Obstacle crossing and deicing robot for high-voltage wire

Abstract

The utility model relates to an obstacle crossing and deicing robot for a high-voltage wire, which belongs to the technical field of deicing of high-voltage wires and comprises a bottom plate, and a first walking arm assembly is mounted on the upper surface of the bottom plate; a battery and a power taking assembly are installed on the upper surface of the bottom plate. A deicing lantern ring assembly is further installed on the upper surface of the bottom plate. A telescopic assembly is arranged on the bottom plate and comprises a mounting block fixed on the bottom plate; the mounting block is in threaded connection with a second lead screw, the axis direction of the second lead screw is arranged in the X direction, and the X direction is parallel to the wire direction; a sliding frame is movably clamped to the bottom plate, a connecting block is fixed to the sliding frame, and the second lead screw is rotationally connected to the connecting block. A telescopic motor is arranged on the connecting block, a second walking arm assembly is installed on the sliding frame, and the second walking arm assembly and the first walking arm assembly are the same in structure. A visual camera is also included. According to the robot, the distance between the two second walking arm assemblies can be changed through the telescopic assembly, and therefore the robot can cross an obstacle more easily.

Description

Technical Field

[0001] The utility model belongs to the technical field of high-voltage electric wire deicing devices, and in particular relates to a high-voltage electric wire obstacle-crossing and deicing robot. Background Art

[0002] Electricity transmission must rely on high-voltage transmission lines, so it is very important to ensure the safety of high-voltage transmission lines. However, high-voltage transmission lines often cross mountains, hills and other areas with complex terrain. These areas often experience extreme weather such as freezing rain and heavy snow, which causes ice to cover the surface of high-voltage transmission lines.

[0003] A Chinese patent with authorization announcement number CN202231393U discloses a high-voltage wire obstacle-crossing and de-icing robot. In the patent, a motor drives one of the four-bar bracket structures to rotate, so that the two clamping wheels on the four-bar bracket are opened and the high-voltage wire is loosened. At the same time, the two clamping wheels are deflected so that the clamping wheels and the obstacle are no longer in the same plane. As the de-icing robot continues to move, the two clamping wheels on the four-bar bracket pass over the obstacle.

[0004] The disadvantage of the prior art is that in the prior art, the distance between the two four-link brackets at the front and rear is a fixed value D. The maximum obstacle crossing distance cannot exceed the distance D between the two four-link brackets, otherwise the robot will fall, so the maximum obstacle crossing distance of the robot is D. Utility Model Content

[0005] The utility model discloses a high-voltage electric wire obstacle-crossing and de-icing robot, which can change the distance D between two brackets at the front end and the rear end, so that the robot can cross obstacles with a greater possibility.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a high-voltage electric wire obstacle-crossing and deicing robot, characterized in that it comprises a base plate, on the upper surface of which is mounted a first walking arm assembly for driving the robot to move; on the upper surface of which is mounted a battery, on which is also mounted a power-taking assembly for charging the battery; and on the upper surface of which is also mounted a deicing collar assembly for deicing;

[0007] A telescopic assembly is provided on the bottom plate, and the telescopic assembly includes a mounting block fixed on the bottom plate; a second screw rod is threadedly connected to the mounting block, and the axial direction of the second screw rod is set along the X direction, and the X direction is parallel to the direction of the electric wire; a slide is movablely provided on the bottom plate, and the slide rod slides along the X direction, a connecting block is fixed on the slide rod, and the second screw rod is rotatably connected to the connecting block; a telescopic motor for driving the second screw rod to rotate is provided on the connecting block, and a second walking arm assembly is installed on the slide rod, and the second walking arm assembly has the same structure as the first walking arm assembly; and a visual camera for capturing obstacle images is also included.

