CN114696260A - Ice observation robot for power transmission line and obstacle crossing method thereof - Google Patents

Abstract

The invention discloses a power transmission line ice observation robot and a method for surmounting obstacles, comprising a left power arm, a middle power arm, an electromagnetic induction power taking module, a right power arm, an obstacle crossing base plate and a clamping device. The arm and the right power arm are arranged in a staggered order, the left power arm and the right power arm are installed on the obstacle-crossing base plate, the middle power arm and the electromagnetic induction power taking module are installed on the lateral drive mechanism, the lateral drive mechanism is installed on the obstacle-crossing base plate, and the left The power arm, the middle power arm and the right power arm are all equipped with clamping devices for clamping the high-voltage wires. The invention adopts a symmetrical modular design to realize functions such as walking, crawling, obstacle crossing, and charging on the high-voltage line. During the obstacle crossing process, it is only necessary to determine the position of the off-line space left by the mechanical arm; The movement of the lead screw adopts the translation method, so it has the advantages of simple obstacle crossing principle, high obstacle crossing ability and simple control.

Description

A transmission line ice-observing robot and its obstacle-surmounting method

technical field

The invention relates to the technical field of ice-observing robots for transmission lines, in particular to an ice-observing robot for transmission lines and a method for surmounting obstacles.

Background technique

The operation status of the transmission line is related to the operation safety of the power grid. It is of great significance to detect and grasp the ice coating and meteorological environment of the transmission line conductor in time, which is of great significance to improve the load capacity of the transmission line and prevent the occurrence of power grid accidents. In complex terrain, mountainous areas, forests and woodlands with rugged terrain are also the only places where some high-voltage lines must pass, which makes it difficult for staff and vehicles to reach them, which undoubtedly increases the difficulty of viewing ice on the line. Therefore, in order to ensure the safe operation of the line, the use of robots to automatically inspect the line has become a necessary means. In order to realize the autonomous inspection of power lines, scholars from Japan, the United States, Canada, Thailand, China and other countries have successively carried out research on line inspection robots.

The Chinese patent application (application number 201610318990.2) discloses a walking mechanism, a mechanical structure of a line-following robot and a method for surmounting obstacles, including a frame, a pair of master-slave walking split wheels, and a pair of compression split wheels. It uses the active walking split wheel to realize walking, uses the screw to push and press the split wheel to compress and lock the wire, and uses the opening and closing of the split wheel to escape from the wire and overcome obstacles, thereby realizing the inspection function. However, this technical solution still has shortcomings. Since the master-slave walking split wheel and the pressing split wheel need two sets of frame support and the opening and closing of the split wheel requires other devices, the overall weight is too large, which increases instability and power consumption. In addition, in order to ensure that the split wheel is always closed when walking, a certain pressure needs to be applied to it, and the pressure comes from the bottom of the frame, resulting in a large moment during meshing, and the overall force is poor.

The high-voltage line inspection robot needs to have the characteristics of stable and reliable force and light weight. Therefore, it is of great significance to design a lighter and better force-operated obstacle-crossing mechanism.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a power transmission line ice observation robot and a method for surmounting obstacles, so as to solve the technical problems existing in the prior art.

The technical scheme adopted by the present invention is: a power transmission line ice observation robot, comprising a left power arm, a middle power arm, an electromagnetic induction power taking module, a right power arm, an obstacle-crossing base plate and a clamping device, a left power arm, a middle power arm The left power arm and the right power arm are arranged in a staggered order with the right power arm. The left power arm and the right power arm are installed on the obstacle crossing base plate. The middle power arm and the electromagnetic induction power acquisition module are installed on the lateral drive mechanism. The arm, the middle power arm and the right power arm are all equipped with clamping devices for clamping the high-voltage wires.

