Onboard power transmission line ground wire deicing robot

Abstract

The invention discloses an airborne power transmission line ground wire deicing robot, and the robot comprises a housing, the bottom of which is recessed inwards in the height direction of the housing to form a containing groove; the walking mechanism comprises a first driving unit and a pulley, the first driving unit is used for driving the pulley to rotate around the width direction of the shell, the first driving unit is installed on the inner wall of the shell, and the pulley is arranged in the containing groove; the ice cutting mechanism comprises a second driving unit and a cutter, and the second driving unit is used for driving the cutter to reciprocate; the ice knocking mechanism is arranged on the rear side of the ice cutting mechanism in the length direction of the shell, the ice knocking mechanism comprises a third driving unit and a knocking hammer, and the third driving unit is used for driving the knocking hammer to move in a reciprocating mode and installed in the shell. According to the airborne deicing robot for the ground wire of the power transmission line, the deicing efficiency of the ground wire is improved, and the robot can be put in and taken back on the basis of an unmanned aerial vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of cable deicing, and in particular to an airborne transmission line ground wire deicing robot. Background Art

[0002] As a major power country, my country's booming development in all walks of life is inseparable from the power system. In recent years, various severe weather conditions have occurred frequently in winter, which will cover the surface of high-voltage transmission lines with icicles. When icicles cover the transmission lines, it is easy to form a short circuit, and when it reaches a critical point, it will cause the transmission lines to break, and even cause the towers to collapse. In addition, in severe weather, the icicles will not melt for a long time, and the high-voltage transmission lines cannot work normally. When the ice-covered conductors, poles, and crossarms are mechanically de-iced, the force is close to the limit, and the conductors may break, the insulators may break, the crossarms may twist, or the poles may collapse. This brings great inconvenience and losses to residents and various factories.

[0003] There are three main types of existing de-icing technologies. The first is to use direct current de-icing, which is to short-circuit the circuit and use the high temperature generated to melt the ice. This technology is costly and wastes resources. The second is mechanical de-icing technology, which is to use mechanical pressurized de-icing. This method can easily damage high-voltage transmission lines. The third is artificial de-icing technology, which involves manually hitting the high-voltage transmission lines with bamboo poles to make the ice attached to the high-voltage transmission lines fall off. However, artificial de-icing cannot remove ice on a large scale and has low de-icing efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide an airborne transmission line ground wire deicing robot, which improves the deicing efficiency of the ground wire.

[0005] In order to achieve the above-mentioned object, the present invention provides an airborne transmission line ground wire deicing robot, wherein the airborne type refers to the equipment or device being directly installed on an aircraft or other aircraft, including:

[0006] The shell has a bottom that is recessed inwardly along the height direction of the shell to form a receiving groove, and the upper part of the shell has a docking port;

[0007] A walking mechanism, comprising a first driving unit and a pulley, wherein the first driving unit is used to drive the pulley to rotate around the width direction of the shell, the first driving unit is installed on the inner wall of the shell, the pulley is arranged in the accommodating groove, and the pulley is used to slide on the ground line along the length direction of the shell;

[0008] an ice cutting mechanism, comprising a second driving unit and a cutter, wherein the second driving unit is used to drive the cutter to reciprocate, the second driving unit is installed in the housing, the cutter is located below the ground wire, and is used to cut off ice covering the surface of the ground wire; and

[0009] An ice-knocking mechanism is arranged at the rear side of the ice-cutting mechanism along the length direction of the shell, and the ice-knocking mechanism includes a third driving unit and a knocking hammer. The third driving unit is used to drive the knocking hammer to reciprocate. The third driving unit is installed in the shell. The knocking hammer is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter.

[0010] In some embodiments, a slide groove is provided along the radial direction of the pulley, and the slide groove is provided on the ground line. A rotating shaft is provided in the middle of the pulley along the width direction of the outer shell. The first end of the rotating shaft is transmission-connected to the first driving unit, and the second end of the rotating shaft can be rotatably installed on the inner wall of the outer shell.

[0011] In some embodiments, two anti-slipping mechanisms are further included, and the anti-slipping mechanisms are distributed on both sides of the shell along the length direction of the shell. The anti-slipping mechanisms include a fourth driving unit and two clamp heads. The fourth driving unit is used to drive the two clamp heads to separate or engage with each other. When the two clamp heads are engaged, the two clamp heads enclose a limiting space, and the limiting space is sleeved on the ground wire.

