Unmanned aerial vehicle hoisted high-voltage power transmission line rotating onrushing type deicing robot

Abstract

The invention discloses an unmanned aerial vehicle hoisted high-voltage power transmission line rotary onrushing type deicing robot, which comprises a machine body frame, a walking mechanism, a rotary onrushing deicing mechanism, a camera mechanism and an unmanned aerial vehicle connecting mechanism, and is characterized in that the rotary onrushing deicing mechanism comprises a slider-crank mechanism, a double-ball-head connecting rod, a fixed plate, a deicing mechanism shell, an impact cutter base and an impact cutter; after the slider-crank mechanism is installed on the impact cutter base, one end of the double-ball-head connecting rod is connected with the impact cutter base, the other end of the double-ball-head connecting rod is connected with the slider-crank mechanism, the impact cutter is installed on the front end face of the impact cutter base, the impact cutter base is installed in a shell of the rotary advancing deicing mechanism, and advancing is achieved through the slider-crank mechanism. And rotation is carried out while onrushing is achieved by impacting a curve groove in the tool base. The deicing device is compact in structure, high in automation degree, small in shaking degree, high in stability, easy to operate and convenient to install, and deicing operation on the high-voltage wire can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to power construction technology, in particular to a high-voltage transmission line rotating and advancing type deicing robot hoisted by a unmanned aerial vehicle. BACKGROUND

[0002] All aspects of modern society depend on electricity. From residential life to industrial production, transportation, once the power supply is interrupted, the society will be paralyzed. Strong and reliable high-voltage power grid is the cornerstone of maintaining the normal operation of society. In rainy and snowy weather, the transmission line is prone to icing, and if not removed in time, it may cause short circuit, open circuit and other faults, thereby affecting the normal operation of the line and causing serious economic losses.

[0003] At present, the main deicing methods for high-voltage transmission lines are artificial knocking, heat melting and spraying antifreeze, etc. Such deicing methods have the problems of large safety hidden danger, poor deicing effect, and environmental unfriendliness.

[0004] Artificial deicing relies on manual knocking or the use of small mechanical local processing, while the scale of the transmission line is large, and the artificial deicing method cannot cope with large-scale serious ice disasters. At the same time, in order to ensure the safety of personnel, artificial deicing usually requires the line to be de-energized. While the high-voltage transmission line is the main network of the power grid, long-term operation will bring huge economic and social losses.

[0005] The common deicing robot is installed by manpower, and the operation is complex during installation and disassembly. The use of unmanned aerial vehicle hoisted deicing robot is simple, safe and reliable. SUMMARY

[0006] The purpose of the present application is to provide a high-voltage transmission line rotating and advancing type deicing robot hoisted by a unmanned aerial vehicle, which can realize automatic deicing operation of high-voltage power lines.

[0007] Technical solution: The unmanned aerial vehicle hoisted high-voltage transmission line rotating and advancing type deicing robot of the application comprises a body frame, a walking mechanism arranged in the body frame, a rotating and advancing deicing mechanism and a camera mechanism arranged at the front end of the body frame, and an unmanned aerial vehicle connecting mechanism arranged on the top surface of the body frame for connecting with the unmanned aerial vehicle; the walking mechanism clamps the high-voltage transmission line and moves along the high-voltage transmission line; the rotating and advancing deicing mechanism comprises a shell, an impact cutter base, a fixed plate, a bearing long nail, an impact cutter, a crank slider mechanism, a first connecting rod, a double ball head connecting rod and a third motor, the bottom of the impact cutter base is upwardly grooved, and the high-voltage transmission line is located in the groove; a plurality of impact cutters for deicing are mounted on the front side of the impact cutter base, the double ball head connecting rod is vertically mounted on the rear side of the impact cutter base, the double ball head connecting rod is connected with the first connecting rod, the crank slider mechanism is arranged above the first connecting rod, the second rotating shaft in the crank slider mechanism is inserted into the cylinder at the end of the first connecting rod, and the crank slider mechanism is driven by the third motor fixed on the shell; the fixed plate is fixedly mounted on the shell, and the bearing long nail is fixedly mounted on the bottom surface of the fixed plate; a semicircular ring protrusion is fixedly connected to the rear side of the impact cutter base, the internal space of the semicircular ring protrusion is in communication with the groove in the impact cutter base, the high-voltage transmission line passes through the semicircular ring protrusion, and a spiral groove is formed in the outer surface of the semicircular ring protrusion, which serves as a movement track of the bearing long nail; the crank slider mechanism is horizontally rotated under the action of the third motor, drives the cylinder at the end of the first connecting rod to swing left and right, and then pushes the entire rotating and advancing deicing mechanism to advance through the double ball head connecting rod; during the advancing process, the bearing long nail fixedly mounted on the bottom surface of the fixed plate pushes the entire rotating and advancing deicing mechanism to rotate through the spiral groove, so that the rotating and advancing deicing mechanism is advanced and rotated at the same time.

