A transmission line ice viewing robot and obstacle crossing method thereof

Abstract

The present invention discloses a power transmission line ice viewing robot and an obstacle crossing method thereof, comprising a left power arm, a middle power arm, an electromagnetic induction power taking module, a right power arm, an obstacle crossing base plate and a clamping device, wherein the left power arm, the middle power arm and the right power arm are arranged alternately in sequence, the left power arm and the right power arm are mounted on the obstacle crossing base plate, the middle power arm and the electromagnetic induction power taking module are mounted on a transverse driving mechanism, the transverse driving mechanism is mounted on the obstacle crossing base plate, and the left power arm, the middle power arm and the right power arm are all equipped with a clamping device for clamping high-voltage wires. The present invention adopts a symmetrical modular design to realize functions such as walking, crawling, obstacle crossing, and charging on high-voltage wires. In the obstacle crossing process, it only needs to determine the position of the robot arm leaving offline space; and in the entire obstacle crossing process, since the push rod and the lead screw both adopt a translational motion, it has the advantages of simple obstacle crossing principle, high obstacle crossing capability, and simple control.

Description

Technical Field

[0001] The present invention relates to the technical field of ice viewing robots for power transmission lines, and in particular to an ice viewing robot for power transmission lines and an obstacle surmounting method thereof. Background Art

[0002] The operating status of the transmission line is related to the safe operation of the power grid. Timely discovery and mastering of the icing of the transmission line conductors, meteorological environment and other conditions are of great significance to improving the load capacity of the transmission line and preventing the occurrence of power grid accidents. In complex terrain, mountainous areas, forests and rugged woodlands are also the only way for some high-voltage lines, which makes it difficult for staff and vehicles to reach, which undoubtedly increases the difficulty of ice observation on the line. Therefore, in order to ensure the safe operation of the line, the use of robots for automatic online inspection has become a necessary means. In order to realize autonomous inspection of power lines, scholars from Japan, the United States, Canada, Thailand, China and other countries have successively carried out research on line inspection robots.

[0003] The Chinese patent application (application number 201610318990.2) discloses a walking mechanism, a mechanical structure of a line patrol robot and an obstacle crossing method thereof, which include a frame, a pair of master-slave walking split wheels, and a pair of clamping split wheels. It uses an active walking split wheel to achieve walking, uses a lead screw to push the clamping split wheel to clamp and hold the wire, and uses the opening and closing of the split wheel to break away from the wire and cross the obstacle, thereby realizing the inspection function. However, this technical solution still has shortcomings. Since the master-slave walking split wheel and the clamping split wheel require two sets of frame support and the opening and closing of the split wheel require other devices to achieve, the overall weight is too large, which increases instability and power consumption. In addition, in order to ensure that the split wheel always remains closed during walking, a certain pressure needs to be applied to it, and the pressure comes from the bottom of the frame, resulting in a large torque when meshing, and the overall force condition is poor.

[0004] High-voltage line inspection robots need to have the characteristics of stable and reliable force bearing and light weight. Therefore, it is of great significance to design a lighter and better force-bearing walking obstacle-crossing mechanism. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a power transmission line ice viewing robot and an obstacle crossing method thereof, so as to solve the technical problems existing in the prior art.

[0006] The technical solution adopted by the present invention is: a transmission line ice viewing robot, including a left power arm, a middle power arm, an electromagnetic induction power supply module, a right power arm, an obstacle crossing base plate and a clamping device. The left power arm, the middle power arm and the right power arm are arranged alternately in sequence, the left power arm and the right power arm are installed on the obstacle crossing base plate, the middle power arm and the electromagnetic induction power supply module are installed on the transverse driving mechanism, the transverse driving mechanism is installed on the obstacle crossing base plate, and the left power arm, the middle power arm and the right power arm are all equipped with clamping devices for clamping high-voltage wires.