[0012] In some embodiments, the second driving unit includes an electric screw assembly, a slider and a connecting rod, the electric screw assembly is installed on the inner wall of the housing, the slider is installed in the electric screw assembly, the cutter is installed on the slider through a connecting rod, and the electric screw assembly drives the slider to reciprocate so that the cutter contacts or moves away from the surface of the ground wire to be covered with ice.

[0013] In some embodiments, the second driving unit further includes a guide column, a force storage spring, a locking spring and a locking block, the slider includes a first slider and a second slider, the first slider is driven by the electric screw assembly, the cutter is mounted on the second slider through the connecting rod, the second slider is arranged opposite to the first slider, a first block is arranged on the side of the second slider, and a second block is arranged on the side of the electric screw assembly, the second slider can be slidably mounted on the guide column, the force storage spring is sleeved on the outer wall of the guide column and is located below the second slider, the locking block can be rotatably mounted on the side of the first slider, the locking block has a locking portion and a loosening portion, the locking spring is arranged on the side of the first slider and is used to generate an elastic force on the locking portion so that the locking portion is clamped on the first block, so that the electric screw assembly can synchronously drive the first slider and the second slider to move in a direction away from the ground line, when the loosening portion abuts against the second block, the locking block is deflected to make the locking portion slip off the first block, and the elastic force generated by the force storage spring allows the second slider to move in a direction close to the ground line.

[0014] In some embodiments, the third driving unit includes a frame, a motor, a first connecting rod, a second connecting rod, a slide rail and a third slider. The frame is installed on the inner wall of the outer shell, the motor is installed on the outer side of the frame, the first connecting rod and the second connecting rod are arranged in the frame, the second connecting rod is arranged above the first connecting rod, the slide rail is installed on the inner wall of the frame on one side of the second connecting rod, and the third slider is arranged on the slide rail. The power output end of the motor passes through the frame and is transmission-connected to the first end of the first connecting rod, the second end of the first connecting rod is rotatably connected to the first end of the second connecting rod, the second end of the second connecting rod is rotatably connected to the side wall of the third slider, and the knocking hammer is installed on the third slider.

[0015] In some embodiments, two first connecting rods are provided, wherein the first end of one of the first connecting rods is transmission-connected to the motor, the first end of the other first connecting rod is rotatably mounted on the inner wall of the frame, and the second ends of the two first connecting rods are rotatably connected to the first end of the second connecting rod.

[0016] In some embodiments, the third driving unit also includes an electric slide and a fourth slider, the electric slide is installed on the inner wall of the outer shell, the fourth slider is arranged on the electric slide, the frame is installed on the fourth slider, and the electric slide is used to drive the frame close to or away from the ground wire.

[0017] In some embodiments, two walking mechanisms are provided, and the two walking mechanisms are distributed along the length direction of the shell.

[0018] In some embodiments, two ice cutting mechanisms are provided, and the two ice cutting mechanisms are distributed on both sides of the ground line along the width direction of the housing.

[0019] The present invention provides an airborne transmission line ground wire deicing robot, which has the following beneficial effects compared with the prior art:

[0020] The airborne power transmission line ground wire de-icing robot is configured with the second drive unit to drive the cutter to move back and forth, the cutter is located below the ground wire and is used to cut off the ice on the surface of the ground wire, and the third drive unit is used to drive the knocking hammer to move back and forth, the knocking hammer is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter, thereby realizing the cutting and breaking operations of the ice in turn, which is conducive to the ice falling off the ground wire, thereby improving the de-icing efficiency of the ground wire, and by providing a docking interface for assembly and connection with a drone, it can be deployed and recovered based on the drone.

[0021] The airborne power transmission line ground wire de-icing robot can achieve high de-icing efficiency, consume less resources, is independent of manpower, can operate for a long time, can be hung and recovered by drones, and can complete de-icing operations by remote control, solving the problems of low efficiency of traditional manual de-icing, safety hazards and high energy consumption of direct-melt de-icing.

[0022] The airborne power transmission line ground wire de-icing robot is equipped with a receiving slot and a docking port. It can be vertically mounted and recovered by a drone. The operation is simple and reliable. After being mounted on the ground wire, it can be operated by walking without changing the structure of the ground wire itself.

