Obstacle crossing and deicing device for power transmission line

Abstract

The invention discloses an obstacle crossing and deicing device for a power transmission line, which comprises a mounting rack, and is characterized in that the mounting rack is provided with a deicing mechanism and at least three groups of advancing mechanisms arranged along the advancing direction of the power transmission line; the advancing mechanism comprises an advancing support arm in contact with a power transmission line and a driving wheel arranged on the advancing support arm, and the advancing mechanism is connected with the mounting rack through the three-degree-of-freedom parallel mechanism; the three-degree-of-freedom parallel mechanism comprises a fixed platform, a movable platform and at least three driving branch chains with the lengths capable of being independently controlled, and the advancing support arm is driven to achieve composite space pose transformation including lifting and lateral deflection by coordinately controlling the lengths of the driving branch chains, so that the advancing support arm can actively adapt to space distribution of obstacles along a power transmission line, and the power transmission line is driven to move. Stable obstacle crossing advancing is realized; meanwhile, through cooperation of the driving wheel and the clamping assembly, the stability and the bearing capacity in the advancing process are improved; the device is simple in structure and high in obstacle crossing adaptability, and the safety and reliability of deicing operation of the power transmission line can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to power maintenance equipment, in particular to a power transmission line obstacle crossing and deicing device. BACKGROUND

[0002] With the complication of the operation environment of the power transmission line, the power transmission line inevitably faces the problems of icing and dense distribution of obstacles such as fittings, spacer bars and strain clamps along the line in the long-term operation process. In order to ensure the safe operation of the power transmission line, various devices for power transmission line inspection, walking or deicing have appeared in the prior art. Such devices are usually in contact with the power transmission line through walking wheels installed on the body, and move along the direction of the power transmission line under the driving action, and cooperate with mechanical arms or knocking devices to realize the removal of ice. However, most of the existing power transmission line walking and deicing devices adopt fixed or single degree of freedom adjustment walking mechanism, and the position relationship of the walking support structure relative to the installation frame is relatively single. When encountering obstacles such as fittings and suspension clamps along the line, the device often relies on overall lifting, passive crossing or complex joint type rotating structure to realize obstacle crossing. Such scheme not only has a complex mechanism and high control difficulty, but also easily causes force mutation between the walking mechanism and the power transmission line in the obstacle crossing process, affects the walking stability, and even causes the device to be stuck or off-line risk. At the same time, due to the lack of independent and fine spatial pose adjustment capability between the walking mechanism and the frame, the prior art has obvious deficiencies in considering continuous walking, stable suspension and flexible obstacle crossing, thereby limiting the adaptability and operation reliability of the device in complex line environment. SUMMARY

[0003] The purpose of the present application is to provide a power transmission line obstacle crossing and deicing device which can realize multi-degree of freedom spatial pose adjustment of the walking mechanism relative to the frame on the premise of maintaining stable suspension and continuous walking of the device, so as to safely and reliably complete the obstacle crossing and deicing operation on the power transmission line.

[0004] Technical solution: The over-obstacle deicing device for power transmission line provided by the application comprises a mounting rack, a deicing mechanism arranged on the mounting rack, and at least three groups of traveling mechanisms arranged along the traveling direction of the power transmission line; the traveling mechanism comprises a traveling support arm for contacting the power transmission line, and a driving wheel arranged on the traveling support arm and rolling or guiding with the power transmission line and traveling under the driving action; the traveling mechanism is connected with the mounting rack through a three-degree-of-freedom parallel mechanism; wherein, the fixed platform of the three-degree-of-freedom parallel mechanism is fixedly arranged on the mounting rack, and the movable platform is fixedly connected with the base of the traveling support arm; the three-degree-of-freedom parallel mechanism comprises at least three driving branches arranged in parallel and having independently controllable lengths, both ends of each driving branch are connected with the fixed platform and the movable platform through a kinematic pair allowing multi-degree-of-freedom relative rotation, and the length of each driving branch is controlled to drive the whole traveling support arm to perform a complex spatial pose transformation including lifting and lateral deflection relative to the mounting rack.

[0005] Preferably, the driving branch is an electric push rod; the cylinder end of the electric push rod is connected with the mounting seat on the fixed platform through a first rotating pair, and the push rod end is connected with the movable platform through a spherical hinge; the independent control of the extension length of each branch is facilitated, and the adaptability and reliability of the parallel mechanism in the movement process are ensured.

