Automatic inspection robot for power transmission line

Abstract

The invention relates to the technical field of power transmission line inspection robots, and discloses a power transmission line automatic inspection robot, which comprises power transmission lines and high-voltage line spacers, the high-voltage line spacers are arranged on the outer walls of the power transmission lines and are used for connecting a plurality of power transmission lines, and the power transmission line automatic inspection robot further comprises a moving unit arranged on the outer walls of the power transmission lines; the ice chiseling mechanism is arranged on the moving unit; and the ice breaking mechanism is arranged on the inner side of the ice chiseling mechanism. Through the synergistic effect of the ice chiseling mechanism and the ice breaking mechanism, the ice layer is broken through the ice chiseling rod and the impact hammer, meanwhile, the lifting plate in the ice breaking mechanism can move up and down, the impact range is expanded, and the deicing effect is improved. The brushing unit is used for removing residual ice blocks and ice powder on the outer wall of the power transmission line, and the inspection quality is further improved. The robot is compact in structure and high in intelligent degree, the deicing efficiency and safety of the power transmission line can be effectively improved, and stable operation of a power grid is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots for transmission lines, and specifically to an automatic inspection robot for transmission lines. Background Art

[0002] With the continuous development of China's power system, the scale and complexity of transmission lines have been increasing. Especially with the wide application of ultra-high voltage transmission lines, their safe operation is crucial for the stability of the power grid and the power supply quality. However, the icing problem of transmission lines in winter has always been a serious hidden danger affecting their safe operation. Icing not only increases the mechanical load of transmission lines but may also lead to serious accidents such as line breakage and collapse, and even cause large-scale power outages.

[0003] However, the existing de-icing robots for transmission lines still have deficiencies in terms of de-icing efficiency, adaptability, and stability. For example, some robots have difficulty in achieving stable movement and efficient de-icing when facing complex terrains and transmission lines of different specifications. In addition, the existing robots have limited effects on breaking and removing ice layers during the de-icing process and are difficult to completely remove the ice on the transmission lines. Therefore, an automatic inspection robot for transmission lines is proposed to solve the above-mentioned problems. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic inspection robot for transmission lines in view of the deficiencies in the above-mentioned prior art.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: an automatic inspection robot for transmission lines, including a transmission line and a high-voltage line spacer. The high-voltage line spacer is installed on the outer wall of the transmission line and is used to connect multiple transmission lines. It further includes: A moving unit, arranged on the outer wall of the transmission line and used to move on the outer wall of the transmission line; An ice-chiseling mechanism, arranged on the moving unit and used to chisel the ice on both sides of the outer wall of the transmission line when moving; An ice-breaking mechanism, arranged inside the ice-chiseling mechanism and used to break the ice on the outer wall of the transmission line; Among them, the moving unit includes: A plurality of fixed rods, arranged in pairs in a circular shape on the outer wall of the transmission line, and the two fixed rods in the axial direction are connected by a connecting plate; An active rod, movably connected to the middle of the fixed rod, and a mounting seat is fixedly connected to the bottom of the active rod; A first spring, sleeved on the outer wall of the active rod and connected to the fixed rod and the mounting seat, and used to push the mounting seat to move downward; A roller, arranged on the mounting seat and used to contact and roll on the outer wall of the transmission line; The ice chiseling mechanism includes: A plurality of U-shaped seats are respectively fixedly connected to the left and right sides of each mounting seat, and ice chiseling rods are respectively arranged on the inner walls at both ends of each U-shaped seat for chiseling the ice on the outer wall of the transmission line.

[0006] Preferably, the moving unit further includes: The first extension rod and the second extension rod are respectively movably connected to the inner walls at both ends of the fixed rod; Two elastic telescopic rods are respectively fixedly connected to the inner walls at both ends of the fixed rod, and the first extension rod and the second extension rod are in contact with the elastic telescopic rods for pulling the first extension rod and the second extension rod to move inwards; A plurality of fixed rods are respectively hinged through the first extension rod and the second extension rod in the circumferential direction for closely fitting and moving on the outer wall of the transmission line; The first motor is installed on one side of the mounting seat, and the output end of the first motor is connected to the transmission shaft of the roller for driving the roller to rotate.

