Cableway power grid deicing carrying robot

Abstract

The invention relates to a cableway power grid deicing carrying robot which comprises a claw walking mechanism, a box body component, a beating device and a monitoring system. The claw walking mechanisms are arranged on the box body part, each claw walking mechanism comprises a left claw part, a right claw part, a walking wheel assembly and a driving part, the walking wheel assemblies are arranged on the left claw parts and the right claw parts, and the driving parts are in driving connection with the walking wheel assemblies; during working, the left claw part and the right claw part are combined to form a clamping channel for clamping a cableway or a power grid wire, and the walking wheel assembly is in rolling fit with the cableway or the power grid wire; the beating device is arranged at one end of the box body part; and the monitoring system is arranged on the box body part. The combined deicing device has the advantages that the combined deicing mode of beating deicing and extruding deicing is adopted, the deicing efficiency is high, the deicing effect is good, the multi-claw walking mechanism structure capable of being opened and closed is adopted, multiple claws are connected in series for extruding deicing, and the effect is good.

Description

Technical Field

[0001] The present invention relates to the field of deicing transport robots, in particular to a cableway power grid deicing transport robot. Background Art

[0002] Cableway power grid deicing and transport robots are robots used to de-ice power grids and cableways and transport cargo. Current cableway power grid deicing robots mostly rely on a single mechanical hammering or manual intervention method, and are unable to adapt to ice coverage scenarios with varying thickness and hardness. For example, equipment that relies solely on mechanical hammering is prone to line damage due to uneven hammering force, while extrusion-type deicing devices have limited effectiveness in breaking up dense ice and lack a composite deicing mechanism, resulting in low deicing efficiency and high residual rates. Furthermore, existing power grid cableway robots generally use a single-wheel hoisting structure, which lacks grip stability and is difficult to meet cargo transportation needs. When the cableway or wires have varying diameters or irregular ice coverage, traditional walking mechanisms are prone to slipping and derailment, lack obstacle-crossing capabilities, and are unable to operate stably in complex line environments. Therefore, there is an urgent need to provide a new type of cableway power grid deicing and transport robot. Summary of the Invention

[0003] Purpose of the Invention

[0004] The purpose of the present invention is to provide a cableway power grid deicing carrier robot to solve the problems of low deicing efficiency and high residual rate of existing cableway power grid deicing carrier robots.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A cableway power grid deicing carrying robot, comprising a claw walking mechanism, a box component, a knocking device and a monitoring system;

[0007] The claw walking mechanism is arranged on the box body component, and the claw walking mechanism is provided with multiple, each of the claw walking mechanisms includes a left claw component and a right claw component, the left claw component has a left walking wheel assembly and a driving component, the driving component is drivingly connected to the left walking wheel assembly; the right claw component has a right walking wheel assembly; when working, the left claw component and the right claw component are combined to form a clamping channel for clamping a cableway or a power grid wire, and the left walking wheel assembly and the right walking wheel assembly are rollingly matched with the cableway or the power grid wire;

[0008] The knocking device is arranged at one end of the travel of the box member;

[0009] The monitoring system is arranged on the box body component.

[0010] Furthermore, the claw walking mechanism also includes a claw shaft, a claw frame, a left electric push rod, a right electric push rod, a hinge shaft, a claw frame connecting frame and a claw frame connecting bolt;

[0011] The claw frame includes a column and a crossbeam, the column is arranged on the crossbeam, and both ends of the crossbeam are provided with a lower sheet-shaped vertical plate;

[0012] The bottoms of the left claw component and the right claw component are both rotatably arranged on the top of the column through the claw shaft.

[0013] A left hinged vertical plate is provided at the lower portion of the left claw component;

[0014] One end of the left electric push rod is connected to the left hinged vertical plate through a hinge shaft, and the other end of the left electric push rod is connected to the lower sheet-shaped vertical plate through a hinge shaft;

[0015] A right hinged vertical plate is provided at the lower portion of the right claw component;

[0016] One end of the right electric push rod is connected to the right hinged vertical plate through a hinge shaft, and the other end of the right electric push rod is connected to the lower sheet-shaped vertical plate through a hinge shaft;

[0017] The claw frame is fixed on the claw frame connecting frame through claw frame connecting bolts, and the claw frame connecting frame is connected to the box body component through bolts.

[0018] Furthermore, the left claw component also includes a left claw, which is a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The left claw includes a left claw shell, a left convex petal and a left concave petal, and the left convex petal and the left concave petal are both arranged on the left claw shell; the right claw component also includes a right claw, which is a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The right claw includes a right claw shell, a right convex petal and a right concave petal, and the right convex petal and the right concave petal are both arranged on the right claw shell; when the left claw component and the right claw component are closed, the arc surface of the left convex petal cooperates with the arc surface of the right concave petal, and the left concave petal cooperates with the arc surface of the right convex petal to form an eccentric embracing and centering structure.

[0019] Furthermore, the left claw component further includes a left claw cover plate, the shape and structure of the left claw cover plate matches the left claw housing, and the left claw cover plate is buckled onto the left claw housing;

[0020] A left claw first travel wheel mounting bracket and a left claw second travel wheel mounting bracket are provided inside the left claw housing, and the left claw first travel wheel mounting bracket is located above the left claw second travel wheel mounting bracket. A drive component mounting plate is provided on the outside of the left claw housing, and a left claw housing hinge ring is provided at the bottom of the left claw housing;

[0021] The driving component is arranged on the driving component mounting plate, and the driving component includes a left claw motor and a left claw driving gear, and the left claw driving gear is mounted on the output shaft of the left claw motor through a shrink sleeve;

[0022] The right claw component further includes a right claw cover plate, the shape and structure of the right claw cover plate matches the right claw housing, and the right claw cover plate is buckled and mounted on the right claw housing;

[0023] A right claw first travel wheel mounting bracket and a right claw second travel wheel mounting bracket are provided inside the right claw housing, and the right claw first travel wheel mounting bracket is located above the right claw second travel wheel mounting bracket; a right claw housing hinge ring is provided at the bottom of the right claw housing;

[0024] The upright column is rotatably connected to the left claw housing hinge ring and the right claw housing hinge ring through the claw shaft;

[0025] The left walking wheel assembly includes a left-pawl first walking wheel assembly and a left-pawl second walking wheel assembly; the right walking wheel assembly includes a right-pawl first walking wheel assembly and a right-pawl second walking wheel assembly;

[0026] The left-paw first travel wheel assembly includes a left-paw first travel wheel shaft, a left-paw first travel wheel and a left-paw first travel wheel gear, the left-paw first travel wheel gear is a bevel gear, and the left-paw first travel wheel gear is arranged at one end of the left-paw first travel wheel shaft; the left-paw first travel wheel shaft is mounted on the left-paw first travel wheel mounting bracket through the left-paw first oil-free bearing; the left-paw first travel wheel is interference-connected to the left-paw first travel wheel shaft;

[0027] The left-paw second travel wheel assembly includes a left-paw second travel wheel shaft, a left-paw second travel wheel and a left-paw second travel wheel gear, the left-paw second travel wheel gear is a bevel gear, and the left-paw second travel wheel gear is arranged at one end of the left-paw second travel wheel shaft; the left-paw second travel wheel shaft is mounted on the left-paw second travel wheel mounting bracket through the left-paw second oil-free bearing; the left-paw second travel wheel is interference-connected to the left-paw second travel wheel shaft;

[0028] The left claw driving gear is drivingly connected to the left claw first travel wheel gear, and the left claw first travel wheel gear is meshed with the left claw second travel wheel gear for transmission;

[0029] The right claw first travel wheel assembly includes a right claw first travel wheel shaft and a right claw first travel wheel, the right claw first travel wheel shaft is mounted on the right claw first travel wheel mounting bracket through a right claw first oil-free bearing; the right claw first travel wheel is interference connected to the right claw first travel wheel shaft;

[0030] The right claw second traveling wheel assembly includes a right claw second traveling wheel shaft and a right claw second traveling wheel. The right claw second traveling wheel shaft is installed on the right claw second traveling wheel mounting bracket through the right claw second oil-free bearing. The right claw second traveling wheel is interference connected with the right claw second traveling wheel shaft.

[0031] Furthermore, the striking device includes a striking motor, a striking assembly, a gear transmission assembly and a guide rod linkage assembly, a striking device connecting plate, a motor mounting plate and a gear set cover plate.

[0032] The beating device connecting plate is arranged at one end of the box component in the direction of travel; the beating motor is arranged on the motor mounting plate; the beating assembly includes a left beating rod and a right beating rod, the left beating rod and the right beating rod are symmetrically arranged, and the bottoms of the left beating rod and the right beating rod are hinged to the motor mounting plate through a left hinge shaft and a right hinge shaft respectively;

[0033] The gear transmission assembly includes a striking device driving gear, a striking device right gear, and a striking device left gear. The striking device driving gear is mounted on the striking motor output shaft via a tightening sleeve. The striking device driving gear is meshed with the striking device right gear for transmission. The striking device right gear and the striking device left gear are meshed for transmission to achieve symmetrical rotation.