[0006] Preferably, the traveling support arm is a rigid member, and the spatial pose change of the traveling support arm relative to the mounting rack is caused by the whole movable platform fixedly connected with the traveling support arm; this is conducive to simplifying the structure form and improving the stability of the posture control of the traveling support arm.

[0007] Preferably, the traveling support arm further comprises a wheel driving motor for driving the driving wheel to rotate, the wheel driving motor is fixedly installed on the base of the traveling support arm, and the output shaft of the wheel driving motor is in transmission connection with the driving wheel.

[0008] Preferably, the traveling support arm is further provided with a clamping assembly for cooperating with the driving wheel; the clamping assembly comprises a clamping wheel and an adjusting mechanism for adjusting the position of the clamping wheel relative to the driving wheel; the power transmission line can be effectively constrained during the traveling and over-obstacle process, and the stability of the device in the suspended and traveling state is improved.

[0009] Preferably, the adjusting mechanism comprises a linear driving assembly arranged on the base, and the clamping wheel is in transmission connection with the linear driving assembly through a support frame, so as to be driven to approach or move away from the driving wheel.

[0010] Preferably, the linear driving assembly comprises a lead screw nut mechanism, the lead screw is driven to rotate by a driving motor installed on the base, and the nut is fixedly connected with the support frame.

[0011] Preferably, the deicing mechanism comprises a rotating base mounted on the mounting frame, and a multi-stage working arm and an end effector connected in sequence; the multi-stage working arm comprises a large arm and a small arm hinged thereto; the root of the large arm is hinged to the rotating base and is driven by a large arm motor; the root of the small arm is hinged to the end of the large arm and is driven by a small arm motor; the end effector is mounted on the end of the small arm; the deicing mechanism can be deployed for work at different spatial positions, improving the adaptability to the icing of the power transmission line.

[0012] Preferably, the end effector comprises a horizontal seat, a rotary motor, a flange plate and a plurality of knocking rods; the horizontal seat is fixed to the end of the small arm, the rotary motor is mounted on the horizontal seat and drives the flange plate to rotate, and the plurality of knocking rods are distributed along the circumference of the flange plate.

[0013] Preferably, a control system is further included, which is electrically connected with the driving components in each of the traveling mechanisms, the driving branch chains in each of the three-degree-of-freedom parallel mechanisms, and each of the driving motors in the deicing mechanism, for coordinated control of the obstacle crossing and deicing operations.

[0014] Beneficial effects: Compared with the prior art, the present application has the following significant advantages: by introducing a three-degree-of-freedom parallel mechanism between the mounting frame and the traveling arm, and combining a plurality of driving branch chains with independently controllable lengths to adjust the overall spatial pose of the traveling arm, a traveling structure with lifting and lateral tilting capabilities is formed, enabling the traveling arm to actively adapt to the spatial distribution of obstacles along the power transmission line while maintaining the integrity of the rigid structure, and achieving smooth and continuous obstacle crossing; at the same time, the cooperation between the traveling arm and the power transmission line through the driving wheel and the clamping assembly improves the stability and carrying capacity of the device during traveling. This structure not only improves the obstacle crossing adaptability of the device in complex power transmission line environments, but also solves the problem of instability and high risk of obstacle crossing caused by the limited freedom of the traveling mechanism in the prior art, significantly improving the safety and reliability of the deicing operation of the power transmission line. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic diagram of the overall structure of the present application;

[0016] Figure 2 is a schematic diagram of the traveling arm structure of the present application;

[0017] Figure 3 is a schematic diagram of the three-degree-of-freedom parallel mechanism structure of the present application;

[0018] Figure 4 is a schematic diagram of the deicing mechanism structure of the present application;

[0019] Figure 5A schematic diagram of a rotating base structure of the present application. DETAILED DESCRIPTION

[0020] The technical solutions of the present application are further described below in conjunction with the drawings.

[0021] As shown in the drawings, Figures 1-5 The present application provides an overhanging ice-removing device for power transmission lines, which comprises a mounting rack 1 serving as the main bearing structure of the whole device for mounting and supporting the traveling mechanism, the ice-removing mechanism 4 and the related control and power supply components. At least three groups of traveling mechanisms are arranged on the mounting rack 1 along the direction of the power transmission line, and each traveling mechanism is distributed on the front and rear sides of the mounting rack 1, so that the device forms a multi-point support structure when it is hung on the power transmission line, thereby ensuring the overall stability during traveling and operation. A closed or semi-closed mounting space is formed inside the mounting rack 1 for accommodating the control system, power supply components, communication module and sensors related to traveling, overhanging and ice-removing operations. Each functional component is connected through the internal wiring channel of the rack to reduce the exposed cables and improve the environmental adaptability of the whole device.