[0008] Further, the crank slider mechanism comprises a disc, a third motor is mounted on the top surface of the disc through a second rotating shaft, the third motor drives the disc to rotate horizontally, a third rotating shaft is vertically mounted on the bottom surface of the disc, and the disc drives the cylinder at the end of the first connecting rod to swing left and right through the third rotating shaft when the disc rotates.

[0009] Further, the impact cutter is provided with a cutter tip at the front end, and a cutter edge is arranged on the circumference of the cutter tip.

[0010] Further, the walking mechanism comprises a track, a track driving shaft, a track clamping mechanism, and a second connecting rod; two second connecting rods are arranged in parallel, two groups of track clamping mechanisms are connected between the two second connecting rods, the two groups of track clamping mechanisms are distributed on both sides of the high-voltage transmission line, and the two groups of track clamping mechanisms can move towards the high-voltage transmission line along the second connecting rods; one group of track driving shafts is installed on the bottom surface of each group of track clamping mechanisms, two groups of track driving shafts are each provided with a motor, the motor is arranged on the top surface of the track clamping mechanism, and each group of track driving shafts is sleeved with a track; after the high-voltage transmission line is clamped into the walking mechanism, the two groups of tracks clamp the high-voltage transmission line together; after the two motors are started at the same time, the two groups of track driving shafts rotate synchronously, thereby driving the two groups of tracks to walk synchronously on the high-voltage transmission line.

[0011] Further, the two groups of track clamping mechanisms are connected with an electric worm, and the distance between the two groups of track clamping mechanisms is adjusted through the electric worm, so as to adjust the clamping force of the two tracks on the high-voltage transmission line.

[0012] Further, the top of the groove on the impact cutter base is a downward-opening circular arc structure, a semicircular ring protrusion on the rear side of the impact cutter base matches the profile of the circular arc structure, the two ends of the circular arc structure extend downward in a straight line, and the high-voltage transmission line is clamped into the bottom of the impact cutter base and simultaneously contacts the circular arc structure and the semicircular ring protrusion on the impact cutter base.

[0013] Further, the body frame is arranged in an inverted V shape, so that the center of gravity of the entire device is low.

[0014] Further, the camera mechanism comprises a camera and a camera connecting piece, wherein the camera is arranged above the rotating protrusion deicing mechanism and is installed on the front end surface of the body frame through the camera connecting piece.

[0015] Further, the unmanned aerial vehicle connecting mechanism comprises two handles symmetrically arranged on the top surface of the body frame, and the unmanned aerial vehicle grabs the handles to hoist the device.

[0016] Further, a support is hinged to the bottom of each side of the body frame, and the two supports are distributed on both sides of the high-voltage transmission line.

[0017] Beneficial effects: compared with the prior art, the significant technical effects of the present application are as follows: (1) through the clamping cooperation of the walking mechanism and the high-voltage transmission line, the walking of the whole device can be realized, the walking efficiency is high, and some ice removal effect can also be achieved; (2) through the circular arc structure of the rotating and advancing mechanism and the downward linear extension, the high-voltage transmission line can pass easily, and the installation of the ice removal machine by the unmanned aerial vehicle is facilitated; (3) the body frame is set to an inverted V shape, so that the center of gravity of the whole device is low, the contact area with the high-voltage transmission line is large, the shaking degree of the device is small, and the walking stability is high. The present application has compact structure, can realize the ice removal operation on the high-voltage line, has high automation degree, simple operation, convenient installation and disassembly, high efficiency, safety and reliability, and will not pollute the environment. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overall structure schematic diagram of the present application;

[0019] Figure 2 It is the structure schematic diagram of the walking mechanism in the present application;

[0020] Figure 3 It is the structure schematic diagram of the rotating and advancing ice removal mechanism in the present application;

[0021] Figure 4 It is the left view of the rotating and advancing ice removal mechanism in the present application;

[0022] Figure 5 It is the connection schematic diagram of the crank slider mechanism and the first connecting rod in the present application;

[0023] Figure 6 It is the structure schematic diagram of the body frame in the present application. DETAILED DESCRIPTION

[0024] The technical solutions of the present application will be described in detail below in combination with specific embodiments and the drawings of the specification.

