Self-walking robot for cleaning distribution line

Abstract

The invention discloses a self-walking robot for power distribution line cleaning, the self-walking robot comprises a mounting box, a cleaning mechanism and an auxiliary hanging ring, the cleaning mechanism is arranged at the bottom of the mounting box, and the invention relates to the technical field of line obstacle removal. According to the self-walking robot for cleaning the power distribution line, the double-face driving mechanism, the multi-directional limiting mechanism and the fixing mechanism are arranged between the mounting box and the auxiliary hanging ring, so that in the hanging process of the robot, through cooperation of the double-face driving mechanism, the multi-directional limiting mechanism and the fixing mechanism, the robot can be automatically cleaned; the two adjacent roller sleeves can clamp the upper side and the lower side of the cable, and the synchronous reverse driving performance is continuously kept while clamping is conducted, so that it is ensured that advancing is more stable and smoother, the front side and the rear side of the cable are synchronously reinforced and limited, the overall advancing stability of equipment is further improved, and the service life of the equipment is prolonged. And the double-sided driving mechanism and the multidirectional limiting mechanism can be conveniently controlled to be assembled with the cable through the fixing mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of line obstacle clearing, and in particular to a self-propelled robot for clearing power distribution lines. Background Art

[0002] There are often trees around outdoor power transmission and distribution lines. With the arrival of summer and the lush growth of branches and leaves, the branches and leaves will be close to the cables. In strong winds and thunderstorms, the branches and leaves that grow too fast can easily cause line, grounding and short-circuit faults on the power transmission and distribution lines. Currently, tree obstacle clearing operations are divided into manual clearing and automatic clearing by tree obstacle removal robots. Compared with manual clearing, clearing with self-propelled machines is more efficient and convenient.

[0003] In the prior art, self-propelled machines mostly use rollers directly suspended on the surface of cables to move. Although this method can achieve the effect of moving, it is inevitable that there are still some shortcomings in its actual use. For example, the roller suspension assembly in the self-propelled machine lacks a double-sided clamping mechanism, so that the use of a single roller suspension will have poor stability and is prone to position displacement, shaking and other problems. In order to avoid such problems, a self-propelled robot for cleaning distribution lines is proposed to solve the existing problems. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a self-propelled robot for cleaning power distribution lines, which solves the problem of roller suspension components in the machine. The use of a single roller suspension will result in poor stability and prone to position deviation and shaking.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a self-propelled robot for cleaning distribution lines, comprising an installation box, a cleaning mechanism and an auxiliary hanging ring, the cleaning mechanism is arranged at the bottom of the installation box, two auxiliary hanging rings are provided, and the two auxiliary hanging rings are symmetrically fixedly arranged at the top of the installation box, both sides of the bottom of the installation box are fixedly connected with a first electric telescopic rod, and the bottom of the extended end of the first electric telescopic rod is fixedly connected to the top of the cleaning mechanism, the bottom and top of the rear side of the auxiliary hanging ring are respectively rotatably connected with a first driving rotating rod and a second driving rotating rod through bearings, one end of the first driving rotating rod and the second driving rotating rod extends to the inside of the auxiliary hanging ring, and the first driving rotating rod and the second driving rotating rod are fixedly connected to the ends extending to the inside of the auxiliary hanging ring with roller sleeves, a double-sided driving mechanism is arranged between the two roller sleeves, a multi-directional limiting mechanism is arranged between the double-sided driving mechanism and the auxiliary hanging ring, and a fixing mechanism used in conjunction with the multi-directional limiting mechanism is arranged on the top of the auxiliary hanging ring.

[0006] Preferably, the double-sided driving mechanism includes a second electric telescopic rod, which is fixedly arranged on the rear side of the auxiliary hanging ring, the top of the extended end of the second electric telescopic rod is fixedly connected to the driving motor through a bracket, and the output shaft of the driving motor is fixedly connected to one end of the first driving rotating rod through a coupling, the rear side of the auxiliary hanging ring is rotatably connected to a rotating roller through a bearing, the surfaces of the rotating roller and the second driving rotating rod are both fixedly connected to gears, and the two gears are meshed with each other, the surfaces of the rotating roller and the first driving rotating rod are both fixedly connected to pulleys, and a belt is transmission-connected between the two pulleys, and a tensioning mechanism is arranged between the belt and the auxiliary hanging ring.

