CN111496821B - A bird's nest removal manipulator for a power tower - Google Patents

Abstract

The invention discloses a nest removing mechanical arm of an electric power tower, which comprises a telescopic rod and a mechanical arm arranged at the front end of the telescopic rod, wherein the telescopic rod comprises a base, a first supporting rod vertically penetrates through the base, a middle plate is arranged at the top end of the first supporting rod, a second supporting rod also penetrates between the middle plate and the base, a driving assembly is arranged between the second supporting rod and the first supporting rod, a top plate is arranged at the top of the second supporting rod, an automatic locking assembly is arranged on the top plate, a middle hook assembly is arranged on the middle plate, a manual clamping assembly is arranged on the base, the rear end of the top plate is connected with a rotating seat, a rotating shaft is arranged on the rotating seat, a sliding plate is vertically connected at the upper end of the rotating shaft, a sliding groove is arranged on the sliding plate, a telescopic cylinder is connected in the sliding groove through a linear motor, the output end of the telescopic, the telescopic rod is not easy to deviate from the tower column, so that the nest can be conveniently removed.

Description

A bird's nest removal manipulator for a power tower

technical field

The invention relates to the technical field of manipulators, in particular to a manipulator for removing bird's nests for power towers.

Background technique

Bird's nests are often built on the transmission and distribution network towers. The branches, grass stems, and iron wires brought by the birds can easily cause short-circuits of the charged body, causing tripping, and even burning out the equipment, causing power outages for the power equipment of the catenary machine. It has a great impact on the power transmission and distribution network, especially when birds peck the insulator strings, and bird droppings cause pollution flashovers on the insulator strings, which will cause more serious power safety accidents. Mainly, for small iron towers and pole frames, it is carried out by simple mechanical devices, such as poking, cutting, burning, etc. For the removal of bird nests on medium and large poles and iron towers, the work is coordinated and practical, and it is extremely difficult. Traditional removal The bird's nest method is no longer suitable for the needs of social development.

At present, the power system operation and maintenance personnel often use the manipulator to remove the bird's nest. The manipulator is set on the telescopic insulating rod. By adjusting the length of the telescopic insulating rod, the manipulator moves to the height of the bird's nest, and then uses the manipulator to remove the bird's nest.

During the whole operation, the staff is required to hold the telescopic insulating rod all the time, which causes the staff's arms to be sore, and the process of removing the bird's nest requires the staff to manually align the bird's nest without relying on it, which is more difficult and takes longer to align. long, affecting the efficiency of bird nest removal.

SUMMARY OF THE INVENTION

To this end, the present invention provides a bird's nest removal manipulator for a power tower, so as to solve the problem that the bird's nest removal process in the prior art requires the staff to hold the telescopic insulating rod for a long time, resulting in soreness of the staff's arms, and requires the staff to be in an unreliable state. Manually aligning the bird's nest under the action is difficult and takes a long time to align, which affects the efficiency of removing the bird's nest.

In order to achieve the above object, the present invention discloses the following technical solutions:

A bird's nest removal manipulator of a power tower, comprising a telescopic rod and a manipulator arranged at the front end of the telescopic rod;

The telescopic rod includes a base, a first support rod is vertically penetrated on the base, a middle plate is arranged at the top of the first support rod, and a second support rod is also passed between the middle plate and the base. a support rod, a drive assembly is provided between the second support rod and the first support rod, and a top plate is provided on the top of the second support rod;

The front ends of the base, the middle plate and the top plate are all provided with a tower body fitting seat, and the front end of the tower body fitting seat is provided with a corner gap, and the angle of the corner gap is the same as that of the power tower edge column. The angles of the corners are matched, two sides of the corner gap are provided with installation grooves, a rotating roller is horizontally arranged in the installation groove, and the roller surface of the rotating roller is parallel to the inner surface of the corner gap;

The rear end of the top plate is connected with a rotating seat, the rotating seat is provided with a rotating shaft, the upper end of the rotating shaft is vertically connected with a sliding plate, the sliding plate is provided with a sliding groove, and a straight line passes through the sliding groove. The motor is connected with a telescopic cylinder, and the output end of the telescopic cylinder extends out of the sliding slot and is connected with the manipulator.