[0007] Preferably, the above-mentioned lateral driving mechanism includes a guide rail slide, a guide rail slider, a screw motor, a screw, a nut seat and a screw bearing seat. The guide rail slide is installed on the obstacle crossing base plate and arranged along its length direction. It is connected to the sliding plate through the guide rail slide. The middle power arm and the electromagnetic induction power taking module are installed on the sliding plate. The bottom of the sliding plate is fixedly connected with a nut seat. The nut seat movably passes through the strip holes arranged on the obstacle crossing base plate along its length direction. The two ends of the screw used in conjunction with the nut seat are respectively connected to the bottom of the obstacle crossing base plate through two screw bearing seats, and one end extends out of the screw bearing seat and is connected to the screw motor. The screw motor is installed at the bottom of the obstacle crossing base plate through a motor frame.

[0008] Preferably, the middle portion of the bottom side of the obstacle-crossing base plate is connected to the electrical box via a profile frame.

[0009] Preferably, the profile frame comprises two vertical profiles at the front and rear sides and a bottom square frame profile, and the front and rear sides of the bottom square frame profile are fixedly connected to the bottom of the obstacle crossing base plate through two vertical profiles respectively.

[0010] Preferably, the left power arm, the middle power arm and the right power arm all include a walking wheel, a clamping wheel, an electric clamping push rod, an electric swing push rod and an electric arm push rod, the walking wheel is connected to the walking motor, the walking motor is connected to the push rod end of the arm push rod through a motor support seat, one side of the motor support seat is vertically fixedly connected to a support plate, the rear side of the support plate is connected to the electric clamping push rod through a clamping push rod seat, the push rod at the upper end of the electric clamping push rod is fixedly connected to the clamping push rod fixing frame, the clamping push rod fixing frame is connected to two clamping wheels through a clamping wheel frame, the two clamping wheels and the walking wheel can clamp the high-voltage line, the electric clamping push rod is fixedly connected to the push rod bracket, the lower end of the support plate movably extends into the push rod bracket, the lower end of the push rod bracket is hinged to the upper part of one end of the base plate, the upper end of one side of the push rod bracket is hinged to the push rod end of the electric swing push rod, and the push rod seat of the electric swing push rod is hinged to the upper part of the other end of the base plate.

[0011] Preferably, the clamping push rod fixing frame and the clamping wheel frame are connected via a spring mechanism.

[0012] Preferably, the spring mechanism comprises a spring, a cylindrical sleeve and an inner guide column, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame, two symmetrical strip holes are arranged on both sides of the cylindrical sleeve, the inner guide column is movably placed in the cylindrical sleeve and two hinge shafts are fixedly connected at both ends, the two hinge shafts extend out of the two strip holes and are hinged to the clamping wheel frame, the spring is sleeved on the cylindrical sleeve and the two ends respectively abut against the steps arranged on the clamping wheel frame and the bottom end of the cylindrical sleeve.

[0013] Preferably, a guide slide block is provided on one side of the clamping push rod fixing frame, and a guide groove matching the guide slide block is provided in the vertical direction in the middle of the support plate.

[0014] Preferably, a U-shaped support plate positioning block is fixedly connected to the support plate, and the support plate positioning block is movably sleeved on the electric arm push rod.

[0015] A method for overcoming obstacles of an ice observation robot for power transmission lines, the method comprising: when the robot encounters an obstacle, an electric arm push rod of a right power arm rises, and its electric swing push rod moves to make the right power arm offline; then the robot moves forward for a certain distance, a clamping device of a middle power arm clamps, and acts together with a walking wheel to lock an electric wire, then a lead screw motor works, the relative positions of the middle power arm and the high-voltage wire remain unchanged, the robot moves right as a whole, the electric swing push rod and the electric arm push rod of the right power arm work, and the right power arm is wired; then the wheel push of the clamping device of the middle power arm releases, leaving an offline space; the electric swing push rod of the middle power arm moves to make it offline, and then the robot moves for a certain distance; the lead screw motor works, the middle power arm moves forward, the electric swing push rod of the middle power arm moves to make it wired, and then clamps; similarly, the left power arm is offline, the lead screw motor works, then the robot moves for a certain distance, and the left power arm is wired again, and thus the whole set of obstacle overcoming actions is completed.