[0008] Furthermore, the first walking arm assembly or the second walking arm assembly includes: a first bracket, fixed on the corresponding base plate or slide; a first movable frame, rotatably connected to the first bracket; the rotating shaft of the first movable frame is along the X direction; the first bracket is provided with a first servo motor for driving the first movable frame to rotate; a strip hole, opened on the first movable frame; two sliders, movably clamped in the strip hole and able to slide along the strip hole; two walking wheels, respectively rotatably connected to the corresponding sliders; the plane where the axis of the walking wheel is located is assumed to be plane Z, and the X direction is perpendicular to plane Z; the two walking wheels respectively abut the upper end and the lower end of the wire; the slider is provided with a second servo motor for driving the walking wheel to rotate; a clamping motor, the non-rotating shaft end of which is fixed to the first movable frame, a first screw rod is fixed on the rotating shaft of the clamping motor, the axis of the first screw rod coincides with the axis of the rotating shaft of the clamping motor, the first screw rod has two opposite threads, and the two threads of the first screw rod are respectively threadedly connected to the two sliders.

[0009] Furthermore, the power collection component includes: two vertical frames, which are rotatably connected to the upper surface of the bottom plate; the midline of the upper surface of the bottom plate parallel to the X direction is set as line G, the vertical surface passing through line G is set as plane P, and the two vertical frames are symmetrically arranged along plane P; two winding frames are fixed on the upper ends of the corresponding vertical frames; two wires are respectively wound on the corresponding winding frames, and can generate induced electricity by relying on magnetic induction; the two wires are respectively connected in parallel with the battery.

[0010] It is possible to directly generate induced electricity in the wires through the alternating current in the wires, and then use the induced electricity to charge the battery.

[0011] Furthermore, the de-icing sleeve ring assembly includes: two rotating rods, rotatably connected to the upper surface of the base plate; symmetrically arranged along the surface P; two de-icing rings, fixed to the corresponding upper ends of the rotating rods, and the two de-icing rings can be rotated through the rotating rods to form a complete circular ring, and the circular ring is recorded as a de-icing sleeve, and the de-icing sleeve is set on the electric wire.

[0012] The deicing sleeve can be put on the electric wires. As the robot moves, the deicing sleeve hits the ice on the electric wires, breaks the ice on the wires, and peels the ice off the wires.

[0013] Furthermore, a rolling brush assembly is also provided on the base plate, and the rolling brush assembly includes: two fixed rods fixed on the upper surface of the base plate; two support rods, the lower ends of the two support rods are rotatably connected to the corresponding upper ends of the fixed rods, and the axes of the rotating shafts of the support rods are along the X direction; the two support rods are symmetrically arranged along the surface P; two rollers are rotatably connected to the corresponding upper ends of the support rods, and the axes of the rotating shafts of the rollers are along the X direction, the rollers are in contact with the outer wall of the electric wire, and the support rods are provided with a rolling motor for driving the rollers to rotate.

[0014] The ice on the wire can be brushed off by rotating. The roller and the aforementioned deicing sleeve exert force on the ice on the wire in different directions, so it is easier to scrape off the ice on the wire by exerting force on the ice from different directions.

[0015] Furthermore, two first walking arm assemblies are provided, which are arranged in parallel on the bottom plate along the X direction; the midline of the bottom plate along the Y direction is assumed to be line U, and the surface passing through line U and along the vertical direction is surface E, two telescopic assemblies are provided, which are symmetrically arranged along surface E, and two second walking arm assemblies are also provided, which are respectively arranged on the corresponding telescopic assemblies.

[0016] Beneficial effects:

[0017] This solution is provided with a telescopic assembly, which can allow the second walking arm assembly to move a greater distance in the X direction, so that the distance between the two second walking arm assemblies becomes larger, thereby making it easier to cross obstacles;

[0018] This solution provides a power-taking component that can obtain power from the alternating current in the wires and store it in a battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the device;

[0020] Figure 2 is a schematic diagram of the structure of the first walking arm assembly or the second walking arm assembly;

[0021] Figure 3 It is a schematic diagram of the structure of the telescopic component;

[0022] Figure 4 It is a schematic diagram of the structure of the power taking component;

[0023] Figure 5 It is a schematic diagram of the structure of the de-icing collar assembly.

