CN106655060B - Quadripartion deicing high-voltage power transmission line robot - Google Patents

Abstract

The present invention provides a kind of quadripartion deicing high-voltage power transmission line robot, two 6DOF arms, deicer, intermediate supports arms including robot support platform, the both ends for being separately mounted to robot support platform, cooperated using two 6DOF arms and two deicers and intermediate supports arm, the deicing task of single-phase quadripartion high voltage transmission line can be achieved, be generally used for the transmission line of electricity of 500Kv.One robot can once remove single-phase quadripartion power transmission line, and deicing robot can not only cross quadripartion damping conductor spacer, but also can cross shaft tower, can be aligned across continuous three shaft towers, can also be arranged into broken line.The present invention can 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 can be directed across shaft tower and not have to interruption deicing operation；Deicing robot is light-weight, volume is relatively small.

Description

Four-split high-voltage transmission line deicing robot

technical field

The invention relates to a four-split high-voltage transmission line deicing robot, which belongs to the technical field of deicing robots.

Background technique

Due to extreme weather and sudden changes in the climate in many places, both the north and the south are facing ice and snow weather. After the high-voltage power lines freeze, the ice becomes thicker and thicker. It has brought great damage to high-altitude equipment such as high-voltage transmission lines. In particular, the damage to power facilities caused by snow disasters has brought huge losses to industrial and agricultural production and transportation. Therefore, it is of great significance to study high-voltage line deicing equipment.

By summarizing the research work of various deicing technologies at home and abroad, the deicing of high-voltage lines is basically divided into two types: mechanical deicing method and thermal deicing method. Mechanical deicing methods include strong vibration method and pulley scraping method. This method is cheap, but the deicing efficiency is low; thermal deicing mainly includes three-phase short circuit deicing and load deicing. Compared with mechanical deicing, deicing Ice is fast and safe, but it can only be used on local lines. A lot of research has been done on high-voltage line deicing robots at home and abroad, but there are basically no high-voltage line deicing robots that are actually put into use. The main reason is that in cold weather, deicing robots work in a high-altitude environment, not only have to withstand the test of low temperature and strong wind, but also overcome the deflection of high-voltage lines to crawl.

Generally, a deicing robot has two mechanisms of walking and deicing. The walking mechanism needs to reliably grasp the high-voltage line to walk and overcome obstacles; the deicing mechanism removes ice accumulation by knocking or scraping. The main technical difficulty of the deicing robot is overcoming obstacles, which include damping spacers, pole towers, etc. Therefore, in order to achieve the purpose of reducing costs, simple operation, and improving efficiency, a deicing robot that can cross pole towers should be designed to reduce work The number of times people repeatedly climb the tower to install or remove the robot.

Contents of the invention

The purpose of the present invention is to provide a four-split high-voltage transmission line deicing robot.

The purpose of the present invention is achieved in that it includes a robot support platform, two structurally identical six-degree-of-freedom arms symmetrically arranged on the support platform, and a deicing device arranged at the upper end of each six-degree-of-freedom arm. The platform includes a support plate, two linear guide rails symmetrically arranged on both sides of the support plate, a slider installed on each guide rail, a control box connection piece fixedly connected to the slider, and a control box connection piece arranged between the two control box connection pieces. The control box, the lead screw motor installed at one end of the support plate, the gear b connected to the output end of the lead screw motor, the lead screw arranged on the support plate parallel to the linear guide rail, the gear a installed at the end of the lead screw, the gear b meshes with gear a, and the control box is located under the support plate;