[0007] Preferably, the ice chiseling mechanism further includes; The third spring is arranged in the U-shaped seat and connected to the ice chiseling rod for pushing the ice chiseling rod downwards to abut against the ice; The U-shaped rod is respectively connected to the outer walls of the two ice chiseling rods on the left and right sides and moves up and down in the sliding holes opened outside the U-shaped seat; The elliptical turntable is fixedly connected to the output end of the first motor, and the outer wall thereof is in contact with the bottom of the U-shaped rod for abutting against the U-shaped rod to drive the ice chiseling rod to move upwards.

[0008] Preferably, the ice breaking mechanism includes: A plurality of round rods are fixedly connected to the bottom of the connecting plate, and a lifting plate is slidably connected to the outer wall of the round rod; A plurality of fourth springs are sleeved on the outer wall of the round rod, and both ends of the fourth spring are respectively connected to the lifting plate and the connecting plate for resetting the lifting plate upwards; The connecting block is connected to the bottom of the lifting plate, and a second motor is fixedly connected to the bottom; The rotating block is fixedly sleeved on the outer wall of the output end of the second motor. A striking block is arranged at one end of the rotating block away from the second motor, and an impact hammer is rotatably connected to one side of the striking block and is in contact with the outer wall of the transmission line.

[0009] Preferably, the connecting block and the fixed rotating block are provided with straight groove holes, and there are two striking blocks which are respectively located on both sides of the rotating block and are connected through a connecting shaft to slide in the straight groove holes for adjusting the distance between the impact hammer and the transmission line.

[0010] Preferably, the ice breaking mechanism further includes: The slider is movably connected in the chute opened at the top of the lifting plate; The push rod is arranged in the through hole opened in the middle of the connecting plate, and both ends are respectively hinged to the slider and the top of the movable rod, and is used to push the lifting plate downward.

[0011] Preferably, a brushing unit is arranged on one side of the moving unit, and is used to brush the residual ice on the outer wall of the transmission line; The brushing unit includes: The connecting rod is connected to the hinged part of the first extension rod and the second extension rod; The connecting sleeve is hinged to the outer wall of the connecting rod, and a sliding rod and a second spring are slidably connected to the inner wall of the connecting sleeve. The second spring is fixedly connected to the connecting sleeve and one end of the sliding rod, and is used to push the sliding rod outward; The brushing rod is fixedly connected to the other end of the sliding rod, and an arc-shaped brush plate is hinged to the end of the brushing rod away from the sliding rod, and is used to abut against the outer wall of the transmission line.

[0012] Preferably, two arc-shaped brush plates are arranged on the outer wall of the transmission line, and the two arc-shaped brush plates are arranged alternately along the axial direction of the transmission line, and are used to brush the residual ice on the circular outer wall of the transmission line; two batteries are arranged on the top of the connecting plate, and are used to electrically connect the first motor and the second motor.

[0013] Adopting the above technical solutions, the present invention can bring the following beneficial effects: 1. For this automatic inspection robot for transmission lines, through the coordinated action of the ice chiseling mechanism and the ice breaking mechanism, the ice on the outer wall of the transmission line can be effectively broken and chiseled. The ice chiseling rod in the ice chiseling mechanism impacts the ice by moving up and down, and the impact hammer in the ice breaking mechanism further breaks the ice by rotating and hitting. The cooperation of the two greatly improves the ice removal efficiency and effect, can quickly remove the ice layer on the transmission line, reduces the impact of the ice layer on the safe operation of the transmission line. The lifting plate in the ice breaking mechanism realizes up and down movement through the linkage of the movable rod and the push rod, thereby changing the position of the impact hammer relative to the transmission line, expanding the impact range, and can break the ice at different positions on the outer wall of the transmission line, avoiding the situation of incomplete ice removal in local areas, and ensuring the overall ice removal effect of the transmission line.

[0014] 2. For this automatic inspection robot for transmission lines, through the combined design of the fixed rod, extension rod, elastic telescopic rod and roller in the moving unit, it can be adaptively adjusted according to the number of strands and diameter of the transmission line. Under the action of the elastic telescopic rod, the extension rod retracts inward, so that the roller closely fits the outer wall of the transmission line, ensuring the stable movement of the robot on transmission lines of different specifications, and improving the versatility and adaptability of the robot.