[0022] Each group of traveling mechanisms comprises a traveling support arm 3 for contacting the power transmission line. The traveling support arm 3 is a rigid whole member, on which a driving wheel 3-1 is arranged for rolling or guiding cooperation with the power transmission line and traveling along the power transmission line under the driving action. The driving wheel 3-1 is provided with rotary power by a wheel driving motor 3-2 fixedly installed on the base 3-4 of the traveling support arm 3, and the output shaft of the wheel driving motor 3-2 is coaxial with the driving wheel 3-1 or connected through a transmission structure, thereby providing power for the device to travel along the direction of the power transmission line. The stable guidance during traveling is realized through the rolling cooperation of the driving wheel 3-1 with the power transmission line.

[0023] The traveling support arm 3 is connected with the mounting rack 1 through a three-degree-of-freedom parallel mechanism 2. The three-degree-of-freedom parallel mechanism 2 comprises a fixed platform 2-4 and a moving platform 2-1, wherein the fixed platform 2-4 is fixedly arranged on the mounting rack 1, and the moving platform 2-1 is fixedly connected with the base 3-4 of the traveling support arm 3, so that the spatial pose change of the traveling support arm 3 is generated by the moving platform 2-1 as a whole. The three-degree-of-freedom parallel mechanism 2 comprises at least three driving branches arranged in parallel and having lengths independently controllable, and each driving branch adopts an electric push rod 2-2 structure. The cylinder end of each electric push rod 2-2 is installed on a mounting seat on the fixed platform 2-4 through a first rotary pair, and the push rod end is connected with the moving platform 2-1 through a spherical hinge 2-5, thereby allowing the end of the branch to generate the necessary angular change during the extension and retraction of the push rod. By respectively controlling the extension and retraction amounts of the electric push rods 2-2, the moving platform 2-1 can generate compound motions such as lifting and lateral yawing relative to the fixed platform 2-4, thereby driving the whole traveling support arm 3 to complete the spatial pose adjustment to adapt to the spatial positions of the shock absorbers, spacer rods and other obstacles of the power transmission line, and to realize active overhanging.

[0024] In order to improve the clamping stability of the traveling mechanism to the power transmission line during the traveling process, a clamping assembly is arranged on the traveling arm 3. The clamping assembly comprises a clamping wheel 3-6 and an adjusting mechanism for adjusting the position of the clamping wheel 3-6 relative to the driving wheel 3-1. The clamping wheel 3-6 is arranged opposite to the driving wheel 3-1, and a clamping space for accommodating the power transmission line is formed between the two. The adjusting mechanism comprises a linear drive assembly arranged on the base 3-4, and the clamping wheel 3-6 is mounted on the linear drive assembly through a support frame 3-7, so as to move close to or away from the driving wheel 3-1 under the driving action.

[0025] The linear drive assembly adopts a lead screw nut mechanism. The lead screw 3-11 is arranged along the length direction of the traveling arm 3, and its two ends are mounted and limited by the support structure mounted on the base 3-4, so that the lead screw 3-11 can rotate relative to the base 3-4 without axial displacement. The driving motor 3-10 is fixedly mounted on the base 3-4, and its output shaft is coaxially connected with the lead screw 3-11 for driving the lead screw 3-11 to rotate. The nut 3-5 is sleeved on the lead screw 3-11 and fixedly connected with the support frame 3-7. One side of the support frame 3-7 is provided with an open hole guide slider, and correspondingly, the base 3-4 is formed with a guide column matched with the guide slider. The open hole guide slider is sleeved on the guide column, so as to form a linear guide pair in structure, so that the support frame 3-7 and the nut 3-5 connected therewith can only move linearly along the axial direction of the lead screw 3-11 during the movement process, and the rotation freedom thereof around the lead screw axis is limited. When the driving motor 3-10 drives the lead screw 3-11 to rotate, the nut 3-5 moves along the axial direction of the lead screw under the constraint of the guide structure, so as to drive the support frame 3-7 and the clamping wheel 3-6 to clamp or release the power transmission line. When the driving motor 3-10 stops working, since the nut 3-5 is rigidly connected with the support frame 3-7, and the support frame 3-7 cannot rotate around the lead screw axis under the constraint of the guide structure, the nut 3-5 will not move reversely along the lead screw 3-11 in the case that the power transmission line applies a radial load to the clamping wheel 3-6, so that the clamping wheel 3-6 can be stably kept at the current clamping position.