Each six-degree-of-freedom arm includes a shoulder rotary bracket arranged at the lower end of the support plate, a shoulder rotary shaft installed in the shoulder rotary bracket, a shoulder rotary shaft connected with the output shaft of the shoulder rotary, and a shoulder rotary shaft connected to the shoulder rotary The joint connecting frame connected to the upper end of the rotating shaft, the shoulder pitch hinged with the joint connecting frame, the connecting rod a fixedly connected with the upper end of the shoulder pitch, the elbow pitch installed at the end of the connecting rod a, the connecting rod hingedly connected with the elbow pitch Rod b and connecting rod c, wrist pitch arranged between the ends of connecting rod b and connecting rod c, wrist connecting piece articulated with wrist pitching, wrist swivel drag box fixedly connected with wrist connecting piece, setting The wrist rotation in the wrist rotation drag box, the wrist rotation shaft connected with the wrist rotation output shaft, and the running mechanism connected with the upper end of the wrist rotation shaft, the walking mechanism includes a fixed connection with the upper end of the wrist rotation shaft The drive box, the drive motor installed in the drive box, the gear A installed on the output shaft of the motor, the drive shaft installed in the drive box through the bearing, the gear B installed on the drive shaft, the gear A and the gear B mesh, the The two ends of the drive shaft protrude out of the drive box and the two ends of the drive shaft are respectively provided with drive wheels running on the cable;

The deicing device includes a mounting plate mounted on the upper end of the drive box, a deicing mechanism motor mounted on the mounting plate through a motor bracket, a deicing driving gear mounted on the output shaft of the deicing motor, and a deicing drive gear mounted on the mounting plate through a bearing seat. The shaft of the deicing mechanism on the top, the deicing driven gear installed on the shaft of the deicing mechanism, the knocking frame connecting piece arranged on the end of the rotating shaft of the deicing mechanism, the knocking frame a arranged at both ends of the knocking frame connecting piece and the knocking frame b, the deicing driving gear meshes with the deicing driven gear, the knocking frame a and the knocking frame b are both cross-shaped structures, and there are four symmetrically arranged between the knocking frame a and the knocking frame b. There are root knocking bar shafts, and a knocking bar is installed on each knocking bar shaft.

The present invention also includes such structural features:

1. There is also an intermediate support arm in the middle of the robot support platform. The intermediate support arm includes a bottom fixed frame installed in the middle of the support plate, a support rod connected to both ends of the bottom fixed frame, and a top connected to the two support rods at the same time. Connecting piece, gearbox bracket installed on the top connecting piece, gearbox installed in the gearbox bracket, intermediate rotary shaft connected with the output shaft of the gearbox, shaft bracket fixedly connected to the upper end of the intermediate rotary shaft, installation The driven shaft on the shaft support, the two driven wheels that are installed on the two ends of the driven shaft and cooperate with the cables.

2. The structure of the shoulder rotation, wrist rotation and the gear box are the same, all including the No. 1 square box, the No. 1 motor externally placed on the side of the square box, and the No. 1 motor output shaft connected and horizontally arranged The No. 1 worm in the No. 1 square box, the No. 1 worm gear shaft installed vertically in the No. 1 square box, the No. 1 worm wheel installed on the No. 1 worm shaft, the No. 1 worm meshes with the No. 1 worm wheel, and a The upper end of No. worm gear shaft stretches out to outside No. 1 square casing as output shaft.

3. The structures of the shoulder pitch, elbow pitch and wrist pitch are the same, all including the No. 2 square box, the No. 2 motor externally placed on the side of the No. 2 square box, and the motor connected to the output shaft of the No. 2 motor. The No. 2 worm that is horizontally arranged in the No. 2 square box, the No. 2 worm gear shaft that is horizontally arranged in the No. 2 square box, and the No. 2 worm gear installed on the No. 2 worm shaft. The No. 2 worm gear meshes with the No. 2 worm, and the No. One end of No. worm gear shaft stretches out to the No. 2 square casing outside as output shaft.

