Deicing robot device for distribution line

Abstract

The invention discloses a deicing robot device for a power distribution line, which comprises a machine body base, a walking obstacle crossing mechanism, an impact deicing mechanism, a knocking deicing mechanism and a camera shooting mechanism, and is characterized in that the walking obstacle crossing mechanism and the camera shooting mechanism are both mounted on the machine body base; the impact deicing mechanism comprises an impact structure supporting rod, an impact structure base body, a worm, an impact cutter base and an impact cutter, the impact cutter is installed on the front end face of the impact cutter base, and the impact cutter base is installed on the impact structure base body and is controlled to rotate through the worm; the knocking deicing mechanism comprises a knocking structure supporting rod and a knocking mechanism, the knocking mechanism comprises a deicing disc and a knocking rod, the deicing disc is installed at the top end of the knocking structure supporting rod and controlled by a fourth motor to rotate, and the knocking rod is installed on the deicing disc. The power distribution cable deicing device is compact in structure, capable of achieving deicing operation on a power distribution cable, high in automation degree, small in shaking degree, high in stability, easy and convenient to operate and high in deicing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of power construction, and particularly to an ice removal robot device for distribution lines. Background Art

[0002] In the distribution network system, the distribution network, as an important public infrastructure, plays an important role in ensuring power supply, supporting economic and social development, and serving to improve people's livelihood. In winter rain and snow weather, distribution lines are extremely prone to icing. If not removed in time, it may cause faults such as short circuits and open circuits, thus interrupting the normal operation of the line and causing serious economic losses.

[0003] Currently, the ice removal methods mainly used include manual mechanical ice removal, thermal ice melting, natural ice removal, and spreading ice melting agents. These methods have problems such as high safety hazards, low efficiency, high energy consumption costs, and environmental unfriendliness.

[0004] In manual mechanical ice removal, it is mainly divided into the manual insulated rod operation method and the cable ice removal robot operation method. The manual insulated rod operation method uses the intermediate potential operation method, where the operator hangs directly on the electric pole to perform ice removal operations, but the efficiency is low and the operators are at risk. The operation method of the ice removal robot mainly relies on remote operation, automated operation, visual recognition technology, robotic arm operation, etc. for operation, which has the advantages of high safety and low labor cost. However, it has the following problems: it is difficult for the cable to walk, the operation is relatively cumbersome, and the efficiency is low; during operation, the shaking degree is relatively large and the stability is not high; the ice removal operation efficiency is not high. Summary of the Invention

[0005] Based on the technical problems existing in the background art, the present invention proposes an ice removal robot device for distribution lines.

[0006] An ice removal robot device for distribution lines proposed by the present invention includes a body base, a walking and obstacle-crossing mechanism, an impact ice removal mechanism, a knocking ice removal mechanism, and a camera mechanism. The walking and obstacle-crossing mechanism and the camera mechanism are both installed on the body base;

[0007] The impact ice removal mechanism includes an impact structure support rod, an impact structure base body, a worm, an impact tool base, and an impact tool. The impact structure support rod is installed on the body base. The impact tool is installed on the front end face of the impact tool base. The impact tool base is installed on the impact structure base body and is controlled to rotate by the worm;

[0008] The knocking ice removal mechanism includes a knocking structure support rod and a knocking mechanism. The knocking mechanism includes an ice removal disc and a knocking rod. The knocking structure support rod is installed on the body base. The ice removal disc is installed at the top of the knocking structure support rod and is controlled to rotate by a motor four. The knocking rod is installed on the ice removal disc.

[0009] Preferably, at least three walking obstacle-crossing mechanisms are provided, and each of them includes a robotic arm, a rotating arm, and a V-shaped wheel. The robotic arm is installed on the body base, the rotating arm is hinged to the top end of the robotic arm and is controlled by a first motor to rotate, and the V-shaped wheel is installed on one side of the top end of the rotating arm and is controlled by a second motor to rotate.