Preferably, the above-mentioned lateral drive mechanism includes a guide rail slide table, a guide rail slide block, a lead screw motor, a lead screw, a nut seat and a lead screw bearing seat. The platform is connected with the sliding plate, the middle power arm and the electromagnetic induction power taking module are installed on the sliding plate, the bottom of the sliding plate is fixedly connected with a nut seat, and the nut seat moves through the strip hole set along the length direction of the obstacle-crossing bottom plate, and is connected with the nut. The two ends of the lead screw used with the seat are respectively connected to the bottom of the obstacle surmounting base plate through two lead screw bearing seats, and one end extends out of the lead screw bearing seat and is connected to the lead screw motor. The lead screw motor is installed on the bottom of the obstacle surmounting bottom plate through the motor frame.

Preferably, the middle part of the bottom side of the above-mentioned barrier-crossing bottom plate is connected to the electrical box through a profile frame.

Preferably, the above-mentioned profile frame includes two vertical profiles on the front and rear sides and a bottom frame profile, and the front and rear sides of the bottom frame profile are fixedly connected to the bottom of the barrier-crossing bottom plate through the two vertical profiles respectively.

Preferably, the left power arm, the middle power arm and the right power arm all include a traveling wheel, a clamping wheel, an electric clamping push rod, an electric swing push rod and an electric arm push rod, and the traveling wheel is connected to the traveling motor, and the traveling motor Connected to the push rod end of the arm push rod through the motor support seat, a support plate is vertically fixed on one side of the motor support seat, and the rear side of the support plate is connected to the electric clamping push rod through the clamping push rod seat, and the electric clamping push rod The push rod at the upper end is fixedly connected to the clamping push rod fixing frame. The clamping push rod fixing frame is connected to the two clamping wheels through the clamping wheel frame. The two clamping wheels and the walking wheel can clamp the high voltage line, and the electric clamping push rod is fixed. Connected to the push rod bracket, the lower end of the support plate movably extends into the push rod bracket, the lower end of the push rod bracket is hinged on the upper part of one end of the bottom plate, and the upper end of one side of the push rod bracket is hinged to the push rod end of the electric swing push rod, the electric swing push rod The push rod seat is hinged on the upper part of the other end of the base plate.

Preferably, the clamping push rod fixing frame and the clamping wheel frame are connected by a spring mechanism.

Preferably, the above-mentioned spring mechanism includes a spring, a cylindrical sleeve and an inner guide column, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame, two symmetrical strip holes are arranged on both sides of the cylindrical sleeve, and the inner guide column is movable Two hinge shafts are fixedly connected in the cylindrical sleeve and the two ends are fixedly connected. The two hinge shafts extend out of the two strip holes and are hinged to the clamping wheel frame. The spring is sleeved on the cylindrical sleeve and both ends abut against the clamp. on the steps provided at the bottom end of the tightening wheel frame and the cylindrical sleeve.

Preferably, a guide sliding block is provided on one side of the clamping push rod fixing frame, and a guide sliding groove matching with the guide sliding block is provided in the vertical direction of the middle part of the support plate.

Preferably, a U-shaped support plate positioning block is fixedly connected to the support plate, and the support plate positioning block is movably sleeved with the electric arm push rod.

A method for surmounting obstacles of a power transmission line ice observation robot. The method is as follows: when the robot encounters an obstacle, the electric arm push rod of the right power arm rises, and its electric swing push rod movement makes the right power arm offline; then the robot moves forward for a period of time Distance, the middle power arm clamping device clamps, and works with the walking wheel to lock the wire, then the lead screw motor works, the relative position of the middle power arm and the high voltage line remains unchanged, the robot moves to the right as a whole, and the electric swing push rod of the right power arm Work with the push rod of the electric arm, and the right power arm enters the line; then the clamping device of the middle power arm is pushed and released, leaving an offline space; the electric swing push rod of the middle power arm moves to make it offline, and then the robot moves a certain distance; The lever motor works, the middle power arm moves forward, the electric swing push rod of the middle power arm moves to make it enter the line, and then clamps; similarly, the left power arm is offline, the screw motor works, and then the robot moves a certain distance, and the left power arm Re-enter the line, so far the whole set of obstacle-crossing action is completed.