[0024] 1. Base plate; 2. First walking arm assembly; 21. First bracket; 22. First movable frame; 23. Strip hole; 24. Slider; 25. Travel wheel; 26. Second servo motor; 27. Clamping motor; 28. First screw rod; 3. Telescopic assembly; 31. Mounting block; 32. Second screw rod; 33. Slide; 34. Connecting block; 35. Telescopic motor; 4. Second walking arm assembly; 5. Power supply assembly; 51. Stand; 52. Winding frame; 53. Wire; 6. Deicing sleeve ring assembly; 61. Rotating rod; 62. Deicing ring; 7. Rolling brush assembly; 71. Fixed rod; 72. Support rod; 73. Roller; 8. Battery. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See Figure 1 A high-voltage wire obstacle-crossing and deicing robot comprises a bottom plate 1. In this embodiment, the bottom plate 1 is in the shape of a rectangular plate. In a top view, the high-voltage wire coincides with one of the midlines of the bottom plate 1. Let the midline be line G; let the surface passing through line G and along the vertical direction be surface P; let the direction of line G be Figure 1 Middle X direction.

[0027] Two sets of first walking arm assemblies 2 are arranged on the upper surface of the base plate 1, and the two sets of first walking arm assemblies 2 are arranged side by side along the X direction. Figure 2 , the first walking arm assembly 2 includes:

[0028] The first bracket 21 has its lower end fixed on the upper surface of the base plate 1 .

[0029] The first movable frame 22 has a lower end rotatably connected to the upper end of the first bracket 21, and the rotation axis of the first movable frame 22 is along the X direction, that is, Figure 2 The first bracket 21 is perpendicular to the paper surface. A first servo motor (not shown) is installed on the first bracket 21 for driving the first movable bracket 22 to rotate. The non-rotating shaft end of the first servo motor is fixed to the first bracket 21, the rotating shaft of the first servo motor coincides with the rotating shaft axis of the first bracket 21, and the rotating shaft of the first servo motor is fixedly connected to the first bracket 21.

[0030] The strip hole 23 is formed on the first movable frame 22 . The length direction of the strip hole 23 is along the radial direction of the rotation axis of the first movable frame 22 .

[0031] Two sets of clamping components are respectively arranged on the first movable frame 22, one above and one below.

[0032] The clamping assembly includes:

[0033] The slider 24 is movably mounted on the strip hole 23 and can slide relative to the length direction of the strip hole 23 .

[0034] The running wheel 25 is rotatably connected to the slider 24. Since the axial direction of the running wheel 25 changes with the rotation of the first movable frame 22, the plane where the axis of the running wheel 25 is located is assumed to be plane Z, and the X direction is perpendicular to plane Z. The running wheel 25 abuts against the surface of the high-voltage wire. The running wheels 25 of the upper and lower clamping assemblies abut against the upper and lower ends of the high-voltage wire respectively.

[0035] The two sliders 24 are respectively equipped with second servo motors 26 for driving the travel wheel 25 to rotate. The non-rotating shaft end of the second servo motor 26 is fixed on the slider 24. The rotating shaft of the second servo motor 26 coincides with the rotating shaft axis of the travel wheel 25. The rotating shaft of the second servo motor 26 is fixedly connected to the travel wheel 25.

[0036] A clamping motor 27 for driving the two sliders 24 to slide simultaneously is installed on the first movable frame 22. The non-rotating shaft end of the clamping motor 27 is fixed on the first movable frame 22. A first screw rod 28 is fixedly connected to the rotating shaft of the clamping motor 27. The axis of the first screw rod 28 coincides with the axis of the rotating shaft of the clamping motor 27. The first screw rod 28 is provided with two opposite threads, and the two threads are respectively threadedly connected to the two sliders 24.