Optionally, the drive assembly includes a displacement rack disposed on the first support rod and a displacement gear disposed on the second support rod, and the displacement gear is disposed on the second support rod through a gear rack , the displacement rack is arranged on the side of the first support rod facing away from the second support rod, the gear rack is in the shape of a concave, and the first support rod is surrounded therein, and the displacement A rack is meshed with the displacement gear.

Optionally, the drive assembly further includes a drive worm gear, a drive worm and a drive motor, a drive seat is provided at the bottom of the shaft of the second support rod, the drive motor is fixed on the drive seat, and the drive worm The drive motor is connected to the transmission worm, the transmission worm is arranged on the rotating shaft of the displacement gear, and the transmission worm meshes with the transmission worm.

Optionally, a diagonal brace is provided between the lower end of the rotation seat and the second support rod, and the rotation seat, the second support rod and the diagonal brace are combined to form a triangle.

Optionally, a manual clamping assembly is provided on the base, the manual clamping assembly includes a fixing clip, the fixing clip is connected to the base through a tension spring, a clamping block is arranged on the base, and the The fixing clip is clamped on the clamping block.

Optionally, the middle plate is provided with a middle hook assembly, the middle hook assembly includes two fixing seats, the two fixing seats are respectively arranged on both sides of the middle plate, and the fixing seats are arranged on the middle plate. There is a middle cylinder, the middle cylinder is perpendicular to the inner surface of the corner notch, the output end of the middle cylinder is inclined upward, and a hook is connected.

Optionally, an automatic locking assembly is provided on the top plate, and the automatic locking assembly includes two rotating cylinders. There is a rotating motor and a top cylinder, the output end of the rotating motor is connected with the top cylinder, the output end of the top cylinder extends out of the rotating cylinder, and the output end is connected with a clamping seat, the clamping seat There are two clamping brackets, and a clamping screw is inserted between the two clamping brackets. The clamping screw is perpendicular to the top cylinder, and the clamping screw is a bidirectional screw. And two nut seats are arranged thereon, and the nut seats are connected with the clamping plate.

The present invention has the following advantages:

In the present invention, by setting the tower body fitting seat, the telescopic rod can rely on the tower column of the power tower, and then push the telescopic rod to realize the upward movement of the manipulator. During the process of pushing the telescopic rod, the corner gap on the tower body fitting seat It is fitted with the corner of the tower column to provide a guiding effect for the telescopic rod, so that the telescopic rod is not easy to deviate from the tower column and can be pushed upwards smoothly. The tower is used as the benchmark for positioning, and the manipulator is more quickly aligned with the bird's nest, which improves the efficiency of bird's nest removal.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only exemplary, and for those of ordinary skill in the art, other implementation drawings can also be obtained according to the extension of the drawings provided without creative efforts.

The structures, proportions, sizes, etc. shown in this specification are only used to cooperate with the contents disclosed in the specification, so as to be understood and read by those who are familiar with the technology, and are not used to limit the conditions for the implementation of the present invention, so there is no technical The substantive meaning above, any modification of the structure, the change of the proportional relationship or the adjustment of the size should still fall within the technical content disclosed in the present invention without affecting the effect and the purpose that the present invention can produce. within the range that can be covered.

1 is a schematic structural diagram of a power tower column in an embodiment of the present invention;

2 is a schematic diagram of the overall structure of an embodiment of the present invention;

3 is a schematic structural diagram of a telescopic rod in an embodiment of the present invention;

4 is a schematic structural diagram of a rotating seat in an embodiment of the present invention;

5 is a schematic structural diagram of a drive assembly in an embodiment of the present invention;

6 is a schematic structural diagram of a top plate in an embodiment of the present invention;

7 is a schematic structural diagram of an automatic locking assembly in an embodiment of the present invention;

FIG. 8 is a schematic diagram of the structure of a middle plate according to an embodiment of the present invention;

9 is a schematic structural diagram of a middle hook assembly according to an embodiment of the present invention;

FIG. 10 is a schematic structural diagram of a base in an embodiment of the present invention.