Compared with the prior art, the beneficial effects of the present invention are: the present invention includes a robot support platform, a 6-degree-of-freedom arm, a deicing device, and an intermediate support arm, and two 6-degree-of-freedom arms are respectively installed at both ends of the robot support platform, The two deicing devices are respectively installed at the ends of the two 6-DOF arms, and the middle support arm acts like a tension wheel. The present invention uses two arms with 6 degrees of freedom, two deicing devices and an intermediate support arm to cooperate with each other, and can realize the task of deicing single-phase four-split high-voltage transmission lines, and is generally applied to 500Kv transmission lines. One robot can clear single-phase four-split transmission lines at one time, and the deicing robot can not only cross the four-split damping spacers, but also cross the towers. The three consecutive towers can be arranged in a straight line or in a zigzag line. Compared with other transmission line deicing robots, the present invention has great advantages: it can easily cross the four-split damping spacers; whether the poles and towers are arranged in a straight line or at a corner point, the present invention can directly cross the poles and towers without intermittent deicing operations ; The deicing robot is light in weight and relatively small in size. Specifically:

1. Compared with other transmission line deicing robots, the present invention has great advantages. It significantly enhances the obstacle surmounting ability of the deicing robot. The towers can be arranged in a straight line or in a zigzag line;

2. The present invention has a high degree of automation: the present invention can directly cross the pole tower without intermittent deicing operations, avoiding the need for line workers to repeatedly climb poles/towers to install and unload robots every time they reach a pole tower;

3. The invention has a unique design structure, light weight, small volume, and high reliability. It is generally used on 500Kv four-split high-voltage transmission lines, and it is easy to operate when installing a deicing robot on the cable.

Description of drawings

Fig. 1 is an axonometric view of a four-split high-voltage transmission line deicing robot of the present invention;

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

Fig. 3 is a structural schematic diagram of the lower half of the 6-DOF arm II of the present invention;

Fig. 4 is a structural schematic diagram of the upper half of the 6-DOF arm II of the present invention;

Fig. 5 is a structural schematic diagram of shoulder rotation II-1 of the present invention;

Fig. 6 is the structural representation of elbow pitch II-9 of the present invention;

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

Fig. 8 is a schematic structural view of the deicing device III of the present invention;

Fig. 9 is a schematic structural view of the intermediate support arm IV of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

1 to 8, the four-split high-voltage transmission line deicing robot of the present invention includes a robot support platform I, a 6-degree-of-freedom arm II, a deicing device III, and an intermediate support arm IV. The two 6-DOF arms are respectively installed at both ends of the robot support platform, and the two deicing devices are respectively installed at the ends of the two 6-DOF arms. The middle support arm acts like a tension wheel.

As shown in Figure 2, the robot support platform Ⅰ is mainly composed of: control box Ⅰ-1, control box connector Ⅰ-2, THK linear guide Ⅰ-3, lead screw Ⅰ-4, deep groove ball bearing Ⅰ-5, lead screw Seat Ⅰ-6, spur gear aⅠ-7, locking retaining ring Ⅰ-8, motor seat Ⅰ-9, support plate Ⅰ-10, gear bⅠ-11, lead screw motor Ⅰ-12, THK linear guide rail slider Ⅰ- 13. Lead screw nut Ⅰ-14, lead screw nut seat Ⅰ-15 and so on. There are two THK linear guide rails, which are respectively installed on both sides of the support plate. There are four THK linear guide rail sliders in total. Two sliders are arranged on each THK guide rail, and two sliders are installed on each side respectively. A control box connector, the control box connector has two and is connected with the control box, the control box has a controller, a driver, a power supply, etc., and there are two screw seats, which are symmetrically installed at both ends of the support plate , Both ends of the lead screw are installed on the lead screw seat, one end of the lead screw is installed with spur gear a, the motor seat is installed at one end of the support plate, the lead screw motor is installed on the motor seat, the motor output is installed with gear b, and gear a meshes with gear b The movement is transmitted to the lead screw, the lead screw nut is installed in the lead screw seat, and the lead screw seat is installed on the connecting piece of the control box on one side, so that the control box can reciprocate under the support plate, thus changing the deicing robot in different positions. The position of the center of gravity during the working process makes the center of gravity in the most favorable position for overcoming obstacles. Inside the control box Ⅰ-1 are controllers, drivers, power supplies, etc. The weight of the control box is about 20Kg. Through the above mechanism, the control box can reciprocate under the support plate Ⅰ-10, thereby adjusting the deicing robot in different working processes. The position of the center of gravity, so that the center of gravity is in the most favorable position for overcoming obstacles.