[0016] Beneficial effects of the present invention: Compared with the prior art, the effects of the present invention are as follows:

[0017] (1) The present invention provides a three-manipulator high-voltage line obstacle-crossing patrol robot. The robot adopts a symmetrical modular design and includes a walking module, a clamping module, an obstacle-crossing module and an electromagnetic induction charging module. The robot can realize functions such as walking, crawling, obstacle-crossing and charging on high-voltage lines. During the obstacle-crossing process, it only needs to determine the position of the robot arm leaving an offline space, that is, the lifting distance of the lifting arm push rod in the obstacle-crossing module and the distance the lead screw moves forward and backward. In addition, during the entire obstacle-crossing process, since the movement of the push rod and the lead screw adopts a translational motion, the robot has the advantages of a simple obstacle-crossing principle, a high obstacle-crossing capability and simple control.

[0018] (2) The obstacle crossing mechanism of the present invention provides a reliable terminal mechanism connected to the high-voltage line for the three-arm structure robot. The structure is simple, compact, stable and reliable. A large-diameter walking motor is used to provide greater power and can be self-locked at any time to achieve crawling. At the same time, a simple jaw clamping device is used to make it more efficient to grab and clamp the wires. The clamping wheel frame can be rotated to adapt to clamping at different angles. The spring structure therein also avoids the generation of rigid force. The mechanism uses a laborious lever structure so that the swing push rod only needs to move a short distance to achieve offline and online operations. The overall force condition of the mechanism is good, the reliability is high, the operation is simple, and it has the advantages of small size, light weight and low power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot;

[0020] Figure 2 It is a schematic diagram of the local three-dimensional structure of the bottom side of the robot;

[0021] Figure 3 It is a schematic diagram of the robot's obstacle crossing process;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the left, middle and right power arms;

[0023] Figure 5 This is the clamping state diagram of the clamping wheel;

[0024] Figure 6 It is the offline obstacle crossing status diagram. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with specific embodiments.

[0026] Example 1: Figure 1-6 As shown, a transmission line ice viewing robot includes a left power arm 1, a middle power arm 2, an electromagnetic induction power supply module 3, a right power arm 4, an obstacle crossing base plate 8 and a clamping device 9. The left power arm 1, the middle power arm 2 and the right power arm 4 are arranged alternately in sequence. The left power arm 1 and the right power arm 4 are installed on the obstacle crossing base plate 8, the middle power arm 2 and the electromagnetic induction power supply module 3 are installed on the transverse driving mechanism, and the transverse driving mechanism is installed on the obstacle crossing base plate 8. The left power arm 1, the middle power arm 2 and the right power arm 4 are all equipped with a clamping device 9 for clamping the high-voltage line 10.

[0027] Preferably, the above-mentioned lateral driving mechanism includes a guide rail slide 5, a guide rail slider 6, a screw motor 11, a screw 12, a nut seat 13 and a screw bearing seat 15. The guide rail slide 5 is installed on the obstacle crossing base plate 8 and is arranged along its length direction. It is connected to the sliding plate 16 through the guide rail slide 5. The middle power arm 2 and the electromagnetic induction power supply module 3 are installed on the sliding plate 16. The bottom of the sliding plate 16 is fixedly connected with a nut seat 13. The nut seat 13 can move through a strip hole 17 arranged on the obstacle crossing base plate 8 along its length direction. The two ends of the screw 12 used in conjunction with the nut seat 13 are respectively connected to the bottom of the obstacle crossing base plate 8 through two screw bearing seats 15, and one end extends out of the screw bearing seat 15 and is connected to the screw motor 11. The screw motor 11 is installed at the bottom of the obstacle crossing base plate 8 through a motor frame.

[0028] Preferably, the middle part of the bottom side of the obstacle-crossing base plate 8 is connected to the electrical box 7 via a profile frame 14 .

[0029] Preferably, the profile frame 14 comprises two vertical profiles at the front and rear sides and a bottom square frame profile, and the front and rear sides of the bottom square frame profile are fixedly connected to the bottom of the obstacle-crossing base plate 8 through two vertical profiles respectively.