Beneficial effects of the present invention: compared with the prior art, the effects of the present invention are as follows:

(1) The present invention provides a three-arm high-voltage line obstacle crossing robot. The robot adopts a symmetrical modular design and includes a walking module, a clamping module, an obstacle crossing module and an electromagnetic induction charging module, which can realize walking on high-voltage lines. , crawling, obstacle crossing, charging and other functions, in the obstacle crossing process, it is only necessary to determine the position of the off-line space left by the mechanical arm, that is, the lifting distance of the lifting arm push rod in the obstacle crossing module and the distance that the lead screw moves back and forth; and In the entire obstacle-surmounting process, because the push rod and the lead screw are moved in a translational manner, it has the advantages of simple obstacle-surmounting principle, high obstacle-surmounting ability and simple control.

(2) The obstacle surmounting mechanism of the present invention provides a reliable end mechanism for the three-arm structure robot connected to the high-voltage line. The structure is simple, compact, stable and reliable. The large-diameter walking motor is used to provide greater power and can be self-locked at any time. Crawling, at the same time, a simple jaw clamping device is used to make it more efficient to grab and clamp the wire. The clamping wheel frame can be rotated to adapt to different angles of clamping. The spring structure also avoids the generation of rigid force. The mechanism adopts a labor-intensive lever structure, so that the swing push rod can be operated offline and in-line only by moving a small distance; the overall force of the mechanism is good, the reliability is high, the operation is simple, and it has the advantages of small size, light weight, low power consumption, etc.

Description of drawings

1 is a schematic diagram of a three-dimensional structure of a robot;

Figure 2 is a schematic diagram of the partial three-dimensional structure of the bottom side of the robot;

Fig. 3 is a schematic diagram of the obstacle-crossing process of the robot;

Figure 4 is a schematic diagram of the three-dimensional structure of the left, middle and right power arms;

Figure 5 is a diagram of the clamping state of the clamping wheel;

Figure 6 is a state diagram of off-line obstacle crossing.

Detailed ways

The present invention will be further introduced below in conjunction with specific embodiments.

Embodiment 1: As shown in Figures 1-6, a power transmission line ice observation robot includes a left power arm 1, a middle power arm 2, an electromagnetic induction power taking module 3, a right power arm 4, an obstacle crossing base plate 8 and a clamping Device 9, the left power arm 1, the middle power arm 2 and the right power arm 4 are arranged in a staggered order, the left power arm 1 and the right power arm 4 are installed on the obstacle crossing base plate 8, and the middle power arm 2 and the electromagnetic induction power taking module 3 are installed On the lateral drive mechanism, the lateral drive mechanism is installed on the obstacle crossing base plate 8 , and the left power arm 1 , the middle power arm 2 and the right power arm 4 are all equipped with a clamping device 9 for clamping the high-voltage line 10 .

Preferably, the above-mentioned lateral drive mechanism includes a guide rail slide 5, a guide slide block 6, a lead screw motor 11, a lead screw 12, a nut seat 13 and a lead screw bearing seat 15. The guide rail slide table 5 is installed on the obstacle crossing base plate 8 and extends along the It is arranged in the length direction and is connected to the sliding plate 16 through the guide rail sliding table 5. The middle power arm 2 and the electromagnetic induction power taking module 3 are installed on the sliding plate 16. The bottom of the sliding plate 16 is fixedly connected with a nut seat 13, and the nut seat 13 can move through it. The strip hole 17 provided along the length direction of the obstacle surmounting base plate 8, the two ends of the lead screw 12 used in conjunction with the nut seat 13 are respectively connected to the bottom of the obstacle surmounting base plate 8 through two lead screw bearing seats 15, and one end protrudes from the screw. The screw bearing seat 15 is connected to the screw motor 11 at the rear, and the screw motor 11 is installed on the bottom of the obstacle crossing base plate 8 through the motor frame.

