Power grid line obstacle removing robot

Abstract

The invention discloses a power grid line obstacle removing robot, and relates to the technical field of line cleaning. The power grid line obstacle removing robot comprises a shell, a bottom frame is fixedly installed at the bottom of the shell, a guide frame is fixedly installed on the inner bottom wall of the shell, a protective cover is fixedly installed on the outer side of the shell, and a camera is fixedly installed on the inner side wall of the protective cover. According to the power grid line obstacle removing robot, images shot by a camera are transmitted to a robot mainboard to analyze the shot images, and when it is found that an obstacle exists on a line, a lifting adjusting module in an integrated control box adjusts a lifting assembly at the moment; when a driving gear drives a long shaft to rotate, a metal rod on the outer side of a cleaning rod is driven to do circular motion, and at the moment, the metal rod strikes branches and plastic bag parts clamped on the surface of a line, so that the branches and the plastic bag parts fall off from the surface of the line, and the effect of cleaning the branches and the plastic bag parts is achieved.

Description

Technical Field

[0001] This invention relates to the field of power line clearing technology, specifically to a robot for clearing obstacles from power grid lines. Background Technology

[0002] With the development of my country's power industry, overhead transmission lines have become the main way of transmitting electricity. As numerous transmission lines form a complete power grid, and because the power lines run in the field for a long time, they are often affected by strong winds, and foreign objects such as plastic and tree branches often hang on the power lines. In order to ensure the operation of the circuit, workers usually need to walk along the lines to manually remove the obstacles attached to the power grid lines. With the development of technology, more and more obstacle removal robots are being used to remove obstacles from power grid lines.

[0003] Chinese patent CN112531568A discloses a cable clearance robot with adaptive cable diameter, including a walking mechanism that clamps the cable and moves along its length. The walking mechanism is equipped with a clearance and cutting mechanism. When performing cable clearance operations, this robot uses the cable as a guide, achieving reliable and efficient clearance while avoiding collisions and damage. This patent only improves the robot's walking stability. Current power grid line clearance mechanisms cannot predict and clear obstacles on the line. Because obstacles vary in size, existing clearance devices are limited in function, only addressing individual obstacles and failing to precisely clear obstacles from the line surface, including dust and impurities. Summary of the Invention

[0004] Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a power grid line obstacle removal robot, which solves the problems of traditional obstacle removal robots being unable to predict and identify obstacles to adjust the laser head according to the size of the obstacles for precise cleaning, and also being unable to clean impurities on the surface of the power grid.

[0006] Technical solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a power grid line obstacle removal robot, comprising a shell, a base frame fixedly installed at the bottom of the shell, a guide frame fixedly installed on the inner bottom wall of the shell, a telescopic groove formed on the surface of the guide frame, a protective cover fixedly installed on the outer side of the shell, a camera fixedly installed on the inner side wall of the protective cover, a baffle fixedly installed at one end of the base frame, a limit frame fixedly installed on the inner bottom wall of the shell, an integrated control box fixedly installed on the inner bottom wall of the shell, a lifting drive assembly provided on the inner side of the shell, and a laser obstacle removal assembly provided on the outer side of the lifting assembly;

[0008] A drive frame is provided on the inner side of the base frame, and a drive assembly for driving the robot is provided on the inner side of the drive frame. A positioning frame is fixedly installed on the inner side of the base frame, and a cleaning assembly for cleaning the surface of the power grid line is provided on the inner side of the positioning frame. A CT power take-up box is provided at the bottom of the base frame. A long shaft is movably installed on the inner side of the base frame, and cleaning rods are fixedly installed at both ends of the long shaft. A drive gear is fixedly installed on the outer surface of the long shaft and close to the power grid line.

[0009] Furthermore, the lifting assembly includes a stepper motor, a lifting frame, and a threaded hole. The stepper motor is fixedly installed on the inner bottom wall of the housing, the threaded hole is opened on the top surface of the lifting frame, a lead screw is fixedly installed at the output end of the stepper motor, and the lifting frame is movably installed on the outside of the lead screw.