[0026] The deicing mechanism 4 is installed at the front end of the mounting rack 1, and includes a rotating base and a multi-stage working arm and an end effector connected in turn. The rotating base is installed in the mounting area at the front end of the mounting rack 1, and specifically includes an upper baffle, a motor side baffle and a lower baffle, the lower baffle is fixedly installed on the mounting rack 1, the mounting space for accommodating the rotating base motor is formed between the upper baffle and the lower baffle, and the motor side baffle is arranged between the upper baffle and the lower baffle and is used for radially limiting and fixing the rotating base motor. The output shaft of the rotating base motor is connected with the rotating base through a connecting shaft structure, so that the rotating base rotates relative to the mounting rack 1 around the axis under the drive of the motor. The rotating base is installed in the mounting hole formed in the middle of the mounting rack 1, and the lower surface thereof is attached to the front end structure of the mounting rack 1, so as to ensure the overall rigidity of the deicing mechanism during the working process. The multi-stage working arm includes a large arm 4-5 and a small arm 4-7. The large arm 4-5 is installed on the rotating base, is axially limited by the end cover and the like, and is driven by the large arm motor 4-2 to rotate around the rotating base. The small arm 4-7 is hingedly installed at the end of the large arm 4-5, and is driven by the small arm motor 4-6 to rotate relatively, so that the deicing mechanism can cover different heights and different lateral positions of the power transmission line.

[0027] The end effector is installed at the front end of the small arm 4-7, and includes a horizontal seat 4-8, a rotating motor 4-9, a flange plate 4-10 and a plurality of knocking rods 4-11. The horizontal seat 4-8 is fixed to the end of the small arm 4-7, the rotating motor 4-9 is installed on the horizontal seat 4-8, the output shaft of the rotating motor 4-9 is connected with the flange plate 4-10, and the plurality of knocking rods 4-11 are distributed in the circumferential direction of the flange plate 4-10 and are detachably installed by bolts. Under the drive of the rotating motor 4-9, the flange plate 4-10 and the knocking rods 4-11 rotate at high speed, the knocking rods 4-11 rely on the flexible structure thereof to continuously knock the ice layer on the surface of the power transmission line, so that the ice layer is detached under the repeated stress, and the deicing work is completed.

[0028] The power transmission line obstacle crossing and deicing device also includes a control system, the control system is electrically connected with the wheel driving motor 3-2 in each advancing mechanism, the driving motor 3-10 in the clamping assembly, the electric push rod 2-2 in each three-degree-of-freedom parallel mechanism 2 and the large arm motor 4-2, the small arm motor 4-6 and the rotating motor 4-9 in the deicing mechanism 4 respectively. Through the coordinated control of the control system, in the advancing process of the device, the spatial pose of each advancing arm 3 is adjusted according to the position and shape of the obstacle along the power transmission line, and smooth obstacle crossing is realized; after the obstacle crossing is completed, the deicing mechanism 4 is controlled to expand the work, and the ice on the surface of the power transmission line is removed, so that the comprehensive work process of the power transmission line obstacle crossing and deicing is completed.

[0029] The control system is centered on an industrial-grade embedded controller installed inside the frame 1, which is connected with each motor driver, sensor and communication module through pre-set CAN bus or Ethernet. The base 3-4 of each traveling arm 3 is installed with an encoder for detecting the rotation speed of the driving wheel 3-1, a pressure sensor for detecting the pressure between the clamping wheel 3-6 and the driving wheel 3-1, and a posture sensor for detecting the spatial posture of the moving platform 2-1. The controller constitutes a closed-loop control by reading the data of these sensors. The power of the device is provided by a rechargeable lithium battery pack installed inside the frame 1, which is connected with all the motors and sensors on the traveling arm 3 through a flexible drag chain cable with anti-twist design, via the hollow channel between the fixed platform 2-4 and the moving platform 2-1 of the three-degree-of-freedom parallel mechanism 2, to ensure the safety and reliability of the line during movement.