[0034] The guide rod linkage assembly includes a right guide rod column and a left guide rod column, the right guide rod column and the left guide rod column are eccentrically arranged on the right gear and the left gear respectively, and the right guide rod column and the left guide rod column are slidably arranged in the right beating rod long guide hole at the lower part of the right beating rod and the left beating rod long guide hole at the lower part of the left beating rod respectively;

[0035] The gear set cover plate is arranged on the motor mounting plate.

[0036] Furthermore, the left beating rod includes a left beating rod guide rod section and a left beating rod beating section, the left beating rod beating section is made of a semi-flexible material, and the bottom of the left beating rod beating section is connected to the top of the left beating rod guide rod section; a left beating rod long guide hole is opened on the left beating rod guide rod section, and the bottom of the left beating rod guide rod section is hinged to the motor mounting plate through a left hinge shaft;

[0037] The right beating rod includes a right beating rod guide rod section and a right beating rod beating section. The bottom of the right beating rod beating section is connected to the top of the right beating rod guide rod section. A right beating rod long guide hole is provided on the right beating rod guide rod section, and the bottom of the right beating rod guide rod section is hinged to the motor mounting plate through a right hinge shaft.

[0038] Furthermore, the striking device connecting plate is L-shaped as a whole, and the striking device connecting plate includes a box connecting plate, a support plate and a motor mounting plate connecting plate, and the box connecting plate is installed on the front end surface of the box component; the support plate is used to connect the box connecting plate and the motor mounting plate connecting plate;

[0039] The motor mounting plate connecting plate is provided with a motor mounting plate, and the motor mounting plate includes a connecting frame and a gear mounting back plate, the connecting frame is provided along the circumference of the gear mounting back plate, and the connecting frame is provided with a gear set cover plate;

[0040] A motor mounting hole is provided at the upper portion of the gear mounting back plate, and the striking motor is arranged on the motor mounting hole. A right hinge shaft and a left hinge shaft are respectively provided at the lower portion of the gear mounting back plate. The right hinge shaft is hingedly mounted on the right striking rod, and the left hinge shaft is hingedly mounted on the left striking rod, and the right hinge shaft and the left hinge shaft are arranged symmetrically with respect to each other.

[0041] A right gear mounting shaft and a left gear mounting shaft are respectively provided in the middle of the gear mounting back plate, and the right gear of the striking device and the left gear of the striking device are respectively provided on the right gear mounting shaft and the left gear mounting shaft, and the right gear mounting shaft and the left gear mounting shaft are arranged symmetrically on the left and right sides; the left hinge shaft, the right hinge shaft, the right gear mounting shaft and the left gear mounting shaft are all made of a self-lubricating copper-based material;

[0042] The gear set cover plate is provided with through holes corresponding to the right gear installation shaft, the left gear installation shaft, the right hinge shaft and the left hinge shaft.

[0043] Furthermore, the claw shaft and the articulated shaft are both made of a copper alloy with self-lubricating function; an oil-free bearing is provided on the outside of the articulated shaft, and axial limitation is achieved through a retaining ring.

[0044] Furthermore, the monitoring system includes a camera and a laser radar, and multiple cameras and laser radars are provided.

[0045] Furthermore, the above-mentioned cableway power grid de-icing transport robot also includes an integrated controller, a solar panel power generation device and a battery, and the integrated controller and the battery are both arranged in a box body component; the integrated controller is electrically connected to multiple cameras, multiple laser radars, a solar panel power generation device, a tapping device and multiple claw walking mechanisms; the battery is electrically connected to the integrated controller, multiple cameras, multiple laser radars, a tapping device and multiple claw walking mechanisms, the solar panel power generation device is arranged on the box body component, and the electricity generated by the solar panel power generation device is stored in the battery.

[0046] Advantages and effects of the present invention:

[0047] 1. When the left claw component and the right claw component of the claw walking mechanism of the present application are closed, the cableway or wire is adaptively clamped by the arc surface cooperation of the left convex petal and the right concave petal, and the left concave petal and the right convex petal of the eccentric hugging and centering structure. The walking wheel assembly rolls under the drive component to complete the extrusion and de-icing synchronously. At the same time, the left and right knocking rods of the front-end knocking device are symmetrically swung through the gear transmission assembly and the guide rod linkage mechanism, and the ice on the line surface is struck symmetrically with high frequency. The extrusion de-icing of the present application breaks up a large area of ​​thin ice, and the knocking de-icing breaks up thick ice. The two form a three-dimensional de-icing network with higher de-icing efficiency, and the integrated controller adjusts the thrust of the electric push rod and the speed of the knocking motor to adapt to the de-icing needs of different ice hardness; in addition, multiple claw walking mechanisms are arranged in a straight line on the top of the box body to form a stepped de-icing path: the leading claw group initially squeezes and crushes the ice layer, and the subsequent claw group further fractures the residual ice debris, and cooperates with the pre-crushing function of the knocking device to make the de-icing effect better. At the same time, due to the use of multiple claw walking mechanisms that can be opened and closed, the gripping effect of the cableway and power grid wires is good, and the carrying capacity is strong.

[0048] 2. The left electric push rod and the right electric push rod of the present application drive the claw parts to open and close through the hinged shaft, which can clamp the cableway or wire and can adapt to the grip of cableways and wires of different diameters; at the same time, multiple claw walking mechanisms have an obstacle crossing function, and the electric push rod drives the claw unit to open and close to achieve crossing of obstacles.

[0049] 3. The left walking wheel assembly of the present application adopts an upper and lower double set of bevel gears to drive the left claw's first walking wheel gear to mesh with the second walking wheel gear. The driving wheel and the driven wheel form a four-point support. Combined with the automatic centering function of the eccentric embracing structure, the robot can overcome the deflection changes of wires or cableways caused by its own weight, grasp reliably, and improve the redundancy of grasping, thereby improving the carrying efficiency.

[0050] 4. This application uses a solar panel power generation device on the box body in conjunction with a high-efficiency battery to support continuous operation of the robot.

[0051] 5. The claw shaft, articulated shaft and gear mounting shaft of this application are all made of self-lubricating copper alloy, and are combined with the axial limit design of oil-free bearings and retaining rings. No additional lubrication is required, which significantly reduces the maintenance cost of high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a structural diagram of a cableway power grid deicing transport robot according to an embodiment of the present invention;

[0053] Figure 2 This is a structural diagram of the box components of the cableway power grid deicing transport robot according to an embodiment of the present invention;

[0054] Figure 3The claw walking mechanism structure of the cableway power grid deicing carrying robot according to the embodiment of the present invention Figure 1 ;

[0055] Figure 4 The claw walking mechanism structure of the cableway power grid deicing carrying robot according to the embodiment of the present invention Figure 2 ;

[0056] Figure 5 for Figure 3 Schematic diagram of cover installation;

[0057] Figure 6 for Figure 4 An enlarged schematic diagram of part I;

[0058] Figure 7 for Figure 4 Schematic diagram of the enlarged part II;

[0059] Figure 8 for Figure 4 An enlarged schematic diagram of part III;

[0060] Figure 9 for Figure 4 An enlarged schematic diagram of part IV;

[0061] Figure 10 for Figure 4 An enlarged schematic diagram of part V;

[0062] Figure 11 This is a structural diagram of the left claw according to an embodiment of the present invention;

[0063] Figure 12 This is a structural diagram of the right claw according to an embodiment of the present invention;

[0064] Figure 13 This is a schematic diagram of the installation of the cover plates of the left claw and the right claw according to an embodiment of the present invention;

[0065] Figure 14 This is a structural diagram of the claw frame of the cableway power grid deicing transport robot according to an embodiment of the present invention;

[0066] Figure 15 This is a structural diagram of the claw frame connecting frame of the cableway power grid deicing carrying robot according to an embodiment of the present invention;

[0067] Figure 16 A schematic structural diagram of a striking device according to an embodiment of the present invention;

[0068] Figure 17 This is a structural diagram of the knocking device for removing the gear set cover according to an embodiment of the present invention.

[0069] Figure 18 A structural diagram of a connecting plate of a striking device of an embodiment of the present invention;

[0070] Figure 19 This is an installation diagram of a striking motor of a striking device according to an embodiment of the present invention;

[0071] Figure 20 This is a structural diagram of a motor mounting plate according to an embodiment of the present invention;

[0072] Figure 21 The motor mounting plate structure of the embodiment of the present invention Figure 1 ;

[0073] Figure 22 The gear set cover structure of the embodiment of the present invention Figure 2 ;

[0074] Figure 23 2 is a structural diagram of a right beating stick and a left beating stick according to an embodiment of the present invention.