[0037] The clamping motor 27 is used to drive the slider 24, the second servo motor 26 and the running wheel 25 to move as a whole along the length direction of the strip hole 23, and the two bodies move away from or towards each other under the drive of the clamping motor 27. After the two bodies move away from each other, the two running wheels 25 release the wires, and then the first servo motor rotates the first movable frame 22, so that the first movable frame 22, the slider 24, the second servo motor 26 and the running wheel 25 deflect to the Y side as a whole, and the Y direction is perpendicular to the X direction, so that the first walking arm assembly 2 avoids the obstacle. After the first walking arm assembly 2 avoids the obstacle, the robot moves along the X direction, the first walking arm assembly 2 crosses the obstacle, and is reset by the first servo motor and the clamping motor 27, so that the running wheel 25 clamps the wire again.

[0038] See Figure 3 , two sets of telescopic components 3 are also provided on the bottom plate 1 ( Figure 3 Only one telescopic assembly 3 is drawn in the top view, and the midline of the bottom plate 1 along the Y side is assumed to be line U, and the surface passing through line U and along the vertical direction is surface E, and the two telescopic assemblies 3 are symmetrically arranged along surface E. The telescopic assembly 3 includes:

[0039] The mounting block 31 is fixed on the lower surface of the base plate 1 .

[0040] The second screw rod 32 is threadedly connected to the mounting block 31 , and the axis of the second screw rod 32 is along the X direction.

[0041] The slide 33 is movably mounted on the lower surface of the bottom plate 1 , and the slide 33 can slide along the X direction.

[0042] The connecting block 34 is fixed on the slide 33 , and the second screw rod 32 is rotatably connected to the connecting block 34 .

[0043] The non-rotating shaft end of the telescopic motor 35 is fixed on the connecting block 34 , the rotating shaft of the telescopic motor 35 is fixedly connected to the second screw rod 32 , and the rotating shaft axis of the telescopic motor 35 coincides with the axis of the second screw rod 32 .

[0044] The two carriages 33 are respectively provided with a second traveling arm assembly 4, and the structure of the second traveling arm assembly 4 is exactly the same as that of the first traveling arm assembly 2, which will not be described in detail here. The setting direction of the second traveling arm assembly 4 is the same as the placement direction of the first traveling arm assembly 2. The first bracket 21 of the second traveling arm assembly 4 is fixed to the upper surface of the carriage 33. The two first traveling arm assemblies 2 are located between the two traveling arm assemblies.

[0045] The second traveling arm assembly 4 on the left side along the X direction is a left second traveling arm assembly 4, and the second traveling arm assembly 4 on the right side along the X direction is a right second traveling arm assembly 4. The left second traveling arm assembly 4 can move to the left under the action of the telescopic assembly 3, and the right second traveling arm assembly 4 can move to the right under the action of another telescopic assembly 3.

[0046] After the telescopic motor 35 drives the second screw rod 32 to rotate, since the mounting block 31 cannot move, the second screw rod 32, the connecting block 34, the carriage 33, the telescopic motor 35 and the corresponding second traveling arm assembly 4 move as a whole along the X direction. The distance between the left second traveling arm assembly 4 and the deicing collar assembly 6 is increased, so that the second traveling arm assembly 4 can more easily cross obstacles.

[0047] See Figure 4 , and also includes a power taking component 5, which is installed on the upper surface of the bottom plate 1. The power taking component 5 includes:

[0048] Two vertical frames 51, the lower ends of the vertical frames 51 are rotatably connected to the upper surface of the bottom plate 1, and the axis of the rotation shaft of the vertical frames 51 is along the X direction; the two vertical frames 51 are symmetrically arranged along the plane P. A control motor (not shown) for driving the corresponding vertical frames 51 to rotate is installed on the bottom plate 1, the non-rotating shaft of the control motor is fixed on the bottom plate 1, the rotating shaft of the control motor is fixedly connected to the rotating shaft of the vertical frame 51, and the rotating shaft axis of the control motor coincides with the rotating shaft axis of the vertical frame 51.