[0010] Preferably, the impact structure base is horizontally installed at the top end of the impact structure support rod. The worm is installed on the impact structure base and is controlled by a third motor to rotate. The impact tool base is arranged above the worm and is installed on the impact structure base through a tool base support rod. The impact tool base is a vertically arranged disc-shaped structure, and a cable notch communicating with its axis is provided on its outer periphery. The meshing teeth provided on the outer periphery of the impact tool base are engaged with the worm.

[0011] Preferably, a plurality of impact tools are provided and are evenly distributed on the front end face of the impact tool base; for the impact tool, a tool tip is provided at its front end, and cutting edges are provided on its peripheral surface.

[0012] Preferably, the knocking de-icing mechanism further includes a driving gear and two driven gears. Two knocking mechanisms are provided and are respectively arranged on both sides above the knocking structure support rod, and are both installed at the top end of the knocking structure support rod through knocking structure fixing members. The de-icing disc is a cross-shaped structure. The two driven gears are coaxially arranged with the two de-icing discs provided by the two knocking mechanisms respectively. The driving gear is installed on the output shaft of a fourth motor and is engaged with the two driven gears through an intermediate gear.

[0013] Preferably, the impact de-icing mechanism and the knocking de-icing mechanism are installed in the body base through a de-icing mechanism moving assembly. The de-icing mechanism moving assembly includes a unit platform, a de-icing mechanism connecting member, a lifting push rod, and a translation push rod. The unit platform is installed in the body base and is controlled by the lifting push rod to lift. The impact de-icing mechanism and the knocking de-icing mechanism are arranged on both sides of the body base and are respectively installed at both ends of the de-icing mechanism connecting member. The de-icing mechanism connecting member is installed on the unit platform and is controlled by the translation push rod to perform horizontal longitudinal translation.

[0014] Preferably, the unit platform is clamped in the body base. For the lifting push rod, its base is installed at the inner bottom of the body base, and the top end of its push rod is fixed on the lower end face of the unit platform; a chute perpendicular to the traveling direction of the walking obstacle-crossing mechanism is provided in the center of the unit platform. A slider is installed in the chute. The de-icing mechanism connecting member is installed on the slider. The translation push rod is horizontally longitudinally arranged, and the front end of its push rod is installed on the side end face of the slider. The rear end base of the translation push rod is installed on the unit platform.

[0015] Preferably, the camera mechanism includes a camera and a camera connecting member. The camera is disposed above the impact de-icing mechanism and is mounted on the impact structure base through the camera connecting member.

[0016] Preferably, two parallel slide rails are provided on the body base, and at least three of the walking and obstacle-crossing mechanisms are mounted on the two slide rails and are all controlled by a lead screw device to slide.

[0017] The beneficial effects of the present invention are as follows:

[0018] The ice removal robot device for a distribution line of the present invention can realize the walking of the entire device and the crossing of obstacles on the distribution cable through the clamping cooperation between the walking and obstacle-crossing mechanism and the distribution cable, and has a high walking efficiency; the impact de-icing mechanism and the knocking de-icing mechanism clamp the distribution cable and can perform impact de-icing and knocking de-icing on the ice on the cable, which is convenient to operate and has a high ice removal operation efficiency; the body base is disposed below the distribution cable, so that the center of the entire device is relatively low, and through the multi-point contact with the distribution cable, the shaking degree is small and the stability is high. The structure of the present invention is compact, can realize the ice removal operation on the distribution cable, has a high degree of automation, a small overall shaking degree, high stability, simple and convenient ice removal operation, high efficiency, time-saving and labor-saving, safe and reliable, low energy consumption cost, and does not pollute the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 : Schematic structural diagram of the present invention;

[0020] Figure 2 : Schematic structural diagram of the walking and obstacle-crossing mechanism of the present invention;

[0021] Figure 3 : Schematic structural diagram of the impact de-icing mechanism of the present invention;

[0022] Figure 4 : Schematic structural diagram of the knocking de-icing mechanism of the present invention;

[0023] Figure 5 : Schematic structural diagram of the ice removal mechanism moving assembly of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0025] Embodiment 1:

[0026] Refer to Figures 1-5, an ice removal robot device for a distribution line proposed by the present invention includes a body base 1, a walking and obstacle-crossing mechanism 2, an impact ice removal mechanism 3, a knocking ice removal mechanism 4, and a camera mechanism 5.