[0010] Furthermore, the lifting frame is cross-shaped, with its front and rear ends penetrating the inner wall of the guide frame, and its left and right ends penetrating the inner wall of the limiting frame.

[0011] Furthermore, the laser obstacle removal component includes a drive box and an obstacle removal laser head. The drive box is fixedly installed at the front and rear ends of the lifting frame, and the obstacle removal laser head is fixedly installed at the output end of the drive box. Both the drive box and the obstacle removal laser head are electrically connected to the integrated control box.

[0012] Furthermore, a limiting wheel is movably installed on the inner side of the drive frame, and a rubber ring is fixedly installed on the inner side of the limiting wheel. The limiting wheel is composed of a rotating shaft and a gear, and the number of limiting wheels is arranged in two symmetrical sets. A drive motor is provided at one end of the drive frame.

[0013] Furthermore, the cleaning assembly includes a cleaning cylinder, a cleaning chamber, and a cleaning brush. The cleaning cylinder is movably installed on the inner wall of the positioning frame, the cleaning chamber is opened in the middle of the cleaning cylinder, and the cleaning brush is fixedly installed on the inner side wall of the cleaning chamber.

[0014] Furthermore, the number of cleaning brushes is several sets and they are distributed circumferentially about the inner wall of the cleaning chamber. The cleaning brushes are made of rubber strips and the surface of the cleaning brushes is provided with bristles.

[0015] Furthermore, the CT power receiving box is sleeved on the outside of the power grid line, and the inner diameter of the CT power receiving box is larger than the diameter of the wire.

[0016] Furthermore, the surface of the drive gear located on one side of the cleaning cylinder is provided with helical teeth, and the outer side of the cleaning cylinder is provided with helical tooth grooves that are adapted to the helical tooth grooves provided on the surface of the drive gear.

[0017] Furthermore, the outer side of the cleaning rod is provided with several sets of metal rods distributed in a circumferential manner.

[0018] Beneficial effects

[0019] The present invention has the following beneficial effects:

[0020] 1. This power grid obstacle removal robot transmits images captured by a camera to the robot's mainboard for analysis. When an obstacle is detected on the line, the lifting adjustment module in the integrated control box adjusts the lifting components. Since the obstacle removal laser head is fixedly connected to one end of the lifting frame, the lifting of the frame allows the obstacle removal laser head to be adjusted to be at the same level as the obstacle. The obstacle removal laser head emits a laser to burn off the debris attached to the surface of the power line. When the limit wheel moves along the surface of the power line, the gear on the outside of the limit wheel drives the drive gear to rotate. When the drive gear drives the long shaft to rotate, it drives the metal rod on the outside of the cleaning rod to make a circular motion. At this time, the metal rod will strike the branches and plastic bags stuck on the surface of the power line, causing them to fall off the surface of the power line, thereby achieving the effect of cleaning up the branches and plastic bags.

[0021] 2. In this power grid obstacle removal robot, the cleaning cylinder rotates under the drive of the drive gear. Since the wire passes through the inner wall of the cleaning chamber and the cleaning brush is in close contact with the outer surface of the wire, the rotation of the cleaning cylinder will drive the cleaning brush to clean the dust and attachments on the surface of the wire. The cleaning brush is made of rubber strips to increase the area between the bristles on the surface of the cleaning brush and the surface of the wire, thereby thoroughly cleaning the wire.

[0022] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0023] Figure 1 This is a three-dimensional schematic diagram of a power grid line obstacle removal robot according to the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of the outer shell of the present invention;

[0025] Figure 3 This is a schematic diagram of the base frame structure of the present invention;

[0026] Figure 4 For the present invention Figure 3 Enlarged schematic diagram of a partial structure in section A;

[0027] Figure 5 This is a schematic diagram of a vertical half-section of the outer casing of the present invention;

[0028] Figure 6 This is a schematic diagram of a cross-section of the outer casing of the present invention;

[0029] Figure 7 This is a top view of the base frame of the present invention;

[0030] Figure 8 This is a schematic diagram of the internal structure of the cleaning cylinder of the present invention.