In the picture:

1. Telescopic rod; 2. Manipulator; 3. Drive assembly; 4. Automatic locking assembly; 5. Middle hook assembly; 6. Manual clamping assembly; 7. Tower body fitting seat;

101, base; 102, first support rod; 103, middle plate; 104, second support rod; 105, top plate; 106, rotating seat; 107, rotating shaft; 108, sliding plate; 109, sliding groove; 110, telescopic Cylinder; 111, diagonal brace;

301, displacement rack; 302, displacement gear; 303, gear frame; 304, transmission worm gear; 305, transmission worm; 306, drive motor; 307, drive seat; 308, worm frame;

401, rotating cylinder; 402, rotating motor; 403, top cylinder; 404, clamping seat; 405, clamping bracket; 406, clamping screw; 407, nut seat; 408, clamping plate;

501, fixed seat; 502, middle cylinder; 503, hook;

601, fixing clip; 602, tensioning spring; 603, clamping block;

701, corner gap; 702, installation groove; 703, rotating roller.

Detailed ways

The embodiments of the present invention are described below by specific specific embodiments. Those who are familiar with the technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1 to FIG. 10 , the present invention discloses a bird’s nest removal manipulator for a power tower, which includes a telescopic rod 1 and a manipulator 2 arranged at the front end of the telescopic rod 1 . The telescopic rod 1 includes a base 101 , and the base 101 is vertical A first support rod 102 is passed through, and the top end of the first support rod 102 is provided with a middle plate 103 .

Wherein, a second support rod 104 is also passed between the middle plate 103 and the base 101 , a drive assembly 3 is provided between the second support rod 104 and the first support rod 102 ; a top plate 105 is provided on the top of the second support rod 104 , the top plate 105 is provided with an automatic locking assembly 4 .

The middle plate 103 is provided with a middle hook assembly 5, the base 101 is provided with a manual clamping assembly 6, the rear end of the top plate 105 is connected with a rotating seat 106, the rotating seat 106 is provided with a rotating shaft 107, and the upper end of the rotating shaft 107 is vertically connected There is a sliding plate 108 , a sliding groove 109 is set on the sliding plate 108 , a telescopic cylinder 110 is connected in the sliding groove 109 through a linear motor, and the output end of the telescopic cylinder 110 extends out of the sliding groove 109 and is connected with the manipulator 2 .

In this embodiment, the lower end of the first support rod 102 extends out of the base 101 to facilitate grasping. When removing the bird's nest, the staff first determines the position of the bird's nest and observes which column of the power tower is closer to the bird's nest. Lift the first support rod 102 and then move the bird's nest removal manipulator, and move it to the vicinity of the tower near the bird's nest.

Before the bird's nest is removed, the bottom end of the second support rod 104 is in contact with the base 101, the top plate 105 is superimposed on the middle plate 103, the middle plate 103 is leaned against the corner of the tower, and then the second support rod is driven by the drive assembly 3 104 is moved up, and then the top plate 105 and the manipulator 2 arranged on the top plate 105 are moved up. After the manipulator 2 is moved to the height of the bird’s nest, the drive assembly 3 stops, and the second support rod 104, the top plate 105 and the manipulator 2 stay at a different height. At this time, the rotating seat 106 coincides with the center line of the corner of the tower column, and the sliding groove 109 is perpendicular to the center line of the corner of the tower column, so the sliding groove 109, the telescopic cylinder 110 in the sliding groove 109 and the manipulator connected to the telescopic cylinder 110 2 are both located outside the power tower.

The top plate 105 is also provided with a motor for driving the rotating shaft 107 to rotate. The motor drives the rotating shaft 107 to rotate, changing the orientation and angle of the sliding plate 108, the sliding groove 109, the telescopic cylinder 110 and the manipulator 2, so that the sliding plate 108 is connected to the power tower. One of the sides of the square area surrounded by the four towers is parallel, and then the linear motor in the sliding slot 109 drives the telescopic cylinder 110 to move forward, and the output end of the telescopic cylinder 110 also extends, so that the manipulator 2 stretches forward, and then the manipulator 2 Using its own function of changing direction and clamping, the bird's nest is removed after aligning with the bird's nest.