[0049] The two winding frames 52 are semicircular and are fixedly connected to the tops of the two vertical frames 51 respectively; the two winding frames 52 can be assembled into a complete ring.

[0050] Two wires 53 are wound on two winding frames 52 respectively; the two ends of the wires 53 are electrically connected to the positive and negative poles of the battery 8 respectively, and the two wires 53 are connected in parallel. The battery 8 is fixed on the upper surface of the bottom plate 1. The alternating current generated in the wires will generate induced currents in the two wires 53 according to the principle of electromagnetic induction, and the induced currents charge the battery 8. The battery 8 is electrically connected to all the motors in this article.

[0051] After the two uprights 51 rotate relative to each other to separate the two winding frames 52 , the power taking assembly 5 can avoid obstacles. Then, the robot moves so that the power taking assembly 5 can cross the obstacles.

[0052] See Figure 5 , further comprising a de-icing collar assembly 6, the de-icing collar assembly 6 comprising:

[0053] Two rotating rods 61, the lower ends of the rotating rods 61 are rotatably connected to the upper surface of the bottom plate 1; the axis of the rotating shaft of the rotating rod 61 is along the X direction, and the two vertical frames 51 are symmetrically arranged along the plane P. A driving motor (not shown) is installed on the bottom plate 1, the non-rotating shaft end of the driving motor is fixed on the bottom plate 1, and the rotating shaft of the driving motor is fixedly connected to the axis of the rotating rod 61.

[0054] Two de-icing rings 62 are semicircular and fixed to the upper ends of the corresponding rotating rods 61. The two de-icing rings 62 can be assembled into a complete ring, which is called a de-icing sleeve. The axis of the de-icing sleeve is along the X direction, and the de-icing sleeve is set on the wire.

[0055] After the two rotating rods 61 rotate relative to each other to separate the two de-icing rings 62, the de-icing collar assembly 6 can avoid obstacles, and then the de-icing collar assembly 6 can cross the obstacles through the movement of the robot.

[0056] See Figure 1 , further comprising a rolling brush assembly 7, the rolling brush assembly 7 comprising:

[0057] Two fixing rods 71 ​​are fixed on the upper surface of the bottom plate 1. The two fixing rods 71 ​​are symmetrically arranged along the plane P.

[0058] Two support rods 72, the lower ends of the two support rods 72 are rotatably connected to the upper ends of the corresponding fixed rods 71, and the axis of the rotation shaft of the support rods 72 is along the X direction. A deicing motor (not shown) is installed on the fixed rod 71, and the non-rotating shaft end of the deicing motor is fixed to the fixed rod 71, and the rotating shaft of the deicing motor is fixedly connected to the support rods 72.

[0059] The two rollers 73 are rotatably connected to the upper ends of the corresponding support rods 72, and the axes of the rotating shafts of the rollers 73 are along the X direction. The rollers 73 are in contact with the outer wall of the electric wire.

[0060] The non-rotating shaft end of the rolling motor (not shown) is fixed on the support rod 72 , and the rotating shaft is fixedly connected to the axis of the roller 73 , and the rotating shaft of the rolling motor coincides with the axis of the roller 73 .

[0061] After the two support rods 72 rotate relative to each other to separate the two rollers 73, the rolling brush assembly 7 can avoid obstacles, and then the robot moves so that the rolling brush assembly 7 can cross the obstacles.

[0062] It also includes two visual cameras, which are respectively fixed on the first movable frames of the two second walking arm assemblies 4. The visual camera is electrically connected to the controller of the deicing robot, and the controller is connected to the remote control device through the 5G communication module. The operator sends a control signal to the controller through the remote control device and the 5G communication module, and the image of the visual camera can also be sent to the remote control device through the controller and the 5G module. The aforementioned other motors are all electrically connected to the controller.