[0007] Preferably, the multi-directional limiting mechanism includes a sleeve, two of which are provided, and the two sleeves are rotatably arranged on the front and rear sides of the inner cavity of the auxiliary hanging ring, respectively, the inner part of the sleeve is slidably connected with a telescopic plate, and a second return spring is fixedly connected between the telescopic plate and the sleeve, the opposite ends of the two telescopic plates on the same side are fixedly connected with a mounting frame, a vertical limiting roller sleeve is rotatably arranged between the top and bottom of the inner cavity of the mounting frame, the opposite sides of the two mounting frames on the same side are fixedly connected with an adjusting bevel block, and the inner part of the auxiliary hanging ring is slidably provided with an adjusting frame used in conjunction with the adjusting bevel block.

[0008] Preferably, the fixing mechanism includes a wristband, which is fixedly arranged on the top of two adjacent sleeves, and the front and rear sides of the top of the auxiliary hanging ring are provided with U-shaped placement grooves for use with the wristband, and a rubber ferrule is fixedly arranged inside the U-shaped placement groove, and the front and rear sides of the top of the inner cavity of the auxiliary hanging ring are fixedly connected with vertical bar used with the mounting frame.

[0009] Preferably, the tensioning mechanism includes a positioning groove, which is opened on the rear side of the auxiliary hanging ring, and the surface of the first driving rotating rod is rotatably provided with a positioning block that is slidably adapted to the positioning groove through a bearing, and the rear side of the auxiliary hanging ring is slidably provided with an inclined rod, and the rear side of the inclined rod is rotatably provided with a tensioning wheel used in conjunction with the belt, and the rear side of the positioning block is fixedly connected with an expansion top plate used in conjunction with the inclined rod, and one side of the expansion top plate is rotatably provided with an auxiliary pulley.

[0010] Preferably, the cleaning mechanism comprises a control box, which is fixedly arranged at the bottom of the extending ends of the two first electric telescopic rods, a trimmer is arranged inside the control box, and a camera is fixedly arranged on the top of the control box.

[0011] Preferably, a slide plate is fixedly connected to the rear side of the installation box, and a slider is slidably connected to the interior of the slide plate.

[0012] Preferably, the rear side of the sliding block is fixedly connected to the front side of the inclined rod, and a first return spring is fixedly connected between the sliding block and the slide plate.

[0013] Preferably, a limiting groove is provided on the rear side of the inner cavity of the auxiliary hanging ring, and a T-shaped limiting block is slidably connected inside the limiting groove.

[0014] Preferably, the front end of the T-shaped limit block is fixedly connected to the rear side of the adjustment frame, and the T-shaped limit block is rotatably connected to the first driving rotating rod via a bearing.

[0015] Beneficial Effects

[0016] The present invention provides a self-propelled robot for cleaning power distribution lines. Compared with the existing technology, it has the following beneficial effects:

[0017] (1) The self-propelled robot for cleaning power distribution lines is provided with a double-sided driving mechanism, a multi-directional limiting mechanism and a fixing mechanism between the installation box and the auxiliary hanging ring, so that during the hanging process, the machine can coordinate with the double-sided driving mechanism, the multi-directional limiting mechanism and the fixing mechanism to enable two adjacent roller sleeves to clamp the upper and lower sides of the cable, and maintain synchronous reverse driving performance while clamping, so as to ensure more stable and smooth movement, and simultaneously reinforce and limit the front and rear sides of the cable, further improving the overall movement stability of the equipment, and conveniently controlling the double-sided driving mechanism and the multi-directional limiting mechanism and the cable assembly through the fixing mechanism.

[0018] (2) The self-propelled robot for cleaning power distribution lines is provided with a tensioning mechanism in a double-sided driving mechanism so that the distance between adjacent pulleys can be synchronously tensioned during movement by synchronously moving the tensioning wheel in the tensioning mechanism, thereby ensuring that the two roller sleeves always maintain synchronous reverse drive performance.