In this embodiment, the initial length of the telescopic rod 1 is the length of the first support rod 102 . When the telescopic rod 1 is used, the middle plate 103 at the top of the telescopic rod 1 is placed against the tower first. At this time, the telescopic rod 1 The angle between the telescopic rod 1 and the tower column is relatively large, and then the telescopic rod 1 is pushed up, so that the angle between the telescopic rod 1 and the tower column becomes smaller, and the middle plate 103 moves upward continuously. During this process, the top plate 105 is stacked on the middle plate. Above 103, after the top plate 105 moves to the height of the bird's nest, stop pushing the telescopic rod 1, and then use the manipulator 2 to remove the bird's nest. If the included angle of the tower column bracket of the telescopic rod 1 is zero, the top plate 105 has not yet reached the bird's nest. If the height is high, extend the second support rod 104 and continue to push the top plate 105 to move up. After the top plate 105 moves to near the height of the bird's nest, stop pushing the telescopic rod 1, and then use the manipulator 2 to remove the bird's nest.

Further, in order to facilitate the upward movement of the middle plate 103 and the top plate 105 along the tower column, and will not easily deviate from the column during the upward movement, so that the upward movement process of the manipulator 2 and the bird's nest removal process can be more smoothly, the base 101, the side of the middle plate 103 and the top plate 105 facing the column is set as the front end, as shown in Figure 6, Figure 8 and Figure 10, the front end of the base 101, the middle plate 103 and the top plate 105 are all provided with a tower body fitting seat 7. The front end of the tower body fitting seat 7 is provided with a corner gap 701, and the angle of the corner gap 701 matches the corner angle of the tower column on the edge of the power tower. When it is on the column, align the corner gap 701 with the corner of the tower column, and then embed it. At the same time, the telescopic rod 1 will form a certain angle with the tower column when it leans against the column, so that the two sides of the corner gap 701 Under the restriction of the edge, the telescopic rod 1 will not easily deviate from the tower. At the same time, two sides of the corner notch 701 are provided with installation grooves 702, and a rotating roller 703 is horizontally arranged in the installation groove 702. The roller surface of the rotating roller 703 is parallel to the inner surface of the corner notch 701. By setting the rotating roller 703 , when the telescopic rod 1 is leaning against the tower, the friction force during the upward movement of the telescopic rod 1 is reduced, which makes the upward movement of the telescopic rod 1 easier, and also makes the subsequent upward movement of the second support rod 104 easier. .

As shown in FIGS. 3 and 5 , in this embodiment, the drive assembly 3 includes a displacement rack 301 provided on the first support rod 102 and a displacement gear 302 provided on the second support rod 104 , and the displacement gear 302 passes through The gear rack 303 is arranged on the second support rod 104 , and the displacement rack 301 is arranged on the side of the first support rod 102 facing away from the second support rod 104 . in it. The first support rod 102, the second support rod 104, the middle plate 103 and the gear frame 303 together form a quadrilateral structure, and the four vertices of the quadrilateral are the connection points of the first support rod 102 and the middle plate 103, the second support rod The penetration point of 104 and the middle plate 103, the connection point of the gear frame 303 and the second support rod 104, and the meshing point of the displacement gear 302 and the displacement rack 301, thus constitute a relatively stable frame structure, which ensures the second support The rod 104 can move up along the first support rod 102 . The displacement rack 301 meshes with the displacement gear 302. When the displacement gear 302 rotates, the second support rod 104 moves upward, thereby driving the top plate 105 and the manipulator 2 disposed on the top plate 105 to move up, so as to realize the removal of the bird's nest.

Further, in order to keep the second support rod 104, the top plate 105 and the manipulator 2 at this height after the drive assembly 3 stops driving, the drive assembly 3 further includes a transmission worm gear 304, a transmission worm 305 and a drive motor 306. The second support The bottom of the shaft of the rod 104 is provided with a driving seat 307, the driving motor 306 is fixed on the driving seat 307, the transmission worm 305 is fixed on the driving seat 307 through the worm frame 308, the driving motor 306 is connected with the transmission worm 305, and the transmission worm wheel 304 is arranged on the On the rotating shaft of the displacement gear 302, the transmission worm 305 meshes with the transmission worm wheel 304, the driving motor 306 drives the transmission worm 305 to rotate, and then uses the meshing transmission relationship between the transmission worm 305 and the transmission worm wheel 304 to drive the transmission worm wheel 304 to rotate, and the transmission worm wheel 304 rotates. It is fixed on the rotating shaft of the displacement gear 302. When the transmission worm gear 304 rotates, the displacement gear 302 rotates synchronously, and the meshing transmission relationship between the displacement gear 302 and the displacement rack 301 is used, and the displacement rack 301 is fixed on the support rod 202. It cannot move, so when the displacement gear 302 rotates, it will drive the displacement gear 302, the gear rack 303 and the second support rod 104 to move up, thereby making the top plate 105 and the manipulator 2 arranged on the top plate 105 move up, so as to realize the bird's nest remove.