[0063] The usage process of this robot is:

[0064] The operator turns on the walking button on the remote control device, and the walking wheels 25 on the two sets of first walking arm assemblies 2 and the two sets of second walking arm assemblies 4 rotate. The two walking wheels 25 on the same first walking arm assembly 2 or the same second walking arm assembly 4 rotate in opposite directions. Because the walking wheels 25 are in contact with the electric wires, the rotation of the walking wheels 25 causes the entire robot to walk on the electric wires.

[0065] During walking, the pictures taken by the visual camera are sent to the controller, which then sends them to the 5G communication receiving module on the remote control device through the 5G communication sending module. The 5G communication receiving module transmits the images to the remote control device, and the display on the remote control device displays the images. Based on the image information, the operator manually determines which side of the visual camera encounters an obstacle, and determines the distance between the visual camera and the obstacle; and also determines whether the obstacle can be crossed.

[0066] For example, when the entire robot moves to the left along the X direction, the visual camera on the left encounters an obstacle, and the operator determines that the obstacle can be crossed, the operator presses the obstacle crossing button of the left second walking arm assembly 4.

[0067] The clamping motor on the left second walking arm assembly 4 is first activated, and then the clamping motor drives the first screw rod to rotate, so that the two walking wheels on the left second walking arm assembly 4 are separated from each other and the wires are released. Then, the first servo motor is activated to deflect the first movable frame on the left second walking arm assembly 4 along the Y side, and the deflection angle is the program setting value. Then, the telescopic motor 35 on the left second walking arm assembly 4 is activated, and the entire telescopic assembly 3 and the left second walking arm assembly 4 move to the left and cross the obstacle; then, the operator controls the first servo motor and the clamping motor to reset in sequence, and the two walking wheels re-contact the wires. Then, the entire robot moves to the left along the X direction, so that the deicing collar assembly 6 on the left approaches the obstacle, and then the two rotating rods 61 of the deicing collar assembly 6 rotate to release the wires, and then the rolling brush assembly 7, the left first walking arm assembly 2, and the power supply assembly 5 release the wires in sequence, until the rolling brush assembly 7, the left first walking arm assembly 2, the power supply assembly 5 and the deicing collar assembly 6 are observed to have crossed the obstacle and reset.

[0068] The first walking arm assembly 2 on the right side and the second walking arm assembly 4 on the left side have the same action and opposite direction, so no further description is given. Finally, as the entire robot moves to the left along the X direction, the entire robot crosses the obstacle.

[0069] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A high-voltage wire obstacle-crossing and de-icing robot, characterized in that: The robot comprises a base plate (1), wherein a first walking arm assembly (2) for driving the robot to move is mounted on the upper surface of the base plate (1); a battery (8) is mounted on the upper surface of the base plate (1); a power supply assembly (5) for charging the battery (8) is also mounted on the base plate (1); and a deicing collar assembly (6) for deicing is also mounted on the upper surface of the base plate (1); A telescopic assembly (3) is provided on the bottom plate (1), and the telescopic assembly (3) comprises a mounting block (31) fixed on the bottom plate (1); a second screw rod (32) is threadedly connected to the mounting block (31), and the axial direction of the second screw rod (32) is arranged along the X direction, and the X direction is parallel to the direction of the electric wire; a slide (33) is movably provided on the bottom plate (1), and the slide (33) slides along the X direction, and a connecting block (34) is fixed on the slide (33), and the second screw rod (32) is rotatably connected to the connecting block (34); a telescopic motor (35) for driving the second screw rod (32) to rotate is provided on the connecting block (34), and a second walking arm assembly (4) is installed on the slide (33), and the second walking arm assembly (4) has the same structure as the first walking arm assembly (2); and a visual camera for photographing an image of an obstacle is also included.

