Power transmission line walking deicing robot

Abstract

The invention relates to power transmission line deicing equipment, in particular to a walking deicing robot for a power transmission line. Comprising a rack, a hanging bracket, walking wheels, a linear guide rail, a sliding frame, a driving mechanism, an arc-shaped guide rail, an arc-shaped plate, an ice shoveling cutter and a clamping mechanism, the rack serves as a basic frame of the whole robot and bears all assemblies, the hanging bracket is connected to the top of the rack, the electric walking wheels are arranged on the two sides of the rack, and one end of the rack is connected with the linear guide rail; a sliding frame is slidably connected to the linear guide rails, a driving mechanism is installed on the side, close to the linear guide rails, of the rack and used for driving the sliding frame to slide back and forth along the linear guide rails, and two arc-shaped guide rails are connected into the sliding frame. According to the walking deicing robot for the power transmission line, by arranging the clamping mechanism, the robot can be firmly fixed to the power transmission line before ice shoveling operation is carried out, and the problem that the whole robot moves backwards or walking wheels slip due to the fact that the ice shoveling force is too large is solved.

Description

Technical Field

[0001] The present invention relates to ice removal equipment for transmission lines, and particularly to a walking ice removal robot for transmission lines. Background Art

[0002] Transmission lines are prone to icing in cold seasons. These ice layers not only increase the weight of the transmission lines but may also lead to serious consequences such as line breaks and tower collapses, seriously affecting the safe and stable operation of the power system. Therefore, it is particularly important to perform ice removal operations in a timely and effective manner. Traditional ice removal methods include manual knocking and using chemical solvents, but these methods are inefficient and pose safety hazards. With the progress of technology, using robots for automated ice removal has become a new solution.

[0003] The patent with the authorization announcement number CN115102124B proposes a walking ice removal robot applicable to flexible transmission lines, which performs ice removal operations on the transmission lines through an ice shoveling module. However, when the ice shoveling module of this robot encounters relatively thick ice layers, due to the walking mechanism being prone to slipping on the transmission line, the ice shoveling force is insufficient, making it difficult to effectively remove relatively thick ice layers, which limits its application effect in extreme environments. Summary of the Invention

[0004] In order to overcome the drawback that when the ice shoveling module encounters relatively thick ice layers, due to the walking mechanism being prone to slipping on the transmission line, the ice shoveling force is insufficient and it is difficult to effectively remove relatively thick ice layers, the technical problem to be solved is: to provide a walking ice removal robot for transmission lines.

[0005] The technical solution of the present invention is: a walking ice removal robot for transmission lines, including a frame, a suspension bracket, walking wheels, a linear guide rail, a sliding frame, a driving mechanism, an arc guide rail, an arc plate, an ice shoveling knife, and a clamping mechanism. The frame serves as the basic framework of the entire robot. A suspension bracket is connected to the top of the frame. Electric walking wheels are provided on both sides of the frame. One end of the frame is connected to a linear guide rail, and a sliding frame is slidably connected to the linear guide rail. A driving mechanism is installed on one side of the frame close to the linear guide rail, and the driving mechanism is used to drive the sliding frame to reciprocate along the linear guide rail. Two arc guide rails are connected inside the sliding frame, and arc plates are slidably connected to the outside of the two arc guide rails. An ice shoveling knife is connected to each arc plate. A clamping mechanism is provided inside the frame, and the clamping mechanism is used to fix the robot on the transmission line.

[0006] In one embodiment, the clamping mechanism includes a bracket, clamping plates, a reduction motor, and synchronous gears. A bracket is connected to the inside of the frame. Two clamping plates are symmetrically installed on the bracket. Convex strips are provided at intervals on the opposite sides of the two clamping plates facing each other. The clamping plates are rotatably connected to the bracket. Synchronous gears are connected to both clamping plates, and the two synchronous gears are meshed with each other. A reduction motor is installed on the bracket, and the output shaft of the reduction motor is connected to one of the clamping plates.

