Deicing robot and deicing method for six-split power transmission line

Abstract

The invention belongs to the technical field of power robots. The six-split power transmission line deicing robot comprises an upper structural frame and a lower structural frame, deicing assemblies are connected to the upper structural frame and the lower structural frame, and the upper structural frame is connected with a walking assembly and a lifting assembly; the walking assembly comprises driving wheels used for walking on a power transmission line, the output end of the lifting assembly is used for being connected with a lower structural frame, and the lower structural frame is used for being in positioning butt joint with an upper structural frame under driving of the lifting assembly. The deicing robot is divided into the upper structural frame and the lower structural frame, the upper structural frame is connected with the lifting assembly, the lower structural frame is used for being in positioning butt joint with the upper structural frame under driving of the lifting assembly, accurate positioning and reliable connection of the upper structural frame and the lower structural frame are achieved, and then efficient, safe and stable deicing operation of the six-split power transmission line is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power robots, in particular to a six-bundle transmission line deicing robot and a deicing method. BACKGROUND

[0002] The statements in this section merely provide background technology related to the present application and do not necessarily constitute prior art.

[0003] UHV transmission lines are the core backbone network of power transmission, bearing the task of cross-regional and large-capacity power transmission, and their safe and stable operation is crucial to energy supply. These lines often pass through areas with complex terrain and harsh weather conditions, and the extreme weather conditions in these areas are prone to line icing, which can pose a serious threat to line safety. To avoid accidents caused by icing, deicing robots have become an important technical means for deicing UHV transmission lines due to their efficient and safe operation.

[0004] With the increasing scarcity of line corridor resources, multi-bundle cables are widely used because they can increase transmission capacity. The six-bundle cable, due to its special spatial configuration, poses higher requirements for the structural adaptability and operation coverage of deicing robots. Traditional deicing technologies based on single cables or simple multi-bundle cables have been unable to meet the application requirements. Existing deicing robots are mostly designed as a whole, requiring the use of unmanned aerial vehicles to lift them onto the transmission line. The structure is heavy and the on-line process is complex, making it difficult to adapt to the rapid on-line deicing requirements of the six-bundle cable. SUMMARY

[0005] To solve the problems of the prior art, the present application provides a six-bundle transmission line deicing robot and a deicing method. The deicing robot is divided into an upper structure frame and a lower structure frame. The upper structure frame is connected to a lifting assembly, and the lower structure frame is used to position and dock with the upper structure frame under the driving of the lifting assembly, achieving precise positioning and reliable connection of the upper and lower structure frames, and thereby achieving efficient, safe and stable deicing operation of the six-bundle transmission line.

[0006] To achieve the above purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a six-bundle transmission line deicing robot.

[0007] A six-bundle transmission line deicing robot, comprising: an upper structure frame and a lower structure frame, both the upper structure frame and the lower structure frame being connected to a deicing assembly, the upper structure frame being connected to a walking assembly and a lifting assembly; The walking assembly includes a driving wheel for walking on the transmission line, the output end of the lifting assembly is used to connect with the lower structure frame, and the lower structure frame is used to position and dock with the upper structure frame under the driving of the lifting assembly.

[0008] In one implementation of the first aspect of the present invention, the upper structural frame is connected to an upper de-icing assembly for de-icing the two uppermost cables, and the lower structural frame is connected to a lower de-icing assembly for de-icing the two middle cables and the two lowermost cables.

[0009] As a further limitation of the first aspect of the present invention, the upper de-icing assembly includes two sets, which are respectively used for de-icing the two uppermost cables. Each set includes an upper de-icing motor and an upper de-icing hammer. The upper de-icing motors are fixed on the upper structural frame. The output shaft of the upper de-icing motor is connected to the upper de-icing hammer. The upper de-icing motor drives the upper de-icing hammer to repeatedly strike the corresponding cable to perform de-icing by rotating forward and backward.

[0010] As a further limitation of the first aspect of the present invention, the lower de-icing assembly includes four groups, which are respectively used for de-icing the two middle layer cables and the two bottom layer cables. Each group includes a lower de-icing motor and a lower de-icing hammer. The lower de-icing motors are all fixed on the lower structural frame. The output shaft of the lower de-icing motor is connected to the lower de-icing hammer. The lower de-icing motor drives the lower de-icing hammer to repeatedly strike the corresponding cable to perform de-icing by rotating forward and reverse.