As shown in Figure 3 and Figure 4, the 6-DOF arm II is mainly composed of: shoulder rotation II-1, shoulder rotation bracket II-2, rotary shaft II-3, tapered roller bearing II-4, bearing sleeve Ⅱ-5, joint connection part Ⅱ-6, shoulder pitch Ⅱ-7, link a Ⅱ-8, elbow pitch Ⅱ-9, link b and c Ⅱ-10, wrist pitch Ⅱ-11, wrist link Ⅱ-12, Wrist Swivel Trailer Ⅱ-13, Wrist Swivel Ⅱ-14, Support Plate Ⅱ-15, Wrist Bearing Sleeve Ⅱ-16, Tapered Roller Bearing Ⅱ-17, Traveling Mechanism Ⅱ-18. Among them, shoulder pitch II-7, elbow pitch II-9, and wrist pitch II-11 have the same modular structure; shoulder rotation II-1 and wrist rotation II-14 have basically the same structure. The shoulder slewing bracket Ⅱ-2 is installed on the lower part of the robot support platform for installing the shoulder slewing Ⅱ-1, and the bearing sleeve Ⅱ-5 is installed on the upper surface of the robot support platform to fix the slewing shaft Ⅱ-3, so that The 6-DOF robotic arm II can be connected with the robot support platform I. The function of the wrist rotation II-14 is to control the rotation of the traveling mechanism II-18, so as to avoid interference with the high-voltage cable and move smoothly to the top of the cable. Two 6-DOF arms II are installed at both ends of the robot support platform I, and the articulated mechanical arms greatly enhance the ability of the deicing robot to cross obstacles. Specifically: the shoulder rotation is installed on the robot support platform, the output shaft of the shoulder rotation is connected with the rotary shaft, the rotary shaft is fixed by the bearing sleeve, the joint joint connects the rotary shaft and the pitch of the shoulder, and the connecting rod a will The shoulder pitch is connected with the elbow pitch, the connecting rod b and the connecting rod c are connected with the elbow pitch and the wrist pitch, the wrist joint is connected with the wrist pitch and the wrist rotation, and the wrist bearing sleeve is installed on On the wrist rotation, the rotary shaft is installed in the wrist bearing sleeve and connected with the output shaft of the wrist rotation, and the traveling mechanism connecting piece connects the rotary shaft and the traveling mechanism; the shoulder rotation includes the gear box bracket, Gearbox, worm gear shaft, worm wheel, worm, worm bearing housing, motor, gearbox bracket Install the gearbox on the robot support platform, the output shaft is vertically upward, the worm wheel is installed on the output shaft, and one end of the worm is installed on the gearbox , one end is installed on the worm bearing seat, the worm bearing seat is installed on the side of the gearbox, the motor is installed outside the gearbox body, and connected with one end of the worm; the shoulder pitch, elbow pitch, and wrist pitch are the same Modular structure, including box, motor, worm, worm bearing seat, worm gear shaft, worm gear, the motor is installed outside the box and connected to the worm, one end of the worm is installed on the box, the other end is installed on the worm bearing seat, and the worm gear is installed To the worm gear shaft, the worm gear shaft is installed on both sides of the box and transmits the motion to the outside; the wrist rotation and shoulder rotation structure are consistent; the walking mechanism includes a drive box, a drive motor, a motor seat, a drive shaft, gear A, gear B. Drive wheel, the motor seat is installed on the bottom plate of the drive box, the motor is installed on the motor seat, the output shaft of the motor is connected to gear a, the gear b is installed on the drive shaft, the drive shaft is installed on the drive box on both sides and each end is separately A driving wheel is installed, and the driving wheel rolls and walks on the cable.