[0030] Preferably, the left power arm 1, the middle power arm 2 and the right power arm 4 all include a walking wheel 101, a clamping wheel 103, an electric clamping push rod 107, an electric swing push rod 109 and an electric arm push rod 118. The walking wheel 101 is connected to a walking motor 120. The walking motor 120 is connected to the push rod end of the arm push rod 118 through a motor support seat 119. A support plate 116 is vertically fixedly connected to one side of the motor support seat 119. The rear side of the support plate 116 is connected to the electric clamping push rod 107 through a clamping push rod seat 115. The push rod at the upper end of the electric clamping push rod 107 is fixedly connected to a clamping push rod fixing frame 106. The clamping push rod fixing frame 106 is connected to two clamping wheels 103 through a clamping wheel frame 104. The two clamping wheels 103 and the walking wheel 101 can clamp the high-voltage line 10. The electric clamping push rod 7 is fixedly connected to the push rod support The lower end of the support plate 116 is movably extended into the push rod bracket 114, and the lower end of the push rod bracket 114 is hinged to the upper part of one end of the base plate 112. The upper end of one side of the push rod bracket 114 is hinged to the push rod end of the electric swing push rod 109, and the push rod seat of the electric swing push rod 109 is hinged to the upper part of the other end of the base plate 112. The two clamping wheels 103, the clamping wheel frame 104, the clamping push rod fixing frame 106, the electric clamping push rod 107 and the clamping push rod seat 115 constitute the clamping device 9; the two clamping wheels 103 are symmetrically rotated and connected to the two sides of the clamping wheel frame 104, and the double wheels are locked to form an isosceles triangle with the walking wheel to crimp the high-voltage line. The locking is reliable and stable, and the clamping wheel frame 104 is hinged to the clamping push rod fixing frame 106, which can realize the self-positioning of the two clamping wheels 103 and effectively contact the high-voltage line, making the locking more stable and reliable.

[0031] Preferably, the clamping push rod fixing frame 106 and the clamping wheel frame 104 are connected via a spring mechanism 105; the spring mechanism 5 can prevent the clamping wheel from generating rigid force during clamping.

[0032] Preferably, the spring mechanism 105 comprises a spring, a cylindrical sleeve and an inner guide column. The bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame 106. Two symmetrical strip holes are provided on both sides of the cylindrical sleeve. The inner guide column is movably placed in the cylindrical sleeve and two hinge shafts are fixedly connected at both ends. The two hinge shafts extend out of the two strip holes and are hinged to the clamping wheel frame 104. The spring is sleeved on the cylindrical sleeve and the two ends are respectively against the clamping wheel frame 104 and the steps provided at the bottom end of the cylindrical sleeve. The steps are fixedly connected to the clamping push rod fixing frame 106. It has a simple structure, good elastic telescopic guiding performance, high telescopic stability, and the clamping wheel frame can be rotated to adapt to clamping at different angles.

[0033] Preferably, a guide slide block is provided on one side of the clamping push rod fixing frame 106, and a guide groove matching the guide slide block is provided in the vertical direction in the middle of the support plate 116, which can ensure the directional movement of the clamping roller and ensure the clamping accuracy and stability.

[0034] Preferably, a U-shaped support plate positioning block 117 is fixedly connected to the support plate 116, and the support plate positioning block 117 is movably sleeved on the electric arm push rod 118, so that the support plate is moved directional relative to the electric arm push rod near the lower end, thereby achieving the directional movement stability of the support plate.

[0035] Preferably, the push rod bracket 114 is an integrated structure of an angle frame, including an inverted L-shaped angle plate, two oblique triangular plates arranged on the front and rear sides of the angle plate, two hinge holes for connecting the arm push rod seat 113 are arranged at the lower ends of the two oblique triangular plates, and the double-ear structure has a stable and reliable connection. The two oblique triangular plates are provided with weight-reducing holes, which greatly reduces the weight and facilitates flight control. The top right side of the angle plate is provided with connecting double ears connected to the electric swing push rod 109. The double-ear connection is stable and reliable, and the double-ear protruding structure is convenient for installation. A weight-reducing hole is arranged on the right side of the angle plate, and the top of the angle plate is provided with an extension hole of the arm push rod motor and a guide hole for allowing the support plate to be movable and retractable. The structure is compact and the guidance is precise.

[0036] Preferably, the push rod bracket 114 is hinged to the bottom plate 112 via an arm push rod seat 113 , and the arm push rod seat 113 is a double-ear seat structure, which is fixedly connected to the bottom plate via screws.