[0007] In one embodiment, the driving mechanism includes a servo motor, a first crank, a connecting piece and an articulated seat. The servo motor is installed on the frame, the output shaft of the servo motor is connected to the first crank, the top left side of the sliding frame is connected to the articulated seat, and the articulated seat and the first crank are movably connected through the connecting piece.

[0008] In one embodiment, the connecting member includes a connecting block, a guide rod, a sliding bar and a compression spring. The connecting block is movably connected to the first crank, the sliding bar is movably installed on the hinge seat, the guide rod is connected to the connecting block, the guide rod is slidably connected to the sliding bar, and the compression spring is sleeved on the outside of the guide rod.

[0009] In one of the embodiments, it also includes an adjusting nut, which is threadedly connected to the outer side of the guide rod and abuts against the compression spring.

[0010] In one of the embodiments, a protection mechanism is also included, which includes a stepper motor, a first transmission rod, a second transmission rod, a swing plate, a connecting rod and a protection wheel. The stepper motor is installed on one side of the frame, the output shaft of the stepper motor is connected to the first transmission rod, a second transmission rod is provided on one side of the first transmission rod, the first transmission rod and the second transmission rod are both installed on the frame, the first transmission rod and the second transmission rod are both connected to the swing plate, the two swing plates are movably connected by a connecting rod, a first avoidance hole is opened on the frame, and protection wheels are connected to both sides of the second transmission rod, and the positions of the protection wheels correspond to the first avoidance hole.

[0011] In one of the embodiments, it also includes a synchronization mechanism, which includes a hollow rotating shaft, a prism, an arc-shaped rack, a long gear, a transmission member, a transmission shaft and a short gear. The sliding frame is located on one side of the first transmission rod and is connected to the hollow rotating shaft. The first transmission rod is connected to the prism, and the hollow rotating shaft is slidably connected to the prism. The arc plates are connected to arc-shaped racks. A long gear is rotatably installed on the inner side of the sliding frame. The long gear is connected to the hollow rotating shaft through a transmission member. A transmission shaft is installed in the sliding frame, and short gears are connected to both ends of the transmission shaft, one of which is meshed with the arc-shaped rack on one side, and the long gear is respectively meshed with the other short gear and the arc-shaped rack on the other side.

[0012] In one of the embodiments, the transmission member includes a large pulley, a small pulley and a transmission belt. The large pulley is arranged on a hollow rotating shaft, and the small pulley is arranged on a long gear. The large pulley and the small pulley are connected by a transmission belt. A second avoidance hole is provided on the sliding frame, and the large pulley and the small pulley are located in the second avoidance hole.

[0013] In one of the embodiments, it also includes a heating plate and a counterweight block. The heating plates are installed on both sides of the frame, and the bottom of the frame is connected to the counterweight block.

[0014] The beneficial effects are as follows: An ice-removing robot for walking on a transmission line provided by the present invention can firmly fix the robot on the transmission line before ice shoveling operation by setting a clamping mechanism, avoiding the problems of the overall rearward movement of the robot or the slipping of the walking wheels due to excessive ice shoveling force. At the same time, a servo motor is used to drive the sliding frame to slide left and right along the linear guide rail, driving the ice shovel to efficiently remove the ice coating. Combined with the compression spring buffer structure, even in the face of hard ice layers, the normal operation of the servo motor can be ensured, preventing the motor from being damaged due to excessive resistance. In addition, the design of the protection mechanism further improves the safety of the robot, ensuring that it will not be separated from the transmission line during the operation process. The synchronization mechanism ensures the comprehensive removal of the ice coating on the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic three-dimensional structure diagram of the present invention.

[0016] Figure 2 It is a schematic sectional structure diagram of the present invention.

[0017] Figure 3 It is a schematic structure diagram of the driving mechanism, arc guide rail and arc plate of the present invention.

[0018] Figure 4 It is a schematic three-dimensional structure diagram of the connecting member of the present invention.

[0019] Figure 5 It is a schematic three-dimensional structure diagram of the clamping mechanism of the present invention.

[0020] Figure 6 It is one of the schematic structure diagrams of the synchronization mechanism of the present invention.