[0027] Both the walking and obstacle-crossing mechanism 2 and the camera mechanism 5 are installed on the body base 1. Through the clamping cooperation between the walking and obstacle-crossing mechanism 2 and the distribution cable 101, and through the recognition of the actual condition of the distribution cable 101 by the camera mechanism 5, the walking of the entire device and the crossing of obstacles on the distribution cable 101 can be achieved, and the walking efficiency is high.

[0028] The impact ice removal mechanism 3 includes an impact structure support rod 31, an impact structure base 32, a worm 33, an impact tool base 34, and an impact tool 36. The impact structure support rod 31 is installed on the body base 1, the impact tool 36 is installed on the front end face of the impact tool base 34, and the impact tool base 34 is installed on the impact structure base 32 and is controlled to rotate by the worm 33. The impact tool base 34 is controlled to rotate by the worm 33 and drives the impact tool 36 to rotate, so as to perform impact ice removal operation on the ice on the distribution cable 101. The operation is convenient and the ice removal operation efficiency is high.

[0029] The knocking ice removal mechanism 4 includes a knocking structure support rod 41 and a knocking mechanism. The knocking mechanism includes an ice removal disc 44 and a knocking rod 46. The knocking structure support rod 41 is installed on the body base 1, the ice removal disc 44 is installed at the top of the knocking structure support rod 41 and is controlled to rotate by a motor four 43, and the knocking rod 46 is installed on the ice removal disc 44. Through the knocking of the ice removal disc 44 and the knocking rod 46 on the distribution cable 101, the knocking ice removal operation on the ice on the distribution cable 101 is realized. The operation is convenient and the ice removal operation efficiency is high.

[0030] The ice removal robot device for the distribution line of the present invention has a compact structure, can realize the ice removal operation on the distribution cable, has a high degree of automation, a small overall shaking degree, high stability, simple and convenient ice removal operation, high efficiency, time-saving and labor-saving, safe and reliable, and low energy consumption cost, and will not cause pollution to the environment.

[0031] Embodiment 2:

[0032] Refer to Figures 1-5 , an ice removal robot device for a distribution line proposed by the present invention includes a body base 1, a walking and obstacle-crossing mechanism 2, an impact ice removal mechanism 3, a knocking ice removal mechanism 4, and a camera mechanism 5.

[0033] Both the walking and obstacle-crossing mechanism 2 and the camera mechanism 5 are installed on the body base 1. The distribution line system 100 contains multiple mutually parallel distribution cables 101. At least three walking and obstacle-crossing mechanisms 2 are provided and installed on at least two distribution cables 101 to ensure sufficient stability of the entire ice removal robot device.

[0034] The walking and obstacle-crossing mechanism 2 includes a robotic arm 21, a rotating arm 22, and a V-shaped wheel 23. The robotic arm 21 is installed on the body base 1. The rotating arm 22 is hinged to the top of the robotic arm 21 and is controlled by a first motor 24 to rotate. The V-shaped wheel 23 is installed on one side of the top of the rotating arm 22 and is controlled by a second motor 25 to rotate.

[0035] The V-shaped wheel 23 is engaged with the distribution cable 101 under the self-weight of the entire device, and then the entire device can move forward by the rotation of the V-shaped wheel 23. Once an obstacle is found on the distribution cable 101 in front of a certain V-shaped wheel 23, at this time, the rotating arm 22 where other V-shaped wheels 23 are located can be controlled to rotate by a certain angle, while the rotating arm 22 where this V-shaped wheel 23 is located remains in the vertical state, so that this V-shaped wheel 23 is lifted. Then, the rotating arm 22 where this V-shaped wheel 23 is located is controlled to rotate by a certain angle and this V-shaped wheel 23 is made to contact and engage with the distribution cable 101 after crossing the obstacle. Finally, the rotating arms 22 where all V-shaped wheels 23 are located are controlled to return to the vertical state and continue the ice removal operation while walking. Through the clamping cooperation between the walking and obstacle-crossing mechanism 2 and the distribution cable 101, and through the recognition of the actual condition of the distribution cable 101 by the camera mechanism 5, the walking of the entire device and the crossing of obstacles on the distribution cable 101 can be realized, and the walking efficiency is high.