[0037] Preferably, the electric swing push rod 109 is hinged to the bottom plate 112 via a swing push rod fixing seat 111. The swing push rod fixing seat 111 is a double-ear seat structure and is fixedly connected to the bottom plate via screws.

[0038] The electromagnetic induction power supply module 3 includes a semicircular electromagnetic clamp 1 301 and an electromagnetic clamp 2 302, wherein electromagnetic induction coils are installed in the electromagnetic clamp 1 301 and the electromagnetic clamp 2 302, and the electromagnetic clamp 1 301 is tiltedly installed on the frame, and the lower end of the electromagnetic clamp 2 302 is connected to the frame 303 through a driving mechanism, and the driving mechanism driver can rotate to close with the electromagnetic clamp 1 301 and clamp the power transmission line under the action of the electric lifting push rod, and the two ends of the frame 303 are connected to the top of the push rods of the two electric lifting push rods 304, and the lower ends of the two electric lifting push rods 304 are fixedly connected to the bending tables on both sides of the sliding plate 17, and the sliding plate is convex and straddles the top of the profile frame 14, so that the structure is more compact and the center of gravity of the robot is more stable, and the middle part of the back side of the electromagnetic clamp 1 301 is fixedly connected to the frame 303 through an elastic telescopic bracket 305, and the elastic telescopic bracket 305 includes a spring and a fixed seat, and the fixed seat is elastically connected to the frame 303. The spring is fixedly connected to the middle part of the back side of the electromagnetic clamp 301, and the fixed seat is fixedly connected to the frame. Two guide support blocks 306 are fixedly connected to the two sides of the lower end of the back side of the electromagnetic clamp 301. The two guide support blocks 306 are groove structures, which are movably connected to the inclined sections 307 of the wall panels on both sides of the frame 303. The guide support blocks cooperate with the elastic telescopic bracket to make the closure better during the clamping process and play a role of buffering elastic protection. The driving mechanism includes a driving arm 308 fixedly connected to the electromagnetic clamp 2 302 at one end, and the driving arm 308 is hinged to the frame 303 near the middle. The other end of the driving arm 308 is hinged to the cylinder rod of the pneumatic or hydraulic telescopic cylinder 309, and the tail end of the cylinder seat of the telescopic cylinder 309 is hinged to the frame 303. When in use, by adjusting the height of the two electric lifting push rods to the appropriate position, the telescopic cylinder is driven to extend to close the electromagnetic clamp 2 302 and the electromagnetic frame 1 301.

[0039] Embodiment 2: A method for overcoming obstacles of an ice-watching robot on a power transmission line, the method being: when the robot encounters an obstacle, the electric arm push rod of the right power arm 4 rises, and its electric swing push rod moves to make the right power arm 4 offline; then the robot moves forward for a certain distance, the middle power arm clamping device 9 clamps, and works together with the walking wheel to lock the wire, then the screw motor 11 works, the relative positions of the middle power arm 2 and the high-voltage wire remain unchanged, the robot moves to the right as a whole, the electric swing push rod and the electric arm push rod of the right power arm 4 work, and the right power arm 4 enters the wire; then the middle power arm clamping device 9 is pushed and released to leave offline space; the electric swing push rod of the middle power arm 2 moves to make it offline, and then the robot moves for a certain distance; the screw motor 11 works, the middle power arm 2 moves forward, and the electric swing push rod of the middle power arm moves to make it enter the wire, and then clamps; similarly, the left power arm 1 is offline, the screw motor 11 works, then the robot moves for a certain distance, and the left power arm 1 enters the wire again, and the whole set of obstacle overcoming actions is completed.

[0040] The power transmission line ice viewing robot has two working conditions: 1. Normal walking without obstacles, 2. Clamping and crawling.

[0041] Barrier-free normal walking: the walking motors on the left power arm 1, the middle power arm 2, and the right power arm 4 work simultaneously to drive the robot forward. At this time, the clamping device 9 is in a loosened state, and the robot walks normally.

[0042] Clamping and crawling: The nut seat 13 on the screw 12 is connected to the middle power arm and the electromagnetic induction power supply module 3. When the middle arm clamping device 9 is loosened, the screw motor 11 pushes the middle power arm 2 to the extreme position, the middle power arm clamping device 9 is clamped, and the screw motor 11 pushes the middle power arm 2 to another extreme position. The crawling can be completed by repeating this process.