[0019] (3) The self-propelled robot for cleaning distribution lines has an auxiliary pulley rotatably arranged on the side of the expansion top plate, so that when the expansion top plate squeezes the diagonal rod to move, the auxiliary pulley can reduce friction and improve the smoothness of the displacement of the diagonal rod.

[0020] (4) The self-propelled robot for cleaning distribution lines has a vertical stop bar on the top of the inner cavity of the auxiliary hanging ring that is used in conjunction with the mounting frame, so that the mounting frame can maintain a vertical state through the cooperation of its own weight and the vertical stop bar, so as to facilitate subsequent adaptation to the adjustment frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the external structure of the present invention;

[0022] Figure 2 It is a side view of the auxiliary hanging ring structure of the present invention;

[0023] Figure 3 It is a side view of the auxiliary hanging ring structure of the present invention;

[0024] Figure 4 For the present invention Figure 3 A partial enlarged view of point B in the middle;

[0025] Figure 5 For the present invention Figure 2 A partial enlarged view of the middle A;

[0026] Figure 6 It is a schematic diagram of the multi-directional limiting mechanism structure of the present invention;

[0027] Figure 7 For the present invention Figure 6 A partial enlarged view of point C in the middle;

[0028] Figure 8 For the present invention Figure 6 A partial enlarged view of point D in the middle;

[0029] Fig. 9 It is a schematic diagram of the fixing mechanism structure of the present invention.

[0030] In the figure: 1, installation box; 2, cleaning mechanism; 201, control box; 202, trimmer; 203, camera; 3, auxiliary hanging ring; 4, first electric telescopic rod; 5, first driving rotating rod; 6, second driving rotating rod; 7, roller sleeve; 8, double-sided driving mechanism; 801, second electric telescopic rod; 802, driving motor; 803, rotating roller; 804, gear; 805, pulley; 806, belt; 9, tensioning mechanism; 901, positioning groove; 902, positioning block; 903, inclined rod; 904, tensioning Tightening wheel; 905, expansion top plate; 906, auxiliary pulley; 10, multi-directional limiting mechanism; 101, sleeve; 102, telescopic plate; 103, second return spring; 104, mounting frame; 105, vertical limiting roller sleeve; 106, adjusting bevel block; 107, adjusting frame; 11, fixing mechanism; 111, wristband; 112, U-shaped placement groove; 113, rubber ferrule; 114, vertical stop bar; 12, slide plate; 13, slider; 14, first return spring; 15, limiting groove; 16, T-shaped limiting block. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0032] See also Figure 1-9The present invention provides a technical solution: a self-propelled robot for cleaning a power distribution line, comprising an installation box 1, a cleaning mechanism 2 and an auxiliary hanging ring 3, the cleaning mechanism 2 is arranged at the bottom of the installation box 1, two auxiliary hanging rings 3 are arranged, and the two auxiliary hanging rings 3 are symmetrically fixedly arranged at the top of the installation box 1, both sides of the bottom of the installation box 1 are fixedly connected with a first electric telescopic rod 4, and the bottom of the extended end of the first electric telescopic rod 4 is fixedly connected with the top of the cleaning mechanism 2, the bottom and the top of the rear side of the auxiliary hanging ring 3 are respectively rotatably connected with a first driving rotating rod 5 and a second driving rotating rod 6 through bearings, and the first driving rotating rod 5 is fixedly connected with the second driving rotating rod 6 through bearings. One end of the rotating rod 5 and the second driving rotating rod 6 both extend to the interior of the auxiliary hanging ring 3, and the ends of the first driving rotating rod 5 and the second driving rotating rod 6 extending to the interior of the auxiliary hanging ring 3 are fixedly connected to the roller sleeve 7. The cleaning mechanism 2 includes a control box 201, and the control box 201 is fixedly arranged at the bottom of the extending ends of the two first electric telescopic rods 4. A trimmer 202 is arranged inside the control box 201, and a camera 203 is fixedly arranged on the top of the control box 201. Among them, the driving motor 802 and the trimmer 202 are both remotely driven. The remote driving method is a prior art and will not be elaborated in detail.