[0036] The impact ice removal mechanism 3 includes an impact structure support rod 31, an impact structure base body 32, a worm 33, an impact tool base 34, and an impact tool 36. The impact structure support rod 31 is installed on the body base 1. The impact tool 36 is installed on the front end face of the impact tool base 34. The impact tool base 34 is installed on the impact structure base body 32 and is controlled to rotate by the worm 33. The impact tool base 34 is controlled to rotate by the worm 33 and drives the impact tool 36 to rotate, so as to perform impact ice removal operation on the ice on the distribution cable 101. The operation is convenient and the ice removal operation efficiency is high.

[0037] The knocking ice removal mechanism 4 includes a knocking structure support rod 41 and a knocking mechanism. The knocking mechanism includes an ice removal disc 44 and a knocking rod 46. The knocking structure support rod 41 is installed on the body base 1. The ice removal disc 44 is installed at the top of the knocking structure support rod 41 and is controlled to rotate by a fourth motor 43. The knocking rod 46 is installed on the ice removal disc 44. By knocking the distribution cable 101 with the ice removal disc 44 and the knocking rod 46, the ice on the distribution cable 101 can be knocked off for ice removal operation. The operation is convenient and the ice removal operation efficiency is high.

[0038] The de-icing robot device for distribution lines of the present invention has a compact structure, can perform de-icing operations on distribution cables, has a high degree of automation, a small overall shaking degree, high stability, simple and convenient de-icing operation, high efficiency, time and labor saving, safety and reliability, and low energy consumption cost, and will not cause pollution to the environment.

[0039] Embodiment 3:

[0040] Referring to Figures 1-5 , a de-icing robot device for distribution lines proposed by the present invention includes a body base 1, a walking and obstacle-crossing mechanism 2, an impact de-icing mechanism 3, a knocking de-icing mechanism 4, and a camera mechanism 5.

[0041] The distribution line system 100 contains multiple mutually parallel distribution cables 101. The walking and obstacle-crossing mechanism 2 is installed on the body base 1. At least three walking and obstacle-crossing mechanisms 2 are provided and installed on at least two distribution cables 101 to ensure sufficient stability of the entire de-icing robot device.

[0042] Each walking and obstacle-crossing mechanism 2 includes a robotic arm 21, a rotating arm 22, and a V-shaped wheel 23. The robotic arm 21 is installed on the body base 1. The rotating arm 22 is hinged to the top of the robotic arm 21 and is controlled by a first motor 24 to rotate. The V-shaped wheel 23 is installed on one side of the top of the rotating arm 22 and is controlled by a second motor 25 to rotate. The V-shaped wheel 23 is engaged with the distribution cable 101 under the self-weight of the entire device, and then the entire device can move forward through the rotation of the V-shaped wheel 23. Once an obstacle is found on the distribution cable 101 in front of a certain V-shaped wheel 23, the rotating arm 22 where other V-shaped wheels 23 are located can be controlled to rotate a certain angle at this time, while the rotating arm 22 where this V-shaped wheel 23 is located remains in the vertical state, so that this V-shaped wheel 23 is lifted. Then, the rotating arm 22 where this V-shaped wheel 23 is located is controlled to rotate a certain angle and this V-shaped wheel 23 is brought into contact and engagement with the distribution cable 101 after crossing this obstacle. Finally, the rotating arms 22 where all V-shaped wheels 23 are located are controlled to return to the vertical state and continue the de-icing operation while walking. Through the clamping cooperation between the walking and obstacle-crossing mechanism 2 and the distribution cable 101, and the actual condition of the distribution cable 101 is identified by the camera mechanism 5, the walking of the entire device and the crossing of obstacles on the distribution cable 101 can be realized, and the walking efficiency is high.