Figure 5 shows the structure of the shoulder rotation Ⅱ-1, including the front case Ⅱ-1-1, deep groove ball bearing Ⅱ-1-2, left case Ⅱ-1-3, tapered roller bearing Ⅱ-1-4 , worm gear shaft Ⅱ-1-5, upper box Ⅱ-1-6, worm screw Ⅱ-1-7, worm bearing seat Ⅱ-1-8, rear box Ⅱ-1-9, motor Ⅱ-1-10, Right box Ⅱ-1-11, coupling Ⅱ-1-12, lower box Ⅱ-1-13, tapered roller bearing Ⅱ-1-14. Shoulder Rotation II-1 is responsible for providing a degree of freedom for the lower rotary axis of the entire robotic arm. This shoulder rotation degree of freedom is used when crossing three towers that are not in a straight line.

Figure 6 shows the structure of elbow pitch II-9, including worm screw II-9-1, front box II-9-2, left box II-9-3, deep groove ball bearing II-9-4, upper box Body Ⅱ-9-5, tapered roller bearing Ⅱ-9-6, right box Ⅱ-9-7, coupling Ⅱ-9-8, driving motor Ⅱ-9-9, right box Ⅱ-9- 10. Worm bearing seat II-9-11, worm gear shaft II-9-12, lower box II-9-13. The above-mentioned shoulder pitch II-7, wrist pitch II-11 and elbow pitch II-9 have the same modular structure, and the worm gear shaft is installed on both sides of the box and transmits the movement to the outside. This joint form of the arm can make The deicing robot is relatively more flexible and can cross various obstacles that may be encountered;

Fig. 7 is traveling mechanism Ⅱ-18, and traveling mechanism includes driving box Ⅱ-18-1, driving motor Ⅱ-18-2, motor seat Ⅱ-18-3, gear AⅡ-18-4, lock nut Ⅱ-18- 5. Shaft sleeve Ⅱ-18-6, driving wheel Ⅱ-18-7, driving wheel nut Ⅱ-18-8, tapered roller bearing Ⅱ-18-9, gear BⅡ-18-10, driving shaft Ⅱ-18- 11. A drive wheel is installed at each end of the drive shaft, and the drive motor drives the drive wheel to rotate through gear transmission. The two traveling mechanisms are respectively installed at the end of the 6-DOF mechanical arm, and the drive wheel rolls and walks above the cable.

Figure 8 shows the structural design of the deicing device III. The deicing device III in the embodiment of this design clears the ice shoes on the transmission line by rotating and beating. It consists of the motor rear bracket III-1, the deicing mechanism motor III- 2. Motor front bracket Ⅲ-3, tapered pin locking retaining ring Ⅲ-4, deicing driving gear Ⅲ-5, mounting plate Ⅲ-6, deicing mechanism bearing seat Ⅲ-7, tapered roller bearing Ⅲ-8, Deicing mechanism shaft III-9, deicing driven gear III-10, deicing mechanism bearing seat III-11, knocking frame aIII-12, knocking rod shaft III-13, knocking rod III-14, tapered roller Sub-bearing Ⅲ-15, sleeve Ⅲ-16, percussion frame bⅢ-17, percussion frame connector Ⅲ-18, etc. Four percussion rods are evenly installed on the rotating disk, and the motor is fixed on the motor seat in the driving mechanism, and the motion is transmitted to the rotating shaft of the deicing mechanism through the spur gear, which drives the percussion frame to rotate, and the percussion rod crushes the ice at high speed . There are two knocking frames, four knocking rods and four knocking rod shafts respectively, the motor bracket is installed on the drive box, the motor is installed on the motor bracket, the motor output shaft is equipped with gear a, and the locking gear The shaft of the deicing mechanism is installed on the bearing seat of the deicing mechanism, the gear b is installed on the rotating shaft of the deicing mechanism and its axial limit is limited by the bushing, and the two percussion frames are connected through the percussion frame connector Connected, four pairs of knocking rods and knocking rod shafts are mounted between two knocking frames. The deicing task of the single-phase four-split transmission line can be achieved by driving the knock rod to rotate rapidly through the motor.