[0031] Figure 9 This is a schematic diagram of the integrated control box circuit of the present invention.

[0032] In the diagram: 1. Outer shell; 2. Base frame; 3. Baffle; 4. Camera; 5. Protective cover; 6. Guide frame; 7. Limiting frame; 8. Telescopic groove; 9. Threaded hole; 10. Integrated control box; 11. Long shaft; 12. Cleaning rod; 13. CT power supply box; 14. Positioning frame; 15. Cleaning cylinder; 16. Drive gear; 17. Drive frame; 18. Limiting wheel; 19. Drive motor; 20. Rubber ring; 21. Stepper motor; 22. Lifting frame; 23. Drive box; 24. Obstacle removal laser head; 25. Cleaning cavity; 26. Cleaning brush. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] In the description of this invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around", etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0035] Please see Figure 1-9This invention provides a technical solution: a power grid line obstacle removal robot, including a shell 1, a base frame 2 fixedly installed at the bottom of the shell 1, a guide frame 6 fixedly installed on the inner bottom wall of the shell 1, a telescopic groove 8 opened on the surface of the guide frame 6, a protective cover 5 fixedly installed on the outer side of the shell 1, a camera 4 fixedly installed on the inner side wall of the protective cover 5, a baffle 3 fixedly installed at one end of the base frame 2, a limit frame 7 fixedly installed on the inner bottom wall of the shell 1, an integrated control box 10 fixedly installed on the inner bottom wall of the shell 1, a lifting drive assembly provided on the inner side of the shell 1, and a laser obstacle removal assembly provided on the outer side of the lifting assembly;

[0036] A drive frame 17 is provided on the inner side of the base frame 2. A drive component for driving the robot is provided on the inner side of the drive frame 17. A positioning frame 14 is fixedly installed on the inner side of the base frame 2. A cleaning component for cleaning the surface of the power grid line is provided on the inner side of the positioning frame 14. A CT power take-up box 13 is provided at the bottom of the base frame 2. A long shaft 11 is movably installed on the inner side of the base frame 2. Cleaning rods 12 are fixedly installed at both ends of the long shaft 11. A drive gear 16 is fixedly installed on the outer side of the long shaft 11 and on the surface close to the power grid line.

[0037] Specifically, the lifting assembly includes a stepper motor 21, a lifting frame 22, and a threaded hole 9. The stepper motor 21 is fixedly installed on the inner bottom wall of the housing 1, the threaded hole 9 is opened on the top surface of the lifting frame 22, a lead screw is fixedly installed at the output end of the stepper motor 21, and the lifting frame 22 is movably installed on the outside of the lead screw.

[0038] In this embodiment, the stepper motor 21 is driven by the stepper motor 21 through the integrated control box 10. The stepper motor 21 drives the lead screw to rotate, which in turn drives the lifting frame 22. The lead screw passes through the threaded hole 9. By driving the lifting frame 22, the height of the laser obstacle removal component can be adjusted to meet the clearing of obstacles in different positions.

[0039] The integrated control box 10 consists of a robot motherboard, a monitoring and recognition module, a ranging module, a laser emission module, a lifting and adjustment module, a wireless transmission module, and a drive module. The monitoring and recognition module is connected to the camera 4 and transmits the images captured by the camera 4 to the robot motherboard for analysis. The wireless transmission module can transmit the captured images externally to monitor the obstacle removal process in real time. When an obstacle is detected on the power line, the lifting and adjustment module and the ranging module work together to adjust the lifting components, thereby adjusting the height of the obstacle removal laser head 24. Then, the laser emission module sends a signal to the obstacle removal laser head 24 to emit a laser to clear the obstacle. The drive module is used to control the drive components to control the robot's movement.

[0040] Specifically, the lifting frame 22 is cross-shaped, with its front and rear ends penetrating the inner wall of the guide frame 6, and its left and right ends penetrating the inner wall of the limiting frame 7.

[0041] In this embodiment, the lifting frame 22 is connected to the telescopic groove 8 on the surface of the guide frame 6 and the limiting groove of the limiting frame 7 through the front, back and left sides of the lifting frame 22, which is mainly used to limit the movement of the lifting frame 22.