[0075] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0076] 1. Claw walking mechanism; 2. Box components; 3. Tapping device; 4. Camera; 5. LiDAR; 6. Battery; 7. Integrated controller; 8. Solar panel power generation device; 101. Left claw component; 102. Right claw component; 103. Claw shaft; 104. Claw frame; 105. Left electric push rod; 106. Right electric push rod; 107. Articulated shaft; 107a. First articulated shaft; 107b. Second articulated shaft; 108. Retaining ring; 108a. First retaining ring; 108b. Second retaining ring; 109. Oil-free bearing; 109a. First oil-free bearing; 109b. Second oil-free bearing; 110. Claw frame connecting frame; 111. Claw frame connecting bolt; 1011. Left claw; 1012. Left claw first walking wheel component; 10 13. Left claw second travel wheel component; 1014. Driving component; 1015. Left claw cover plate; 1011a. Left claw housing; 1011b. Left hinged vertical plate; 1011c. Left hinged vertical plate hinge hole; 1011d. Left claw housing hinge ring; 1011e. Left claw first travel wheel mounting bracket; 1011f. Left claw first travel wheel mounting hole; 1011g. Driving component mounting plate; 1011h. Driving component mounting hole; 1011i. Left claw semi-cylindrical hole; 1011j. Left claw second travel wheel mounting bracket; 1011k. Left claw second travel wheel mounting hole; 1011m. Left convex petal; 1011n. Left concave petal; 1012a. Left claw first travel wheel axle; 1012b. Left claw first travel wheel; 1012 f, left claw first travel wheel gear; 1012c, left claw first oil-free bearing; 1012d, left claw first oil-free bearing retaining ring; 1012e, left claw first travel wheel gear retaining ring; 1012g, left claw first gear key; 1013a, left claw second travel wheel shaft; 1013b, left claw second travel wheel; 1013f, left claw second travel wheel gear; 1013c, left claw second oil-free bearing; 1013d, left claw second oil-free bearing retaining ring; 1013e, left claw second travel wheel gear retaining ring; 1013g, left claw second gear key; 1014a, left claw motor; 1014b, left claw drive gear; 1014c, expansion sleeve; 1021, right claw; 1022, right claw first travel wheel component; 1023, right claw Second travel wheel assembly; 1024, right claw cover plate; 1021a, right claw housing; 1021b, right hinged vertical plate; 1021c, right hinged vertical plate hinge hole; 1021d, right claw housing hinge ring; 1021e, right claw first travel wheel mounting bracket; 1021f, right claw first travel wheel mounting hole; 1021i, right claw semi-cylindrical hole; 1021j, right claw second travel wheel mounting bracket; 1021k, right claw second travel wheel mounting hole; 1021m, right convex petal; 1021n, right concave petal; 1022a, right claw first travel wheel axle; 1022b, right claw first travel wheel; 1022c, right claw first oil-free bearing; 1022d, right claw first oil-free bearing retaining ring; 1023a, right claw second travel wheel axle;1023b, second travel wheel of right claw; 1023c, second oil-free bearing of right claw; 1023d, retaining ring of second oil-free bearing of right claw; 104a, column; 104b, crossbeam; 104c, lower sheet-shaped vertical plate; 104d, lower hinge hole; 104e, upper sheet-shaped vertical plate; 104f, upper hinge hole, 201, box body; 202, box body cover; 301, connecting plate of beating device; 302, motor mounting plate; 303, gear set cover; 304, driving gear of beating device; 305, right gear of beating device; 306, left gear of beating device; 307, right guide rod column; 308, left guide rod column; 309, left clamping ring; 310, right clamping ring; 311, left locking nut; 312, right locking nut; 313, right beating rod; 314, left beating rod Rod; 315, beating motor; 301a, box connecting plate; 301b, support plate; 301c, motor mounting plate connecting plate; 302a, connecting frame; 302b, motor mounting hole; 302c, gear mounting back plate; 302d, right hinge shaft; 302e, left hinge shaft; 302f, right gear mounting shaft; 302g, left gear mounting shaft; 303a, back plate; 303b, round through hole; 303c, connected round through hole; 313a, right beating rod guide rod section; 313b, right beating rod striking section; 313c, right beating rod hinge hole; 313d, right beating rod strip guide hole; 314a, left beating rod guide rod section; 314b, left beating rod striking section; 314c, left beating rod hinge hole; 314d, left beating rod strip guide hole. DETAILED DESCRIPTION

[0077] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0078] A cableway power grid deicing transport robot includes a claw walking mechanism 1, a box component 2, a striking device 3, and a monitoring system. The claw walking mechanism 1 is disposed on the box component 2, and multiple claw walking mechanisms 1 are provided. Each claw walking mechanism 1 includes a left claw component 101 and a right claw component 102. The left claw component 101 has a left running wheel assembly and a drive component 1014, which is drivingly connected to the left running wheel assembly. The right claw component 102 has a right running wheel assembly. When in operation, the left claw component 101 and the right claw component 102 merge to form a clamping channel for clamping a cableway or power grid wire. The left running wheel assembly and the right running wheel assembly roll in cooperation with the cableway or power grid wire.

[0079] The striking device 3 is provided at one end of the travel of the box member 2;

[0080] The monitoring system is arranged on the box component 2.

[0081] The claw walking mechanism 1 of the present invention further includes a claw shaft 103, a claw frame 104, a left electric push rod 105, a right electric push rod 106, a hinge shaft 107, a claw frame connecting frame 110 and a claw frame connecting bolt 111;

[0082] The claw frame includes a column 104a and a crossbeam 104b. The column 104a is set on the crossbeam 104b. Both ends of the crossbeam 104b are provided with lower sheet-shaped vertical plates 104c.

[0083] The bottoms of the left claw component 101 and the right claw component 102 are both rotatably arranged on the top of the column 104a through the claw shaft 103.

[0084] The lower portion of the left claw member 101 is provided with a left hinged vertical plate 1011b;

[0085] One end of the left electric push rod 105 is connected to the left hinged vertical plate 1011b through the hinge shaft 107, and the other end of the left electric push rod 105 is connected to the lower sheet-shaped vertical plate 104c through the hinge shaft 107;

[0086] The lower portion of the right claw member 102 is provided with a right hinged vertical plate 1021b;

[0087] One end of the right electric push rod 106 is connected to the right hinged vertical plate 1021b through the hinge shaft 107, and the other end of the right electric push rod 106 is connected to the lower sheet-shaped vertical plate 104c through the hinge shaft 107;

[0088] The claw frame 104 is fixed to the claw frame connecting frame 110 via claw frame connecting bolts 111, and the claw frame connecting frame 110 is connected to the box body 2 via bolts. The left and right electric push rods 105 and 106 of the present application drive the claw components to open and close via a hinge shaft 107, which can clamp cableways or wires and can adapt to gripping cableways and wires of different diameters. At the same time, the multiple claw walking mechanism 1 has an obstacle crossing function, and the electric push rods drive the claw units to open and close, enabling the overcoming of obstacles.

[0089] The left claw component 101 of the present invention further includes a left claw 1011. The left claw 1011 is a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The left claw 1011 includes a left claw housing 1011a, a left convex petal 1011m, and a left concave petal 1011n. The left convex petal 1011m and the left concave petal 1011n are both provided on the left claw housing 1011a.

[0090] The right claw component 102 further includes a right claw 1021. The right claw 1021 is a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The right claw 1021 includes a right claw housing 1021a, a right convex petal 1021m, and a right concave petal 1021n. The right convex petal 1021m and the right concave petal 1021n are both provided on the right claw housing 1021a.

[0091] When the left claw part 101 and the right claw part 102 are closed, the arc surface of the left convex petal 1011m cooperates with the arc surface of the right concave petal 1021n, and the arc surface of the left concave petal 1011n cooperates with the right convex petal 1021m to form an eccentric embracing and centering structure.

[0092] The left claw component 101 of the present invention further includes a left claw cover plate 1015. The shape and structure of the left claw cover plate 1015 match the left claw housing 1011a. The left claw cover plate 1015 is buckled onto the left claw housing 1011a.