[0025] As Figures 1-6As shown, the unmanned aerial vehicle hoisted high-voltage transmission line rotating and advancing type deicing robot of the present application is hoisted to the high-voltage transmission line 101 by the unmanned aerial vehicle, and the device specifically relates to the following components: a body frame 1, a fixed sliding plate 11, a handle 12, a first rotating shaft 13, a support 14, a first baffle 15, a second baffle 16, a support plate 17, a walking mechanism 2, a track 21, a track drive shaft 22, a track clamping mechanism 23, an electric worm 24, a first motor 25, a second motor 26, a second connecting rod 27, a connecting rod 28, a rotating and advancing deicing mechanism 3, an outer shell 131, an impact cutter base 31, a semicircular ring protrusion 132, a fixed plate 32, a long nail with bearing 33, an impact cutter 34, a spiral groove 35, a crank slider mechanism 36, a disc 361, a second rotating shaft 361, a third rotating shaft 362, a first connecting rod 37, a double ball head connecting rod 38, a third motor 39, a camera mechanism 4.

[0026] As shown, Figure 1 The walking mechanism 2 is arranged inside the body frame 1, the rotating and advancing deicing mechanism 3 and the camera mechanism 4 are arranged at the front end of the body frame 1, and the unmanned aerial vehicle connecting mechanism 5 is arranged on the top surface of the body frame 1 and is used for connecting with the unmanned aerial vehicle.

[0027] As shown, Figure 2 The walking mechanism 2 clamps and moves along the high-voltage transmission line 101. The walking mechanism 2 includes the track 21, the track drive shaft 22, the track clamping mechanism 23, the electric worm 24, the first motor 25, the second motor 26, the second connecting rod 27, and the connecting rod 28. Two second connecting rods 27 are arranged in parallel, two sets of track clamping mechanisms 23 are connected between the two second connecting rods 27, the track clamping mechanisms 23 are installed in the body frame 1, the two sets of track clamping mechanisms 23 are distributed on both sides of the high-voltage transmission line 101, and the two sets of track clamping mechanisms 23 can move towards the high-voltage transmission line 101 along the second connecting rods 27. A set of track drive shafts 22 is installed on the bottom surface of each set of track clamping mechanisms 23; in this embodiment, each set of track drive shafts 22 includes three track drive shafts 22 arranged side by side. One motor is arranged on the top surface of each set of track clamping mechanisms 23, and one track 21 is arranged on the outer surface of each set of track drive shafts 22; in this embodiment, the first motor 25 is installed on the top surface of one set of track clamping mechanisms 23, and the second motor 26 is installed on the top surface of the other set of track clamping mechanisms 23. The first motor 25 and the second motor 26 are connected with the track drive shafts 22 below the track clamping mechanisms 23 after passing through the track clamping mechanisms 23, and the rotation of the two sets of track drive shafts 22 is controlled by the first motor 25 and the second motor 26.

[0028] After the high-voltage transmission line 101 is clamped into the walking mechanism 2, the two groups of tracks 21 jointly clamp the high-voltage transmission line 101; after the two motors are started, the two groups of track driving shafts 22 rotate synchronously, driving the two groups of tracks 21 to walk synchronously on the high-voltage transmission line 101. The electric worm 24 is connected between the two groups of track clamping mechanisms 23, and the distance between the two groups of track clamping mechanisms 23 is adjusted through the electric worm 24, so as to adjust the clamping force of the two tracks 21 on the high-voltage transmission line 101. In order to avoid the tracks 21 from falling off, a connecting rod 28 is hingedly installed at each outer end of each group of track clamping mechanisms 23.

[0029] As shown in Figure 3 and Figure 4 , the rotating and protruding deicing mechanism 3 includes a shell 131, an impact cutter base 31, a semicircular ring protrusion 132, a fixed plate 32, a long nail with bearing 33, an impact cutter 34, a spiral groove 35, a crank slider mechanism 36, a first connecting rod 37, a double ball head connecting rod 38, and a third motor 39. The impact cutter base 31 is installed inside the shell 131, and the bottom of the impact cutter base 31 is upwardly grooved, and the high-voltage transmission line 101 is located in the groove. In this embodiment, the structure of the groove is as follows: the top of the groove of the impact cutter base 31 is a circular arc structure with an opening downward, the two ends of the circular arc structure extend downward in a straight line, the high-voltage transmission line 101 is clamped into the bottom of the impact cutter base 31, and contacts the circular arc structure on the impact cutter base 31. In this embodiment, the impact cutter base 31 is a circular arc structure of 240° as a whole.