[0015] 3. The automatic inspection robot for the transmission line can brush the outer wall of the transmission line with the arc-shaped brush plate in the brushing unit, brush off the residual ice cubes and ice powder after ice chiseling and ice breaking, further clean the surface of the transmission line, improve the cleanliness of the transmission line, reduce the influence of the residual ice on the insulation performance of the transmission line, and improve the inspection quality. The robot can automatically move on the transmission line to realize the automatic inspection of the transmission line. By driving the rollers to rotate with the motor, the robot is driven to move along the transmission line without manual intervention, reducing the labor intensity and cost of manual inspection, improving the inspection efficiency and timeliness, and better ensuring the safe operation of the transmission line. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of the present invention; Figure 2 It is a schematic structural diagram of a single-strand transmission line of the present invention; Figure 3 It is an exploded structural diagram of the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in; Figure 5 It is a schematic sectional structure diagram of the present invention; Figure 6 It is a schematic partial sectional structure diagram of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at B in; Figure 8 For the present invention Figure 6 The enlarged structural diagram at C in; Figure 9 It is a schematic diagram of the brushing unit and its partial exploded structure of the present invention.

[0017] In the figure: 1. Transmission line; 2. High-voltage spacer; Moving unit; 31. Fixed rod; 32. First extension rod; 33. Second extension rod; 34. Elastic telescopic rod; 35. Movable rod; 36. First spring; 37. Mounting seat; 38. Roller; 39. First motor; Brushing unit; 41. Connecting rod; 42. Connecting sleeve; 43. Slide bar; 44. Brush rod; 45. Arc-shaped brush plate; 46. Second spring; Ice chiseling mechanism; 51. U-shaped seat; 52. Ice chiseling rod; 53. Third spring; 54. U-shaped rod; 55. Oval turntable; Ice breaking mechanism; 61. Lifting plate; 62. Round rod; 63. Fourth spring; 64. Connecting block; 65. Rotating block; 66. Striking block; 67. Impact hammer; 68. Slide block; 69. Push rod; 7. Connecting plate; 8. Battery. Detailed implementation mode

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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 the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1-9 , an embodiment of the present invention is: an automatic inspection robot for transmission lines, including a transmission line 1 and a high-voltage line spacer 2. The high-voltage line spacer 2 is installed on the outer wall of the transmission line 1 and is used to connect multiple transmission lines 1. It also includes: A moving unit 3, which is arranged on the outer wall of the transmission line 1 and is used to move on the outer wall of the transmission line 1; An ice chiseling mechanism 5, which is arranged on the moving unit 3 and is used to chisel the ice on both sides of the outer wall of the transmission line 1 during movement; An ice breaking mechanism 6, which is arranged inside the ice chiseling mechanism 5 and is used to break the ice on the outer wall of the transmission line 1; Among them, the moving unit 3 includes: Multiple fixing rods 31, which are arranged in a ring in groups of two on the outer wall of the transmission line 1, and the two fixing rods 31 in the axial direction are connected by a connecting plate 7; A movable rod 35, which is movably connected to the middle of the fixing rod 31, and a mounting seat 37 is fixedly connected to the bottom of the movable rod 35; A first spring 36, which is sleeved on the outer wall of the movable rod 35 and is connected to the fixing rod 31 and the mounting seat 37, and is used to push the mounting seat 37 to move downward; A roller 38, which is arranged on the mounting seat 37 and is used to contact the outer wall of the transmission line 1 and roll on the outer wall of the transmission line 1; The ice chiseling mechanism 5 includes: Multiple U-shaped seats 51, which are respectively fixedly connected to the left and right sides of each mounting seat 37, and ice chiseling rods 52 are respectively arranged on the inner walls of both ends of each U-shaped seat 51 and are used to chisel the ice on the outer wall of the transmission line 1.

[0020] The moving unit 3 also includes: A first extension rod 32 and a second extension rod 33, which are respectively movably connected to the inner walls of both ends of the fixing rod 31; Two elastic telescopic rods 34 are respectively fixedly connected to the inner walls of both ends of the fixing rod 31, and the first extension rod 32 and the second extension rod 33 are in contact with the elastic telescopic rods 34 and are used to pull the first extension rod 32 and the second extension rod 33 to move inward; Multiple fixing rods 31 are respectively hinged through the first extension rod 32 and the second extension rod 33 in the circumferential direction and are used to closely fit and move on the outer wall of the transmission line 1; The first motor 39 is installed on one side of the mounting base 37, and the output end of the first motor 39 is connected to the transmission shaft of the roller 38 for driving the roller 38 to rotate.