[0023] The airborne power transmission line ground wire de-icing robot adopts a triple combined de-icing design of pulley rolling to de-ice, ice cutting mechanism to cut off the ice, and ice knocking mechanism to vibrate and crush to de-ice. Through the combined de-icing operations of rolling, cutting, and vibrating and crushing, the de-icing effect is better and the efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of the three-dimensional structure of an airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0025] Figure 2 This is a front view structural schematic diagram of an airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0026] Figure 3 A schematic diagram of the internal structure of the shell of an airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0027] Figure 4 A schematic diagram of the enlarged structure of the walking mechanism of the airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0028] Figure 5 An enlarged schematic diagram of the ice cutting mechanism of the airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0029] Figure 6 A partially enlarged schematic diagram of the ice cutting mechanism of the airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0030] Figure 7 A schematic diagram of the enlarged structure of the ice-knocking mechanism of the airborne power transmission line ground wire deicing robot provided in an embodiment of the present invention.

[0031] In the figure: 1, housing; 11, receiving groove; 12, docking port; 2, walking mechanism; 21, first driving unit; 22, pulley; 221, slide groove; 222, rotating shaft; 3, ice cutting mechanism; 31, second driving unit; 311, electric screw assembly; 312, slider; 312a, first slider; 312b, second slider; 313, connecting rod; 314, guide column; 315, storage spring; 316, locking spring; 317, locking block; 317a, locking part; 3 17b, loosening portion; 318, first stopper; 319, second stopper; 32, cutter; 4, ice-knocking mechanism; 41, third driving unit; 411, frame; 412, motor; 413, first connecting rod; 414, second connecting rod; 415 slide rail; 416, third slider; 417, electric slide; 418, fourth slider; 42, knocking hammer; 5, anti-slip mechanism; 51, fourth driving unit; 52, pliers head; x, width direction; y, length direction; z, height direction. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0033] It should be understood that, in the description of the present application, the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, that is, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In addition, unless otherwise specified, "multiple" means two or more.

[0034] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0035] like Figure 1-7 As shown, the airborne transmission line ground wire deicing robot provided by the embodiment of the present invention comprises a housing 1, a walking mechanism 2, an ice cutting mechanism 3 and an ice knocking mechanism 4. Airborne means that the equipment or device is directly installed on an aircraft or other aircraft. The deicing robot of this embodiment can be deployed and recovered based on a drone.

[0036] The bottom of the housing 1 is recessed inwardly along the height direction z of the housing to form a receiving groove 11, and the upper part of the housing 1 has a docking port 12. The receiving groove 11 is used to buckle on the ground wire, and the docking port 12 is used to connect with the drone for easy use.

[0037] The walking mechanism 2 includes a first driving unit 21 and a pulley 22. The first driving unit 21 is used to drive the pulley 22 to rotate around the width direction x of the shell 1. The first driving unit 21 is installed on the inner wall of the shell 1. The pulley 22 is arranged in the accommodating groove 11. The pulley 22 is used to slide on the ground wire along the length direction y of the shell 1.

[0038] The ice cutting mechanism 3 includes a second driving unit 31 and a cutter 32. The second driving unit 31 is used to drive the cutter 32 to move back and forth. The second driving unit 31 is installed in the housing 1. The cutter 32 is located below the ground wire and is used to cut off ice on the surface of the ground wire.

[0039] The ice-knocking mechanism 4 is arranged on the rear side of the ice-cutting mechanism 3 along the length direction y of the shell 1. The ice-knocking mechanism 4 includes a third driving unit 41 and a knocking hammer 42. The third driving unit 41 is used to drive the knocking hammer 42 to move back and forth. The third driving unit 41 is installed in the shell 1. The knocking hammer 42 is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter 32.

[0040] Based on the above-mentioned structural setting, the airborne power transmission line ground wire de-icing robot is provided with a second driving unit 31 for driving the cutter 32 to move back and forth, the cutter 32 is located below the ground wire, and is used to cut off the ice on the surface of the ground wire, and the third driving unit 41 is used to drive the knocking hammer 42 to move back and forth, the knocking hammer 42 is located below the ground wire, and is used to break the ice on the surface of the ground wire cut by the cutter 32, thereby realizing the cutting and breaking operations of the ice in turn, which is conducive to the ice falling off the ground wire, thereby improving the de-icing efficiency of the ground wire, and by providing a docking interface 12 for assembly and connection with the drone, it can be deployed and recovered based on the drone.