[0030] A plurality of impact cutters 34 for deicing are installed on the front side of the impact cutter base 31, and the plurality of impact cutters 34 are uniformly arranged on the front end face of the impact cutter base 31; in this embodiment, four impact cutters 34 are provided and symmetrically distributed on the front end face of the impact cutter base 31. The impact cutter 34 is provided with a cutter tip at the front end, and a cutting edge is provided on the circumference thereof. The double ball head connecting rod 38 is vertically installed on the rear side of the impact cutter base 31, the double ball head connecting rod 38 is connected with the first connecting rod 37, the crank slider mechanism 36 is provided above the first connecting rod 37, the second rotating shaft in the crank slider mechanism 36 is inserted into the cylindrical end of the first connecting rod 37, and the crank slider mechanism 36 is driven by the third motor 39 fixed on the shell 131.

[0031] The fixed plate 32 is fixedly installed on the shell 131 of the rotating protruding deicing mechanism 3, and the bearing nail 33 is fixedly installed on the bottom surface of the fixed plate 32. The rear side of the impact cutter base 31 is fixedly connected with a semicircular ring protrusion 132, the inner space of the semicircular ring protrusion 132 is communicated with the groove in the impact cutter base 31, and the high-voltage transmission line 101 passes through the semicircular ring protrusion 132; in the embodiment, the semicircular ring protrusion 132 matches the profile of the circular arc structure on the impact cutter base 31, the high-voltage transmission line 101 is clamped from the bottom of the impact cutter base 31, and simultaneously contacts the circular arc structure and the semicircular ring protrusion 132, so that the high-voltage transmission line 101 passes through the rotating protruding deicing mechanism 3. The outer surface of the semicircular ring protrusion 132 is provided with a spiral groove 35, and the spiral groove 35 serves as a movement track of the bearing nail 33. The bearing nail 33 extends into the spiral groove 35 on the semicircular ring protrusion 132, and the impact cutter base 31 rotates while protruding through cooperation of the bearing nail 33 and the spiral groove 35.

[0032] The protrusion is realized through cooperation of the crank slider mechanism 36, the first connecting rod 37, the double-ball-head connecting rod 38 and the third motor 39. Specifically, the crank slider mechanism 36 rotates horizontally under the action of the third motor 39, and the crank slider mechanism 36 can swing the cylinder at the end of the first connecting rod 37 left and right when rotating horizontally, so as to drive the double-ball-head connecting rod 38 to push the entire rotating protruding deicing mechanism 3 to protrude; during the protrusion, the bearing nail 33 fixedly installed on the bottom surface of the fixed plate 32 pushes the entire rotating protruding deicing mechanism 3 to rotate through the spiral groove 35, so that the rotating protruding deicing mechanism 3 rotates while protruding, thereby realizing deicing operation on the ice on the high-voltage transmission line 101.

[0033] It is worth noting that the disc 361 rotates 360° along the second rotating shaft 362, the third rotating shaft 363 is fixed on the disc 361 and rotates with the disc 361; the first connecting rod 37 can rotate left and right on the third rotating shaft 363 within a small range; the third rotating shaft 363 drives the first connecting rod 37 and the double-ball-head connecting rod 38 to push the impact cutter base 31 to protrude forward when rotating to the front; and the second rotating shaft 363 is pulled back when rotating to the rear.

[0034] The crank slider mechanism 36 comprises the disc 361, the third motor 39 is installed on the top surface of the disc 361 through the second rotating shaft 362, the third motor 39 directly drives the disc 361 of the crank slider mechanism 36 to rotate horizontally, the third rotating shaft 363 is vertically installed on the bottom surface of the disc 361, and the disc 361 drives the cylinder at the end of the first connecting rod 37 to swing left and right through the third rotating shaft 363 when rotating, so as to drive the double-ball-head connecting rod 38 to push the impact cutter base 31 to move forward, thereby realizing protrusion.