[0030] During the design stage of the device, the mass and center of mass of the installation frame 1, all traveling mechanisms, deicing mechanism 4 and battery are modeled and calculated by three-dimensional modeling software, and counterweight blocks are added or removed through pre-set counterweight installation slots inside the frame 1, so that in the most unfavorable working condition of any single traveling mechanism completely leaving the power line, the projection of the center of gravity of the whole machine on the horizontal plane can fall on the line between the contact points of the remaining two groups of traveling mechanisms and the power line, and is located between the two points. The device can be initially hung on the line by means of unmanned aerial vehicle hoisting or ground traction assistance. After the operation is completed, the clamping of the power line by all the traveling mechanisms is released, and then the device can be taken off the line by unmanned aerial vehicle or manual assistance.

[0031] The control system is centered on an industrial-grade embedded controller installed inside the frame 1, which is connected with each motor driver, sensor and communication module through pre-set CAN bus or Ethernet. The base 3-4 of each traveling arm 3 is installed with an encoder for detecting the rotation speed of the driving wheel 3-1, a pressure sensor for detecting the pressure between the clamping wheel 3-6 and the driving wheel 3-1, and a posture sensor for detecting the spatial posture of the moving platform 2-1. The controller constitutes a closed-loop control by reading the data of these sensors. The power of the device is provided by a rechargeable lithium battery pack installed inside the frame 1, which is connected with all the motors and sensors on the traveling arm 3 through a flexible drag chain cable with anti-twist design, via the hollow channel between the fixed platform 2-4 and the moving platform 2-1 of the three-degree-of-freedom parallel mechanism 2, to ensure the safety and reliability of the line during movement.

[0032] In practical applications, the power line obstacle crossing and deicing device can also be modularly expanded according to the number of lines, by arranging multiple sets of traveling mechanisms and deicing mechanisms on the installation rack 1, synchronous or parallel deicing operations on multiple power lines are realized, thereby further improving the operation efficiency, and being suitable for the automatic deicing needs in complex power line environments.

[0033] The working principle and use method of the device are as follows: when deployed, the device is suspended on the power line through the driving wheels 3-1 of the at least three sets of traveling mechanisms, and the clamping assemblies can be clamped as needed to increase stability. When traveling and deicing normally, all traveling mechanisms are clamped, the driving wheels 3-1 roll synchronously under the drive of the wheel drive motor 3-2, driving the device to move along the wire; at the same time, the deicing mechanism 4 starts to work, the control system can control the rotation base to adjust the orientation according to the instructions, and control the large arm 4-5 and the small arm 4-7 to accurately position the high-speed rotating knocking rod 4-11 to the ice-covered part of the wire, and the ice layer is removed through continuous and uniform flexible knocking. When encountering obstacles such as shock absorbers and spacer rods, the device starts the bionic gait obstacle crossing program: first, the clamping assembly of the traveling mechanism in front of the obstacle is loosened under the action of the linear drive assembly, then the three-degree-of-freedom parallel mechanism 2 corresponding to the traveling mechanism is actuated, the three electric push rods 2-2 are coordinated to extend and retract, the traveling arm 3, the driving wheel 3-1 and the clamping wheel 3-6 thereon are lifted vertically as a whole to separate from the wire, and then are laterally deflected to avoid the obstacle profile through a compound motion; in this process, at least another two sets of traveling mechanisms firmly grasp the wire to provide a stable anchor point for the entire device. Then, the traveling mechanism behind the obstacle drives the device to move forward as a whole, and after the front mechanism completely crosses the obstacle, the parallel mechanism drives the arm to reset, so that the driving wheel 3-1 falls back to the wire and is clamped again. After that, the subsequent traveling mechanisms follow the same logic to cross the obstacle one by one. During the entire obstacle crossing process, the center of gravity of the device is carefully balanced, when one set of mechanism is out of line, the projection of the center of gravity of the entire machine on the horizontal plane can fall on the line between the contact points of the remaining two sets of traveling mechanisms and the power line, and is located between the two points, thereby avoiding the risk of overturning from the mechanical principle. Through the unique coordinated operation of the parallel drive type multi-mechanism alternating obstacle crossing and efficient flexible deicing of the device, stable, continuous and automatic operation on complex power lines is realized.