[0043] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A power transmission line ice viewing robot, characterized in that: The invention comprises a left power arm (1), a middle power arm (2), an electromagnetic induction power module (3), a right power arm (4), an obstacle crossing base plate (8) and a clamping device (9), wherein the left power arm (1), the middle power arm (2) and the right power arm (4) are arranged alternately in sequence, the left power arm (1) and the right power arm (4) are mounted on the obstacle crossing base plate (8), the middle power arm (2) and the electromagnetic induction power module (3) are mounted on a transverse driving mechanism, the transverse driving mechanism is mounted on the obstacle crossing base plate (8), and the left power arm (1), the middle power arm (2) and the right power arm (4) are all equipped with a clamping device (9) for clamping a high-voltage line (10); The electromagnetic induction power supply module (3) comprises a semicircular electromagnetic clamp (301) and an electromagnetic clamp (302), wherein the electromagnetic clamp (301) and the electromagnetic clamp (302) are provided with electromagnetic induction coils, the electromagnetic clamp (301) is obliquely installed on a frame, the lower end of the electromagnetic clamp (302) is connected to the frame (303) via a driving mechanism, and the driving mechanism driver rotates to close with the electromagnetic clamp (301) and clamp the power transmission line under the action of an electric lifting push rod, and the frame (303) ) are connected to the top ends of the push rods of two electric lifting push rods (304), the lower ends of the two electric lifting push rods (304) are fixedly connected to the bending tables on both sides of the sliding plate (17), the sliding plate is convex-shaped and straddles the top of the profile frame (14), so that the structure is more compact and the center of gravity of the robot is more stable. The middle part of the back of the electromagnetic clamp (301) is fixedly connected to the frame (303) through an elastic telescopic bracket (305), and the elastic telescopic bracket (305) includes a spring and a fixing seat. The fixed seat is fixedly connected to the middle part of the back of the electromagnetic clamp 1 (301) by a spring, and the fixed seat is fixedly connected to the frame. Two guide support blocks (306) are fixedly connected to the lower end of the back of the electromagnetic clamp 1 (301) on both sides. The two guide support blocks (306) are groove structures and are respectively movably clamped on the inclined sections (307) of the wall panels on both sides of the frame (303). The guide support blocks cooperate with the elastic telescopic bracket to achieve better closing performance during the clamping process and play a role of buffering elastic protection. The driving mechanism includes a driving arm (308) fixedly connected to the electromagnetic clamp 2 302 at one end, the driving arm (308) is hinged to the frame (303) near the middle, and the other end of the driving arm (308) is hinged to the cylinder rod of a pneumatic or hydraulic telescopic cylinder (309), and the rear end of the cylinder seat of the telescopic cylinder (309) is hinged to the frame (303). When in use, by adjusting the height of the two electric lifting push rods to a suitable position, the telescopic cylinder is driven to extend to close the electromagnetic clamp 2 302 and the electromagnetic clamp 1 301.

2. The power transmission line ice viewing robot according to claim 1, characterized in that: The transverse driving mechanism comprises a guide rail slide (5), a guide rail slider (6), a screw motor (11), a screw (12), a nut seat (13) and a screw bearing seat (15). The guide rail slide (5) is mounted on the obstacle crossing base plate (8) and arranged along the length direction thereof, and is connected to a sliding plate (16) through the guide rail slide (5). The middle power arm (2) and the electromagnetic induction power taking module (3) are mounted on the sliding plate (16). The bottom of the sliding plate (16) is fixedly connected with a nut seat (13). The nut seat (13) movably passes through a strip hole (17) arranged on the obstacle crossing base plate (8) along the length direction thereof. The two ends of the screw (12) used in conjunction with the nut seat (13) are respectively connected to the bottom of the obstacle crossing base plate (8) through two screw bearing seats (15), and one end is connected to the screw motor (11) after extending out of the screw bearing seat (15). The screw motor (11) is mounted on the bottom of the obstacle crossing base plate (8) through a motor frame.