[0042] Specifically, the laser obstacle removal assembly includes a drive box 23 and an obstacle removal laser head 24. The drive box 23 is fixedly installed at the front and rear ends of the lifting frame 22, and the obstacle removal laser head 24 is fixedly installed at the output end of the drive box 23. Both the drive box 23 and the obstacle removal laser head 24 are electrically connected to the integrated control box 10.

[0043] In this embodiment, a drive box 23 is used to adjust the angle of the obstacle removal laser head 24. The drive box 23 is electrically connected to the integrated control box 10. The integrated control box 10 controls and adjusts the obstacle removal laser head 24 so that it is at the same horizontal level as the obstacle and emits laser to clear the obstacle. The drive source inside the drive box 23 is a motor. The obstacle removal laser head 24 is connected to the drive box 23 through a connection. One end of the connecting rod is fixedly connected to the output end of the drive source motor.

[0044] Specifically, a limiting wheel 18 is movably installed on the inner side of the drive frame 17, and a rubber ring 20 is fixedly installed on the inner side of the limiting wheel 18. The limiting wheel 18 is composed of a rotating shaft and a gear. The number of limiting wheels 18 is two sets symmetrically arranged. A drive motor 19 is provided at one end of the drive frame 17.

[0045] In this embodiment, a limiting wheel 18 is set to engage with the line. The limiting wheel 18 is driven to rotate by a drive motor 19. Since the outer surface of the limiting wheel 18 has a groove, and under the action of the rubber ring 20, the limiting wheel 18 moves along the outside of the wire. The two sets of limiting wheels 18 are fixedly connected by bolts. The two sets of limiting wheels 18 can be disassembled. The setting of two sets of limiting wheels 18 is to ensure that the base frame 2 can run stably on the outside of the wire.

[0046] Specifically, the cleaning assembly includes a cleaning cylinder 15, a cleaning chamber 25, and a cleaning brush 26. The cleaning cylinder 15 is movably installed on the inner wall of the positioning frame 14, the cleaning chamber 25 is opened in the middle of the cleaning cylinder 15, and the cleaning brush 26 is fixedly installed on the inner side wall of the cleaning chamber 25.

[0047] In this embodiment, the cleaning cylinder 15 rotates under the drive of the drive gear 16. Since the wire passes through the inner wall of the cleaning chamber 25 and the cleaning brush 26 is in close contact with the outer surface of the wire, the rotation of the cleaning cylinder 15 will drive the cleaning brush 26 to clean the dust and attachments on the surface of the wire.

[0048] Specifically, the number of cleaning brushes 26 is several sets and they are distributed circumferentially about the inner wall of the cleaning cavity 25. The cleaning brushes 26 are made of rubber strips and the surface of the cleaning brushes 26 is provided with bristles.

[0049] In this embodiment, the cleaning brush 26 is made of rubber strips to increase the area between the bristles on the surface of the cleaning brush 26 and the surface of the wire, thereby enabling thorough cleaning of the wire.

[0050] Specifically, the CT power receiving box 13 is sleeved on the outside of the power grid line, and the inner diameter of the CT power receiving box 13 is larger than the diameter of the wire.

[0051] In this embodiment, the CT power collection box 13 is set up to obtain electrical energy by using the electromagnetic energy induced around the high-voltage transmission line. It mainly utilizes the principle of electromagnetic induction, using a current transformer to directly induce AC voltage from the high-voltage bus, and then through rectification, filtering and voltage stabilization, a stable and reliable DC voltage is obtained to provide a stable power supply for the robot. The CT power collection box 13 is electrically connected to the integrated control box 10. The CT power collection box 13 has a notch on the outside for connecting to the wire.

[0052] Specifically, the surface of the drive gear 16 located on one side of the cleaning cylinder 15 is provided with helical teeth, and the outer side of the cleaning cylinder 15 is provided with helical tooth grooves that are adapted to the helical tooth grooves provided on the surface of the drive gear 16.