[0011] In one implementation of the first aspect of the present invention, the upper structural frame is further connected to a clamping assembly, which includes a drive motor, a swing arm and a V-shaped clamping wheel. The drive motor is fixed on the upper structural frame, the output shaft of the drive motor is connected to the swing arm, the swing arm is connected to the V-shaped clamping wheel, and the V-shaped clamping wheel is used to swing under the cable under the drive of the drive motor to cooperate with the drive wheel to clamp the cable.

[0012] In one implementation of the first aspect of the present invention, the upper structural frame includes a first strut plate and a second strut plate. Both the first strut plate and the second strut plate are U-shaped structures. The first strut plate and the second strut plate are arranged in parallel and opposite to each other. One side of the first strut plate and the second strut plate are connected by a first horizontal plate, and the other side of the first strut plate and the second strut plate are connected by a second horizontal plate. A lifting assembly is arranged on the first horizontal plate and the second horizontal plate respectively. The traveling assembly is fixed between the first straddle plate and the second straddle plate, and a hoisting assembly is fixed on the traveling assembly.

[0013] In one implementation of the first aspect of the present invention, the lower structural frame includes a third strut plate and a fourth strut plate, both of which are U-shaped structures. The third strut plate and the fourth strut plate are arranged in parallel opposite directions. One side of the third strut plate and the fourth strut plate are connected by a third horizontal plate, and the other side of the third strut plate and the fourth strut plate are connected by a fourth horizontal plate.

[0014] In an implementation form of the first aspect of the present application, the lifting assembly comprises a hoist motor, a winch and an insulating rope, the output shaft of the hoist motor is connected with the winch, one end of the insulating rope is fixed and wound on the winch, the other end of the insulating rope is used for being connected with the lower structure frame, and the hoist motor is used for driving the winch to tighten or loosen the insulating rope, so as to drive the lower structure frame to rise or fall.

[0015] In a second aspect, the present application provides a six-bundle transmission line deicing method.

[0016] A six-bundle transmission line deicing method uses the six-bundle transmission line deicing robot of the first aspect of the present application, and comprises the following processes: The aircraft is controlled to hoist the upper structure frame to the position of the uppermost two cables of the cable to be deiced, and the driving wheels are controlled to fall on the uppermost two cables; The lifting assembly is controlled to lift the lower structure frame, so that the upper structure frame and the lower structure frame are positioned and docked; The driving wheels are controlled to move along the cable, and the deicing assembly on the upper structure frame and the lower structure frame is controlled to deice the cable.

[0017] In an implementation form of the second aspect of the present application, after the deicing is completed, the lifting assembly is controlled to place the lower structure frame on the ground, and the aircraft is used to hoist the upper structure frame to the ground.

[0018] Compared with the prior art, the present application has the following beneficial effects: The present application innovatively develops a six-bundle transmission line deicing robot, which is divided into an upper structure frame and a lower structure frame, the upper structure frame is connected with a lifting assembly, and the lower structure frame is used to be positioned and docked with the upper structure frame under the driving of the lifting assembly, so that the accurate positioning and reliable connection of the upper and lower structure frames are realized.

[0019] The present application innovatively provides a six-bundle transmission line deicing method, which comprises the following steps: the upper structure frame is hoisted by the aircraft, the lower structure frame is hoisted by the lifting assembly and is docked with the upper structure frame, deicing operation is performed after the docking and combination, the lower structure frame is lowered to the ground by the lifting assembly after the deicing operation is completed, and then the upper structure frame is hoisted by the aircraft, so that efficient, safe and stable deicing operation of the six-bundle transmission line is realized.

[0020] In view of the problem that the layout of the deicing assembly of the prior art cannot cover all the sub-cables of the six-bundle cable and cannot complete the deicing operation of the whole line, the present application innovatively designs upper deicing assemblies (2 groups) and lower deicing assemblies (4 groups), which are respectively used for deicing operation of the six cables, so that the deicing efficiency is greatly improved.

[0021] In view of the problem that the existing scheme lacks effective compression and fixation in the process of on-line and off-line, leading to insufficient stability of the robot after on-line, the present application connects a compression assembly on the upper structure frame, the output shaft of the driving motor is connected with the swing arm, the V-shaped compression wheel is used to swing under the cable under the driving of the driving motor to compress the cable with the driving wheel, so as to ensure the stability of the deicing robot after on-line, and the swing arm is vertically arranged in the on-line process, which avoids the interference between the deicing robot and the cable in the on-line process, and improves the on-line safety.