[0093] A left claw first travel wheel mounting bracket 1011e and a left claw second travel wheel mounting bracket 1011j are provided inside the left claw housing 1011a, and the left claw first travel wheel mounting bracket 1011e is located above the left claw second travel wheel mounting bracket 1011j, a drive component mounting plate 1011g is provided on the outside of the left claw housing 1011a, and a left claw housing hinge ring 1011d is provided at the bottom of the left claw housing 1011a; the drive component 1014 is provided on the drive component mounting plate 1011g, and the drive component 1014 includes a left claw motor 1014a and a left claw driving gear 1014b, and the left claw driving gear 1014b is installed on the output shaft of the left claw motor 1014a through a tightening sleeve 1014c; the right claw component 102 also includes a right claw cover plate 1024, the shape and structure of the right claw cover plate 1024 match the right claw housing 1021a, and the right claw cover plate 1024 is buckled onto the right claw housing 1021a;

[0094] A right claw first travel wheel mounting bracket 1021e and a right claw second travel wheel mounting bracket 1021j are provided inside the right claw housing 1021a, and the right claw first travel wheel mounting bracket 1021e is located above the right claw second travel wheel mounting bracket 1021j; a right claw housing hinge ring 1021d is provided at the bottom of the right claw housing 1021a;

[0095] The upright post 104a is rotatably connected to the left claw housing hinge ring 1011d and the right claw housing hinge ring 1021d via the claw shaft 103;

[0096] The left walking wheel assembly includes a left-pawl first walking wheel assembly 1012 and a left-pawl second walking wheel assembly 1013; the right walking wheel assembly includes a right-pawl first walking wheel assembly 1022 and a right-pawl second walking wheel assembly 1023;

[0097] The left claw first travel wheel assembly 1012 includes a left claw first travel wheel shaft 1012a, a left claw first travel wheel 1012b and a left claw first travel wheel gear 1012f. The left claw first travel wheel gear 1012f is a bevel gear. The left claw first travel wheel gear 1012f is arranged at one end of the left claw first travel wheel shaft 1012a. The left claw first travel wheel shaft 1012a is mounted on the left claw first travel wheel mounting bracket 1011e through the left claw first oil-free bearing 1012c. The left claw first travel wheel 1012b is interference-connected with the left claw first travel wheel shaft 1012a.

[0098] The left-paw second travel wheel assembly 1013 includes a left-paw second travel wheel shaft 1013a, a left-paw second travel wheel 1013b, and a left-paw second travel wheel gear 1013f. The left-paw second travel wheel gear 1013f is a bevel gear and is disposed at one end of the left-paw second travel wheel shaft 1013a. The left-paw second travel wheel shaft 1013a is mounted on the left-paw second travel wheel mounting bracket 1011j via a left-paw second oil-free bearing 1013c. The left-paw second travel wheel 1013b is interference-connected to the left-paw second travel wheel shaft 1013a.

[0099] The left claw driving gear 1014b is drivingly connected to the left claw first travel wheel gear 1012f, and the left claw first travel wheel gear 1012f is meshed with the left claw second travel wheel gear 1013f for transmission;

[0100] The right claw first travel wheel assembly 1022 includes a right claw first travel wheel shaft 1022a and a right claw first travel wheel 1022b. The right claw first travel wheel shaft 1022a is mounted on the right claw first travel wheel mounting bracket 1021e via a right claw first oil-free bearing 1022c. The right claw first travel wheel 1022b is interference-connected to the right claw first travel wheel shaft 1022a.

[0101] The right claw second travel wheel assembly 1023 includes a right claw second travel wheel shaft 1023a and a right claw second travel wheel 1023b. The right claw second travel wheel shaft 1023a is mounted on the right claw second travel wheel mounting bracket 1021j via the right claw second oil-free bearing 1023c. The right claw second travel wheel 1023b is interference-connected to the right claw second travel wheel shaft 1023a. The left travel wheel assembly of the present application uses a double set of upper and lower bevel gears to drive the left claw first travel wheel gear 1012f and the second travel wheel gear 1013f to mesh. The driving wheel and the driven wheel form a four-point support. Combined with the automatic centering function of the eccentric embracing structure, the robot can overcome the deflection changes of the wires or cableways caused by its own weight, reliably grasp, and improve the redundancy of the grasping, thereby improving the carrying efficiency.

[0102] The striking device 3 of the present invention includes a striking motor 315, a striking assembly, a gear transmission assembly and a guide rod linkage assembly, a striking device connecting plate 301, a motor mounting plate 302 and a gear set cover plate 303.

[0103] The striking device connecting plate 301 is arranged at one end of the box body 2 in the direction of travel; the striking motor 315 is arranged on the motor mounting plate 302;

[0104] The striking assembly includes a left striking rod 314 and a right striking rod 313. The left striking rod 314 and the right striking rod 313 are symmetrically arranged. The bottoms of the left striking rod 314 and the right striking rod 313 are hinged to the motor mounting plate 302 through a left hinge shaft 302e and a right hinge shaft 302d respectively.

[0105] The gear transmission assembly includes a striking device drive gear 304, a striking device right gear 305, and a striking device left gear 306. The striking device drive gear is mounted on the output shaft of the striking motor 315 via a tightening sleeve. The striking device drive gear 304 meshes with the striking device right gear 305 for transmission. The striking device right gear 305 and the striking device left gear 306 achieve symmetrical rotation through meshing transmission.

[0106] The guide rod linkage assembly includes a right guide rod column 307 and a left guide rod column 308, which are eccentrically arranged on the right gear 305 and the left gear 306, respectively, and the right guide rod column 307 and the left guide rod column 308 are respectively slidably arranged in the right beating rod elongated guide hole 313d at the bottom of the right beating rod 313 and the left beating rod elongated guide hole 314d at the bottom of the left beating rod 314; the gear set cover plate 303 is arranged on the motor mounting plate 302. The beating device 3 of the present application adopts a double-gear symmetrical rotation structure, which can ensure that the left beating rod 314 and the right beating rod 313 strike symmetrically, and has a lower vibration amplitude than the traditional single-rod beating method, reducing the risk of mechanical damage to the line.

[0107] The left beating rod 314 of the present invention includes a left beating rod guide rod section 314a and a left beating rod beating section 314b. The left beating rod beating section 314b is made of a semi-flexible material, and the bottom of the left beating rod beating section 314b is connected to the top of the left beating rod guide rod section 314a. The left beating rod guide rod section 314a is provided with a left beating rod long guide hole 314d, and the bottom of the left beating rod guide rod section 314a is hinged to the motor mounting plate 302 via a left hinge shaft 302e.

[0108] The right beating rod 313 includes a right beating rod guide rod section 313a and a right beating rod beating section 313b. The bottom of the right beating rod beating section 313b is connected to the top of the right beating rod guide rod section 313a. A right beating rod long guide hole 313d is provided on the right beating rod guide rod section 313a, and the bottom of the right beating rod guide rod section 313a is hinged to the motor mounting plate 302 through the right hinge shaft 302d.

[0109] The striking device connecting plate 301 of the present invention is L-shaped as a whole, and includes a box connecting plate 301a, a support plate 301b and a motor mounting plate connecting plate 301c.

[0110] The box connecting plate 301a is installed on the front end surface of the box component 2; the support plate 301b is used to connect the box connecting plate 301a and the motor mounting plate connecting plate 301c;

[0111] The motor mounting plate 302 is provided on the motor mounting plate connecting plate 301c. The motor mounting plate 302 includes a connecting frame 302a and a gear mounting back plate 302c. The connecting frame 302a is provided along the circumference of the gear mounting back plate 302c. The gear set cover plate 303 is provided on the connecting frame 302a.

[0112] A motor mounting hole 302b is provided on the upper portion of the gear mounting back plate 302c, and a striking motor 315 is mounted on the motor mounting hole 302b. A right hinge shaft 302d and a left hinge shaft 302e are provided on the lower portion of the gear mounting back plate 302c. The right hinge shaft 302d is hingedly mounted to a right striking rod 313, and the left hinge shaft 302e is hingedly mounted to a left striking rod 314. The right hinge shaft 302d and the left hinge shaft 302e are arranged symmetrically with respect to each other.

[0113] A right gear mounting shaft 302f and a left gear mounting shaft 302g are provided in the middle of the gear mounting back plate 302c. The right and left gears 305 and 306 of the striking device are respectively provided on the right and left gear mounting shafts 302f and 302g, and the right and left gear mounting shafts 302f and 302g are arranged symmetrically. The left and right hinge shafts 302e, 302d, right and left gear mounting shafts 302f and 302g are all made of a self-lubricating copper-based material.

[0114] The gear set cover plate 303 is provided with through holes corresponding to the right gear installation shaft 302f, the left gear installation shaft 302g, the right hinge shaft 302d and the left hinge shaft 302e.

[0115] When the left claw part 101 and the right claw part 102 of the claw walking mechanism 1 of the present application are closed, the adaptive clamping of the cableway or wire is achieved through the cooperation of the arc surface of the left convex petal 1011m and the right concave petal 1021n, the left concave petal 1011n and the right convex petal 1021m of the eccentric hugging and returning structure, and the walking wheel assembly rolls under the drive component 1014, and the extrusion de-icing is completed synchronously; at the same time, the left beating rod 314 and the right beating rod 313 of the front end beating device 3 realize symmetrical swinging through the gear transmission assembly and the guide rod linkage mechanism, and the ice covered on the line surface is struck symmetrically at high frequency, and the extrusion de-icing and crushing of the present application is achieved. For large areas of thin ice, beating de-icing can break up thick ice lumps. The two form a three-dimensional de-icing network, which has higher de-icing efficiency. The thrust of the electric push rod and the speed of the beating motor 315 are adjusted by the integrated controller 7 to adapt to the de-icing needs of different ice hardnesses. In addition, multiple claw walking mechanisms 1 are arranged in a straight line on the top of the box component 2 to form a stepped de-icing path: the leading claw group initially squeezes and breaks the ice layer, and the subsequent claw group further fractures the residual ice debris, and cooperates with the pre-crushing function of the beating device to make the de-icing effect better. At the same time, due to the use of multiple claw walking mechanisms 1 that can be opened and closed, the gripping effect of the cableway and power grid wires is good, and the carrying capacity is strong.