Moreover, by adding a transmission worm wheel 304 and a transmission worm 305 between the drive motor 306 and the displacement gear 302, and using the transmission worm wheel 304 and the transmission worm 305 for transmission, the self-locking feature in the worm gear and worm transmission mechanism can be used, that is, when the worm is unfolded When the helix angle is smaller than the friction angle of the contact of the worm gear (that is, β<Φ, β is the unfolding helix angle of the worm, Φ is the friction angle; tgΦ=μ, μ is the friction coefficient), the worm gear can be self-locking in the transmission, that is, The drive motor 306 can drive the transmission worm 305 to rotate, the transmission worm 305 rotates to drive the transmission worm wheel 304 to rotate, and the transmission worm wheel 304 rotates to drive the displacement gear 302 to rotate, so as to finally realize the up and down movement of the second support rod 104. When the drive motor 306 stops, the transmission The worm 305 no longer rotates. At this time, the transmission worm 304 cannot drive the transmission worm 305 to rotate, so the transmission worm 304 is also in a stopped state, so the displacement gear 302 is also in a stopped state, and then the second support rod 104 is stopped. 3. After the driving is stopped, the second support rod 104, the top plate 105 and the manipulator 2 stay at this height and do not move.

As shown in FIG. 4 , in this embodiment, a diagonal brace 111 is provided between the lower end of the rotating base 106 and the second support rod 104 , and the rotating base 106 , the second support rod 104 and the diagonal brace 111 are combined to form a triangle, which can be The rotating base 106 provides a better support function, preventing the rotating base 106 from being deformed and tilted.

In order to provide convenience for the staff, so that the staff can extend the second support rod 104 without holding the first support rod 102 all the time. As shown in FIG. 8 and FIG. 9 , in this embodiment, the middle plate 103 The middle hook assembly 5 is set on the upper part, and the middle hook assembly 5 includes two fixing seats 501. The two fixing seats 501 are respectively arranged on both sides of the middle plate 103. The fixing seat 501 is provided with a middle cylinder 502, which is connected to the corner gap The inner surface of 701 is vertical, and is connected with a hook 503. When the output end of the middle cylinder 502 is in a retracted state, the hook 503 is not in contact with the power tower. After the included angle of the tower column bracket of the telescopic rod 1 is zero, the output end of the middle cylinder 502 is stretched out, so that the hook 503 goes deep into the power tower, and is located above the horizontal bar of the power tower, and then the staff squat down or put down the first The support rod 102 makes the middle plate 103 move down, and the hook 503 is hooked on the cross bar of the power tower. At this time, the middle plate 103 is hung on the power tower under the combined action of the corner gap 701 and the hooks 503 on both sides, so that no need The staff supports the telescopic pole 1.

Further, the middle plate 103 is fixed, but the bottom of the telescopic rod 1 is not fixed. At this time, the telescopic rod 1 is easy to shake. In order to prevent the telescopic rod 1 from shaking, as shown in FIG. 10 , a manual clamping assembly is provided at the base 101 6. The manual clamping assembly 6 includes a fixing clip 601. The fixing clip 601 is connected to the base 101 through a tension spring 602. The base 101 is provided with a clamping block 603, and the fixing clip 601 is clamped on the clamping block 603. The middle hook assembly 5, After hanging the middle plate 103 on the power tower, the staff can clamp the corner notch 701 on the base 101 to the corner of the tower column, then remove the fixing clip 601 from the clamping block 603, and pull the fixing clip 601, Move the fixing clip 601 to the edge of the tower column, the tower column is in the shape of a right-angle sheet, and clamp the two fixing clips 601 on two sides respectively. Under the joint action of the two fixing clips 601 , they are fixed on the tower column, so as to avoid the shaking of the telescopic rod 1 , and there is no need for staff to hold it, which brings convenience to the staff.