[0035] AsFigure 5 As shown, the body frame 1 is arranged in an inverted V shape, so that the center of gravity of the whole device is low. The front end of the body frame 1 is provided with a second baffle 16, and the rotating protruding deicing mechanism 3 is clamped on the second baffle 16. The bottom of the body frame 1 on both sides is hinged to a support 14 through a first rotating shaft 13, and the two supports 14 are distributed on both sides of the high-voltage transmission line 101, and the support 14 can rotate through the rotating shaft 13. The supporting plate 17 is installed on the battery and other accessories to balance the deicing robot during operation. The fixed sliding plate 11 is installed at the center of the horizontal plane of the body frame 1. The first baffle 15 is installed on both sides of the inside of the body frame 1. The camera mechanism 4 is located above the rotating protruding deicing mechanism 3. Through the camera mechanism 4, the actual situation of the transmission line 101 can be identified, and the walking of the whole device can be realized, and the walking stability is high and not easy to shake. The camera mechanism 4 includes a camera and a camera connecting piece, wherein the camera is arranged above the rotating protruding deicing mechanism 3 and is installed on the front end face of the body frame 1 through the camera connecting piece. The unmanned aerial vehicle connecting mechanism 5 includes two handles 12 symmetrically arranged on the top surface of the body frame 1, and the unmanned aerial vehicle grabs the handle 12 to hoist the device.

[0036] After the unmanned aerial vehicle hoists the device on the high-voltage transmission line 101, the device keeps the whole device stable through the internal fixed sliding plate 11, and the walking mechanism 2 starts to operate, and the two sides of the track 21 are clamped to the high-voltage transmission line 101 through the electric worm 24 and the connecting rod 28. The two groups of track clamping mechanisms 23 move along the second connecting rod 27, and the connecting rod 28 makes the stress of the track uniform. After the track 21 is clamped, the first motor 25 and the second motor 26 control the rotation of the track driving shaft 22, so that the device walks on the high-voltage transmission line 101. Through the camera mechanism 4, the actual situation of the high-voltage transmission line 101 can be identified, and the stable walking of the whole device can be realized, and the shaking is not easy.

[0037] Through the camera mechanism 4, the actual situation of the high-voltage transmission line 101 can be identified, and the rotating protruding deicing mechanism 3 can be adjusted according to different line icing conditions. Once it is found that one side of the high-voltage transmission line 101 is thickly iced and the other side is thinly iced, the rotating protruding deicing mechanism 3 can be adjusted in time to rotate the impact cutter 34 to the area with thicker ice for deicing, so as to avoid the thicker ice from hindering the walking of the device.

[0038] The scheme of the present application has compact structure, can realize deicing operation of high-voltage transmission line, has high degree of automation, small shaking degree of the whole device, convenient device installation, simple deicing operation, high efficiency, and will not pollute the environment.

Claims

1. A UAV hoisted high-voltage transmission line rotating thrusting de-icing robot, characterized in that: The utility model provides a kind of high-voltage transmission line cleaning robot, including body frame (1), walking mechanism (2) being arranged in body frame (1) inside, rotating protruding deicing mechanism (3) and camera mechanism (4) being arranged in the front end of body frame (1), and unmanned aerial vehicle connecting mechanism (5) being arranged in the top surface of body frame (1) for being connected with unmanned aerial vehicle; The walking mechanism (2) clamps the high-voltage transmission line (101), and moves along the high-voltage transmission line (101); The rotating protruding deicing mechanism (3) includes a shell (131), an impact cutter base (31), a fixed plate (32), a bearing long nail (33), an impact cutter (34), a crank slider mechanism (36), a first connecting rod (37), a double ball head connecting rod (38), and a third motor (39). The bottom of the impact cutter base (31) is upwardly grooved, and the high-voltage transmission line (101) is located in the groove. A plurality of impact cutters (34) for deicing are mounted on the front side of the impact cutter base (31), and a double ball head connecting rod (38) is vertically mounted on the rear side of the impact cutter base (31). The double ball head connecting rod (38) is connected with the first connecting rod (37), and a crank slider mechanism (36) is arranged above the first connecting rod (37). A second rotating shaft in the crank slider mechanism (36) is inserted into a cylindrical end of the first connecting rod (37), and the crank slider mechanism (36) is driven by a third motor (39) fixed on the shell (131). The fixed plate (32) is fixedly mounted on the shell (131), and a bearing long nail (33) is fixedly mounted on the bottom surface of the fixed plate (32). A semicircular ring protrusion (132) is fixedly connected to the rear side of the impact cutter base (31). The internal space of the semicircular ring protrusion (132) is in communication with the groove in the impact cutter base (31) for the high-voltage transmission line (101) to pass through. A helical groove (35) is formed on the outer surface of the semicircular ring protrusion (132) as a movement track of the bearing long nail (33). The crank slider mechanism (36) rotates horizontally under the action of the third motor (39), drives the cylindrical end of the first connecting rod (37) to swing left and right, and then pushes the entire rotating protruding deicing mechanism (3) to protrude through the double ball head connecting rod (38). During the protruding process, the bearing long nail (33) fixedly mounted on the bottom surface of the fixed plate (32) drives the entire rotating protruding deicing mechanism (3) to rotate through the helical groove (35), so that the rotating protruding deicing mechanism (3) rotates while protruding.