[0116] The claw shaft 103 and articulated shaft 107 of the present invention are both made of a self-lubricating copper alloy. An oil-free bearing 109 is externally mounted on the articulated shaft 107, and axial position is limited by a retaining ring 108. The self-lubricating copper alloy used for the articulated shaft 107 and the gear mounting shaft, combined with the axial position-limiting design of the oil-free bearing 109 and retaining ring 108, eliminates the need for additional lubrication and significantly reduces maintenance costs for aerial work.

[0117] The monitoring system of the present invention includes a camera 4 and a laser radar 5, and multiple cameras 4 and laser radars 5 are provided. The present application sets multiple cameras 4 and laser radars 5 on the front, rear, top, and bottom of the box component 2, which can collect real-time data on the ice thickness of the line and ensure the de-icing effect through the adjustment of the integrated controller 7.

[0118] The cableway grid deicing transport robot of the present invention also includes an integrated controller 7, a solar panel power generation device 8 and a battery 6. The integrated controller 7 and the battery 6 are both arranged in the box body 2; the integrated controller 7 is electrically connected to the multiple cameras 4, the multiple laser radars 5, the solar panel power generation device 8, the tapping device 3 and the multiple claw walking mechanisms 1; the battery 6 is electrically connected to the integrated controller 7, the multiple cameras 4, the multiple laser radars 5, the tapping device 3 and the multiple claw walking mechanisms 1, the solar panel power generation device 8 is arranged on the box body 2, and the electricity generated by the solar panel power generation device 8 is stored in the battery 6. This application can support the continuous operation of the robot by combining the solar panel power generation device 8 on the box body 2 with the high-efficiency battery 6.

[0119] Example 1

[0120] A cableway and power grid de-icing transport robot is specifically comprised of multiple claw walking mechanisms 1, a housing 2, a tapping device 3, multiple cameras 4, multiple laser radars 5, a battery 6, an integrated controller 7, a solar panel power generation device 8, and wires. Multiple (generally three or more) claw walking mechanisms 1 are arranged in a straight line on the top central axis of the housing 2. They are used to grasp the cableway and power grid wires and move along them. The claw walking mechanisms 1 squeeze ice from the cableway and power grid wires to de-ice them. The tapping device 3 is mounted in front of the housing 2 and is used to tap and de-ice ice from the cableway and power grid wires. Cameras 4 and laser radars 5 are located in front of the tapping device 3 and on the top, bottom, and rear of the housing 2 to monitor the front, rear, upper, and lower environments of the cableway and power grid de-icing transport robot and to detect the effectiveness of the cableway and power grid de-icing. The battery 6 and integrated controller 7 are located inside the housing 2. The integrated controller 7 is used to provide integrated control of the robot's multiple cameras 4, multiple laser radars 5, multiple claw walking mechanisms 1, solar panel power generation device 8, and tapping device 3. The battery 6 is used to provide power to the multiple claw walking mechanisms 1, tapping device 3, multiple cameras 4, multiple laser radars 5, and integrated controller 7. The solar panel power generation device 8 consists of a solar power generation panel, a solar panel controller, and a battery, with the solar panel controller being integrated into the integrated controller 7. The electricity generated by the solar panel power generation device 8 is stored in the battery 6. The integrated controller 7 is connected to the robot's multiple cameras 4, multiple laser radars 5, multiple claw walking mechanisms 1, tapping device 3, and solar panel power generation device 8 via signal wires, and the battery 6 is connected to the integrated controller 7, the robot's multiple cameras 4, multiple laser radars 5, multiple claw walking mechanisms 1, tapping device 3, and solar panel power generation device 8 via wires.

[0121] The claw walking mechanism 1 of the present invention is mainly composed of a left claw component 101, a right claw component 102, a claw shaft 103, a claw frame 104, a left electric push rod 105, a right electric push rod 106, an articulated shaft 107 (including a first articulated shaft 107a and a second articulated shaft 107b), a retaining ring 108 (a first retaining ring 108a, a second retaining ring 108b), an oil-free bearing 109 (a first oil-free bearing 109a, a second oil-free bearing 109b), a claw frame connecting frame 110 and a claw frame connecting bolt 111.

[0122] The left claw component 101 and the right claw component 102 are rotatably connected by a claw shaft 103. The left and right claw components 101 and 102 are semi-cylindrical with a semi-circular hole in the middle. When closed, they form a cylindrical shape with a cylindrical hole in the middle. The cylindrical hole is used to support cableways and power grid wires. The claw shaft 103 is made of a self-lubricating copper alloy and has an overall stepped cylindrical shape. One end has a cylindrical head and the other end has an annular groove. A claw shaft retaining ring is installed in this groove to axially limit the left and right claw components 101 and 102. The claw shaft 103 is fixedly mounted in the upper hinge hole 104f at the top of the claw frame 104. The claw frame 104 is in a "mountain" shape and mainly consists of a column 104a and a crossbeam 104b. Both ends of the crossbeam 104b are provided with a through-hole lower hinge hole 104d. The hinge holes are provided on the lower sheet-like vertical plates 104c at both ends of the crossbeam 104b. The two sheet-like vertical plates 104c are symmetrically arranged at each end of the crossbeam 104b. The top of the column 104a is provided with an upper sheet-like vertical plate 104e, which is provided with a through-hole upper hinge hole 104f.

[0123] The left claw component 101 has a pair of left hinged vertical plates 1011b at the lower part of the left claw 1011. The pair of left hinged vertical plates 1011b are symmetrically arranged. The pair of left hinged vertical plates 1011b are provided with through holes, namely left hinged vertical plate hinge holes 1011c. The left electric push rod 105 is installed between the left hinged vertical plate hinge holes 1011c and the lower hinge hole 104d of the claw frame 104 via a hinge shaft 107. The hinge shaft 107 includes a first hinge shaft 107a and a second hinge shaft 107b. The first hinge shaft 107a is installed in the left hinged vertical plate hinge hole 1011c, and the second hinge shaft 107b is installed in the left lower hinge hole 104d of the claw frame 104. The hinge shaft 107 is sheathed with an oil-free bearing 109. A first oil-free bearing 109a is sleeved on the outside of an articulated shaft 107a, and a second oil-free bearing 109a is sleeved on the outside of a second articulated shaft 107b. The articulated shafts 107 are all stepped shafts with a large head at one end and an annular groove at the other end. A retaining ring 108 is installed in the annular groove for axially limiting the left electric push rod 105. The first retaining ring 108a is installed in conjunction with the first articulated shaft 107a, and the second retaining ring 108b is installed in conjunction with the second articulated shaft 107b.

[0124] The lower portion of the right claw 1021 of the right claw assembly 102 is provided with a pair of right hinged vertical plates 1021b. The pair of right hinged vertical plates 1021b are symmetrically arranged, and each pair of right hinged vertical plates 1021b is provided with through-holes (right hinged vertical plate hinge holes 1021c). The right hinged vertical plate hinge holes 1021c are connected to the right lower hinge hole 104d of the claw frame 104 via a hinge shaft 107 (the same hinge shaft 107 used to install the left electric linear actuator 105). The right electric linear actuator 106 is installed in the same manner as the left electric linear actuator 105.

[0125] The claw frame 104 is connected to the claw frame connecting frame 110 via claw frame connecting bolts 111. The claw frame connecting frame 110 is also bolted to the box body 2. The claw frame connecting frame 110 consists of three parts: an upper connecting head 110a, a connecting column 110b, and a connecting base 110c. The upper connecting head 110a is generally U-shaped, with through-holes on the two side plates for installing the claw frame connecting bolts 111. The connecting column 110b in the middle is cylindrical. The connecting base 110c at the bottom is plate-shaped and has through-holes for screw connection.

[0126] The left claw component 101 of the present invention is composed of a left claw 1011, a left claw first running wheel component 1012, a left claw second running wheel component 1013, a driving component 1014, and a left claw cover plate 1015.