[0043] Two mutually parallel slide rails are provided on the body base 1, and at least three walking and obstacle-crossing mechanisms 2 are installed on the two slide rails and are all controlled by a lead screw device to slide. The entire de-icing robot device is transported by a drone or lifted by an insulating rod until the walking and obstacle-crossing mechanisms 2 are inserted into the inner side of the distribution cable 101. Then, according to the distance between the two distribution cables 101, the lead screw device is used to control the walking and obstacle-crossing mechanisms 2 to slide, so that multiple walking and obstacle-crossing mechanisms 2 can all be engaged with the distribution cable 101, improving the applicability of the entire de-icing robot device.

[0044] The impact de-icing mechanism 3 and the knocking de-icing mechanism 4 are installed in the body base 1 through the de-icing mechanism moving assembly 6. The de-icing mechanism moving assembly 6 includes a unit platform 61, a de-icing mechanism connecting member 63, a lifting push rod 64 and a translation push rod 65. The unit platform 61 is installed in the body base 1 and is controlled by the lifting push rod 64 to lift. The specific structure is as follows: The unit platform 61 is engaged in the body base 1. The base of the lifting push rod 64 is installed at the inner bottom of the body base 1, and the top of its push rod is fixed on the lower end surface of the unit platform 61. The lifting push rod 64 expands and contracts under the action of a motor or a cylinder and controls the entire unit platform 61 to lift in the body base 1.

[0045] The impact de-icing mechanism 3 and the knocking de-icing mechanism 4 are arranged on both sides of the body base 1 and are respectively installed at both ends of the de-icing mechanism connecting member 63. The de-icing mechanism connecting member 63 is installed on the unit platform 61 and is controlled by the translation push rod 65 to perform horizontal and longitudinal translation. The specific structure is as follows: A chute 62 perpendicular to the traveling direction of the walking and obstacle-crossing mechanism 2 is provided in the center of the unit platform 61. A slider is installed in the chute 62. The de-icing mechanism connecting member 63 is installed on the slider. The translation push rod 65 is horizontally and longitudinally arranged, and the front end of its push rod is installed on the side end surface of the slider. The base of the rear end of the translation push rod 65 is installed on the unit platform 61. The translation push rod 65 expands and contracts under the action of a motor or a cylinder and controls the slider and the entire de-icing mechanism connecting member 63 to perform horizontal and longitudinal translation, thereby completing the overall translation of the impact de-icing mechanism 3 and the knocking de-icing mechanism 4.

[0046] The impact de-icing mechanism 3 and the knocking de-icing mechanism 4 can be lifted and horizontally and longitudinally translated under the control of the lifting push rod 64 and the translation push rod 65, so that the impact de-icing mechanism 3 and the knocking de-icing mechanism 4 are closely attached to the distribution cable 101 to perform de-icing operations, and it is also convenient to adjust the impact de-icing mechanism 3 and the knocking de-icing mechanism 4 to perform de-icing operations on other distribution cables 101, and the operation is convenient.

[0047] The impact de-icing mechanism 3 includes an impact structure support rod 31, an impact structure base 32, a worm 33, an impact tool base 34, and an impact tool 36. The impact structure support rod 31 is installed on the machine body base 1. The impact tool 36 is installed on the front end face of the impact tool base 34. The impact tool base 34 is installed on the impact structure base 32 and is controlled to rotate by the worm 33.