[0053] In this embodiment, the cleaning cylinder 15 is driven by setting helical teeth on the surface of the drive gear 16 to cooperate with the helical tooth groove on the surface of the cleaning cylinder 15. The drive gear 16 is perpendicular to the cleaning cylinder 15. The drive gear 16 and the gear on the outside of the limit wheel 18 are on the same horizontal line and mesh with the gear on the outside of the limit wheel 18. When the limit wheel 18 rotates, it will drive the drive gear 16 to rotate, thereby driving the cleaning cylinder 15.

[0054] Specifically, the outer side of the cleaning rod 12 is provided with several sets of metal rods distributed in a circumferential manner.

[0055] In this embodiment, several metal rods are set on the outside of the cleaning rod 12 to knock and clean up tree branches and plastic bags stuck on the line. The cleaning rod 12 rotates under the drive of the long shaft 11, which in turn rotates under the drive of the drive gear 16 and wraps the plastic bags around it. After cleaning is completed, the robot is removed and the plastic bags wrapped around the surface of the outer metal rod of the cleaning rod 12 are removed.

[0056] In use, the notch at the bottom of the CT power receiving box 13 is aligned with the outer surface of the wire. The CT power receiving box 13 is then fitted onto the outside of the wire. After the CT power receiving box 13 is fitted, the connecting bolts of the two sets of limiting wheels 18 are removed, allowing slots to be made on the outer surfaces of the two sets of limiting wheels 18 to engage with the wire. The rubber ring 20 is then tightly fitted against the surface of the wire. The two sets of limiting wheels 18 are then fixedly connected with bolts. Once the limiting wheels 18 are connected to the outside of the wire, the CT power receiving box 13 utilizes the electromagnetic energy induced around the high-voltage transmission line to obtain electrical energy to power the integrated control box 10. With the power supply on, the integrated control box 10 is in operation. The images captured by camera 4 are transmitted to the robot's mainboard for analysis. When an obstacle is detected on the line, the lifting adjustment module in the integrated control box 10 adjusts the lifting components. Specifically, the stepper motor 21 drives the lead screw to rotate, which in turn moves the lifting frame 22 up and down along the inner sides of the guide frame 6 and the limit frame 7. Since the obstacle-removing laser head 24 is fixedly connected to one end of the lifting frame 22, the lifting of the lifting frame 22 allows the obstacle-removing laser head 24 to be adjusted to be on the same horizontal plane as the obstacle. 4. A laser is emitted to burn off debris attached to the surface of the wire. As the limiting wheel 18 moves along the surface of the wire, the gear on its outer side drives the drive gear 16 to rotate. The drive gear 16, in turn, drives the long shaft 11 to rotate, causing the metal rod on the outer side of the cleaning rod 12 to rotate. This metal rod strikes branches and plastic bags stuck to the wire surface, causing them to detach. Plastic may become entangled on the surface of the metal rod. The drive gear 16 has helical teeth that engage with helical grooves on the surface of the cleaning cylinder 15 to drive the cleaning cylinder 15. The drive gear 16 is perpendicular to the cleaning cylinder 15. The drive gear 16 and the gear on the outer side of the limit wheel 18 are on the same horizontal line and mesh with each other. When the limit wheel 18 rotates, it drives the drive gear 16 to rotate, thereby driving the cleaning cylinder 15. The cleaning cylinder 15 rotates along the inner wall of the positioning frame 14. As the cleaning cylinder 15 rotates, it drives the cleaning brush 26 to make a circular motion. The cleaning brush 26 uses a rubber strip to increase the area between the bristles on the surface of the cleaning brush 26 and the surface of the wire, thereby cleaning the dust attached to the surface of the wire.