Fig. 9 is the structural design of the middle support arm IV. This device consists of a bottom fixed frame IV-1, a support rod IV-2, a top connector IV-3, a gear box bracket IV-4, a rotary shaft support plate IV-5, Bearing sleeve Ⅳ-6, tapered roller bearing Ⅳ-7, driven shaft Ⅳ-8, driven wheel Ⅳ-9, deep groove ball bearing Ⅳ-10, shaft bracket Ⅳ-11, lock nut Ⅳ-12, middle Rotary shaft Ⅳ-13, gear box Ⅳ-14 and so on. The gear box IV-14 is the same as the wrist rotation structure in the 6-DOF arm. The bottom fixed frame is installed on the robot support platform I, the middle support rod is installed on the bottom fixed frame, and the top connector is installed on the upper end of the middle support rod. , the gearbox bracket is installed on the top connector, the gearbox is installed in the bracket, the bearing sleeve is installed on the upper plate of the gearbox bracket, the rotary shaft is installed in the bearing sleeve and connected with the output shaft of the gearbox, and the shaft bracket The rotary shaft and the driven shaft are connected, and a driven wheel is respectively connected to two ends of the driven shaft. The function of the middle support arm is: when crossing obstacles, the mechanical arms on both sides are extended, the rotation axis of the middle support arm is rotated 90° forward, the mechanical arms on both sides are shortened to make the driven wheel move above the cable, and the rotation axis of the middle support arm is reversed. Rotate 90°, the arms on both sides extend until the three rows of wheels touch the upper surface of the cable at the same time, the 6-DOF arm on one side is released, the de-icing robot is still balanced, the released arm crosses obstacles, and the middle support arm and other A robotic arm climbs over obstacles one by one. The middle support arm cooperates with the 6-DOF arms on both sides to play a tensioning role to prevent the ice robot from falling off the power transmission cable under the influence of strong wind or vibration. Generally, during walking, the driven wheel on the support arm is under the cable and tensioned with the cable. When crossing an obstacle, the driven wheel on the support arm moves to the top of the cable, and the corresponding control box below the robot support platform Ⅰ moves to make the center of gravity toward One side is offset, and then the 6-DOF arm on the other side is detached from the cable, so that the center of gravity of the robot is still in a proper position and will not fall over, and the 6-DOF arm detached from the cable begins to cross obstacles.

The main actions of the present invention are as follows: 6 degrees of freedom arm extension, arm walking mechanism placed on the lower two lines of the four-split transmission line, 6 degrees of freedom arm shortening, two deicing devices working simultaneously to deicing, deicing robot more Actions are as follows:

1. Control the control box on the robot support platform to move to the middle position, ensure that the center of gravity is at the center of the deicing robot, and the 6-DOF arms on both sides are extended synchronously, so that the ends are perpendicular to the robot support platform and 150mm higher than the middle support arm.

2. Rotate the wrist at the end of the arm to make the traveling mechanism turn 90°, put the driving wheels of the two traveling mechanisms on the lower cables respectively, turn the wrist and turn 90° to restore the traveling mechanism to its original position. The groove of the driving wheel cooperates with the high-voltage transmission line to limit the position, so as to ensure that the deicing robot walks along the cable.

3. The 6-DOF arms on both sides are shortened synchronously until the vertical height between the center of the driving wheel and the center of the driven wheel is 100mm. At this time, the driven wheel on the middle support arm presses the cable under the cable, which can prevent the driving wheel from Off the track, the de-icing robot can withstand high wind speed. When encountering a cable with large deflection, increasing the tension can ensure that there is enough friction between the driving wheel and the cable to prevent the de-icing robot from being on the cable. skidding.