[0022] The advantages of the additional aspects of the present application will be partially given in the following description, partially become obvious from the following description, or be known by the practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings accompanying the specification of the present application serve to provide further understanding of the present application, and the illustrative embodiments of the present application and the description thereof serve to explain the present application, and do not constitute improper limitations on the present application.

[0024] Figure 1 A structural schematic diagram of the six-split transmission line deicing robot is provided for an exemplary embodiment of the present application; Figure 2 A six-split transmission line deicing robot on-line process schematic is provided for an exemplary embodiment of the present application Figure One ; Figure 3 A six-split transmission line deicing robot on-line process schematic is provided for an exemplary embodiment of the present application Figure Two ; Figure 4 A six-split transmission line deicing robot on-line process schematic is provided for an exemplary embodiment of the present application Figure Three ; Figure 5 A six-split transmission line deicing robot on-line process schematic is provided for an exemplary embodiment of the present application Figure Four ; 1, upper structure frame; 2, lower structure frame; 3, walking assembly; 4, hoisting assembly; 5, driving wheel; 6, compression assembly; 7-1, first deicing assembly; 7-2, second deicing assembly; 7-3, third deicing assembly; 7-4, fourth deicing assembly; 7-5, fifth deicing assembly; 7-6, sixth deicing assembly; 8, lifting assembly; 9, first striding plate; 10, second striding plate; 11, third striding plate; 12, fourth striding plate; 13, first horizontal plate; 14, second horizontal plate; 15, third horizontal plate; 16, fourth horizontal plate; 17, positioning pin; 18, insulating rope; 19, swing arm. DETAILED DESCRIPTION

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

[0026] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0027] The overall frame structure of existing de-icing robots is mostly designed based on the operation requirements of a single cable or ground wire. The layout of its walking, de-icing and other functional modules cannot adapt to the spatial distribution and operation requirements of each sub-cable of the bundled cable, resulting in the robot being unable to walk stably or operate effectively on the six-bundled cable; there are complex obstacles such as spacer dampers on the six-bundled cable. Due to its complex structure and narrow space, existing de-icing robots rely on manual or drone to get on and off the line. Different from the single-cable structure, the six-bundled cable is arranged in a hexagon, and it is impossible to get on and off the line reliably and stably; the existing de-icing robot's getting on and off line technology has no control logic such as position feedback and cannot achieve closed-loop control, resulting in potential safety hazards; the existing de-icing robot's getting on and off line technology cannot be directly applied to the extra-high voltage six-bundled transmission line. Therefore, it is particularly urgent to develop a de-icing robot suitable for the six-bundled cable.

[0028] In view of the problems existing in the existing solutions, this implementation mode proposes a de-icing robot for a six-bundled transmission line, including: an upper structure frame 1, a lower structure frame 2, a walking component 3, a hoisting component 4, a pressing component 6, a first de-icing component 7-1, a second de-icing component 7-2, a third de-icing component 7-3, a fourth de-icing component 7-4, a fifth de-icing component 7-5, a sixth de-icing component 7-6 and a lifting component 8; wherein, the hoisting component 4 is installed above the walking component 3, and the walking component 3, the pressing component 6, the lifting component 8, the first de-icing component 7-1 and the second de-icing component 7-2 are installed on the upper structure frame 1.

[0029] The upper structure frame 1 is a frame structure symmetrical about the left and right, and is composed of a first straddle plate 9, a second straddle plate 10 in a "U" shape (the included angle on both sides is an obtuse angle), a first horizontal plate 13 (preferably a rectangular plate) and a second horizontal plate 14 connecting plate (preferably a rectangular plate). The first straddle plate 9 and the second straddle plate 10 are parallel to each other and relatively positioned. The two ends of the first horizontal plate 13 and the second horizontal plate 14 connecting plate are respectively fixedly connected to the first straddle plate 9 and the second straddle plate 10. Positioning grooves are opened at the bottoms of the first straddle plate 9 and the second straddle plate 10; The walking assembly 3 is fixed between the first and second striding plates 9 and 10, and comprises two groups of driving wheels 5, each group of driving wheels 5 comprising two driving wheels 5 (each group of driving wheels corresponding to a driving motor). The driving motor and the corresponding driving wheel 5 are placed back-to-back, the driving wheels 5 of the walking assembly 3 are in a V shape, and the axle distance of the two driving wheels 5 in each group of driving wheels is equal to the line distance of the uppermost layer of cables. When walking, the driving wheels 5 are coupled to the uppermost two cables of the six-split cable, the uppermost two cables are located in the V-shaped groove of the driving wheel 5, the driving motor drives the driving wheel 5 to rotate, so that the robot can walk on the six-split cable.