2. The unmanned aerial vehicle hoisted high voltage transmission line rotating thrust de-icing robot according to claim 1, characterized in that: The crank slider mechanism (36) includes a disc (361), a third motor (39) is mounted on the top surface of the disc (361) through a second rotating shaft (362), the third motor (39) drives the disc (361) to rotate horizontally, and a vertical mounting (363) is mounted on the bottom surface of the disc (361). When the disc (361) rotates, the third rotating shaft (363) drives the cylindrical end of the first connecting rod (37) to swing left and right.

3. The unmanned aerial vehicle hoisted high voltage transmission line rotating thrust de-icing robot according to claim 1, characterized in that: The impact cutter (34) is provided with a blade tip at the front end, and a blade edge is arranged on the circumference.

4. The unmanned aerial vehicle hoisted high voltage transmission line rotating thrust de-icing robot according to claim 1, characterized in that: The walking mechanism (2) includes a track (21), a track drive shaft (22), a track clamping mechanism (23), and a second connecting rod (27). Two second connecting rods (27) are arranged in parallel, two second connecting rods (27) are connected between two groups of track clamping mechanisms (23), two groups of track clamping mechanisms (23) are distributed on both sides of the high-voltage transmission line (101), and two groups of track clamping mechanisms (23) can move towards the high-voltage transmission line (101) along the second connecting rod (27); Each group of track clamping mechanisms (23) is provided with a group of track drive shafts (22) on the bottom surface, two groups of track drive shafts (22) are respectively provided with a motor, and the motor is arranged on the top surface of the track clamping mechanism (23), and each group of track drive shafts (22) is provided with a track (21); After the high-voltage transmission line (101) is clamped into the walking mechanism (2), the two groups of tracks (21) clamp the high-voltage transmission line (101) together; after the two motors are started, the two groups of track drive shafts (22) rotate synchronously, driving the two groups of tracks (21) to walk synchronously on the high-voltage transmission line (101).

5. The UAV-lifted HV power transmission line rotating thrusting de-icing robot of claim 4, wherein: The two groups of track clamping mechanisms (23) are connected with an electric worm (24), and the distance between the two groups of track clamping mechanisms (23) is adjusted through the electric worm (24), so as to adjust the clamping force of the two tracks (21) on the high-voltage transmission line (101).

6. The unmanned aerial vehicle hoisted high voltage transmission line rotating impact de-icing robot according to claim 1, characterized in that: The top of the groove on the impact tool base (31) is an open downward circular arc structure, the semicircular ring protrusion (132) on the back side of the impact tool base (31) matches the profile of the circular arc structure, the two ends of the circular arc structure extend downward in a straight line, and the high-voltage transmission line (101) is clamped into the bottom of the impact tool base (31) and contacts the circular arc structure and the semicircular ring protrusion (132) on the impact tool base (31) at the same time.

7. The unmanned aerial vehicle hoisted high voltage transmission line rotating impact de-icing robot according to claim 1, characterized in that: The machine body frame (1) is arranged in an inverted V shape.

8. The unmanned aerial vehicle hoisted high voltage transmission line rotating impact de-icing robot according to claim 1, characterized in that: The camera mechanism (4) comprises a camera and a camera connecting piece, wherein the camera is arranged above the rotating protrusion deicing mechanism (3) and is installed on the front end face of the machine body frame (1) through the camera connecting piece.

9. The unmanned aerial vehicle hoisted high voltage transmission line rotating impact de-icing robot according to claim 1, characterized in that: The unmanned aerial vehicle connecting mechanism (5) comprises two handles (12) symmetrically arranged on the top surface of the machine body frame (1), and the unmanned aerial vehicle grabbing handle (12) hoists the device.

10. The unmanned aerial vehicle hoisted high voltage transmission line rotating impact de-icing robot of claim 1, wherein: The machine body frame (1) is hinged with a support (14) on each side of the bottom, and the two supports (14) are distributed on both sides of the high-voltage transmission line (101).

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