[0048] The impact structure base 32 is horizontally installed at the top of the impact structure support rod 31. The worm 33 is installed on the impact structure base 32 and is controlled to rotate by the motor three 38. The impact tool base 34 is arranged above the worm 33 and is installed on the impact structure base 32 through a tool base support rod 35. The impact tool base 34 is a vertically arranged disc-shaped structure, and a cable notch 37 communicating with its axis is arranged on its outer periphery. The meshing teeth arranged on the outer periphery of the impact tool base 34 are engaged with the worm 33. A plurality of impact tools 36 are arranged and evenly distributed on the front end face of the impact tool base 34. The front end of the impact tool 36 is provided with a tool tip, and its periphery is provided with a cutting edge. The cable notch 37 is used to engage with the distribution cable 101, so that under the control of the lifting push rod 64, the distribution cable 101 is moved into the cable notch 37 and is located on the axis of the impact tool base 34, facilitating the impact de-icing operation of the impact tool 36 on the ice on the distribution cable 101 during rotation.

[0049] The impact tool base 34 is controlled to rotate by the worm 33 and drives the impact tool 36 to rotate, thereby performing the impact de-icing operation on the ice on the distribution cable 101. The operation is convenient and the de-icing operation efficiency is high.

[0050] The knocking de-icing mechanism 4 includes a knocking structure support rod 41 and a knocking mechanism. The knocking mechanism includes a de-icing disc 44 and a knocking rod 46. The knocking structure support rod 41 is installed on the machine body base 1. The de-icing disc 44 is installed at the top of the knocking structure support rod 41 and is controlled to rotate by the motor four 43. The knocking rod 46 is installed on the de-icing disc 44.

[0051] The knocking de-icing mechanism 4 further includes a driving gear 42 and two driven gears 45. Two knocking mechanisms are provided and are respectively arranged on both sides above the knocking structure support rod 41, and are both installed at the top of the knocking structure support rod 41 through knocking structure fixing parts. The de-icing disc 44 is a cross-shaped structure. The two driven gears 45 are coaxially arranged with the two de-icing discs 44 provided by the two knocking mechanisms respectively. The driving gear 42 is installed on the output shaft of the motor four 43 and is engaged with the two driven gears 45 through an intermediate gear 47.

[0052] The motor four 43 controls the rotation of the driving gear 42, and then drives the two driven gears 45 to rotate, thereby controlling the rotation of the deicing disc 44 and the knocking rod 46 and knocking on the distribution cable 101, so as to realize the knocking deicing operation on the ice on the distribution cable 101. The operation is convenient and the deicing operation efficiency is high.

[0053] The camera mechanism 5 includes a camera and a camera connecting piece. The camera is arranged above the impact deicing mechanism 3 and is installed on the impact structure base body 32 through the camera connecting piece. Through the camera mechanism 5, the traveling state of the entire deicing robot device, the deicing condition of the distribution cable 101, etc. can be monitored in real time, which is convenient for controlling and operating the entire deicing robot device.

[0054] The deicing robot device for the distribution line of the present invention has a compact structure, can realize the deicing operation on the distribution cable, has a high degree of automation, a small overall shaking degree, high stability, a simple and convenient deicing operation, high efficiency, time-saving and labor-saving, is safe and reliable, and has a low energy consumption cost and does not pollute the environment.

[0055] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A deicing robot device for a power distribution line, characterized in that: It comprises a machine body base (1), a walking obstacle-crossing mechanism (2), an impact deicing mechanism (3), a knocking deicing mechanism (4) and a camera mechanism (5), wherein the walking obstacle-crossing mechanism (2) and the camera mechanism (5) are both mounted on the machine body base (1); The impact deicing mechanism (3) comprises an impact structure support rod (31), an impact structure base (32), a worm (33), an impact tool base (34), and an impact tool (36); the impact structure support rod (31) is mounted on the machine body base (1); the impact tool (36) is mounted on the front end surface of the impact tool base (34); the impact tool base (34) is mounted on the impact structure base (32) and is controlled to rotate by the worm (33); The knocking deicing mechanism (4) comprises a knocking structure support rod (41) and a knocking mechanism, wherein the knocking mechanism comprises a deicing disc (44) and a knocking rod (46), wherein the knocking structure support rod (41) is mounted on a machine body base (1), the deicing disc (44) is mounted on the top of the knocking structure support rod (41) and is controlled to rotate by a motor four (43), and the knocking rod (46) is mounted on the deicing disc (44).