[0041] The airborne power transmission line ground wire de-icing robot can achieve high de-icing efficiency, consume less resources, is independent of manpower, can operate for a long time, can be hung and recovered by drones, and can complete de-icing operations by remote control, solving the problems of low efficiency of traditional manual de-icing, safety hazards and high energy consumption of direct-melt de-icing.

[0042] The airborne power transmission line ground wire deicing robot is equipped with a receiving slot 11 and a docking port 12, and can be vertically mounted and recovered by a drone. The operation is simple and reliable, and after being mounted on the ground wire, the robot can be operated by walking without changing the structure of the ground wire itself.

[0043] The airborne power transmission line ground wire deicing robot adopts a triple combined deicing design of a pulley 22 for rolling deicing, an ice cutting mechanism 3 for cutting off covered ice, and an ice knocking mechanism 4 for vibrating and crushing deicing. Through the combined deicing operation of rolling, cutting, and vibrating and crushing, the deicing effect is better and the efficiency is higher.

[0044] like Figure 3 and 4 As shown, a slide groove 221 is provided around the radial direction of the pulley 22, and the slide groove 221 is provided on the ground line. A rotating shaft 222 is provided in the middle of the pulley 22 along the width direction x of the housing 1. The first end of the rotating shaft 222 is transmission-connected with the first driving unit 21, and the second end of the rotating shaft 222 is rotatably mounted on the inner wall of the housing 1. Specifically, the second end of the rotating shaft 222 is mounted on the inner wall of the housing 1 through a bearing seat. The slide groove 221 allows the pulley to move smoothly on the ground line.

[0045] In one embodiment, the airborne power transmission line ground wire deicing robot also includes two anti-slipping mechanisms 5, which are distributed on both sides of the shell 1 along the length direction y of the shell. The anti-slipping mechanism 5 includes a fourth drive unit 51 and two clamp heads 52. The fourth drive unit 51 is used to drive the two clamp heads 52 to separate or engage with each other. When the two clamp heads 52 are engaged, the two clamp heads 52 enclose a limited space 53, and the limited space 53 is sleeved on the ground wire. Exemplarily, the fourth drive unit 51 includes a motor and two sets of meshing gear sets, one of which is connected to the motor by transmission, and the two sets of gear sets are correspondingly installed on the top of the clamp heads 52. The two clamp heads 52 are separated or engaged with each other through the forward and reverse rotation of the gear sets. In the face of severe weather and working conditions, it can ensure that the robot does not fall off under the influence of external conditions. Even if the deicing robot flips over, it can return to a normal posture through the anti-slipping mechanism 5, which is safer and more reliable.

[0046] like Figure 5 and 6 As shown, in one embodiment, the second driving unit 31 includes an electric screw assembly 311, a slider 312 and a connecting rod 313. The electric screw assembly 311 is installed on the inner wall of the housing 1, the slider 312 is installed in the electric screw assembly 311, and the cutter 32 is installed on the slider 312 through the connecting rod 313. The electric screw assembly 311 drives the slider 312 to reciprocate, so that the surface of the cutter 32 in contact with or away from the ground is covered with ice.

[0047] like Figure 6As shown, the second driving unit 31 also includes a guide column 314, a force storage spring 315, a locking spring 316 and a locking block 317, the slider 312 includes a first slider 312a and a second slider 312b, the first slider 312a is driven by the electric screw assembly 311, the cutter 32 is installed on the second slider 312b through a connecting rod 313, the second slider 312b is arranged opposite to the first slider 312a, a first stopper 318 is arranged on the side of the second slider 312b, and a second stopper 319 is arranged on the side of the electric screw assembly 311, the second slider 312b can be slidably installed on the guide column 314, the force storage spring 315 is sleeved on the outer wall of the guide column 314 and is located at the second slider 312b At the bottom, the locking block 317 is rotatably installed on the side of the first slider 312a. The locking block 317 has a locking portion 317a and a loosening portion 317b. The locking spring 316 is arranged on the side of the first slider 312a and is used to generate elastic force on the locking portion 317a so that the locking portion 317a is clamped on the first stopper 318, so that the electric screw assembly 311 can synchronously drive the first slider 312a and the second slider 312b to move in a direction away from the ground line. When the loosening portion 317b abuts against the second stopper 319, the locking block 317 is deflected to cause the locking portion 317a to slip off the first stopper 318, and the elastic force generated by the storage spring 315 allows the second slider 312b to move in a direction close to the ground line.