[0021] The ice chiseling mechanism 5 further includes; The third spring 53 is arranged in the U-shaped seat 51 and connected to the ice chiseling rod 52 for pushing the ice chiseling rod 52 downward to abut against the ice block. The U-shaped rod 54 is respectively connected to the outer walls of the two ice chiseling rods 52 on the left and right sides and moves up and down in the sliding holes opened outside the U-shaped seat 51. The elliptical turntable 55 is fixedly connected to the output end of the first motor 39, and the outer wall thereof is in contact with the bottom of the U-shaped rod 54 for abutting against the U-shaped rod 54 to drive the ice chiseling rod 52 to move upward.

[0022] Working principle: The high-voltage transmission line is composed of multiple strands of transmission lines 1, and the transmission lines 1 between each section of high-voltage towers are connected by a plurality of high-voltage line spacer dampers 2, so as to evenly distribute the stress of the conductors and reduce the stress concentration of a single sub-conductor. However, in rainy and winter seasons, ice adheres to the outer wall of the transmission line 1. At this time, according to the number of strands of the transmission line 1, the inspection robot is installed on the outer wall of the transmission line 1 for ice breaking treatment. First, according to the number of strands of the transmission line 1 (the working condition of 5 strands of transmission lines is shown in the attached drawing), the extension rod 32 and the extension rod 33 at both ends of the fixed rod 31 are respectively hinged head to tail, and the roller 38 abuts against the outer wall of the transmission line 1. At this time, under the action of the elastic telescopic rod 34, the extension rod 32 and the extension rod 33 are pulled to move into the fixed rod 31, so that when dealing with transmission lines 1 with different numbers of strands, they can be tightly tightened together, so that the roller 38 can stably move on the outer wall of the transmission line 1. Then start the first motor 39. At this time, the first motor 39 will drive the transmission shaft of the roller 38 to rotate, and then drive the roller 38 to rotate, so as to drive the entire inspection robot to move on the outer wall of the transmission line 1. When moving, the roller 38 will abut against the surface of the ice block, generating extrusion on the roller 38, thereby pushing the movable rod 35 upward and compressing the first spring 36, realizing adaptive adjustment, and driving the ice chiseling rod 52 in the U-shaped seat 51 to move up and down relative to the transmission line 1 to impact the ice block and break it. At the same time, the output end of the first motor 39 will drive the elliptical turntable 55 to rotate. At this time, after the far center of the elliptical turntable 55 abuts against the U-shaped rod 54, it will push the U-shaped rod 54 upward, thereby pushing the two ice chiseling rods 52 upward. When the elliptical turntable 55 rotates toward the center side, it will no longer push the U-shaped rod 54 upward. Under the push of the first spring 36, the ice chiseling rod 52 will be reset downward, so as to realize the ice chiseling treatment and improve the ice chiseling and breaking effect.

[0023] Please refer toFigures 1-9 Based on the above embodiment, in another embodiment of the present invention, the ice breaking mechanism 6 includes: A plurality of round rods 62 are fixedly connected to the bottom of the connecting plate 7, and the outer wall of the round rods 62 is slidably connected to the lifting plate 61; A plurality of springs 63 are sleeved on the outer wall of the round rod 62, and the two ends of the springs 63 are respectively connected to the lifting plate 61 and the connecting plate 7, so as to reset the lifting plate 61 upward; The connecting block 64 is connected to the bottom of the lifting plate 61, and the bottom is fixedly connected with the motor 2; The rotating block 65 is fixedly sleeved on the outer wall of the output end of the second motor. A striking block 66 is provided at one end of the rotating block 65 away from the second motor, and a strike hammer 67 is rotatably connected to one side of the striking block 66 and contacts the outer wall of the transmission line 1.

[0024] The connecting block 64 and the fixed rotating block 65 are provided with straight slot holes, and two striking blocks 66 are provided, which are respectively located on both sides of the rotating block 65 and connected by connecting shafts to slide in the straight slot holes, so as to adjust the distance between the impact hammer 67 and the transmission line 1.

[0025] The ice-breaking mechanism 6 also includes: The slider 68 is movably connected in a slide groove provided on the top of the lifting plate 61; The push rod 69 is disposed in a through hole in the middle of the connecting plate 7 , and its two ends are respectively hinged to the slider 68 and the top of the movable rod 35 , so as to push the lifting plate 61 downward.