2. The high-voltage wire obstacle-crossing and deicing robot according to claim 1, characterized in that: The first walking arm assembly (2) or the second walking arm assembly (4) comprises: A first bracket (21) is fixed on a corresponding base plate (1) or a slide (33); A first movable frame (22) is rotatably connected to the first bracket (21); the rotation axis of the first movable frame (22) is along the X direction; the first bracket (21) is provided with a first servo motor for driving the first movable frame (22) to rotate; A strip hole (23) is provided on the first movable frame (22); Two sliders (24) are movably mounted in the strip-shaped holes (23) and can slide along the strip-shaped holes (23); Two running wheels (25) are rotatably connected to corresponding sliders (24); the plane where the axis of the running wheel (25) is located is assumed to be plane Z, and the X direction is perpendicular to plane Z; the two running wheels (25) respectively abut against the upper end and the lower end of the electric wire; the slider (24) is provided with a second servo motor (26) for driving the running wheel (25) to rotate; The clamping motor (27) has a non-rotating shaft end fixed on the first movable frame (22). A first screw rod (28) is fixed on the rotating shaft of the clamping motor (27). The axis of the first screw rod (28) coincides with the axis of the rotating shaft of the clamping motor (27). The first screw rod (28) has two sections of opposite threads. The two sections of the threads of the first screw rod (28) are respectively threadedly connected to the two sliders (24).

3. The high-voltage wire obstacle-crossing and deicing robot according to claim 1, characterized in that: The power taking component (5) comprises: Two vertical frames (51) are rotatably connected to the upper surface of the bottom plate (1); a midline of the upper surface of the bottom plate (1) parallel to the X direction is set as line G, a vertical surface passing through line G is set as surface P, and the two vertical frames (51) are symmetrically arranged along surface P; Two winding racks (52) are fixed on the upper ends of the corresponding vertical frames (51); The two wires (53) are respectively wound on corresponding winding frames (52) and can generate induced electricity by magnetic induction; the two wires (53) are respectively connected in parallel with batteries (8).

4. The high-voltage wire obstacle-crossing and deicing robot according to claim 3, characterized in that: The de-icing collar assembly (6) comprises: Two rotating rods (61) are rotatably connected to the upper surface of the bottom plate (1) and are symmetrically arranged along the surface P; Two deicing rings (62) are fixed on the upper ends of the corresponding rotating rods (61). The two deicing rings (62) can be rotated through the rotating rods (61) to form a complete circular ring, which is referred to as a deicing sleeve. The deicing sleeve is sleeved on the electric wire.

5. The high-voltage wire obstacle-crossing and de-icing robot according to claim 3, characterized in that: The bottom plate (1) is also provided with a rolling brush assembly (7), and the rolling brush assembly (7) comprises: Two fixing rods (71) fixed on the upper surface of the bottom plate (1); Two support rods (72), the lower ends of the two support rods (72) are rotatably connected to the upper ends of the corresponding fixed rods (71), and the axes of the rotation shafts of the support rods (72) are along the X direction; the two support rods (72) are symmetrically arranged along the plane P; Two rollers (73) are rotatably connected to the upper ends of corresponding support rods (72), the axes of the rotating shafts of the rollers (73) are along the X direction, and the rollers (73) are in contact with the outer wall of the electric wire; the support rod (72) is provided with a rolling motor for driving the rollers (73) to rotate.

6. The high-voltage wire obstacle-crossing and deicing robot according to claim 3, characterized in that: Two first walking arm assemblies (2) are provided, and are arranged in parallel on the bottom plate (1) along the X direction; the center line of the bottom plate (1) along the Y direction is assumed to be line U, and the surface passing through line U and along the vertical direction is assumed to be surface E; two telescopic assemblies (3) are provided, and are symmetrically arranged along surface E; and two second walking arm assemblies (4) are also provided, and are respectively arranged on the corresponding telescopic assemblies (3).

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