[0057] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0058] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A power grid line obstacle clearing robot comprising a housing (1), characterized in that: The bottom of the shell (1) is fixedly installed with a chassis (2), the inner bottom wall of the shell (1) is fixedly installed with a guide frame (6), the surface of the guide frame (6) is provided with an extension slot (8), the outer side of the shell (1) is fixedly installed with a protective cover (5), the inner side wall of the protective cover (5) is fixedly installed with a camera (4), one end of the chassis (2) is fixedly installed with a baffle (3), the inner bottom wall of the shell (1) is fixedly installed with a limiting frame (7), the inner bottom wall of the shell (1) is fixedly installed with an integrated control box (10), the inner side of the shell (1) is provided with a lifting driving assembly, the outer side of the lifting assembly is provided with a laser obstacle removal assembly. The inner side of the chassis (2) is provided with a driving frame (17), the inner side of the driving frame (17) is provided with a driving assembly for driving the robot, the inner side of the chassis (2) is fixedly installed with a positioning frame (14), the inner side of the positioning frame (14) is provided with a cleaning assembly for cleaning the surface of the power grid line, the bottom end of the chassis (2) is provided with a CT power taking box (13), the inner side of the chassis (2) is movably installed with a long shaft (11), both ends of the long shaft (11) are fixedly installed with a cleaning rod (12), the outer side of the long shaft (11) and close to the surface of the power grid line is fixedly installed with a driving gear (16).

2. A power line obstacle clearing robot according to claim 1, characterized in that: The lifting assembly comprises a stepping motor (21), a lifting frame (22) and a threaded hole (9), the stepping motor (21) is fixedly installed on the inner bottom wall of the shell (1), the threaded hole (9) is formed in the top surface of the lifting frame (22), and the output end of the stepping motor (21) is fixedly installed with a lead screw, and the lifting frame (22) is movably installed on the outer side of the lead screw.

3. A power line obstacle clearing robot according to claim 2, characterized in that: The lifting frame (22) is in the shape of a cross, the front and rear ends of the lifting frame (22) penetrate the inner wall of the guide frame (6), and the left and right ends of the lifting frame (22) penetrate the inner wall of the limiting frame (7).

4. The power grid line obstacle clearing robot of claim 1, wherein: The laser obstacle removal assembly comprises a driving box (23) and an obstacle removal laser head (24), the driving box (23) is fixedly installed at the front and rear ends of the lifting frame (22), the obstacle removal laser head (24) is fixedly installed at the output end of the driving box (23), and the driving box (23) and the obstacle removal laser head (24) are electrically connected with the integrated control box (10).

5. The power grid line obstacle clearing robot of claim 1, wherein: The inner side of the driving frame (17) is movably installed with a limiting wheel (18), the inner side of the limiting wheel (18) is fixedly installed with a rubber ring (20), and the limiting wheel (18) is composed of a rotating shaft and a gear, wherein the number of limiting wheels (18) is two groups which are symmetrically arranged, and one end of the driving frame (17) is provided with a driving motor (19).

6. The power grid line obstacle clearing robot of claim 1, wherein: The cleaning assembly comprises a cleaning cylinder (15), a cleaning cavity (25) and a cleaning brush (26), the cleaning cylinder (15) is movably installed in the inner wall of the positioning frame (14), the cleaning cavity (25) is formed in the middle of the cleaning cylinder (15), and the cleaning brush (26) is fixedly installed on the inner side wall of the cleaning cavity (25).

7. A power line obstacle clearing robot according to claim 6, characterized in that: The number of the cleaning brushes (26) is several groups and is distributed in a circle relative to the inner wall of the cleaning cavity (25), the cleaning brush (26) is made of rubber strip, and the surface of the cleaning brush (26) is provided with bristles.

8. The power grid line obstacle clearing robot of claim 1, wherein: The CT power taking box (13) is sleeved outside the power grid line, and the inner diameter of the CT power taking box (13) is larger than the diameter of the wire.

9. The power grid line obstacle clearing robot of claim 1, wherein: The surface of the driving gear (16) located at one side of the cleaning cylinder (15) is provided with a helical tooth, and the outer side of the cleaning cylinder (15) is provided with a helical tooth groove matched with the helical tooth groove of the surface of the driving gear (16).

10. The power grid line obstacle clearing robot of claim 1, wherein: The outer side of the cleaning rod (12) is provided with several groups of metal rods and is distributed in a circle.

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