[0033] As a preferred embodiment: in order to facilitate double-sided clamping and synchronous driving of the cable to achieve stable and smooth travel, a double-sided driving mechanism 8 is arranged between the two roller sleeves 7, and the double-sided driving mechanism 8 includes a second electric telescopic rod 801, and the second electric telescopic rod 801 is fixedly arranged on the rear side of the auxiliary hanging ring 3. The top of the extended end of the second electric telescopic rod 801 is fixedly connected to a driving motor 802 through a bracket, and the output shaft of the driving motor 802 is fixedly connected to one end of the first driving rotating rod 5 through a coupling. The rear side of the auxiliary hanging ring 3 is rotatably connected to a rotating roller 803 through a bearing, and the surfaces of the rotating roller 803 and the second driving rotating rod 6 are fixedly connected to a gear 804, and the two gears 804 are meshed with each other. The surfaces of the rotating roller 803 and the first driving rotating rod 5 are fixedly connected to pulleys 805, and a belt 806 is transmission-connected between the two pulleys 805, and a tensioning mechanism 9 is arranged between the belt 806 and the auxiliary hanging ring 3;

[0034] As a detailed description: the tensioning mechanism 9 includes a positioning groove 901, which is opened on the rear side of the auxiliary hanging ring 3, and a positioning block 902 slidably matched with the positioning groove 901 is rotatably provided on the surface of the first driving rotating rod 5 through a bearing, and an inclined rod 903 is slidably provided on the rear side of the auxiliary hanging ring 3, and a tensioning wheel 904 used in conjunction with the belt 806 is rotatably provided on the rear side of the inclined rod 903, and an expansion top plate 905 used in conjunction with the inclined rod 903 is fixedly connected to the rear side of the positioning block 902, and an auxiliary pulley 906 is rotatably provided on one side of the expansion top plate 905;

[0035] A slide plate 12 is fixedly connected to the rear side of the mounting box 1, a slider 13 is slidably connected inside the slide plate 12, the rear side of the slider 13 is fixedly connected to the front side of the inclined rod 903, and a first return spring 14 is fixedly connected between the slider 13 and the slide plate 12.

[0036] As a preferred embodiment: in order to further enhance the stability of the equipment during travel, a multi-directional limiting mechanism 10 is arranged between the double-sided driving mechanism 8 and the auxiliary hanging ring 3, and the multi-directional limiting mechanism 10 comprises a sleeve 101, two sleeves 101 are arranged, and the two sleeves 101 are respectively rotatably arranged on the front and rear sides of the inner cavity of the auxiliary hanging ring 3, and a telescopic plate 102 is slidably connected inside the sleeve 101, and a second return spring 103 is fixedly connected between the telescopic plate 102 and the sleeve 101, and the opposite ends of the two telescopic plates 102 on the same side are fixedly connected to a mounting frame 104, and a vertical limiting roller sleeve 105 is rotatably arranged between the top and bottom of the inner cavity of the mounting frame 104, and the opposite sides of the two mounting frames 104 on the same side are fixedly connected with an adjusting bevel block 106, and the auxiliary hanging ring 3 is internally slidably provided with an adjusting frame 107 used in conjunction with the adjusting bevel block 106;

[0037] As a detailed explanation: a limiting groove 15 is opened on the rear side of the inner cavity of the auxiliary hanging ring 3, and a T-shaped limiting block 16 is slidably connected inside the limiting groove 15. The front end of the T-shaped limiting block 16 is fixedly connected to the rear side of the adjustment frame 107, and the T-shaped limiting block 16 is rotatably connected to the first driving rotating rod 5 through a bearing. As a detailed explanation: the surfaces of the T-shaped limiting block 16 and the first driving rotating rod 5 are fixedly connected with bearings, and the two bearings are fixed by a connecting rod.

[0038] As a preferred embodiment, in order to avoid the initial vertical state of the mounting frame 104, which will affect the assembly of the auxiliary hanging ring 3 and the cable, a fixing mechanism 11 used in conjunction with the multi-directional limiting mechanism 10 is provided on the top of the auxiliary hanging ring 3, and the fixing mechanism 11 includes a wristband 111, and the wristband 111 is fixedly arranged on the top of two adjacent sleeves 101. The front and rear sides of the top of the auxiliary hanging ring 3 are provided with a U-shaped placement groove 112 used in conjunction with the wristband 111, and a rubber ferrule 113 is fixedly arranged inside the U-shaped placement groove 112. The front and rear sides of the top of the inner cavity of the auxiliary hanging ring 3 are fixedly connected with vertical stop bars 114 used in conjunction with the mounting frame 104.