[0026] Working principle: In order to better crush the ice, start the second motor, and then the second motor rotates to drive the rotating block 65 to rotate, and the rotating block 65 synchronously drives the striking block 66 to rotate, and the impact hammer 67 hits the ice on the outer wall of the transmission line 1 and the outer wall of the transmission line 1, so as to crush the ice and vibrate the transmission line 1, further improving the de-icing effect, and after the impact hammer 67 hits the transmission line 1, it will resist the striking block 66 to slide in the straight slot hole through the connecting shaft, thereby improving the crushing effect and striking stability; At the same time, when the movable rod 35 moves upward, it will push one side of the push rod 69 upward and drive the other side to move downward at the same time. Since the other side is hinged to the slider 68 and the lifting plate 61 below the slider 68 is limited to slide on the round rod 62, it will push the lifting plate 61 to move downward. When the movable rod 35 moves downward, the opposite lifting plate 61 will move up again. The lifting plate 61 is continuously moved up and down to change the height of the motor 2 connected to it through the connecting block 64, so as to achieve the change of the position of the impact hammer 67 relative to the transmission line 1, thereby expanding the impact range, thereby further improving the crushing range.

[0027] See also Figures 1-9, on the basis of the above embodiments, in another embodiment of the present invention, a brushing unit 4 is provided on one side of the moving unit 3 for brushing the residual ice on the outer wall of the transmission line 1; The brushing unit 4 includes: A connecting rod 41, connected to the hinge joint of the first extension rod 32 and the second extension rod 33; A connecting sleeve 42, hinged on the outer wall of the connecting rod 41, and a sliding rod 43 and a second spring 46 are slidably connected to the inner wall of the connecting sleeve 42. The second spring 46 is fixedly connected to the connecting sleeve 42 and one end of the sliding rod 43 for pushing the sliding rod 43 outwards; A brushing rod 44, fixedly connected to the other end of the sliding rod 43, and an arc-shaped brush plate 45 is hinged to the end of the brushing rod 44 away from the sliding rod 43 for abutting against the outer wall of the transmission line 1.

[0028] Two arc-shaped brush plates 45 are provided on the outer wall of the transmission line 1, and the two arc-shaped brush plates 45 are alternately arranged along the axial direction of the transmission line 1 for brushing the residual ice on the circular outer wall of the transmission line 1; two batteries 8 are provided on the top of the connecting plate 7 for electrically connecting the first motor 39 and the second motor.

[0029] Working principle: When the inspection robot moves on the transmission line 1, it will synchronously drive the brushing unit 4 to move. At this time, the brushing unit 4 will move and adjust following the mutual movement of the first extension rod 32 and the second extension rod 33, and the second spring 46 will push the sliding rod 43 and the brushing rod 44 towards the transmission line 1, and the arc-shaped brush plate 45 on one side of the brushing rod 44 can be tightly attached to the outer wall of the transmission line 1, so as to brush the residual ice and ice powder on the outer wall of the transmission line 1 and improve the cleaning effect of the transmission line 1.

[0030] The present invention provides an automatic inspection robot for transmission lines. There are many methods and ways to specifically implement this technical solution. The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be realized by using the existing technology.

Claims

1. An automatic inspection robot for transmission lines, comprising a transmission line (1) and a high-voltage line spacer (2), wherein the high-voltage line spacer (2) is installed on the outer wall of the transmission line (1) and is used for connecting multiple transmission lines (1), and is characterized in that, It further includes: A moving unit (3) is arranged on the outer wall of the transmission line (1) and is used to move on the outer wall of the transmission line (1); An ice chiseling mechanism (5) is arranged on the moving unit (3) and is used to chisel the ice on both sides of the outer wall of the transmission line (1) during movement; An ice breaking mechanism (6) is arranged inside the ice chiseling mechanism (5) and is used to break the ice on the outer wall of the transmission line (1); Wherein, the moving unit (3) includes: A plurality of fixed rods (31) are arranged in a ring in groups of two on the outer wall of the transmission line (1), and the two fixed rods (31) in the axial direction are connected by a connecting plate (7); A movable rod (35) is movably connected to the middle of the fixed rod (31), and a mounting seat (37) is fixedly connected to the bottom of the movable rod (35); A first spring (36) is sleeved on the outer wall of the movable rod (35) and is connected to the fixed rod (31) and the mounting seat (37), and is used to push the mounting seat (37) to move downward; A roller (38) is arranged on the mounting seat (37) and is used to contact and roll on the outer wall of the transmission line (1); The ice chiseling mechanism (5) includes: A plurality of U-shaped seats (51) are respectively fixedly connected to the left and right sides of each mounting seat (37), and ice chiseling rods (52) are respectively arranged on the inner walls of both ends of each U-shaped seat (51) and are used to chisel the ice on the outer wall of the transmission line (1).