[0030] In the present embodiment, the four pressing assemblies are composed of driving motors, swing arms 19 and V-shaped pressing wheels. The driving motors of two pressing assemblies are fixed on the first striding plate 9, and the driving motors of the other two pressing assemblies are fixed on the second striding plate 10. Each pressing assembly corresponds to a driving wheel 5. The output shaft of the driving motor is connected with the swing arm 19, and the swing arm 19 is connected with the pressing wheel. The swing arm 19 is driven by the driving motor to realize the opening and closing movement along the axis of the output shaft of the driving motor, and simultaneously drives the pressing wheel connected therewith to swing. After the robot is on the cable (the driving wheel 5 is in contact with the cable), the cable is pressed from the lower side of the cable into the V-shaped groove under the driving wheel 5, and the friction of the driving wheel 5 is increased by the pressing force.

[0031] In the present embodiment, the lower structure frame 2 is a left-right symmetrical frame structure composed of a third striding plate, a fourth striding plate 12, a third horizontal plate 15 (preferably a rectangular plate) and a fourth horizontal plate 16 connecting plate (preferably a rectangular plate). The third striding plate 11 and the fourth striding plate 12 are parallel to each other and opposite to each other. The two ends of the third horizontal plate 15 and the fourth horizontal plate 16 connecting plate are fixedly connected with the third striding plate 11 and the fourth striding plate 12, respectively. The upper parts of the third striding plate 11 and the fourth striding plate 12 are provided with a positioning pin 17 and an insulating rope fixing device.

[0032] In the present embodiment, the first and second deicing assemblies 7-1 and 7-2 constitute the upper deicing assembly. The first deicing assembly 7-1 is used for deicing one of the uppermost cables, and the second deicing assembly 7-2 is used for deicing the other of the uppermost cables. The first and second deicing assemblies 7-1 and 7-2 each comprise an upper deicing motor and an upper deicing hammer. The upper deicing motor is fixed on the first striding plate 9 (two upper deicing motors are arranged at the upper two corner positions of the first striding plate 9). The output shaft of the upper deicing motor is connected with the upper deicing hammer. The upper deicing hammer is repeatedly struck by the forward rotation and reverse rotation of the upper deicing motor to realize the deicing of the uppermost two cables (the ice on the cables is removed by the striking force and vibration).

[0033] In this implementation, the third de-icing component 7-3, the fourth de-icing component 7-4, the fifth de-icing component 7-5, and the sixth de-icing component 7-6 constitute the lower de-icing component. The third de-icing component 7-3 is used for de-icing one cable in the middle layer, the fourth de-icing component 7-4 is used for de-icing another cable in the middle layer, the fifth de-icing component 7-5 is used for de-icing one cable in the bottom layer, and the sixth de-icing component 7-6 is used for de-icing the other cable in the bottom layer. -4. Both the fifth de-icing assembly 7-5 and the sixth de-icing assembly 7-6 include a lower de-icing motor and a lower de-icing hammer. The lower de-icing motors are all fixed on the first straddle plate 9 (the four lower de-icing motors are respectively installed at the corners of the "U"-shaped third straddle plate 11). The output shaft of the lower de-icing motor is connected to the lower de-icing hammer. By rotating the lower de-icing motor forward and backward, the lower de-icing hammer is driven to repeatedly strike the corresponding cables to achieve de-icing of the middle layer and the four cables at the bottom layer (the ice on the cables is removed by striking force and vibration).