[0021] Figure 7 It is the second schematic structure diagram of the synchronization mechanism of the present invention.

[0022] Figure 8 It is a schematic structure diagram of the transmission member of the present invention.

[0023] Figure 9 It is a schematic structure diagram of the heat transfer plate, counterweight and hanging bracket of the present invention.

[0024] In the attached drawing reference numerals: 200 - transmission line, 1 - frame, 2 - traveling wheels, 3 - linear guide rails, 4 - sliding frame, 5 - driving mechanism, 51 - servo motor, 52 - first crank, 53 - connecting member, 54 - hinge seat, 531 - connecting block, 532 - guide rod, 533 - sliding strip, 534 - compression spring, 535 - adjusting nut, 6 - arc guide rail, 7 - arc plate, 8 - ice scraper, 9 - clamping mechanism, 91 - bracket, 92 - clamping plate, 93 - reduction motor, 94 - synchronous gear, 95 - rib, 10 - protection mechanism, 101 - stepper motor, 102 - first transmission rod, 103 - second transmission rod, 104 - swing plate, 105 - connecting rod, 106 - protection wheel, 107 - first avoidance hole, 11 - synchronization mechanism, 111 - hollow rotating shaft, 112 - prism, 113 - arc rack, 114 - long gear, 115 - transmission member, 1151 - large pulley, 1152 - small pulley, 1153 - transmission belt, 1154 - second avoidance hole, 116 - transmission shaft, 117 - short gear, 12 - heating plate, 13 - counterweight, 14 - hanger. Specific embodiments

[0025] The present invention will be further described below in conjunction with the attached drawings and embodiments.

[0026] Embodiment 1: A traveling ice removal robot for transmission lines, as Figures 1 - 3 shown, comprising a frame 1, a hanger 14, traveling wheels 2, linear guide rails 3, a sliding frame 4, a driving mechanism 5, an arc guide rail 6, an arc plate 7, an ice scraper 8 and a clamping mechanism 9. The frame 1 serves as the basic framework of the entire robot, carrying all components. Two hangers 14 are connected to the top of the frame 1. Electric traveling wheels 2 are provided on both the left and right sides of the frame 1. The traveling wheels 2 are in direct contact with the transmission line 200. By driving the rotation of the traveling wheels 2, the robot can move forward or backward autonomously on the transmission line 200. Linear guide rails 3 are connected to the front and rear sides of the right end of the frame 1. A sliding frame 4 is slidably connected between the two linear guide rails 3. A driving mechanism 5 is installed on the right rear side of the frame 1. The driving mechanism 5 is used to drive the sliding frame 4 to slide left and right along the linear guide rails 3. Arc guide rails 6 are connected to both the left and right sides inside the sliding frame 4. Arc plates 7 are slidably connected to the outside of the two arc guide rails 6. An ice scraper 8 is connected to each arc plate 7. A clamping mechanism 9 is provided inside the frame 1. After the robot is placed on the transmission line 200, the two arc plates 7 are rotated so that the two ice scrapers 8 are respectively located on the front and rear sides of the transmission line 200. The driving mechanism 5 drives the sliding frame 4 to drive the ice scrapers 8 to remove the ice covering on the transmission line 200. Before the removal, the clamping mechanism 9 is started to fix the robot on the transmission line 200 to prevent the robot from moving backward as a whole due to the force during the ice scraping operation.

[0027] As Figure 5As shown in the figure, the clamping mechanism 9 includes a bracket 91, clamping plates 92, a reduction motor 93 and synchronous gears 94. Brackets 91 are connected to both the left and right sides in the middle of the frame 1. Clamping plates 92 are symmetrically installed in the front and back between the two brackets 91. On the side where the two clamping plates 92 face each other, convex strips 95 are provided at intervals. The material of the convex strips 95 is rubber to increase the friction with the transmission line 200. Short shafts are provided at both the left and right ends of the clamping plates 92. The short shafts rotatably penetrate through the brackets 91. Synchronous gears 94 are connected to the right sides of the two clamping plates 92 through the short shafts. The two synchronous gears 94 are meshed with each other. A reduction motor 93 is installed on the left side of the left bracket 91. The output shaft of the reduction motor 93 is connected to the rear clamping plate 92 through a short shaft. When the two clamping plates 92 are opened, they form an eight-shaped pattern.