4. The motor of the de-icing device drives the slewing frame to rotate at a high speed. There are 4 knocking rods evenly distributed around the slewing frame.

5. When encountering four-split damping spacers or pole towers, firstly, the arms on both sides are extended synchronously, so that the middle support arm is separated from the cable, the rotary shaft on the middle support arm is rotated 90°, and the arms on both sides are shortened synchronously so that the three rows of wheels are in the Same horizontal plane, then, the rotary shaft on the middle support arm rotates 90 ° again and recovers original position, at this moment the three rows of wheels are all above the cables, and the cables are all in the grooves of the wheels. Then, control the control box on the robot support platform Ⅰ to move backwards, the purpose is to move the center of gravity of the robot backwards, the first arm in the forward direction is detached from the cable and moves forward to cross the obstacle. After crossing the obstacle, the first arm The arm is brought back over the cable again and the cable fits into the groove of the drive wheel. Then, move the control box on the support platform I to the middle, the middle support arm moves below the cable, and the robot moves forward to make the middle support arm cross the obstacle. After the middle support arm crosses the obstacle, the driven wheel moves to the top of the cable and The groove is well matched with the cable, and the control box on the support platform I moves to the end of the forward direction, at this moment, the center of gravity of the robot is at the front end. Finally, the second arm in the forward direction of the deicing robot breaks away from the cable and moves under the cable. The deicing robot then moves forward and makes the second arm cross the obstacle. After crossing the obstacle, the active rotation of the second arm returns to the cable Above, the middle support arm finally moves to the lower part of the cable to be tensioned. So far, the de-icing robot's obstacle-crossing action is completed, and the de-icing robot continues to move forward for de-icing. In short, this obstacle-crossing structure is very flexible in practical applications, with up to 6 degrees of freedom of the arm, combined with obstacle avoidance and obstacle-crossing actions, it can cross the tower, so as to easily realize obstacle-crossing and continuous deicing operations across the tower.

Claims (5)