[0034] In this implementation, the lifting assembly 8 includes a winch motor, a winch, and an insulating rope 18. There are two lifting assemblies 8, installed on the first horizontal plate 13 and the second horizontal plate 14 of the upper structural frame 1. One end of the insulating rope 18 is fixed and wound in the winch, and the other end of the insulating rope 18 is used to connect to the insulating rope retainer. The rotation of the winch motor drives the winch to tighten or loosen the insulating rope 18, causing the lower structural frame 2 to rise or fall. When the lower structural frame 2 is about to reach its position, the positioning pin 17 is aligned under the guidance of the positioning groove, finally forming the closed main structure of the robot's upper structural frame 1 and lower structural frame 2.

[0035] It should be noted that in this implementation, the positioning pin 17 and the positioning groove form a positioning component. In other implementations, other positioning components can also be used. For example, the positioning pin can be set on the upper structural frame 1, and the positioning groove can be set on the lower structural frame 2. Alternatively, other existing positioning docking methods can be used, which will not be elaborated here.

[0036] Based on the aforementioned six-split transmission line de-icing robot, this implementation proposes a six-split transmission line de-icing method, including an online process and an offline process.

[0037] The launch process, specifically, includes: Before deployment, the upper structural frame 1 and lower structural frame 2 are separated, and the clamping component 6 is not clamped. The drone (i.e., the aircraft, preferably a drone in this implementation, but manned or unmanned aircraft can also be used, details omitted here) first attaches the hoisting component 4 of the combined de-icing upper structural frame 1, hoisting the robot from the ground to above the cable to be worked (e.g., ...). Figure 2The upper structure frame 1 is placed on the six-split cable by controlling the unmanned aerial vehicle to reduce the flight height, and the four driving wheels 5 of the robot are in contact with the uppermost two parallel sub-cables of the six-split cable (as shown in FIG. 6B). Figure 3 After the robot driving wheels 5 are in place in contact with the cable, the motor in the pressing assembly drives the swing arm 19 and the pressing wheel to move, and the overhead cable is pressed from the lower side of the cable into the V-shaped groove on the lower side of the driving wheel 5, and the upper structure frame 1 is completed; the motor of the lifting assembly 8 in the upper structure frame 1 is actuated to control the capstan to rotate and lower the insulating rope 18 from the robot to the ground. After the insulating rope 18 is fixed to the lower structure frame 2, the motor of the lifting assembly 8 is actuated to recover the insulating rope 18 and lift the lower structure frame 2 to the vicinity of the cable (as shown in FIG. 6C). Figure 4 The lower structure frame 2 is guided by the positioning pins 17 and the positioning grooves to complete the docking with the upper structure frame 1, and becomes an integral whole in the working state (as shown in FIG. 6D). Figure 5 The upper structure frame 1 is placed on the six-split cable by controlling the unmanned aerial vehicle to reduce the flight height, and the four driving wheels 5 of the robot are in contact with the uppermost two parallel sub-cables of the six-split cable (as shown in FIG. 6B).

[0038] The lower line process specifically includes: The winch motor rotates to drive the capstan to release the insulating rope 18 downward, and the lower structure frame 2 gradually descends to the ground, disconnecting the insulating rope 18 from the lower structure frame 2; then, the lifting assembly 8 again fully recovers the insulating rope 18; at this time, the unmanned aerial vehicle takes off and hangs the robot hoisting assembly 4, establishes a connection, and the motors of the four pressing assemblies of the robot are actuated to drive (press) the swing arm 19 to realize the outward movement of the swing arm 19 along the axis, and the pressing wheel is separated from the cable until the swing arm 19 is fully opened outward to the position, at which time all the pressing assemblies are converted to a non-pressing state; finally, the unmanned aerial vehicle takes off and hangs the robot away from the cable to the ground, completing the lower line operation.

[0039] In summary, the six-split transmission line deicing robot and the corresponding deicing method proposed by the present embodiment solve the problems that the traditional deicing robot cannot adapt to the six-split cable configuration, the unstable up and down line, the incomplete deicing coverage, and the rigid parameter regulation, overcome the disadvantages of large difficulty in full-structure integrated up line, low docking accuracy, unreliable clamping, and strong deicing blindness, improve the adaptability of the robot to the six-split cable, the safety and accuracy of the up and down line operation, and the comprehensiveness and pertinence of the deicing operation, avoid the problems of robot sliding after up line, structural damage caused by docking deviation, local ice residue, energy waste, and improper deicing force on the cable, and improve the up and down line efficiency and deicing efficiency.

