The invention discloses a novel structure of a deicing
robot based on a pneumatic type electric
transmission line, comprising a
forearm unit, a middle arm unit, a rear arm unit and a
gravity center adjustment balance mechanism, wherein the
forearm unit, the middle arm unit and the rear arm unit are sequentially connected with the
gravity center adjustment balance mechanism positioned below the
forearm unit, the middle arm unit and the rear arm unit; the forearm unit and the rear arm unit are symmetrically arranged; the forearm unit comprises a stacked type mechanical arm mechanism, a travelling driving mechanism, a deicing mechanism, a palm opening and closing mechanism and a
brake braking mechanism; the middle arm unit comprises a vertical type telescopic arm mechanism, the travelling driving mechanism, the palm opening and closing mechanism and the
brake braking mechanism; and the rear arm unit is the same as the forearm unit in structure and comprises a pneumatic control loop which enables the forearm unit, the middle arm unit and the rear arm unit to take telescopic actions, travelling actions, obstacle detouring actions and deicing actions and takes
compressed air as a power source. The invention can complete the deicing operation, the on-line stable travelling and high-efficiency autonomous obstacle detouring under the conditions of
intelligent control and has the advantages of compact structure, light weight, easy control, and the like.