In this embodiment, the structures of the middle hook assembly 5 and the manual clamping assembly 6 are very simple. In the middle hook assembly 5, only the middle cylinder 502 is the external power and needs to be controlled, and the manual clamping assembly 6 has no external power. Because it is located at the bottom of the power tower, it can be manually operated by staff directly.

In this embodiment, by setting the transmission worm gear 304 and the transmission worm 305, and using their self-locking characteristics, it can be realized that after the drive assembly 3 stops driving, the top plate 105 and the manipulator 2 stay at this height, but because the top plate 105 and the manipulator 2 are in the power tower At the height of , where the wind increases, and the manipulator 2 needs to telescopically move, the top plate 105 is not stable enough and needs to be further fixed.

Therefore, an automatic locking assembly 4 is provided on the top plate 105, and the automatic locking assembly 4 includes two rotating cylinders 401. The two rotating cylinders 401 are respectively arranged horizontally on both sides of the front end of the top plate 105. The rotating cylinder 401 is provided with a rotating motor 402 and The top cylinder 403, the output end of the rotating motor 402 is connected to the top cylinder 403, the output end of the top cylinder 403 extends out of the rotating cylinder 401, and the output end is connected with a clamping seat 404, and the clamping seat 404 is provided with two clamping The bracket 405, a clamping screw 406 is inserted between the two clamping brackets 405, the clamping screw 406 is perpendicular to the top cylinder 403, the clamping screw 406 is a bidirectional screw and two nut seats 407 are arranged on it , the nut seat 407 is connected with a clamping plate 408, and one end of the clamping screw 406 is connected with a motor.

When the automatic locking assembly 4 is not working, the top cylinder 403 is in a retracted state, the clamping seat 404 is located on the outside of the tower column, and the components on the clamping seat 404 are not in contact with the power tower. After the driving assembly 3 is stopped, the top cylinder 403 The output end extends, pushes the clamping seat 404, the clamping screw 406 and the nut seat 407 to move, so that the clamping plate 408 moves to the front of the side of the tower, and then the motor 402 is rotated to drive the top cylinder 403 to rotate 180 degrees, so that the clamping The clamping plate 408 is moved to the front of the side of the tower column, and the side is facing between the two clamping plates 408, and then the output end of the top cylinder 403 is retracted, so that the side of the column is located between the two clamping plates 408, then the motor connected with the clamping screw 406 drives the clamping screw 406 to rotate, so that the two clamping plates 408 are close to each other, and finally clamp the side of the tower. Under the combined action of the clamping plates 408 on both sides, it is stably fixed on the power tower, so as to realize the removal of the bird's nest.

In the present invention, by setting the tower body fitting seat 7, the telescopic rod 1 can rely on the tower column of the power tower, and then push the telescopic rod 1 to realize the upward movement of the manipulator 2. In the process of pushing the telescopic rod 1, the tower body is fitted The corner notch 701 on the seat 7 is fitted with the corner of the tower column to provide a guiding function for the telescopic rod 1, so that the telescopic rod 1 is not easy to deviate from the tower column, and can be pushed upward smoothly, so that the telescopic rod 1 can lean against the tower. Therefore, it can save physical strength, and can be positioned based on the tower column, so that the manipulator 2 can be aligned with the bird's nest more quickly, and the efficiency of removing the bird's nest can be improved.

Although the present invention has been described in detail above with general description and specific embodiments, some modifications or improvements can be made on the basis of the present invention, which will be obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention fall within the scope of the claimed protection of the present invention.

