rolled in cable and walked.

Fig. 5 turns round II -1 structure, the including -1-1 of front the casing II, -1-2 of the deep groove ball bearing II, -1- of left box body II for shoulder 3rd ,-the 1-4 of taper roll bearing II ,-the 1-5 of worm-wheel shaft II ,-the 1-6 of upper box II ,-the 1-7 of worm screw II ,-the 1-8 of worm shaft bearing II, after - the 1-9 of the casing II, -1-10 of the motor II, -1-11 of the right case II, -1-12 of the shaft coupling II, -1-13 of lower box II, taper roll bearing Ⅱ-1-14.Shoulder turns round II -1 bottom gyroaxis for being responsible for whole mechanical arm and provides the free degree, not straight at one when crossing over This shoulder revolution free degree is used during three shaft towers of line.

Fig. 6 for ancon pitching II -9 structure, the including -9-1 of the worm screw II, -9-2 of front the casing II, -9-3 of left box body II, zanjon - the 9-4 of the ball bearing II, -9-5 of the upper box II, -9-6 of the taper roll bearing II, -9-7 of the right case II, -9-8 of shaft coupling II, driving electricity - the 9-9 of the machine II, -9-10 of the right case II, -9-11 of worm shaft the bearing II, -9-12 of the worm-wheel shaft II, -9-13 of lower box II.Above-mentioned shoulder Pitching II -7, wrist pitching II -11 and ancon pitching II -9 are identical modular construction, and worm-wheel shaft is arranged on two side box bodies And externally transmission is moved, the arm of this joint form can make deicing robot relatively more flexible, can be across possible chance The various obstacle forms for arriving；

Fig. 7 is walking mechanism II -18, and walking mechanism includes the -18-1 of the driving box II, -18-2 of motor II, motor cabinet II-the 18-3, -18-4 of the gear A II, -18-5 of locking nut II, shaft sleeve II-the 18-6, -18-7 of driving wheel II, driving wheel nut II - The 18-8, -18-9 of the taper roll bearing II, -18-10 of the gear B II, -18-11 of drive shaft II.Drive shaft is often held and is respectively mounted one Driving wheel, motor drives driving wheel to rotate through gear drive, and two walking mechanisms are separately mounted to 6DOF manipulator Arm end, driving wheel rolls walking above cable.

Fig. 8 is the structure design of deicer III, and the deicer III in the embodiment of this design is beaten by rotation Mode removes the shoe ice on power transmission line, and it is by motor after-poppet III -1, deicing mechanism motor III -2, motor fore-stock III -3, cone Pin locked back-up ring III -4, deicing driving gear III -5, installing plate III -6, deicing mechanism bearing block III -7, taper roll bearing III - 8th, deicing mechanism rotating shaft III -9, deicing driven gear III -10, deicing mechanism bearing block III -11, percussion frame a III -12, percussion bar Axle III -13, percussion bar III -14, taper roll bearing III -15, sleeve III -16, percussion frame b III -17, percussion frame connector III - 18 grades are constituted.4 percussion bars are uniformly installed, motor is fixed on the motor cabinet in drive mechanism, through spur gear in rotating disk Deicing mechanism rotating shaft is given in transmission motion, is driven and is tapped frame rotation, is tapped bar and is smashed ice cube at high speeds.Described percussion frame There are two, tap bar and percussion bar axle is respectively four, electric machine support is arranged on above driving box, and motor is arranged on electric machine support On, motor output shaft installs gear a, and by locking back-up ring axial limiting, deicing mechanism rotating shaft is arranged on deicing mechanism bearing On seat, gear b is arranged in deicing mechanism rotating shaft and by axle sleeve to its axial limiting, and two tap frame by tapping frame connection Part is coupled together, and four pairs of percussion bars and percussion bar axle are arranged on two and tap between framves.Percussion bar is driven quickly to revolve by motor Turn the deicing task that can reach single-phase quadripartion power transmission line.