2. A deicing robot device for a power distribution line according to claim 1, characterized in that: The walking obstacle-crossing mechanism (2) is provided with at least three, and each of them comprises a mechanical arm (21), a rotating arm (22) and a V-shaped wheel (23); the mechanical arm (21) is mounted on the machine body base (1); the rotating arm (22) is hinged at the top of the mechanical arm (21) and is rotated by a motor 1 (24); the V-shaped wheel (23) is mounted on one side of the top of the rotating arm (22) and is rotated by a motor 2 (25).

3. The deicing robot device for power distribution lines according to claim 1, characterized in that: The impact structure base (32) is horizontally mounted on the top of the impact structure support rod (31); the worm (33) is mounted on the impact structure base (32) and rotated by a motor (38); the impact tool base (34) is arranged above the worm (33) and is mounted on the impact structure base (32) by a tool base support rod (35); the impact tool base (34) is a vertically arranged disc-shaped structure, and a cable recess (37) connected to its axis is arranged on its outer periphery; the meshing teeth arranged on the outer periphery of the impact tool base (34) mesh with the worm (33).

4. The deicing robot device for power distribution lines according to claim 3, characterized in that: A plurality of impact cutters (36) are arranged and evenly distributed on the front end surface of the impact cutter base (34); the impact cutter (36) has a cutter tip at its front end and a cutter blade at its periphery.

5. The deicing robot device for power distribution lines according to claim 1, characterized in that: The knocking deicing mechanism (4) further comprises a driving gear (42) and two driven gears (45); the knocking mechanism is provided with two and is respectively arranged on both sides above the knocking structure support rod (41), and both are mounted on the top of the knocking structure support rod (41) through a knocking structure fixing member; the deicing tray (44) is a cross-shaped structure; the two driven gears (45) are respectively coaxially arranged with the two deicing trays (44) provided with the two knocking mechanisms; the driving gear (42) is mounted on the output shaft of the motor four (43), and is meshed with the two driven gears (45) through a transition gear (47).

6. The deicing robot device for power distribution lines according to claim 1, characterized in that: The impact deicing mechanism (3) and the knocking deicing mechanism (4) are installed in the machine body base (1) through a deicing mechanism moving assembly (6); the deicing mechanism moving assembly (6) comprises a unit platform (61), a deicing mechanism connecting member (63), a lifting push rod (64) and a translation push rod (65); the unit platform (61) is installed in the machine body base (1) and is lifted and lowered by the lifting push rod (64); the impact deicing mechanism (3) and the knocking deicing mechanism (4) are arranged on both sides of the machine body base (1) and are respectively installed at two ends of the deicing mechanism connecting member (63); the deicing mechanism connecting member (63) is installed on the unit platform (61) and is controlled by the translation push rod (65) to perform horizontal and longitudinal translation.

7. The deicing robot device for power distribution lines according to claim 6, characterized in that: The unit platform (61) is engaged in the machine body base (1); the lifting push rod (64) has a base mounted on the bottom of the machine body base (1) and a top end of the push rod is fixed on the lower end surface of the unit platform (61); a slide groove (62) perpendicular to the travel direction of the walking obstacle-crossing mechanism (2) is arranged in the center of the unit platform (61); a slider is installed in the slide groove (62); the deicing mechanism connecting member (63) is installed on the slider; the translation push rod (65) is arranged horizontally and longitudinally and its front end is mounted on the side end surface of the slider; the rear end base of the translation push rod (65) is mounted on the unit platform (61).

8. The deicing robot device for power distribution lines according to claim 1, characterized in that: The camera mechanism (5) comprises a camera and a camera connecting piece, wherein the camera is arranged above the impact deicing mechanism (3) and is mounted on the impact structure matrix (32) through the camera connecting piece.

9. The deicing robot device for power distribution lines according to claim 2, characterized in that: The machine body base (1) is provided with two mutually parallel slide rails, and at least three walking obstacle-crossing mechanisms (2) are installed on the two slide rails and are all controlled to slide by a screw rod device.

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