[0039] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0040] When in use, the auxiliary hanging ring 3 is hung on the surface of the cable by a lifting device. Before hanging, the hand ring 111 is first turned to 90 degrees, and the hand ring 111 is fixed inside the rubber sleeve 113;

[0041] During the hanging process of the auxiliary hanging ring 3, the auxiliary hanging ring 3 needs to be moved at multiple angles to make the cable pass over the bottom roller sleeve 7 and be at the bottom of the top roller sleeve 7, and then the second electric telescopic rod 801 is started, and the second electric telescopic rod 801 is started, and its extended end drives the driving motor 802 to rise, and the driving motor 802 drives the first driving rotating rod 5 to rise, and the first driving rotating rod 5 drives the bottom roller sleeve 7 to rise, until the two roller sleeves 7 clamp and fix the cable on both sides;

[0042] The first driving rotating rod 5 rises and synchronously drives the pulley 805 and the positioning block 902 to rise. The pulley 805 rises and the belt 806 becomes loose. The positioning block 902 rises and drives the expansion top plate 905 to move. The movement of the expansion top plate 905 synchronously squeezes the inclined rod 903. The inclined rod 903 is squeezed and moves, which synchronously drives the tensioning wheel 904 to tighten the loose belt 806.

[0043] Before the first driving rotating rod 5 rises, the hand ring 111 needs to be restored to its original vertical state, so that the mounting frame 104 is directly above the adjusting frame 107. The first driving rotating rod 5 rises and synchronously drives the adjusting frame 107 to rise with the bearing and the T-shaped limit block 16 as the medium. The rising adjusting frame 107 will cover the mounting frame 104, and the rising adjusting frame 107 will cause the inner wall of the adjusting frame 107 to squeeze the adjusting inclined block 106 on the outside of the mounting frame 104. The adjusting inclined block 106 is squeezed and causes the two vertical limit rollers 105 to gradually clamp the front and rear sides of the cable, forming a multi-directional limit.

[0044] Finally, it is only necessary to drive the driving motor 802 to enable the two roller sleeves 7 on the same side to perform stable rolling displacement on the cable surface.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-propelled robot for cleaning a power distribution line, comprising a mounting box (1), a cleaning mechanism (2) and an auxiliary hanging ring (3), wherein the cleaning mechanism (2) is arranged at the bottom of the mounting box (1), and two auxiliary hanging rings (3) are arranged, and the two auxiliary hanging rings (3) are symmetrically fixedly arranged at the top of the mounting box (1), characterized in that: The first electric telescopic rod (4) is fixedly connected to both sides of the bottom of the installation box (1), and the bottom of the extended end of the first electric telescopic rod (4) is fixedly connected to the top of the cleaning mechanism (2). The bottom and top of the rear side of the auxiliary hanging ring (3) are rotatably connected to the first driving rotating rod (5) and the second driving rotating rod (6) through bearings respectively. One end of the first driving rotating rod (5) and the second driving rotating rod (6) extends to the inside of the auxiliary hanging ring (3), and one end of the first driving rotating rod (5) and the second driving rotating rod (6) extending to the inside of the auxiliary hanging ring (3) is fixedly connected to a roller sleeve (7). A double-sided driving mechanism (8) is arranged between the two roller sleeves (7). A multi-directional limiting mechanism (10) is arranged between the double-sided driving mechanism (8) and the auxiliary hanging ring (3). A fixing mechanism (11) used in conjunction with the multi-directional limiting mechanism (10) is arranged on the top of the auxiliary hanging ring (3).