[0028] As Figures 2 - 3 shown in the figure, the driving mechanism 5 includes a servo motor 51, a first crank 52, a connecting member 53 and a hinge seat 54. The servo motor 51 is installed on the rear side of the right end of the frame 1. The output shaft of the servo motor 51 is connected to the first crank 52. A hinge seat 54 is connected to the left side at the top of the sliding frame 4. The hinge seat 54 is movably connected to the first crank 52 through the connecting member 53.

[0029] As Figures 1 - 9 shown in the figure, it further includes a heating plate 12 and counterweights 13. Heating plates 12 are installed on both the front and back sides at the right end inside the frame 1. Counterweights 13 are connected to both the front and back ends at the bottom of the frame 1.

[0030] At the top of the frame 1, there are two hanging brackets 14 for hanging the robot on the unmanned aerial vehicle (UAV). The UAV precisely places the robot on the transmission line 200 from above. The two walking wheels 2 are in direct contact with the transmission line 200. The transmission line 200 is located between two clamping plates 92. By driving the rotation of the walking wheels 2, the function of the robot moving forward or backward autonomously along the transmission line 200 is realized. At the same time, the ice scraping knife 8 also contacts the transmission line 200 to start the preliminary ice removal work. When encountering ice that is difficult to scrape, to prevent the walking wheels 2 from slipping and ensure the stability of the robot, the walking wheels 2 can be turned off at this time and the reduction motor 93 is started. The reduction motor 93 drives the clamping plate 92 connected to it to rotate. Through the action of the synchronous gear 94, the other clamping plate 92 is also driven to rotate, so that the two clamping plates 92 close to clamp the transmission line 200. The convex strips 95 made of rubber material increase the friction force with the transmission line 200, thereby realizing firm clamping. The robot is fixed on the transmission line 200 to prevent the whole from moving backward due to force during the ice scraping operation. The servo motor 51 is started to drive the sliding frame 4 to move left and right reciprocally along the wire guide rail through the first crank 52 and the connecting piece 53, so that the ice scraping knife 8 moves accordingly to efficiently remove ice. After the ice removal is completed, the reduction motor 93 rotates in the reverse direction to open the clamping plate 92. Starting the walking wheels 2 allows the robot to continue moving forward. During the walking process, the servo motor 51 can also be started to move the ice scraping knife 8 left and right to improve the ice removal efficiency. If encountering firm ice again, the servo motor 51 is turned off and the sliding frame 4 is moved close to one side of the frame 1, and then the ice scraping is tried again under the action of the clamping mechanism 9. After the ice on the transmission line 200 is scraped, the heating plate 12 can be started. The heating plate 12 heats to melt the ice slag on the transmission line 200, and can also dry the water stains on the surface of the transmission line 200, reducing the risk of re-icing and maintaining the cleanliness of the transmission line 200. The counterweight 13 is provided to increase the weight of the lower part of the robot and ensure that the robot can maintain stability during operation in the face of harsh weather conditions such as strong winds.

[0031] Embodiment 2: On the basis of Embodiment 1, as Figures 3 - 4 shown, the connecting piece 53 includes a connecting block 531, a guide rod 532, a sliding strip 533 and a compression spring 534. The connecting block 531 is rotatably connected to the first crank 52. The sliding strip 533 is hingedly installed on the hinge seat 54. The guide rod 532 is fixedly connected to the right end of the connecting block 531. The guide rod 532 is slidably connected to the left side of the sliding strip 533. The compression spring 534 is sleeved outside the guide rod 532.

[0032] As Figure 4 shown, it further includes an adjusting nut 535. The adjusting nut 535 is sleeved outside the guide rod 532. The outer side surface of the guide rod 532 is provided with an external thread. The guide rod 532 is threadedly connected to the adjusting nut 535 through its external thread, and the right end of the adjusting nut 535 abuts against the left end of the compression spring 534.