1. The four-split high-voltage transmission line deicing robot is characterized in that: it includes a robot support platform, two arms with the same structure and the same six degrees of freedom arranged symmetrically on the support platform, and a deicing arm arranged at the upper end of each six degrees of freedom arm. device, the robot support platform includes a support plate, two linear guide rails symmetrically arranged on both sides of the support plate, a slider installed on each guide rail, a control box connector fixedly connected to the slider, and two control boxes The control box between the box connectors, the lead screw motor installed at one end of the support plate, the gear b connected to the output end of the lead screw motor, the lead screw arranged on the support plate parallel to the linear guide rail, and the screw motor installed at the end of the lead screw gear a, the gear b meshes with the gear a, and the control box is located under the support plate; Each six-degree-of-freedom arm includes a shoulder rotary bracket arranged at the lower end of the support plate, a shoulder rotary shaft installed in the shoulder rotary bracket, a shoulder rotary shaft connected with the output shaft of the shoulder rotary, and a shoulder rotary shaft connected to the shoulder rotary The joint connecting frame connected to the upper end of the rotating shaft, the shoulder pitch hinged with the joint connecting frame, the connecting rod a fixedly connected with the upper end of the shoulder pitch, the elbow pitch installed at the end of the connecting rod a, the connecting rod hingedly connected with the elbow pitch Rod b and connecting rod c, wrist pitch arranged between the ends of connecting rod b and connecting rod c, wrist connecting piece articulated with wrist pitching, wrist swivel drag box fixedly connected with wrist connecting piece, setting The wrist rotation in the wrist rotation drag box, the wrist rotation shaft connected with the wrist rotation output shaft, and the running mechanism connected with the upper end of the wrist rotation shaft, the walking mechanism includes a fixed connection with the upper end of the wrist rotation shaft The drive box, the drive motor installed in the drive box, the gear A installed on the output shaft of the motor, the drive shaft installed in the drive box through the bearing, the gear B installed on the drive shaft, the gear A and the gear B mesh, the The two ends of the drive shaft protrude out of the drive box and the two ends of the drive shaft are respectively provided with drive wheels running on the cable; The deicing device includes a mounting plate mounted on the upper end of the drive box, a deicing mechanism motor mounted on the mounting plate through a motor bracket, a deicing driving gear mounted on the output shaft of the deicing motor, and a deicing drive gear mounted on the mounting plate through a bearing seat. The shaft of the deicing mechanism on the top, the deicing driven gear installed on the shaft of the deicing mechanism, the knocking frame connecting piece arranged on the end of the rotating shaft of the deicing mechanism, the knocking frame a arranged at both ends of the knocking frame connecting piece and the knocking frame b, the deicing driving gear meshes with the deicing driven gear, the knocking frame a and the knocking frame b are both cross-shaped structures, and there are four symmetrically arranged between the knocking frame a and the knocking frame b. There are root knocking bar shafts, and a knocking bar is installed on each knocking bar shaft. 2. The four-split high-voltage transmission line deicing robot according to claim 1, characterized in that: an intermediate support arm is also provided at the middle position of the robot support platform, and the intermediate support arm includes a bottom fixing frame installed at the middle position of the support plate, The support bar connected to both ends of the bottom fixed frame, the top link connected to both support bars at the same time, the gearbox bracket installed on the top link, the gearbox installed in the gearbox bracket, and the gearbox output The intermediate rotary shaft connected with the shaft, the shaft bracket fixedly connected with the upper end of the intermediate rotary shaft, the driven shaft installed on the shaft bracket, and the two driven wheels matched with the cables installed at both ends of the driven shaft. 3. The four-split high-voltage transmission line deicing robot according to claim 1 or 2, characterized in that: the shoulder rotation, the wrist rotation and the gear box have the same structure, and all include a No. 1 square box, an external The No. 1 motor on the side of the square box, the No. 1 worm screw that is connected with the output shaft of the No. 1 motor and is horizontally arranged in the No. 1 square box, the No. 1 worm gear shaft that is vertically installed in the No. 1 square box, and is installed in the No. 1 square box. The No. 1 worm gear on the No. 1 worm gear shaft, the No. 1 worm screw meshes with the No. 1 worm gear, and the upper end of the No. 1 worm gear shaft stretches out to the No. 1 square box body as an output shaft. 4. The four-split high-voltage transmission line deicing robot according to claim 1 or 2, characterized in that: the structures of the shoulder pitch, elbow pitch and wrist pitch are the same, and all include a No. 2 square box, an outer The No. 2 motor placed on the side of the No. 2 square box, the No. 2 worm connected to the output shaft of the No. 2 motor and horizontally arranged in the No. 2 square box, the No. 2 worm gear shaft horizontally arranged in the No. 2 square box, and On the No. 2 worm gear on the No. 2 worm gear shaft, the No. 2 worm gear meshes with the No. 2 worm screw, and one end of the No. 2 worm gear shaft stretches out to the outside of the No. 2 square casing as an output shaft. 5. The four-split high-voltage transmission line deicing robot according to claim 3, characterized in that: said shoulder pitch, elbow pitch and wrist pitch have the same structure, and all include a No. The No. 2 motor on the side of the No. 2 square box, the No. 2 worm connected to the output shaft of the No. 2 motor and horizontally arranged in the No. 2 square box, the No. 2 worm gear shaft horizontally arranged in the No. The No. 2 worm gear on the No. worm gear shaft, the No. 2 worm gear meshes with the No. 2 worm screw, and one end of the No. 2 worm gear shaft stretches out to the outside of the No. 2 square casing as an output shaft.