2. A self-propelled robot for cleaning power distribution lines according to claim 1, characterized in that: The double-sided driving mechanism (8) comprises a second electric telescopic rod (801), which is fixedly arranged on the rear side of the auxiliary hanging ring (3); the top of the extended end of the second electric telescopic rod (801) is fixedly connected to a driving motor (802) through a bracket, and the output shaft of the driving motor (802) is fixedly connected to one end of the first driving rotating rod (5) through a coupling; the rear side of the auxiliary hanging ring (3) is rotatably connected to a rotating roller (803) through a bearing; the surfaces of the rotating roller (803) and the second driving rotating rod (6) are both fixedly connected to a gear (804), and the two gears (804) are meshed with each other; the surfaces of the rotating roller (803) and the first driving rotating rod (5) are both fixedly connected to a pulley (805), and a belt (806) is transmission-connected between the two pulleys (805); a tensioning mechanism (9) is arranged between the belt (806) and the auxiliary hanging ring (3).

3. The self-propelled robot for cleaning power distribution lines according to claim 1, characterized in that: The multi-directional limiting mechanism (10) comprises a sleeve (101), wherein two sleeves (101) are provided, and the two sleeves (101) are rotatably arranged at the front side and the rear side of the inner cavity of the auxiliary hanging ring (3), respectively; a telescopic plate (102) is slidably connected inside the sleeve (101), and a second reset spring (103) is fixedly connected between the telescopic plate (102) and the sleeve (101); opposite ends of the two telescopic plates (102) on the same side are fixedly connected to a mounting frame (104); a vertical limiting roller sleeve (105) is rotatably arranged between the top and the bottom of the inner cavity of the mounting frame (104); opposite sides of the two mounting frames (104) on the same side are fixedly connected to an adjusting bevel block (106); and an adjusting frame (107) used in conjunction with the adjusting bevel block (106) is slidably arranged inside the auxiliary hanging ring (3).

4. The self-propelled robot for cleaning power distribution lines according to claim 1, characterized in that: The fixing mechanism (11) comprises a wristband (111), wherein the wristband (111) is fixedly arranged at the top of two adjacent sleeves (101), and the front side and the rear side of the top of the auxiliary hanging ring (3) are both provided with a U-shaped placement groove (112) matched with the wristband (111), and a rubber sleeve (113) is fixedly arranged inside the U-shaped placement groove (112), and the front side and the rear side of the top of the inner cavity of the auxiliary hanging ring (3) are both fixedly connected with a vertical stop bar (114) matched with the mounting frame (104).

5. The self-propelled robot for cleaning power distribution lines according to claim 2, characterized in that: The tensioning mechanism (9) comprises a positioning groove (901), wherein the positioning groove (901) is provided on the rear side of the auxiliary hanging ring (3); a positioning block (902) slidably matched with the positioning groove (901) is rotatably provided on the surface of the first driving rotating rod (5) through a bearing; a slanting rod (903) is slidably provided on the rear side of the auxiliary hanging ring (3); a tensioning wheel (904) matched with the belt (806) is rotatably provided on the rear side of the slanting rod (903); an expansion top plate (905) matched with the slanting rod (903) is fixedly connected to the rear side of the positioning block (902); and an auxiliary pulley (906) is rotatably provided on one side of the expansion top plate (905).

6. The self-propelled robot for cleaning power distribution lines according to claim 1, characterized in that: The cleaning mechanism (2) comprises a control box (201), the control box (201) being fixedly arranged at the bottom of the extended ends of the two first electric telescopic rods (4), a trimmer (202) being arranged inside the control box (201), and a camera (203) being fixedly arranged on the top of the control box (201).

7. The self-propelled robot for cleaning power distribution lines according to claim 1, characterized in that: A slide plate (12) is fixedly connected to the rear side of the installation box (1), and a slider (13) is slidably connected inside the slide plate (12).

8. The self-propelled robot for cleaning power distribution lines according to claim 7, characterized in that: The rear side of the slider (13) is fixedly connected to the front side of the inclined rod (903), and a first return spring (14) is fixedly connected between the slider (13) and the slide plate (12).

9. The self-propelled robot for cleaning power distribution lines according to claim 1, characterized in that: A limiting groove (15) is provided at the rear side of the inner cavity of the auxiliary hanging ring (3), and a T-shaped limiting block (16) is slidably connected inside the limiting groove (15).

10. The self-propelled robot for cleaning power distribution lines according to claim 9, characterized in that: The front end of the T-shaped limit block (16) is fixedly connected to the rear side of the adjustment frame (107), and the T-shaped limit block (16) is rotatably connected to the first driving rotating rod (5) via a bearing.

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