Preferably, the middle part of the bottom side of the above-mentioned barrier-crossing bottom plate 8 is connected to the electrical box 7 through the profile frame 14 .

Preferably, the above-mentioned profile frame 14 includes two vertical profiles on the front and rear sides and a bottom frame profile, and the front and rear sides of the bottom frame profile are fixedly connected to the bottom of the barrier-crossing bottom plate 8 through the two vertical profiles respectively.

Preferably, the above-mentioned left power arm 1, middle power arm 2 and right power arm 4 all include traveling wheels 101, clamping wheels 103, electric clamping push rods 107, electric swing push rods 109 and electric arm push rods 118. 101 is connected to the travel motor 120, the travel motor 120 is connected to the push rod end of the arm push rod 118 through the motor support seat 119, one side of the motor support seat 119 is vertically and fixedly connected with a support plate 116, and the rear side of the support plate 116 is clamped The push rod seat 115 is connected to the electric clamping push rod 107 , the push rod at the upper end of the electric clamping push rod 107 is fixedly connected to the clamping push rod fixing frame 106 , and the clamping push rod fixing frame 106 connects the two clamps through the clamping wheel frame 104 The tightening wheel 103, the two clamping wheels 103 and the traveling wheel 101 can clamp the high-voltage line 10, the electric clamping push rod 7 is fixedly connected to the push rod bracket 114, and the lower end of the support plate 116 is movable into the push rod bracket 114 to push The lower end of the rod bracket 114 is hinged to the upper part of one end of the bottom plate 112, the upper end of one side of the push rod bracket 114 is hinged to the push rod end of the electric swing push rod 109, and the push rod seat of the electric swing push rod 109 is hinged to the upper part of the other end of the base plate 112. The clamping wheel 103, the clamping wheel frame 104, the clamping push rod fixing frame 106, the electric clamping push rod 107 and the clamping push rod seat 115 constitute the clamping device 9; the two clamping wheels 103 are symmetrically connected to the clamping wheel in rotation On both sides of the frame 104, the double wheels are locked, and the upper and lower isosceles triangles are formed with the traveling wheels to crimp the high-voltage line, and the locking is reliable and stable, and the clamping wheel frame 104 is hinged to clamp the push rod fixing frame 106, which can realize two clamping wheels 103. The self-positioning can effectively contact the high-voltage line, making the locking more stable and reliable.

Preferably, the above-mentioned clamping push rod fixing frame 106 and the clamping wheel frame 104 are connected by a spring mechanism 105; the spring mechanism 5 can prevent the clamping wheel from generating rigid force during clamping.

Preferably, the above-mentioned spring mechanism 105 includes a spring, a cylindrical sleeve and an inner guide column, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame 106, two symmetrical strip holes are arranged on both sides of the cylindrical sleeve, and the inner guide column is It is movably placed in the cylindrical sleeve and fixedly connected with two hinge shafts at both ends. The two hinge shafts extend out of the two strip holes and are hinged to the clamping wheel frame 104. The spring is sleeved on the cylindrical sleeve and the two ends are respectively against It leans on the steps provided on the clamping wheel frame 104 and the bottom end of the cylindrical sleeve, and the steps are fixedly connected to the clamping push rod fixing frame 106. The structure is simple, the elastic telescopic guide is good, the telescopic stability is high, and the clamping wheel frame is rotatable. This adapts to different angles of clamping.

Preferably, a guide sliding block is provided on one side of the above-mentioned clamping push rod fixing frame 106, and a guide sliding groove matching the guide sliding block is arranged in the vertical direction in the middle of the support plate 116, which can ensure the directional movement of the clamping roller and ensure accurate clamping. stability and stability.