[0048] According to the above-mentioned second driving unit 31, by setting the locking block 317, the electric screw assembly 311 can synchronously drive the first slider 312a and the second slider 312b to move in the direction away from the ground wire. At this time, the force storage spring 315 is continuously compressed. When the loosening portion 317b abuts against the second stop block 319, the locking block 317 is deflected to allow the locking portion 317a to slide off the first stop block 318. The elastic force generated by the force storage spring 315 allows the second slider 312b to move in the direction close to the ground wire, thereby increasing the impact force and improving the effect of cutting off the ice covering the ground wire.

[0049] like Figure 7As shown, in one embodiment, the third driving unit 41 includes a frame 411, a motor 412, a first connecting rod 413, a second connecting rod 414, a slide rail 415 and a third slider 416. The frame 411 is installed on the inner wall of the outer shell 1, the motor 412 is installed on the outer side of the frame 411, the first connecting rod 413 and the second connecting rod 414 are arranged in the frame 411, the second connecting rod 414 is arranged above the first connecting rod 413, the slide rail 415 is installed on the inner wall of the frame 411 on one side of the second connecting rod 414, the third slider 416 is arranged on the slide rail 415, the power output end of the motor 412 passes through the frame 411 and is transmission-connected with the first end of the first connecting rod 413, the second end of the first connecting rod 413 is rotationally connected to the first end of the second connecting rod 414, the second end of the second connecting rod 414 is rotationally connected to the side wall of the third slider 416, and the knocking hammer 42 is installed on the third slider 416. The first connecting rod 413 is driven to rotate by the motor 412, so that the second connecting rod 414 swings, and the third sliding block 416 moves back and forth on the slide rail 415, so that the knocking hammer 42 can move back and forth to knock the ice on the ground wire.

[0050] In one embodiment, two first connecting rods 413 are provided, wherein the first end of one of the first connecting rods 413 is transmission-connected to the motor 412, the first end of the other first connecting rod 413 is rotationally mounted on the inner wall of the frame 411, and the second ends of the two first connecting rods 413 are rotationally connected to the first end of the second connecting rod 414. The two first connecting rods 413 are provided to ensure smooth transmission.

[0051] In one embodiment, the third driving unit 41 further includes an electric slide 417 and a fourth slider 418. The electric slide 417 is mounted on the inner wall of the housing 1, the fourth slider 418 is disposed on the electric slide 417, the frame 411 is mounted on the fourth slider 418, and the electric slide 417 is used to drive the frame 411 to move closer to or away from the ground line. By providing the electric slide 417 and the fourth slider 418, the stroke of the striking hammer 42 can be increased, further improving the striking effect.

[0052] In one embodiment, two walking mechanisms 2 are provided, and the two walking mechanisms 2 are distributed along the length direction y of the housing 1, so that the walking mechanisms 2 can move stably on the ground line.

[0053] In one embodiment, two ice cutting mechanisms 3 are provided, and the two ice cutting mechanisms 3 are distributed on both sides of the ground line along the width direction x of the housing 1. By providing two ice cutting mechanisms 3, the ice cutting effect can be improved, and the two ice cutting mechanisms 3 start ice cutting at the same time, making the whole more stable.

[0054] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An airborne transmission line ground wire deicing robot, characterized in that: include: The shell has a bottom that is recessed inwardly along the height direction of the shell to form a receiving groove, and the upper part of the shell has a docking port; A walking mechanism, comprising a first driving unit and a pulley, wherein the first driving unit is used to drive the pulley to rotate around the width direction of the shell, the first driving unit is installed on the inner wall of the shell, the pulley is arranged in the accommodating groove, and the pulley is used to slide on the ground line along the length direction of the shell; An ice cutting mechanism, comprising a second driving unit and a cutter, wherein the second driving unit is used to drive the cutter to reciprocate, the second driving unit is installed in the housing, the cutter is located below the ground wire, and is used to cut off ice covering the surface of the ground wire; as well as An ice-knocking mechanism is arranged at the rear side of the ice-cutting mechanism along the length direction of the shell, and the ice-knocking mechanism includes a third driving unit and a knocking hammer. The third driving unit is used to drive the knocking hammer to reciprocate. The third driving unit is installed in the shell. The knocking hammer is located below the ground wire and is used to break the ice on the surface of the ground wire cut by the cutter.

2. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: A slide groove is provided along the radial direction of the pulley, and the slide groove is provided on the ground line. A rotating shaft is provided in the middle of the pulley along the width direction of the shell. The first end of the rotating shaft is transmission-connected to the first driving unit, and the second end of the rotating shaft is rotatably installed on the inner wall of the shell.

3. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: It also includes two anti-slipping mechanisms, which are distributed on both sides of the shell along the length direction of the shell. The anti-slipping mechanism includes a fourth driving unit and two clamp heads. The fourth driving unit is used to drive the two clamp heads to separate or snap together. When the two clamp heads are snapped together, the two clamp heads enclose to form a limiting space, and the limiting space is sleeved on the ground wire.

4. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: The second driving unit includes an electric screw assembly, a slider and a connecting rod. The electric screw assembly is installed on the inner wall of the shell, the slider is installed in the electric screw assembly, and the cutter is installed on the slider through a connecting rod. The electric screw assembly drives the slider to reciprocate so that the cutter contacts or moves away from the surface of the ground wire to be covered with ice.

5. The airborne power transmission line ground wire deicing robot according to claim 4, characterized in that: The second driving unit further includes a guide column, a force storage spring, a locking spring and a locking block, the slider includes a first slider and a second slider, the first slider is driven by the electric screw assembly, the cutter is installed on the second slider through the connecting rod, the second slider is arranged opposite to the first slider, a first block is arranged on the side of the second slider, and a second block is arranged on the side of the electric screw assembly, the second slider can be slidably installed on the guide column, the force storage spring is sleeved on the outer wall of the guide column and is located below the second slider, the locking block can be rotatably installed on the side of the first slider, the locking block has a locking part and a loosening part, the locking spring is arranged on the side of the first slider and is used to generate elastic force on the locking part so that the locking part is clamped on the first block, so that the electric screw assembly can synchronously drive the first slider and the second slider to move in a direction away from the ground line, when the loosening part abuts against the second block, the locking block is deflected to make the locking part slip off the first block, and the elastic force generated by the force storage spring allows the second slider to move in a direction close to the ground line.

6. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: The third driving unit includes a frame, a motor, a first connecting rod, a second connecting rod, a slide rail and a third slider. The frame is installed on the inner wall of the shell, the motor is installed on the outer side of the frame, the first connecting rod and the second connecting rod are arranged in the frame, the second connecting rod is arranged above the first connecting rod, the slide rail is installed on the inner wall of the frame on one side of the second connecting rod, and the third slider is arranged on the slide rail. The power output end of the motor passes through the frame and is transmission-connected with the first end of the first connecting rod, the second end of the first connecting rod is rotationally connected to the first end of the second connecting rod, the second end of the second connecting rod is rotationally connected to the side wall of the third slider, and the knocking hammer is installed on the third slider.

7. The airborne power transmission line ground wire deicing robot according to claim 6, characterized in that: There are two first connecting rods, wherein the first end of one of the first connecting rods is drivingly connected to the motor, the first end of the other first connecting rod is rotatably mounted on the inner wall of the frame, and the second ends of the two first connecting rods are rotatably connected to the first end of the second connecting rod.

8. The airborne power transmission line ground wire deicing robot according to claim 6 or 7, characterized in that: The third driving unit also includes an electric slide and a fourth slider. The electric slide is installed on the inner wall of the shell, the fourth slider is arranged on the electric slide, the frame is installed on the fourth slider, and the electric slide is used to drive the frame to approach or move away from the ground wire.

9. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: There are two walking mechanisms, and the two walking mechanisms are distributed along the length direction of the shell.

10. The airborne power transmission line ground wire deicing robot according to claim 1, characterized in that: The two ice cutting mechanisms are provided, and the two ice cutting mechanisms are distributed on both sides of the ground line along the width direction of the shell.

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