Claims (7)

1. The nest removing manipulator of the power tower is characterized by comprising a telescopic rod (1) and a manipulator (2) arranged at the front end of the telescopic rod (1);

the telescopic rod (1) comprises a base (101), a first supporting rod (102) vertically penetrates through the base (101), a middle plate (103) is arranged at the top end of the first supporting rod (102), a second supporting rod (104) penetrates between the middle plate (103) and the base (101), a driving assembly (3) is arranged between the second supporting rod (104) and the first supporting rod (102), and a top plate (105) is arranged at the top of the second supporting rod (104);

the front ends of the base (101), the middle plate (103) and the top plate (105) are all provided with a tower body embedding seat (7), the front end of the tower body embedding seat (7) is provided with a corner notch (701), the angle of the corner notch (701) is matched with the corner angle of a power tower edge tower column, two side edges of the corner notch (701) are both provided with an installation groove (702), a rotating roller (703) is horizontally arranged in the installation groove (702), and the roller surface of the rotating roller (703) is parallel to the inner surface of the corner notch (701);

the rear end of the top plate (105) is connected with a rotating seat (106), a rotating shaft (107) is arranged on the rotating seat (106), a sliding plate (108) is perpendicularly connected to the upper end of the rotating shaft (107), a sliding groove (109) is formed in the sliding plate (108), a telescopic cylinder (110) is connected to the inside of the sliding groove (109) through a linear motor, and the output end of the telescopic cylinder (110) extends out of the sliding groove (109) and is connected with the manipulator (2).

2. The nest removal robot of an electric power tower according to claim 1, characterized in that the driving assembly (3) comprises a displacement rack (301) disposed on the first support bar (102) and a displacement gear (302) disposed on the second support bar (104), the displacement gear (302) is disposed on the second support bar (104) through a gear rack (303), the displacement rack (301) is disposed on a side of the first support bar (102) facing away from the second support bar (104), the gear rack (303) is T-shaped and surrounds the first support bar (102), and the displacement rack (301) is engaged with the displacement gear (302).

3. The nest removal manipulator of an electric power tower is characterized in that the driving assembly (3) further comprises a transmission worm gear (304), a transmission worm (305) and a driving motor (306), a driving seat (307) is arranged at the bottom of the shaft of the second supporting rod (104), the driving motor (306) is fixed on the driving seat (307), the transmission worm (305) is fixed on the driving seat (307) through a worm rack (308), the driving motor (306) is connected with the transmission worm (305), the transmission worm gear (304) is arranged on the rotating shaft of the displacement gear (302), and the transmission worm (305) is meshed with the transmission worm gear (304).

4. The nest removal manipulator of an electric power tower of claim 1, characterized in that a diagonal brace (111) is disposed between the lower end of the rotating base (106) and the second support rod (104), and the rotating base (106), the second support rod (104) and the diagonal brace (111) form a triangle in combination.

5. The nest removal manipulator of an electric power tower as claimed in claim 1, characterized in that a manual clamping assembly (6) is arranged on the base (101), the manual clamping assembly (6) comprises a fixing clamp (601), the fixing clamp (601) is connected with the base (101) through a tension spring (602), a clamping block (603) is arranged on the base (101), and the fixing clamp (601) is clamped on the clamping block (603).

6. The nest removal manipulator of an electric power tower as claimed in claim 1, wherein a middle hook assembly (5) is arranged on the middle plate (103), the middle hook assembly (5) comprises two fixing seats (501), the two fixing seats (501) are respectively arranged on two sides of the middle plate (103), a middle cylinder (502) is arranged on the fixing seats (501), and the middle cylinder (502) is perpendicular to the inner surface of the corner notch (701) and is connected with a hook (503).

7. The nest removal manipulator of an electric power tower as claimed in claim 1, characterized in that an automatic locking assembly (4) is arranged on the top plate (105), the automatic locking assembly (4) comprises two rotary drums (401), the two rotary drums (401) are horizontally arranged on two sides of the front end of the top plate (105), a rotary motor (402) and a top cylinder (403) are arranged in the rotary drums (401), the output end of the rotary motor (402) is connected with the top cylinder (403), the output end of the top cylinder (403) extends out of the rotary drums (401), the output end is connected with a clamping seat (404), two clamping brackets (405) are arranged on the clamping seat (404), a clamping screw (406) penetrates between the two clamping brackets (405), and the clamping screw (406) is perpendicular to the top cylinder (403), the clamping screw rod (406) is a bidirectional screw rod, two nut seats (407) are arranged on the clamping screw rod, and the nut seats (407) are connected with clamping plates (408).

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