[0127] The left claw 1011 is a hollow, semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The left claw housing 1011a is a hollow, semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The semi-cylindrical hole 1011i in the middle of the left claw is used to pass cableways and power lines. The upper portion of the left claw housing 1011a, where it closes with the right claw 1021, is divided into two petals: one is a left convex petal 1011m, and the other is a left concave petal 1011n. The surface where the left convex petal 1011m mates with the right claw 1021 is a circular curved surface, which matches the circular curved surface of the right concave petal 1021n of the right claw 1021. The surface where the left concave petal 1011n mates with the right claw 1021 is a circular curved surface, which matches the circular curved surface of the right convex petal 1021m of the right claw 1021. When the left and right claws 1011 and 1021 are closed, they form a cylindrical shape with a central circular hole. This structure, in which the left convex petal 1011m cooperates with the right concave petal 1021n, and the left concave petal 1011n cooperates with the right convex petal 1021m, creates an eccentric hugging and centering effect for the cableway and power lines when their axes do not coincide with the axes of the closed left and right claws 1011 and 1021. The left claw cover 1015, whose shape and structure match the left claw housing 1011a, snaps onto the open side of the left claw housing 1011a.

[0128] A pair of left-pawl first travel wheel mounting brackets 1011e are provided on the inner back panel of the left-pawl housing 1011a, above and to the left of the housing axis. These brackets 1011e are provided with a pair of left-pawl first travel wheel mounting holes 1011f for mounting the left-pawl first travel wheel assembly 1012. A pair of left-pawl second travel wheel mounting brackets 1011j are provided on the inner back panel of the housing 1011a, below and to the left of the housing axis. These brackets 1011j are provided with a pair of left-pawl second travel wheel mounting holes 1011k for mounting the left-pawl second travel wheel assembly 1013. A drive component mounting plate 1011g is provided on the outer cylindrical surface of the housing 1011a of the left-pawl 1011. This drive component mounting plate 1011g is provided with a drive component mounting hole 1011h for mounting the drive component 1014. A left-pawl housing hinge ring 1011d is provided at the lower portion of the left-pawl housing 1011a for mounting the pawl shaft 103.

[0129] The driving component 1014 is mainly composed of a left claw motor 1014a and a left claw driving gear 1014b. The left claw driving gear 1014b is installed on the output shaft of the left claw motor 1014a through a tightening sleeve 1014c.

[0130] The left-claw first travel wheel assembly 1012 primarily consists of a left-claw first travel wheel shaft 1012a, a left-claw first travel wheel 1012b, and a left-claw first travel wheel gear 1012f. The left-claw first travel wheel gear 1012f is a bevel gear. The left-claw first travel wheel shaft 1012a is mounted in a pair of left-claw first travel wheel mounting holes 1011f via a pair of left-claw first oil-free bearings 1012c. The left-claw first oil-free bearing retaining rings 1012d secure the bearings 1012c axially. The left-claw first travel wheel gear 1012f is secured axially by a left-claw first travel wheel gear retaining ring 1012e. The left-claw first travel wheel gear 1012f transmits torque via the left-claw first gear key 1012g. A keyway matching the left claw first gear key is provided on the left claw first traveling wheel shaft 1012a, and an annular groove matching the left claw first oil-free bearing retaining ring 1012d is also provided on the left claw first traveling wheel shaft 1012a.

[0131] The left-claw second travel wheel assembly 1013 primarily consists of a left-claw second travel wheel shaft 1013a, a left-claw second travel wheel 1013b, and a left-claw second travel wheel gear 1013f. The left-claw second travel wheel gear 1013f is a bevel gear. The left-claw second travel wheel shaft 1013a is mounted in a pair of left-claw second travel wheel mounting holes 1011k via a pair of left-claw second oil-free bearings 1013c. The left-claw second oil-free bearing retaining rings 1013d secure the bearings 1013c axially. The left-claw second travel wheel gear 1013f is secured axially by a left-claw second travel wheel gear retaining ring 1013e. The left-claw second travel wheel gear 1013f transmits torque via the left-claw second gear key 1013g. A keyway matching the left claw second gear key is provided on the left claw second traveling wheel shaft 1013a, and an annular groove matching the left claw second oil-free bearing retaining ring 1013d is also provided on the left claw second traveling wheel shaft 1013a.

[0132] The left-paw driving gear 1014b meshes with the left-paw first travel wheel gear 1012f for transmission, which in turn meshes with the left-paw second travel wheel gear 1013f for transmission. The left-paw first travel wheel gear 1012f drives the left-paw first travel wheel shaft 1012a to rotate via the left-paw first gear key 1012g. The left-paw first travel wheel shaft 1012a is interference-connected with the left-paw first travel wheel 1012b, thereby driving the left-paw first travel wheel 1012b to rotate. The left-paw first travel wheel gear 1012f drives the left-paw second travel wheel gear 1013f to rotate. The left-paw second travel wheel gear 1013f drives the left-paw second travel wheel shaft 1013a to rotate via the left-paw second gear key 1013g. The left-paw second travel wheel shaft 1013a is interference-connected with the left-paw second travel wheel 1013b, thereby driving the left-paw second travel wheel 1013b to rotate. Because the left claw first travel wheel gear 1012f and the left claw second travel wheel gear 1013f are engaged and transmitted, the two gears rotate in the same direction, so the left claw first travel wheel 1012b and the left claw second travel wheel 1013b rotate in the same direction, and roll forward or backward synchronously along the grasped cableway or power grid wire.

[0133] The right claw component 102 of the embodiment of the present invention is mainly composed of a right claw 1021, a right claw first running wheel component 1022, a right claw second running wheel component 1023 and a right claw cover plate 1024.

[0134] The right claw 1021 is an overall hollow, semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The right claw housing 1021a is an overall hollow, semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The right claw semi-cylindrical hole 1021i in the middle is used to pass cableways and power lines. The upper portion of the right claw housing 1021a, where it closes with the left claw 1011, is divided into two petals: one is a right convex petal 1021m, and the other is a right concave petal 1021n. The surface where the right convex petal 1021m mates with the left claw 1011 is a circular curved surface, which matches the circular curved surface of the left concave petal 1011n of the left claw 1011. The surface where the right concave petal 1021n mates with the left claw 1011 is a circular curved surface, which matches the circular curved surface of the left convex petal 1011m of the left claw 1011. When the right claw 1021 and the left claw 1011 are closed, they form a cylindrical shape with a central circular hole. This structure, in which the right convex petal 1021m cooperates with the left concave petal 1011n, and vice versa, creates an eccentric hugging and centering effect for the cableway and power lines when their axes do not align with the axes of the left and right claws 1011, 1021. The right claw cover 1024, shaped and structured to match the right claw housing 1021a, snaps onto the open side of the right claw housing 1021a.

[0135] A pair of right-pawl first travel wheel mounting brackets 1021e are provided on the inner back panel of the right-pawl housing 1021a, above and to the right of the housing axis. These brackets 1021e are provided with a pair of right-pawl first travel wheel mounting holes 1021f for mounting the right-pawl first travel wheel assembly 1022. A pair of right-pawl second travel wheel mounting brackets 1021j are provided on the inner back panel of the right-pawl housing 1021a, below and to the right of the housing axis. These brackets 1021j are provided with a pair of right-pawl second travel wheel mounting holes 1021k for mounting the right-pawl second travel wheel assembly 1023. A right-pawl housing hinge ring 1021d is provided at the lower portion of the right-pawl housing 1021a for mounting the pawl shaft 103.

[0136] The right-pawl first travel wheel assembly 1022 primarily consists of a right-pawl first travel wheel axle 1022a and a right-pawl first travel wheel 1022b. The right-pawl first travel wheel axle 1022a is mounted in a pair of right-pawl first travel wheel mounting holes 1021f via a pair of right-pawl first oil-free bearings 1022c. The ends of the right-pawl first oil-free bearings 1022c are axially secured by right-pawl first oil-free bearing retaining rings 1022d. An annular groove is provided on the right-pawl first travel wheel axle 1022a to mate with the right-pawl first oil-free bearing retaining rings 1022d.

[0137] The right-pawl second travel wheel assembly 1023 primarily consists of a right-pawl second travel wheel axle 1023a and a right-pawl second travel wheel 1023b. The right-pawl second travel wheel axle 1023a is mounted in a pair of right-pawl second travel wheel mounting holes 1021k via a pair of right-pawl second oilless bearings 1023c. The right-pawl second oilless bearings 1023c are axially secured at both ends by right-pawl second oilless bearing retaining rings 1023d. An annular groove is provided on the right-pawl second travel wheel axle 1023a to mate with the right-pawl second oilless bearing retaining rings 1023d.

[0138] The box component 2 consists of a box body 201 and a box body cover 202.

[0139] The striking device 3 is mainly composed of a striking device connecting plate 301, a motor mounting plate 302, a gear set cover plate 303, a striking device driving gear 304, a striking device right gear 305, a striking device left gear 306, a right guide rod column 307, a left guide rod column 308, a left clamping ring 309, a right clamping ring 310, a left locking nut 311, a right locking nut 312, a right striking rod 313, a left striking rod 314 and a striking motor 315.