Fig. 9 is the structure design of intermediate supports arm IV, and this device is connected by bottom fixing frame IV -1, support bar IV -2, top Fitting IV -3, gear cage cradle IV -4, gyroaxis gripper shoe IV -5, bearing sleeve IV -6, taper roll bearing IV -7, driven shaft IV -8, driven pulley IV -9, deep groove ball bearing IV -10, bracing strut IV -11, locking nut IV -12, middle gyroaxis IV -13, tooth The grade of roller box IV -14 is constituted.The gear-box IV -14 is identical with the wrist revolving structure in 6DOF arm, bottom fixing frame peace It is mounted in robot support platform I, middle studdle is arranged on bottom fixing frame, top link is arranged on middle studdle Upper end, gear cage cradle is arranged on top link, and gear-box is installed within the carrier, and bearing sleeve is arranged on gear cage cradle Upper plate, gyroaxis is arranged in bearing sleeve and with gearbox output shaft and is connected, and bracing strut connects gyroaxis and driven shaft Come, driven shaft two ends connect respectively a driven pulley.The effect of intermediate supports arm is：When leaping over obstacles, both sides mechanical arm Elongation, the gyroaxis of intermediate supports arm rotates forward 90 °, and both sides mechanical arm shortens makes driven pulley move to cable top, in Between the gyroaxis of support arm rotate backward 90 °, both sides mechanical arm is extended to three skates contact cable taking upper surface simultaneously, one side 6DOF mechanical arm unclamps, and deicing robot still balances, the arm leaping over obstacles of release, follow-up intermediate supports arm and another Outer mechanical arm crossing over blockage successively.Intermediate supports arm coordinates the 6DOF arm on both sides, plays tension, prevents Ice robot falls down in the impact of strong wind or vibration from power transmission cable.In general walking process, the driven pulley on support arm It is tensioned with cable below cable, when leaping over obstacles, the driven pulley on support arm moves to cable top, corresponding robot The control cabinet movement of the lower section of support platform I, makes center of gravity offset to one side, and then the 6DOF arm on other one side departs from cable, So robot center of gravity is still in suitable position will not topple over, and the 6DOF arm for departing from cable starts across obstacle.

The main actions of the present invention have：The elongation of 6DOF arm, arm walking mechanism are placed under quadripartion power transmission line Portion both threads top, 6DOF arm are shortened, two deicers work simultaneously deicing, deicing robot obstacle detouring action, specifically It is as follows：

1st, the control cabinet controlled in robot support platform moves to centre position, it is ensured that center of gravity is in deicing robot The heart, the 6DOF arm on both sides synchronously extends, and is allowed to ending vertical in robot support platform and higher than intermediate supports arm 150mm。

2nd, arm end wrist revolution makes walking mechanism turn over 90 °, and the driving wheel of two walking mechanisms is put into down respectively On row of cable, wrist revolution turns again 90 ° makes walking mechanism return to origin-location.The groove of driving wheel is matched somebody with somebody with high voltage transmission line Conjunction carries out spacing, it is ensured that deicing robot is walked along cable.

3rd, the 6DOF arm on both sides synchronously shortens, and foreshortens to the vertical height at its driving wheel center and driven pulley center For 100mm, now the driven pulley on intermediate supports arm compresses cable below cable, and do so can prevent driving wheel from departing from rail Road, can make deicing robot resist larger wind speed, and when the larger cable of amount of deflection is run into, increase tensile force may insure to drive There is enough frictional force between driving wheel and cable, prevent deicing robot from skidding on cable.

4th, the motor of deicer drives reversing frame revolution at a high speed, reversing frame to be uniformly distributed on peripheries with 4 percussion bars, taps bar and exists Break the accumulated ice on quadripartion high voltage transmission line under high-speed motion into pieces.

5th, when quadripartion damping conductor spacer or shaft tower is run into, first, both sides arm synchronously extends, and makes intermediate supports arm Depart from cable, the gyroaxis on intermediate supports arm rotates 90 °, and both sides arm synchronously shortens makes three skates in same level Face, then, the gyroaxis on intermediate supports arm rotates again 90 ° and recovers original positions, at this moment three skates above cable, And cable is in the groove of wheel.Subsequently, the control cabinet controlled in robot support platform I is moved backward, it is therefore an objective to made Robot center of gravity is moved rearwards by, and first arm of direction of advance departs from cable and the across obstacle that travels forward, leaping over obstacles After thing, first arm turns again to cable top, and cable is coordinated with the groove of driving wheel.Followed by, make support put down Control cabinet on platform I shifts to centre, and intermediate supports arm moves to cable lower section, and robot then moves ahead, make intermediate supports arm across Obstacle-overpass, after intermediate supports arm leaping over obstacles, driven pulley moves to cable top and groove is worked good with cable, support platform Control cabinet on I shifts to direction of advance end, and at this moment robot center of gravity is in front end.Finally, the second of deicing robot direction of advance Individual arm departs from cable, and moves to cable lower section, and deicing robot then travels forward and makes second arm leaping over obstacles, After leaping over obstacles, the driving wheel of second arm returns to cable top, and intermediate supports arm finally moves to the tensioning of cable lower section, extremely This completes the obstacle detouring action of deicing robot, and deicing robot moves forward deicing.In a word, this obstacle detouring structure is in reality Using in very flexibly, the arm free degree up to 6, with reference to hide obstacle action and obstacle detouring action can with crossing pole, so as to Easily realize the continuous deicing operation of obstacle detouring, crossing pole.