Preferably, a U-shaped support plate positioning block 117 is fixedly connected to the support plate 116, the support plate positioning block 117 is movably sleeved with the electric arm push rod 118, and the support plate is moved in a direction relative to the electric arm push rod near the lower end, so as to achieve Directional movement stability of the support plate.

Preferably, the push rod bracket 114 is an integral structure of an angle frame, including an inverted L-shaped angle plate, two inclined triangle plates arranged on the front and rear sides of the angle plate, and two hinge holes for connecting the arm push rod seat 113 are arranged at the lower ends of the two inclined triangle plates. The lug structure, the connection is stable and reliable, the weight reduction holes are arranged on the two inclined triangle plates, the weight is greatly reduced, and the flight control is convenient. The double-ear protruding structure is convenient for installation. The right side of the corner plate is provided with a weight-reducing hole, and the top of the corner plate is provided with an extension hole for the arm push rod motor and a guide hole for the support plate to move and retract. The structure is compact and the guide is accurate.

Preferably, the push rod bracket 114 is hinged to the base plate 112 through an arm push rod seat 113, and the arm push rod base 113 is a double-ear seat structure and is fixedly connected to the base plate by screws.

Preferably, the above-mentioned electric swing push rod 109 is hinged to the base plate 112 through a swing push rod fixing seat 111, and the swing push rod fixing seat 111 is a double-ear seat structure and is fixedly connected to the base plate by screws.

The electromagnetic induction power taking module 3 includes a semicircular electromagnetic clip 1 301 and an electromagnetic clip 2 302. An electromagnetic induction coil is installed in the electromagnetic clip 1 301 and the electromagnetic clip 2 302. The electromagnetic clip 1 301 is installed obliquely on the rack. The lower end of the second 302 is connected to the frame 303 through the driving mechanism, and the driving mechanism driver can be rotated to be closed with the electromagnetic clamp 1 301 and clamp the transmission line under the action of the electric lift and push rod. The two ends of the frame 303 are connected to two electric lift and push rods At the top of the push rod 304, the lower ends of the two electric lift push rods 304 are fixedly connected to the bending tables on both sides of the sliding plate 17. The sliding plate is convex and bridges the top of the profile frame 14, which makes the structure more compact. The center of gravity is more stable. The middle of the back of the electromagnetic clip 1 301 is fixedly connected to the frame 303 through the elastic telescopic bracket 305. The elastic telescopic bracket 305 includes a spring and a fixed seat. Connected to the rack, two guide support blocks 306 are fixedly connected on both sides of the lower end of the back of the electromagnetic clip 1 301. The two guide support blocks 306 are groove structures, and are respectively movably clamped to the inclined sections of the two side walls of the rack 303. On 307, the guide support block cooperates with the elastic telescopic bracket, which can make the closure better during the clamping process, and play the role of buffering and elastic protection. The middle part is hinged on the frame 303, the other end of the drive arm 308 is hinged to the cylinder rod of the pneumatic or hydraulic telescopic cylinder 309, and the tail end of the cylinder base of the telescopic cylinder 309 is hinged on the frame 303. When the height of the rod reaches an appropriate position, the telescopic cylinder is driven to extend, and the second electromagnetic clamp 302 and the first electromagnetic frame 301 are closed.

Embodiment 2: a method for crossing obstacles of a power transmission line ice-watching robot, the method is: when the robot encounters an obstacle, the electric arm push rod of the right power arm 4 rises, and its electric swing push rod movement makes the right power arm 4 offline; Then the robot moves forward for a certain distance, the middle power arm clamping device 9 is clamped, and works together with the walking wheel to lock the wire. After that, the screw motor 11 works, the relative position of the middle power arm 2 and the high-voltage wire remains unchanged, and the robot moves to the right as a whole. , the electric swing push rod of the right power arm 4 and the electric arm push rod work, the right power arm 4 enters the line; then the middle power arm clamping device is pushed and released by 9 rounds, leaving an offline space; the electric swing pusher of the middle power arm 2 The rod moves to make it offline, and then the robot moves a certain distance; the screw motor 11 works, the middle power arm 2 moves forward, and the electric swing push rod of the middle power arm moves to make it enter the line, and then clamps; similarly, the left power arm 1 Off-line, the screw motor 11 works, then the robot moves for a certain distance, and the left power arm 1 enters the line again, and the whole set of obstacle-crossing action is completed.