3. The power transmission line ice viewing robot according to claim 1, characterized in that: The middle part of the bottom side of the obstacle crossing base plate (8) is connected to the electrical box (7) through a profile frame (14).

4. The power transmission line ice viewing robot according to claim 3, characterized in that: The profile frame (14) comprises two vertical profiles on the front and rear sides and a bottom square frame profile, and the front and rear sides of the bottom square frame profile are respectively fixedly connected to the bottom of the obstacle crossing base plate (8) through the two vertical profiles.

5. The power transmission line ice viewing robot according to claim 1, characterized in that: The left power arm (1), the middle power arm (2) and the right power arm (4) all comprise a walking wheel (101), a clamping wheel (103), an electric clamping push rod (107), an electric swing push rod (109) and an electric arm push rod (118); the walking wheel (101) is connected to a walking motor (120); the walking motor (120) is connected to the push rod end of the arm push rod (118) via a motor support seat (119); a support plate (116) is vertically fixedly connected to one side of the motor support seat (119); the rear side of the support plate (116) is connected to the electric clamping push rod (107) via a clamping push rod seat (115); a push rod fixed to the upper end of the electric clamping push rod (107) The clamping push rod fixing frame (106) is connected to the clamping push rod fixing frame (106), and the clamping push rod fixing frame (106) is connected to two clamping wheels (103) via a clamping wheel frame (104). The two clamping wheels (103) and the running wheel (101) can clamp the high-voltage line (10). The electric clamping push rod (7) is fixedly connected to the push rod bracket (114). The lower end of the support plate (116) movably extends into the push rod bracket (114). The lower end of the push rod bracket (114) is hinged to the upper part of one end of the base plate (112). The upper end of one side of the push rod bracket (114) is hinged to the push rod end of the electric swing push rod (109), and the push rod seat of the electric swing push rod (109) is hinged to the upper part of the other end of the base plate (112).

6. The power transmission line ice viewing robot according to claim 5, characterized in that: The clamping push rod fixing frame (106) is connected to the clamping wheel frame (104) via a spring mechanism (105).

7. The power transmission line ice viewing robot according to claim 5, characterized in that: The spring mechanism (105) comprises a spring, a cylindrical sleeve and an inner guide column. The bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame (106). Two symmetrical strip holes are arranged on both sides of the cylindrical sleeve. The inner guide column is movably placed in the cylindrical sleeve and two hinge shafts are fixedly connected at both ends. The two hinge shafts extend out of the two strip holes and are hinged to the clamping wheel frame (104). The spring is sleeved on the cylindrical sleeve and the two ends are respectively against the clamping wheel frame (104) and the steps arranged at the bottom end of the cylindrical sleeve.

8. The power transmission line ice viewing robot according to claim 5, characterized in that: A guide slide block is provided on one side of the clamping push rod fixing frame (106), and a guide slide groove matching the guide slide block is provided in the vertical direction in the middle of the support plate (116).

9. The power transmission line ice viewing robot according to claim 5, characterized in that: A U-shaped support plate positioning block (117) is fixedly connected to the support plate (116), and the support plate positioning block (117) is movably sleeved on the electric arm push rod (118).

10. The obstacle surmounting method of a power transmission line ice viewing robot according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: when the robot encounters an obstacle, the electric arm push rod of the right power arm (4) rises, and the electric swing push rod thereof moves to make the right power arm (4) offline; then the robot moves forward for a certain distance, the middle power arm clamping device (9) clamps, and acts together with the walking wheel to lock the wire, then the lead screw motor (11) works, the relative position of the middle power arm (2) and the high-voltage wire remains unchanged, the robot moves right as a whole, the electric swing push rod and the electric arm push rod of the right power arm (4) work, and the right power arm (4) enters the wire; then the middle power arm clamping device (9) is wheel-pushed and released, leaving an offline space; the electric swing push rod of the middle power arm (2) moves to make it offline, and then the robot moves for a certain distance; the lead screw motor (11) works, the middle power arm (2) moves forward, the electric swing push rod of the middle power arm moves to make it enter the wire, and then clamps; similarly, the left power arm (1) is offline, the lead screw motor (11) works, then the robot moves for a certain distance, and the left power arm (1) enters the wire again, and thus the whole set of obstacle crossing actions is completed.

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