[0033] After the clamping mechanism 9 clamps the transmission line 200 and when the servo motor 51 is started, the ice shovel 8 may not be able to remove the thick ice layer at once. However, since the position of this robot has been fixed, it will cause the servo motor 51 to be unable to rotate a full circle, and the servo motor 51 is prone to burnout. Therefore, a connecting member 53 with a buffer structure is provided. When the first crank 52 rotates and the ice shovel 8 cannot continue to move towards the icing direction, the guide rod 532 is driven by the connecting block 531 to move towards the sliding bar 533, and the compression spring 534 is compressed, which can play a buffering role. In this way, it can be ensured that the servo motor 51 can drive the first crank 52 to rotate a complete 360 degrees, and the impact on the equipment caused by mechanical shock can be reduced. After the servo motor 51 rotates several circles, the compression spring 534 enables the ice shovel 8 to generate an impact force on the icing until the thick ice layer is removed. If it is necessary to adjust the impact force of the ice shovel 8 on the icing, the adjusting nut 535 can be rotated by a wrench to adjust the elastic force parameter of the compression spring 534 to adapt to different ice layer strengths.

[0034] Embodiment 3: On the basis of Embodiment 2, as Figure 1 shown, it further includes a protection mechanism 10. The protection mechanism 10 includes a stepper motor 101, a first transmission rod 102, a second transmission rod 103, a swing plate 104, a connecting rod 105 and a protection wheel 106. The stepper motor 101 is installed in the middle of the front end of the frame 1. The output shaft of the stepper motor 101 is connected to the first transmission rod 102. The second transmission rod 103 is arranged below the first transmission rod 102. Both the first transmission rod 102 and the second transmission rod 103 are installed on the frame 1 through bearing seats. Swing plates 104 are connected to the corresponding upper and lower positions of the first transmission rod 102 and the second transmission rod 103. The two swing plates 104 are movably connected through the connecting rod 105. Two first avoidance holes 107 are opened on the left and right sides of the front side of the frame 1. Two protection wheels 106 are connected to both the left and right sides of the second transmission rod 103. The positions of the protection wheels 106 correspond to the first avoidance holes 107 one by one. Each side of the protection wheels 106 is respectively arranged on the left and right sides below the adjacent traveling wheels 2.

[0035] Initially, the protection wheel 106 is located at the front side of the frame 1. When the robot is placed on the power line 200, the stepper motor 101 is started to drive the first transmission rod 102 to rotate 90 degrees, and the second transmission rod 103 is driven to rotate 90 degrees through the swing plate 104 and the connecting rod 105. The second transmission rod 103 drives the protection wheel 106 to pass through the first avoidance hole 107, so that the two protection wheels 106 on the left and right sides are respectively located on the left and right sides of the two running wheels 2. The protection wheels 106 are in contact with the bottom of the power line 200, which can avoid the risk of the robot being separated from the power line 200. When it is necessary to remove the robot from the power line 200 by using a drone, first match the drone's mounting frame with the hanger 14, and then start the stepper motor 101 to reverse 90 degrees, so that the protection wheel 106 is moved away from the bottom of the power line 200, and rotated back to the front position of the frame 1 through the first avoidance hole 107. After completing these steps, the robot can be safely removed by using a drone.

[0036] like Figure 1 , Figure 6 and Figure 7 As shown, it also includes a synchronization mechanism 11, which includes a hollow shaft 111, a prism 112, an arc-shaped rack 113, a long gear 114, a transmission member 115, a transmission shaft 116 and a short gear 117. The front side of the sliding frame 4 is rotatably connected with the hollow shaft 111 through a bearing, and the right end of the first transmission rod 102 is connected to the prism 112. The inner side of the hollow shaft 111 is provided with a slideway adapted to the prism 112. The hollow shaft 111 is slidably connected to the prism 112 through the slideway. The outer side of each arc plate 7 A long gear 114 is rotatably mounted on the right side of the top of the sliding frame 4 through a bearing, and the long gear 114 is connected to the hollow shaft 111 through a transmission member 115. A transmission shaft 116 is rotatably mounted on the middle of the top of the sliding frame 4 through a bearing, and short gears 117 are connected to the left and right ends of the transmission shaft 116. The left short gear 117 is meshed with the left arc-shaped rack 113, and the long gear 114 is respectively meshed with the right short gear 117 and the right arc-shaped rack 113.