2. The automatic inspection robot for transmission lines according to claim 1, wherein: The moving unit (3) further includes: A first extension rod (32) and a second extension rod (33) are respectively movably connected to the inner walls of both ends of the fixed rod (31); Two elastic telescopic rods (34) are respectively fixedly connected to the inner walls of both ends of the fixed rod (31), and the first extension rod (32) and the second extension rod (33) are in contact with the elastic telescopic rods (34) and are used to pull the first extension rod (32) and the second extension rod (33) to move inward; A plurality of fixed rods (31) are respectively hinged through the first extension rod (32) and the second extension rod (33) in the circumferential direction and are used to closely fit and move on the outer wall of the transmission line (1); A first motor (39) is installed on one side of the mounting seat (37), and the output end of the first motor (39) is connected to the transmission shaft of the roller (38) and is used to drive the roller (38) to rotate.

3. The automatic inspection robot for transmission lines according to claim 2, characterized in that: The ice chiseling mechanism (5) further includes; A third spring (53) is arranged in the U-shaped seat (51) and is connected to the ice chiseling rod (52) and is used to push the ice chiseling rod (52) downward to contact the ice; A U-shaped rod (54) is respectively connected to the outer walls of the two ice chiseling rods (52) on the left and right sides and moves up and down in a sliding hole opened outside the U-shaped seat (51); An oval turntable (55) is fixedly connected to the output end of the first motor (39), and the outer wall thereof is in contact with the bottom of the U-shaped rod (54) and is used to contact the U-shaped rod (54) to drive the ice chiseling rod (52) to move upward.

4. The automatic inspection robot for transmission lines according to claim 3, characterized in that: The ice breaking mechanism (6) includes: A plurality of round rods (62) are fixedly connected to the bottom of the connecting plate (7), and a lifting plate (61) is slidably connected to the outer wall of the round rods (62); A plurality of fourth springs (63) are sleeved on the outer wall of the round rod (62), and both ends of the fourth springs (63) are respectively connected to the lifting plate (61) and the connecting plate (7) for resetting the lifting plate (61) upward; A connecting block (64) is connected to the bottom of the lifting plate (61), and a second motor is fixedly connected to the bottom; A rotating block (65) is fixedly sleeved on the outer wall of the output end of the second motor. A striking block (66) is arranged at one end of the rotating block (65) away from the second motor. One side of the striking block (66) is rotatably connected to an impact hammer (67) which contacts the outer wall of the power transmission line (1).

5. The automatic inspection robot for transmission lines according to claim 4, characterized in that: On the fixed rotating block (65) of the connecting block (64), a straight slot hole is formed. Two striking blocks (66) are arranged on both sides of the rotating block (65) respectively and are connected by a connecting shaft to slide in the straight slot hole for adjusting the distance between the impact hammer (67) and the power transmission line (1).

6. The automatic inspection robot for transmission lines according to claim 5, wherein: The ice-breaking mechanism (6) further includes: A slider (68) is movably connected in a chute formed at the top of the lifting plate (61); A push rod (69) is arranged in a through hole formed in the middle of the connecting plate (7), and both ends are respectively hinged to the slider (68) and the top of the movable rod (35) for pushing the lifting plate (61) to move downward.

7. The automatic inspection robot for transmission lines according to claim 6, wherein: A brushing unit (4) is arranged on one side of the moving unit (3) for brushing the residual ice on the outer wall of the power transmission line (1); The brushing unit (4) includes: A connecting rod (41) is connected to the hinge joint of the first extension rod (32) and the second extension rod (33); A connecting sleeve (42) is hinged on the outer wall of the connecting rod (41). A sliding rod (43) and a second spring (46) are slidably connected to the inner wall of the connecting sleeve (42). The second spring (46) is fixedly connected to one end of the connecting sleeve (42) and the sliding rod (43) for pushing the sliding rod (43) outward; A brush rod (44) is fixedly connected to the other end of the sliding rod (43). An arc-shaped brush plate (45) is hinged to one end of the brush rod (44) away from the sliding rod (43) for abutting against the outer wall of the power transmission line (1).

8. The automatic inspection robot for transmission lines according to claim 7, characterized in that: Two arc-shaped brush plates (45) are arranged on the outer wall of the power transmission line (1), and the two arc-shaped brush plates (45) are alternately arranged along the axial direction of the power transmission line (1) for brushing the residual ice on the circular outer wall of the power transmission line (1). Two batteries (8) are arranged on the top of the connecting plate (7) for electrically connecting the first motor (39) and the second motor.

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