Claims (5)

1. quadripartion deicing high-voltage power transmission line robot, it is characterised in that：Including robot support platform, it is symmetricly set on and props up Support two structure identical six degree of freedom arms on platform, be arranged on the deicer of each six degree of freedom arm upper end, The robot support platform includes gripper shoe, be symmetricly set on gripper shoe both sides two line slideways, installed in leading per root The connected control cabinet connector of slide block and slide block on rail, the control cabinet being arranged between two control cabinet connectors, it is arranged on The spindle motor of gripper shoe one end and the gear b and line slideway of the connection of spindle motor output end be arranged in parallel on the supporting plate Leading screw, installed in the gear a of leading screw end, the gear b is engaged with gear a, the control cabinet be located at gripper shoe lower section；

Each six degree of freedom arm includes being arranged on the shoulder of gripper shoe lower end revolution bracket, turns round in bracket installed in shoulder Shoulder turn round and shoulder revolution output shaft connection shoulder gyroaxis and shoulder gyroaxis upper end connection joint link, The connected connecting rod a in the shoulder pitch being hinged with joint link and shoulder pitch upper end, the ancon installed in connecting rod a ends are bowed Face upward and connecting rod b that ancon pitching is articulated and connected and connecting rod c, the wrist pitching that is arranged between connecting rod b and connecting rod c ends and wrist The connected wrist revolution of wrist connector that pitching is hinged and wrist connector drags case, be arranged on wrist revolution drags wrist in case Portion turns round and wrist rotary output shaft connects wrist gyroaxis and the walking mechanism of wrist gyroaxis upper end connection, the row Walk driving box that mechanism includes being connected with the wrist gyroaxis upper end, motor in driving box, defeated installed in motor Gear A on shaft, the drive shaft being arranged on by bearing in driving box, installed in the gear B of drive shaft, gear A and gear B Engagement, the two ends of the drive shaft extend out to that driving box is outer and two ends of drive shaft are respectively arranged with the driving walked in cable upstream Wheel；

The deicer includes being arranged on the installing plate of driving box upper end, the deicing by electric machine support setting on a mounting board Mechanism motor, the deicing driving gear on deicing motor output shaft, the deicing by bearing block setting on a mounting board Mechanism's rotating shaft, the deicing driven gear in deicing mechanism rotating shaft, the percussion frame being arranged in deicing mechanism roller end Connector, the percussion frame a for being arranged on percussion frame connector two ends and percussion frame b, deicing driving gear is nibbled with deicing driven gear Close, it is cross-shaped configuration to tap frame a and tap frame b, and be symmetrically arranged with four percussions between frame a and bridge frame b tapping Bar axle, each to tap and be provided with percussion bar on bar axle.

2. quadripartion deicing high-voltage power transmission line robot according to claim 1, it is characterised in that：Support in robot Platform centre position is additionally provided with intermediate supports arm, and intermediate supports arm includes that the bottom for being arranged on gripper shoe centre position is fixed Frame and bottom fixing frame two ends connection support bar, while be connected with two support bars top link, connect installed in top The middle gyroaxis of the gear cage cradle on fitting, the gear-box in gear cage cradle and gearbox output shaft connection, With middle gyroaxis upper end be connected bracing strut, the driven shaft on bracing strut, installed in two of driven shaft two ends The driven pulley coordinated with cable.

3. quadripartion deicing high-voltage power transmission line robot according to claim 1 and 2, it is characterised in that：The shoulder Revolution, wrist revolution are identical with the structure of gear-box, including a square box, external No. on square box side Motor and the connection of motor output shaft and be horizontally set in a square box a worm screw, be vertically installed at one A worm-wheel shaft in number square box, installed in a upper worm gear of a worm-wheel shaft, a worm screw nibbles with a worm gear Close, and the upper end of a worm-wheel shaft is extend out to outside a square box as output shaft.

4. quadripartion deicing high-voltage power transmission line robot according to claim 1 and 2, it is characterised in that：The shoulder Pitching, ancon pitching are identical with the structure of wrist pitching, including No. two square box, external No. two square box sides No. two motors and the connection of No. two motor output shafts and No. two worm screws, horizontally disposed that are horizontally set in No. two square box No. two worm-wheel shafts in No. two square box, No. two worm gears on No. two worm-wheel shafts, No. two worm gears and No. two worm screws Engage, and the one end of No. two worm-wheel shafts is extend out to outside No. two square box as output shaft.

5. quadripartion deicing high-voltage power transmission line robot according to claim 3, it is characterised in that：The shoulder is bowed Face upward, ancon pitching it is identical with the structure of wrist pitching, including No. two square box, external the two of No. two square box sides Number motor and No. two motor output shaft connections and be horizontally set in No. two square box No. two worm screws, be horizontally set on No. two worm-wheel shafts in No. two square box, No. two worm gears on No. two worm-wheel shafts, No. two worm gears are nibbled with No. two worm screws Close, and the one end of No. two worm-wheel shafts is extend out to outside No. two square box as output shaft.