[0037] like Figure 8 As shown, the transmission member 115 includes a large pulley 1151, a small pulley 1152 and a transmission belt 1153. The large pulley 1151 is fixedly connected to the outside of the hollow rotating shaft 111, and the small pulley 1152 is fixedly connected to the outside of the long gear 114. The large pulley 1151 and the small pulley 1152 correspond to each other front to back, and the large pulley 1151 and the small pulley 1152 are connected by the transmission belt 1153. A second avoidance hole 1154 is provided on the front side of the top of the sliding frame 4, and parts of the large pulley 1151 and the small pulley 1152 are both located in the second avoidance hole 1154.

[0038] At first, the openings of the ice shovels 8 all face downward. When the stepper motor 101 drives the first transmission rod 102 to rotate by 90 degrees, the power is transmitted to the hollow rotating shaft 111 through the prism 112. The rotation of the hollow rotating shaft 111 drives the large pulley 1151 of the transmission member 115 to rotate by 90 degrees, and drives the small pulley 1152 to rotate through the transmission belt 1153. The long gear 114 rotates accordingly to drive the left arc-shaped rack 113 to rotate by 90 degrees, and drives the left short gear 117 to rotate. The right short gear 117 is driven to rotate through the transmission shaft 116, and the right arc-shaped rack 113 rotates 90 degrees to the other side of the rotation direction of the left arc-shaped rack 113, so that the two ice shovels 8 form a front-back state to wrap the entire transmission line 200, which can ensure the comprehensive removal of the ice covering the transmission line 200. When the robot is removed from the transmission line 200 by the unmanned aerial vehicle, while the stepper motor 101 drives the protection wheel 106 to move away from below the transmission line 200, the two ice shovels 8 are reset by driving the synchronization mechanism 11 through the first transmission rod 102.

[0039] It should be understood that this embodiment is only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

Claims

1. A transmission line walking de-icing robot, comprising a frame (1), a hanging frame (14) and walking wheels (2). The frame (1) serves as the basic framework of the entire robot. A hanging frame (14) is connected to the top of the frame (1), and electric walking wheels (2) are arranged on both sides of the frame (1). It is characterized in that: It further includes a linear guide rail (3), a sliding frame (4), a driving mechanism (5), an arc guide rail (6), an arc plate (7), an ice shovel (8) and a clamping mechanism (9). One end of the frame (1) is connected with a linear guide rail (3), and a sliding frame (4) is slidably connected to the linear guide rail (3). A driving mechanism (5) is installed on one side of the frame (1) close to the linear guide rail (3). The driving mechanism (5) is used to drive the sliding frame (4) to reciprocate along the linear guide rail (3). Two arc guide rails (6) are connected inside the sliding frame (4), and arc plates (7) are slidably connected to the outer sides of the two arc guide rails (6). An ice shovel (8) is connected to each arc plate (7). A clamping mechanism (9) is arranged inside the frame (1), and the clamping mechanism (9) is used to fix the robot on the power transmission line (200).

2. The traveling de-icing robot for a transmission line according to claim 1, wherein: The clamping mechanism (9) includes a bracket (91), clamping plates (92), a reduction motor (93) and synchronous gears (94). A bracket (91) is connected to the inner side of the frame (1), and two clamping plates (92) are symmetrically installed on the bracket (91). Convex strips (95) are arranged at intervals on the opposite sides of the two clamping plates (92). The clamping plates (92) are rotatably connected to the bracket (91). Synchronous gears (94) are connected to the two clamping plates (92), and the two synchronous gears (94) are meshed with each other. A reduction motor (93) is installed on the bracket (91), and the output shaft of the reduction motor (93) is connected to one of the clamping plates (92).