[0140] Beating device connecting plate 301 is installed on box component 2 front end by screw, motor mounting plate 302 is installed on beating device connecting plate 301 top by screw, beat motor 315 is installed in the motor mounting hole 302b on motor mounting plate 302 top, beat device driving gear 304 is installed on beating motor 315 output shaft by expansion sleeve. Beating device right gear 305 is rotationally mounted on the right gear mounting shaft 302f on motor mounting plate 302. Beating device left gear 306 is rotationally mounted on the left gear mounting shaft 302e on motor mounting plate 302. Beating motor 315 drives beating device driving gear 304 to rotate, beat device driving gear 304 and beating device right gear 305 meshing transmission, beat device right gear 305 meshing transmission with beat device left gear 306, beat device right gear 305 meshing with beat device left gear 306 and rotates in the same direction. The right gear 305 of the beating device is eccentrically mounted with a right guide rod column 307, which passes the right beating rod strip guide hole 313d at the right beating rod 313 bottoms and is kinematically connected. The right beating rod 313 bottoms are provided with a right beating rod hinge hole 313c, which passes the right hinge shaft 302d on the gear mounting back plate 302c of the motor mounting plate 302 and is hingedly connected. The structure of the left beating rod is identical to that of the right beating rod. The installation method of the left beating rod is identical to that of the right beating rod. The left gear 306 of the beating device is eccentrically mounted with a left guide rod column 308, which passes the left beating rod strip guide hole 314d at the left beating rod 314 bottoms and is kinematically connected. A left beating rod hinge hole 314 c is provided at the lower portion of the left beating rod 314 , and the left beating rod hinge hole 314 c passes through the left hinge shaft 302 e on the gear mounting back plate 302 c of the motor mounting plate 302 for hinge connection.

[0141] The structure of left beating stick is identical with right beating stick.The right beating stick bottom is right beating stick guide rod section 313a, and the top is right beating stick beating section 313b, and right beating stick beating section 313b lower end is established with circular through hole right beating stick hinge hole 313c, and right beating stick beating section 313b middle part is established with right beating stick strip guide hole 313d.Right beating stick beating section 313b adopts semi-flexible material, is used for beating the ice on ropeway, power grid wire.Circular through hole right beating stick hinge hole 313c is used for articulating right beating stick, and right beating stick strip guide hole 313d is used for the rocker motion guiding of right beating stick.

[0142] The left beating stick bottom is a left beating stick guide rod section 314a, and the top is a left beating stick beating section 314b, and the left beating stick beating section 314b lower end is provided with a circular through hole left beating stick hinge hole 314c, and the left beating stick beating section 314b middle part is provided with a left beating stick strip guide hole 314d.Left beating stick beating section 314b adopts semi-flexible material, is used for beating the ice on ropeway, power grid wire.Circular through hole left beating stick hinge hole 313c is used for articulating the left beating stick, and the left beating stick strip guide hole 314d is used for the rocker motion guiding of the left beating stick.

[0143] The striking device connecting plate 301 is L-shaped and consists, from bottom to top, of a housing connecting plate 301a, a support plate 301b, and a motor mounting plate connecting plate 301c. The housing connecting plate 301a has threaded holes for attaching the striking device connecting plate 301 to the front of the housing 2. The motor mounting plate connecting plate c connects to the motor mounting plate 302, and the support plate 301b connects the supporting housing connecting plate 301a to the motor mounting plate connecting plate c.

[0144] The motor mounting plate 302 is a hollow rectangular parallelepiped frame structure with an opening at one end. The periphery is a connecting frame 302a, and one end is a gear mounting back plate 302c. The gear mounting back plate 302c top is provided with a motor mounting hole 302b for installing the striking motor 315. A right hinge shaft 302d is provided on the right side of the middle position of the lower portion of the gear mounting back plate 302c for hingedly mounting the right striking rod 313. A left hinge shaft 302e is provided on the left side of the middle position of the lower portion of the gear mounting back plate 302c for hingedly mounting the left striking rod 314. The right hinge shaft 302d and the left hinge shaft 302e are symmetrically arranged with respect to the left and right symmetrical surfaces of the motor mounting plate 302. A threaded section is provided on the outer cylindrical surface of the right hinge shaft 302d for installing a right locking nut 312 to limit the right striking rod 313 in the axial direction. The outer cylindrical surface of the left hinge shaft 302e is provided with a section of thread for installing the left locking nut 311 to axially limit the left striking rod 314.

[0145] A right gear mounting shaft 302f is located on the right side of the center of the gear mounting backplate 302c, for mounting the right gear 305 of the striking mechanism. A left gear mounting shaft 302g is located on the left side of the center of the gear mounting backplate 302c, for mounting the left gear 306 of the striking mechanism. The right and left gear mounting shafts 302f and 302g are symmetrically arranged about the left-right symmetrical plane of the motor mounting plate 302. Both the right and left gear mounting shafts 302f and 302g are constructed of a self-lubricating copper-based material. Two annular grooves are provided on each of the right and left gear mounting shafts 302f and 302g for mounting retaining rings to axially limit the gears.

[0146] The gear set cover 303 is shaped like a hollow rectangular parallelepiped with one side open. Screw holes are provided on the perimeter of the gear set cover 303 for mounting to the motor mounting plate 302 via screws. Two circular through-holes 303b are symmetrically provided in the middle of one side of the back plate 303a of the gear set cover 303, for respectively passing the left guide post 308 and the right guide post 307. Two interconnected circular through-holes 303c are symmetrically provided in the lower portion of one side of the back plate 303a of the gear set cover 303, for passing the left hinge shaft 302e and the right hinge shaft 302.

[0147] When the working cableway power grid deicing transport robot of the present invention is in deicing operation, it is transported manually or by drone to the vicinity of the aerial cableway or power grid wires, and then the integrated controller 7 controls each claw walking mechanism to open each claw walking mechanism under the action of the left electric push rod 105 and the right electric push rod 106. When the central axis of each claw walking mechanism basically coincides with the axis of the cableway or power grid wires, the integrated controller 7 controls each claw walking mechanism to close, firmly grasping the cableway or power grid wires, and driven by the driving component 1014 in the left claw component 101, the first walking wheel 1012b and the second walking wheel 1013b of the left claw are driven through the bevel gear transmission. The two running wheels rotate in the same direction and are driving wheels. At the same time, the first running wheel 1022b and the second running wheel 1023b of the right claw and the first running wheel 1012b and the second running wheel 1013b of the left claw in the right claw component 102 hold the cableway or the power grid together. The first running wheel 1022b and the second running wheel 1023b of the right claw are driven, and under the thrust of the left electric push rod 105 and the right electric push rod 106, the cableway or the power grid is squeezed and rubbed, so that the robot can walk on the cableway or the power grid. At the same time, the squeezing operation is used to squeeze and de-ice the cableway or the power grid.

[0148] In addition, the integrated controller 7 controls the beating motor 315 installed in the beating device 3 at the front end of the box body part 2 to drive the beating device drive gear 304 to rotate, and the drive gear 304 is engaged with the right gear 305 of the beating device for transmission, driving the right gear 305 of the beating device to rotate, and the right gear 305 of the beating device is engaged with the left gear 306 of the beating device for transmission, driving the left gear 306 of the beating device to rotate, and the right gear 305 of the beating device and the left gear 306 of the beating device rotate symmetrically, and the right beating rod 313 and the left beating rod 314 are driven by the right guide rod column 307 and the left guide rod column 308 to swing synchronously and symmetrically, thereby achieving the beating of the cableway or power grid wires and achieving the beating de-icing.

[0149] Each electrical component has a battery 6 to provide power. The battery can be charged in advance, or the solar panel power generation device 8 can generate electricity and store the generated electricity in the battery 6.

[0150] The above descriptions are merely a few embodiments of the present application and do not constitute any form of limitation to the present application. Although the present application discloses the preferred embodiments as above, they are not intended to limit the present application. Any technical personnel familiar with the present profession, without departing from the scope of the technical solution of the present application, using the technical content disclosed above to make slight changes or modifications are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A cableway power grid deicing transport robot, characterized in that: It comprises a claw walking mechanism (1), a box component (2), a knocking device (3) and a monitoring system; The claw walking mechanism (1) is arranged on the box component (2), and a plurality of claw walking mechanisms (1) are provided, each claw walking mechanism (1) comprises a left claw component (101) and a right claw component (102), the left claw component (101) has a left walking wheel assembly and a driving component (1014), the driving component (1014) is drivingly connected to the left walking wheel assembly; the right claw component (102) has a right walking wheel assembly; when working, the left claw component (101) and the right claw component (102) are combined to form a clamping channel for clamping a cableway or a power grid wire, and the left walking wheel assembly and the right walking wheel assembly are rollingly matched with the cableway or the power grid wire; The knocking device (3) is arranged at one end of the box component (2); The monitoring system is arranged on the box component (2).