[0040] The above content is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A de-icing robot for a six-bundle transmission line, comprising: an upper structure frame and a lower structure frame, each of which is connected with a de-icing assembly, the upper structure frame being connected with a walking assembly and a lifting assembly; the walking assembly comprising a driving wheel for walking on the transmission line, the output end of the lifting assembly being used for connecting with the lower structure frame, the lower structure frame being used for positioning and docking with the upper structure frame under the driving of the lifting assembly. 2.The de-icing robot for a six-bundle transmission line according to claim 1, wherein the upper structure frame is connected with an upper de-icing assembly for de-icing the uppermost two cables, and the lower structure frame is connected with a lower de-icing assembly for de-icing the middle two cables and the lowermost two cables. 3.The de-icing robot for a six-bundle transmission line according to claim 2, wherein the upper de-icing assembly comprises two groups, each of which is used for de-icing the uppermost two cables, each group comprising an upper de-icing motor and an upper de-icing hammer, the upper de-icing motor being fixed on the upper structure frame, the output shaft of the upper de-icing motor being connected with the upper de-icing hammer, the upper de-icing motor driving the upper de-icing hammer to repeatedly hit the corresponding cable to de-ice through forward rotation and reverse rotation. 4.The de-icing robot for a six-bundle transmission line according to claim 2 or 3, wherein the lower de-icing assembly comprises four groups, each of which is used for de-icing the middle two cables and the lowermost two cables, each group comprising a lower de-icing motor and a lower de-icing hammer, the lower de-icing motor being fixed on the lower structure frame, the output shaft of the lower de-icing motor being connected with the lower de-icing hammer, the lower de-icing motor driving the lower de-icing hammer to repeatedly hit the corresponding cable to de-ice through forward rotation and reverse rotation. 5.The de-icing robot for a six-bundle transmission line according to claim 1, wherein the upper structure frame is further connected with a pressing assembly, the pressing assembly comprising a driving motor, a swing arm and a V-shaped pressing wheel, the driving motor being fixed on the upper structure frame, the output shaft of the driving motor being connected with the swing arm, the swing arm being connected with the V-shaped pressing wheel, the V-shaped pressing wheel being used for swinging to the lower side of the cable under the driving of the driving motor to press the cable together with the driving wheel. 6.The de-icing robot for a six-bundle transmission line according to claim 1, wherein the upper structure frame comprises a first striding plate and a second striding plate, each of which is in a U-shaped structure, the first striding plate and the second striding plate being arranged in parallel, one side of the first striding plate and the second striding plate being connected through a first horizontal plate, the other side of the first striding plate and the second striding plate being connected through a second horizontal plate; one lifting assembly is arranged on each of the first horizontal plate and the second horizontal plate, the walking assembly being fixed between the first striding plate and the second striding plate, a hoisting assembly being fixed on the walking assembly. 7.The de-icing robot for a six-bundle transmission line according to claim 1, wherein ​ The lower structure frame comprises a third striding plate and a fourth striding plate, both of which are in the shape of a Chinese character, and are arranged in parallel, with one side connected by a third horizontal plate and the other side connected by a fourth horizontal plate.

8. The six-bundle transmission line de-icing robot of claim 1, wherein, The lifting assembly comprises a winch motor, a capstan and an insulating rope, the output shaft of the winch motor is connected with the capstan, one end of the insulating rope is fixed and wound on the capstan, and the other end is used to be connected with the lower structure frame, and the lifting assembly drives the capstan to tighten or loosen the insulating rope through the rotation of the winch motor, so as to drive the lifting and lowering of the lower structure frame.

9. A method of de-icing a six-bundled transmission line, characterized by, The six-bundle transmission line de-icing robot of any one of claims 1-8, The method comprises the following processes: The aircraft controls the hoisting of the upper structure frame to the position of the uppermost two cables of the cable to be de-iced, and controls the driving wheels to fall on the uppermost two cables; The lifting assembly is controlled to lift the lower structure frame, so that the upper structure frame and the lower structure frame are positioned and docked; The driving wheels are controlled to move along the cable, and the upper structure frame and the de-icing assembly on the lower structure frame are controlled to de-ice the cable.

10. The six-bundle transmission line de-icing method of claim 9, wherein, After the de-icing is completed, the lifting assembly is controlled to place the lower structure frame on the ground, and the aircraft hoists the upper structure frame to the ground.

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