3. The ice removal robot walking on a transmission line according to claim 1, wherein: The driving mechanism (5) includes a servo motor (51), a first crank (52), a connecting member (53) and a hinge seat (54). A servo motor (51) is installed on the frame (1), the output shaft of the servo motor (51) is connected with a first crank (52), a hinge seat (54) is connected to the left side of the top of the sliding frame (4), and the hinge seat (54) is movably connected with the first crank (52) through the connecting member (53).

4. The ice removal robot for walking on a transmission line according to claim 3, wherein: The connecting member (53) includes a connecting block (531), a guide rod (532), a sliding strip (533) and a compression spring (534). The connecting block (531) is movably connected to the first crank (52), the sliding strip (533) is movably installed on the hinge seat (54), the guide rod (532) is connected to the connecting block (531), the guide rod (532) is slidably connected to the sliding strip (533), and the compression spring (534) is sleeved outside the guide rod (532).

5. The ice removal robot for walking on a transmission line according to claim 4, wherein: It further includes an adjusting nut (535). The adjusting nut (535) is threadedly connected to the outside of the guide rod (532), and the adjusting nut (535) abuts against the compression spring (534).

6. The traveling deicing robot for a transmission line according to claim 1, wherein: The invention also comprises a protection mechanism (10), the protection mechanism (10) comprising a stepping motor (101), a first transmission rod (102), a second transmission rod (103), a swing plate (104), a connecting rod (105) and a protection wheel (106); a stepping motor (101) is mounted on one side of the frame (1); an output shaft of the stepping motor (101) is connected to the first transmission rod (102); a second transmission rod (103) is arranged on one side of the first transmission rod (102); both the first transmission rod (102) and the second transmission rod (103) are mounted on the frame (1); both the first transmission rod (102) and the second transmission rod (103) are connected to the swing plate (104); the two swing plates (104) are movably connected via the connecting rod (105); a first avoidance hole (107) is opened on the frame (1); both sides of the second transmission rod (103) are connected to the protection wheels (106); the positions of the protection wheels (106) and the first avoidance hole (107) correspond.

7. The ice removal robot for walking on a transmission line according to claim 6, characterized in that: The invention also comprises a synchronization mechanism (11), wherein the synchronization mechanism (11) comprises a hollow rotating shaft (111), a prism (112), an arc-shaped rack (113), a long gear (114), a transmission member (115), a transmission shaft (116) and a short gear (117); the sliding frame (4) is located on one side of the first transmission rod (102) and is connected to the hollow rotating shaft (111); the first transmission rod (102) is connected to the prism (112); the hollow rotating shaft (111) is slidably connected to the prism (112); and the arc-shaped plate (7) is connected to the transmission member (115). An arc-shaped rack (113) is provided. A long gear (114) is rotatably mounted inside the sliding frame (4). The long gear (114) is connected to the hollow rotating shaft (111) by a transmission member (115). A transmission shaft (116) is installed inside the sliding frame (4). Both ends of the transmission shaft (116) are connected to short gears (117). One short gear (117) is meshed with the arc-shaped rack (113) on one side. The long gear (114) is respectively meshed with the other short gear (117) and the arc-shaped rack (113) on the other side.

8. The ice removal robot for walking on a transmission line according to claim 7, wherein: The transmission member (115) comprises a large pulley (1151), a small pulley (1152) and a transmission belt (1153); the large pulley (1151) is arranged on the hollow rotating shaft (111); the small pulley (1152) is arranged on the long gear (114); the large pulley (1151) and the small pulley (1152) are connected via the transmission belt (1153); a second avoidance hole (1154) is provided on the sliding frame (4); the large pulley (1151) and the small pulley (1152) are located in the second avoidance hole (1154).

9. The traveling de-icing robot for a transmission line according to claim 1, characterized in that: It also comprises a heating plate (12) and a counterweight (13), wherein the heating plates (12) are installed on both sides of the frame (1), and the counterweight (13) is connected to the bottom of the frame (1).

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