There are also two working conditions for the power transmission line ice-watching robot: 1. Normal walking without obstacles, 2. Clamping and crawling.

Barrier-free normal walking: The walking motors on the left power arm 1, the middle power arm 2, and the right power arm 4 work at the same time to drive the robot forward. At this time, the clamping device 9 is in the released state, and the robot walks normally.

Clamping and crawling: The nut seat 13 on the lead screw 12 is connected to the middle power arm and the electromagnetic induction power taking module 3. When the middle arm clamping device 9 is released, the lead screw motor 11 pushes the middle power arm 2 to the limit position. The middle power arm clamping device 9 is clamped, the screw motor 11 pushes the middle power arm 2 to another limit position, and the crawling can be completed repeatedly.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. It should be included within the protection scope of the present invention, and therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides an ice observation robot for transmission line which characterized in that: the obstacle crossing mechanism comprises a left power arm (1), a middle power arm (2), an electromagnetic induction electricity taking module (3), a right power arm (4), an obstacle crossing base plate (8) and clamping devices (9), wherein the left power arm (1), the middle power arm (2) and the right power arm (4) are sequentially arranged in a staggered mode, the left power arm (1) and the right power arm (4) are installed on the obstacle crossing base plate (8), the middle power arm (2) and the electromagnetic induction electricity taking module (3) are installed on a transverse driving mechanism, the transverse driving mechanism is installed on the obstacle crossing base plate (8), and the clamping devices (9) for clamping high-voltage wires (10) are installed on the left power arm (1), the middle power arm (2) and the right power arm (4).

2. The ice observation robot for the power transmission line according to claim 1, wherein: the transverse driving mechanism comprises a guide rail sliding table (5), a guide rail sliding block (6), a screw motor (11), a screw (12), a nut seat (13) and a screw bearing seat (15), the guide rail sliding table (5) is arranged on the obstacle crossing bottom plate (8) and is arranged along the length direction of the obstacle crossing bottom plate, is connected with a sliding plate (16) through a guide rail sliding table (5), a middle power arm (2) and an electromagnetic induction power taking module (3) are arranged on the sliding plate (16), a nut seat (13) is fixedly connected with the bottom of the sliding plate (16), the nut seat (13) movably penetrates through a strip-shaped hole (17) which is arranged on an obstacle crossing bottom plate (8) along the length direction of the obstacle crossing bottom plate, two ends of a lead screw (12) matched with the nut seat (13) are respectively connected to the bottom of the obstacle crossing base plate (8) through two lead screw bearing seats (15), and one end of the screw rod motor (11) is connected with the screw rod motor (11) after extending out of the screw rod bearing seat (15), and the screw rod motor (11) is installed at the bottom of the obstacle crossing bottom plate (8) through a motor frame.

3. The ice observation robot for the power transmission line according to claim 1, wherein: the middle part of the bottom side of the obstacle crossing bottom plate (8) is connected to an electric box (7) through a section bar frame (14).

4. The ice observation robot for the power transmission line according to claim 3, wherein: the section bar frame (14) comprises two vertical section bars at the front side and the rear side and a bottom square frame section bar, and the front side and the rear side of the bottom square frame section bar are respectively fixedly connected to the bottom of the obstacle crossing bottom plate (8) through the two vertical section bars.