Claims

1. A de-icing device for power lines over obstacles, characterized in that, The application relates to a power transmission line deicing device, which comprises a mounting rack (1) provided with deicing mechanisms (4) and at least three groups of traveling mechanisms arranged along the traveling direction of the power transmission line; the traveling mechanism comprises a traveling support arm (3) used for contacting the power transmission line, the traveling support arm (3) is provided with a driving wheel (3-1) which rolls or guides the power transmission line and travels under the driving action; the traveling mechanism is connected with the mounting rack (1) through a three-degree-of-freedom parallel mechanism (2); wherein the fixed platform (2-4) of the three-degree-of-freedom parallel mechanism (2) is fixedly arranged on the mounting rack (1), and the movable platform (2-1) is fixedly connected with the base (3-4) of the traveling support arm (3); the three-degree-of-freedom parallel mechanism (2) comprises at least three driving branch chains which are arranged in parallel and the lengths of which can be independently controlled, the two ends of each driving branch chain are connected with the fixed platform (2-4) and the movable platform (2-1) through a kinematic pair which allows multi-degree-of-freedom relative rotation, and the length of each driving branch chain is controlled to drive the traveling support arm (3) to perform a compound spatial pose transformation containing lifting and lateral deflection relative to the mounting rack (1).

2. The power line de-icing device over obstacles according to claim 1, characterized in that: The driving branch chain is an electric push rod (2-2); the cylinder end of the electric push rod (2-2) is connected with the mounting seat on the fixed platform (2-4) through a first rotating pair, and the push rod end is connected with the movable platform (2-1) through a spherical hinge (2-5).

3. The power line de-icing apparatus over obstacles according to claim 2, characterized in that: The traveling support arm (3) is a rigid member, and the spatial pose change of the traveling support arm (3) relative to the mounting rack (1) is caused by the movable platform (2-1) fixedly connected with the traveling support arm (3).

4. The power line de-icing apparatus over obstacles according to claim 1, characterized in that: The traveling support arm (3) further comprises a wheel driving motor (3-2) used for driving the driving wheel (3-1) to rotate, the wheel driving motor (3-2) is fixedly mounted on the base (3-4) of the traveling support arm (3), and the output shaft of the wheel driving motor (3-2) is in transmission connection with the driving wheel (3-1).

5. The power line de-icing apparatus over obstacles according to claim 1, characterized in that: The traveling support arm (3) is further provided with a clamping assembly used for cooperating with the driving wheel (3-1); the clamping assembly comprises a clamping wheel (3-6) and an adjusting mechanism used for adjusting the position of the clamping wheel (3-6) relative to the driving wheel (3-1).

6. The power line de-icing apparatus over obstacles according to claim 5, characterized in that: The adjusting mechanism comprises a linear driving assembly arranged on the base (3-4), the clamping wheel (3-6) is in transmission connection with the linear driving assembly through a support frame (3-7) to approach or move away from the driving wheel (3-1) under the driving action.

7. The power line de-icing apparatus over obstacles according to claim 6, characterized in that: The linear driving assembly comprises a screw nut mechanism, the screw rod (3-11) is driven to rotate by the driving motor (3-10) mounted on the base (3-4), and the nut (3-5) is fixedly connected with the support frame (3-7).

8. The power line de-icing apparatus over obstacles according to claim 1, characterized by: The deicing mechanism (4) comprises a rotating base mounted on the mounting rack (1), and a multi-stage working arm and an end effector connected in sequence; the multi-stage working arm comprises a large arm (4-5) and a small arm (4-7) hinged to the large arm; the root of the large arm (4-5) is hinged to the rotating base and is driven by a large arm motor (4-2); the root of the small arm (4-7) is hinged to the end of the large arm (4-5) and is driven by a small arm motor (4-6); the end effector is mounted on the end of the small arm (4-7).

9. The power line de-icing apparatus over obstacles according to claim 8, characterized in that: The end effector comprises a horizontal seat (4-8), a rotating motor (4-9), a flange plate (4-10) and a plurality of knocking rods (4-11); the horizontal seat (4-8) is fixed to the end of the small arm (4-7), the rotating motor (4-9) is mounted on the horizontal seat (4-8) and drives the flange plate (4-10) to rotate, and a plurality of the knocking rods (4-11) are distributed along the circumference of the flange plate (4-10).

10. The power line de-icing apparatus over obstacles according to claim 1, characterized in that: A control system is further included, which is electrically connected with the driving components in each of the traveling mechanisms, the driving branch chains in each of the three-degree-of-freedom parallel mechanisms (2), and each of the driving motors in the deicing mechanism (4), for coordinated control of obstacle crossing and deicing operations.

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