5. The ice observation robot for the power transmission line according to claim 1, wherein: the left power arm (1), the middle power arm (2) and the right power arm (4) respectively comprise a walking wheel (101), a clamping wheel (103), an electric clamping push rod (107), an electric swinging push rod (109) and an electric arm push rod (118), the walking wheel (101) is connected to a walking motor (120), the walking motor (120) is connected to the end part of the push rod of the arm push rod (118) through a motor supporting seat (119), a supporting plate (116) is vertically and fixedly connected to one side of the motor supporting seat (119), the rear side of the supporting plate (116) is connected to the electric clamping push rod (107) through a clamping push rod seat (115), the push rod at the upper end of the electric clamping push rod (107) is fixedly connected to a clamping push rod fixing frame (106), the clamping push rod fixing frame (106) is connected to two clamping wheels (103) through a clamping wheel frame (104), and the two clamping wheels (103) and the walking wheel (101) can clamp a high-voltage wire (10), the electric clamping push rod (7) is fixedly connected to the push rod support (114), the lower end of the supporting plate (116) movably extends into the push rod support (114), the lower end of the push rod support (114) is hinged to the upper portion of one end of the bottom plate (112), the upper end of one side of the push rod support (114) is hinged to the end portion of the push rod of the electric swinging push rod (109), and the push rod seat of the electric swinging push rod (109) is hinged to the upper portion of the other end of the bottom plate (112).

6. The ice observation robot for the power transmission line according to claim 5, wherein: the clamping push rod fixing frame (106) is connected with the clamping wheel frame (104) through a spring mechanism (105).

7. The ice observation robot for the power transmission line according to claim 5, wherein: the spring mechanism (105) comprises a spring, a cylindrical sleeve and an inner guide post, the bottom end of the cylindrical sleeve is fixedly connected to the clamping push rod fixing frame (106), two symmetrical strip-shaped holes are formed in two sides of the cylindrical sleeve, the inner guide post is movably arranged in the cylindrical sleeve, two hinged shafts are fixedly connected to two ends of the inner guide post, the two hinged shafts are hinged to the clamping wheel frame (104) after extending out of the two strip-shaped holes, the spring is sleeved on the cylindrical sleeve, and two ends of the spring abut against steps formed in the clamping wheel frame (104) and the bottom end of the cylindrical sleeve respectively.

8. The ice observation robot for the power transmission line according to claim 5, wherein: one side of the clamping push rod fixing frame (106) is provided with a guide sliding block, and the middle part of the supporting plate (116) is provided with a guide sliding groove matched with the guide sliding block in the vertical direction.

9. The ice observation robot for the power transmission line according to claim 5, wherein: a U-shaped supporting plate positioning block (117) is fixedly connected to the supporting plate (116), and the electric arm push rod (118) is movably sleeved on the supporting plate positioning block (117).

10. The obstacle crossing method of the ice observing robot for the power transmission line according to any one of claims 1 to 9, wherein the obstacle crossing method comprises the following steps: the method comprises the following steps: when the robot encounters an obstacle, the electric arm push rod of the right power arm (4) rises, and the electric swing push rod moves to enable the right power arm (4) to be off-line; then the robot moves forwards for a certain distance, the middle power arm clamping device (9) clamps the wire, the wire is locked under the combined action of the middle power arm clamping device and the travelling wheel, then the lead screw motor (11) works, the relative position of the middle power arm (2) and the high-voltage wire is kept unchanged, the robot integrally moves to the right, the electric swing push rod and the electric arm push rod of the right power arm (4) work, and the right power arm (4) feeds the wire; then, the middle power arm clamping device (9) is pushed to release, and an off-line space is reserved; the electric swing push rod of the medium power arm (2) moves to be off-line, and then the robot moves for a certain distance; the screw motor (11) works, the middle power arm (2) moves forwards, and the electric swing push rod of the middle power arm moves to lead the middle power arm to be fed with wires and then is clamped; similarly, the left power arm (1) is off-line, the lead screw motor (11) works, then the robot moves for a certain distance, the left power arm (1) enters the line again, and the whole set of obstacle crossing action is completed.

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