2. The cableway power grid deicing transport robot according to claim 1, characterized in that: The claw walking mechanism (1) further includes a claw shaft (103), a claw frame (104), a left electric push rod (105), a right electric push rod (106), a hinge shaft (107), a claw frame connecting frame (110) and a claw frame connecting bolt (111); The claw frame comprises a column (104a) and a crossbeam (104b), wherein the column (104a) is arranged on the crossbeam (104b), and lower sheet-shaped vertical plates (104c) are provided at both ends of the crossbeam (104b); The bottoms of the left claw component (101) and the right claw component (102) are both rotatably arranged on the top of the column (104a) via a claw shaft (103). A left hinged vertical plate (1011b) is provided at the lower portion of the left claw component (101); One end of the left electric push rod (105) is connected to the left hinged vertical plate (1011b) via a hinge shaft (107), and the other end of the left electric push rod (105) is connected to the lower sheet-shaped vertical plate (104c) via a hinge shaft (107); A right hinged vertical plate (1021b) is provided at the lower portion of the right claw component (102); One end of the right electric push rod (106) is connected to the right hinged vertical plate (1021b) via a hinge shaft (107), and the other end of the right electric push rod (106) is connected to the lower sheet-shaped vertical plate (104c) via a hinge shaft (107); The claw frame (104) is fixedly arranged on the claw frame connecting frame (110) via claw frame connecting bolts (111), and the claw frame connecting frame (110) is connected to the box component (2) via bolts.

3. The cableway power grid deicing transport robot according to claim 2, characterized in that: The left claw component (101) further includes a left claw (1011), the left claw (1011) being a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle, the left claw (1011) including a left claw housing (1011a), a left convex petal (1011m) and a left concave petal (1011n), the left convex petal (1011m) and the left concave petal (1011n) both being arranged on the left claw housing (1011a); The right claw component (102) further includes a right claw (1021), the right claw (1021) being a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle, the right claw (1021) including a right claw housing (1021a), a right convex petal (1021m) and a right concave petal (1021n), the right convex petal (1021m) and the right concave petal (1021n) both being arranged on the right claw housing (1021a); When the left claw component (101) and the right claw component (102) are closed, the arcuate surfaces of the left convex petal (1011m) and the right concave petal (1021n) cooperate, and the arcuate surfaces of the left concave petal (1011n) and the right convex petal (1021m) cooperate, forming an eccentric embracing and centering structure.

4. The cableway power grid deicing transport robot according to claim 3, characterized in that: The left claw component (101) further comprises a left claw cover plate (1015), the shape and structure of the left claw cover plate (1015) matching the left claw housing (1011a), and the left claw cover plate (1015) is buckled onto the left claw housing (1011a); A left claw first travel wheel mounting bracket (1011e) and a left claw second travel wheel mounting bracket (1011j) are provided inside the left claw housing (1011a), and the left claw first travel wheel mounting bracket (1011e) is located above the left claw second travel wheel mounting bracket (1011j). A drive component mounting plate (1011g) is provided on the outside of the left claw housing (1011a), and a left claw housing hinge ring (1011d) is provided at the bottom of the left claw housing (1011a). The driving component (1014) is arranged on the driving component mounting plate (1011g), and the driving component (1014) comprises a left claw motor (1014a) and a left claw driving gear (1014b), and the left claw driving gear (1014b) is mounted on the output shaft of the left claw motor (1014a) via a tightening sleeve (1014c); The right claw component (102) further includes a right claw cover plate (1024), the shape and structure of the right claw cover plate (1024) matching the right claw housing (1021a), and the right claw cover plate (1024) is buckled onto the right claw housing (1021a); A right claw first travel wheel mounting bracket (1021e) and a right claw second travel wheel mounting bracket (1021j) are provided inside the right claw housing (1021a), and the right claw first travel wheel mounting bracket (1021e) is located above the right claw second travel wheel mounting bracket (1021j); a right claw housing hinge ring (1021d) is provided at the bottom of the right claw housing (1021a); The upright column (104a) is rotatably connected to the left claw housing hinge ring (1011d) and the right claw housing hinge ring (1021d) via the claw shaft (103); The left walking wheel assembly comprises a left-paw first walking wheel assembly (1012) and a left-paw second walking wheel assembly (1013); the right walking wheel assembly comprises a right-paw first walking wheel assembly (1022) and a right-paw second walking wheel assembly (1023); The left-paw first travel wheel assembly (1012) comprises a left-paw first travel wheel shaft (1012a), a left-paw first travel wheel (1012b) and a left-paw first travel wheel gear (1012f). The left-paw first travel wheel gear (1012f) is a bevel gear. The left-paw first travel wheel gear (1012f) is arranged at one end of the left-paw first travel wheel shaft (1012a). The left-paw first travel wheel shaft (1012a) is mounted on the left-paw first travel wheel mounting bracket (1011e) via the left-paw first oil-free bearing (1012c). The left-paw first travel wheel (1012b) is interference-connected with the left-paw first travel wheel shaft (1012a). The left-paw second travel wheel assembly (1013) comprises a left-paw second travel wheel shaft (1013a), a left-paw second travel wheel (1013b), and a left-paw second travel wheel gear (1013f); the left-paw second travel wheel gear (1013f) is a bevel gear; the left-paw second travel wheel gear (1013f) is arranged at one end of the left-paw second travel wheel shaft (1013a); the left-paw second travel wheel shaft (1013a) is mounted on the left-paw second travel wheel mounting bracket (1011j) via the left-paw second oil-free bearing (1013c); the left-paw second travel wheel (1013b) is interference-connected to the left-paw second travel wheel shaft (1013a); The left-paw driving gear (1014b) is drivingly connected to the left-paw first travel wheel gear (1012f), and the left-paw first travel wheel gear (1012f) is meshed with the left-paw second travel wheel gear (1013f) for transmission; The right claw first travel wheel assembly (1022) comprises a right claw first travel wheel shaft (1022a) and a right claw first travel wheel (1022b); the right claw first travel wheel shaft (1022a) is mounted on a right claw first travel wheel mounting bracket (1021e) via a right claw first oil-free bearing (1022c); the right claw first travel wheel (1022b) is interference-connected to the right claw first travel wheel shaft (1022a); The right claw second travel wheel assembly (1023) comprises a right claw second travel wheel shaft (1023a) and a right claw second travel wheel (1023b); the right claw second travel wheel shaft (1023a) is mounted on a right claw second travel wheel mounting bracket (1021j) via a right claw second oil-free bearing (1023c); and the right claw second travel wheel (1023b) is interference-connected to the right claw second travel wheel shaft (1023a).

5. The cableway power grid deicing transport robot according to claim 1, characterized in that: The striking device (3) comprises a striking motor (315), a striking assembly, a gear transmission assembly and a guide rod linkage assembly, a striking device connecting plate (301), a motor mounting plate (302) and a gear assembly cover plate (303). The striking device connecting plate (301) is arranged at one end of the box component (2) in the direction of travel; the striking motor (315) is arranged on the motor mounting plate (302); The striking assembly comprises a left striking rod (314) and a right striking rod (313), wherein the left striking rod (314) and the right striking rod (313) are symmetrically arranged, and the bottoms of the left striking rod (314) and the right striking rod (313) are hinged to the motor mounting plate (302) via a left hinge shaft (302e) and a right hinge shaft (302d), respectively. The gear transmission assembly comprises a striking device driving gear (304), a striking device right gear (305) and a striking device left gear (306), wherein the striking device driving gear is mounted on the output shaft of the striking motor (315) via a tightening sleeve, the striking device driving gear (304) and the striking device right gear (305) are meshed for transmission, and the striking device right gear (305) and the striking device left gear (306) are symmetrically rotated through meshing transmission; The guide rod linkage assembly comprises a right guide rod column (307) and a left guide rod column (308), wherein the right guide rod column (307) and the left guide rod column (308) are eccentrically arranged on the right gear (305) and the left gear (306), respectively, and the right guide rod column (307) and the left guide rod column (308) are slidably arranged in a right beating rod long guide hole (313d) at the bottom of the right beating rod (313) and a left beating rod long guide hole (314d) at the bottom of the left beating rod (314), respectively. The gear set cover plate (303) is arranged on the motor mounting plate (302).

6. The cableway power grid deicing transport robot according to claim 5, characterized in that: The left beating rod (314) comprises a left beating rod guide rod section (314a) and a left beating rod beating section (314b); the left beating rod beating section (314b) is made of a semi-flexible material, and the bottom of the left beating rod beating section (314b) is connected to the top of the left beating rod guide rod section (314a); a left beating rod long guide hole (314d) is provided on the left beating rod guide rod section (314a), and the bottom of the left beating rod guide rod section (314a) is hinged to the motor mounting plate (302) via a left hinge shaft (302e); The right beating rod (313) comprises a right beating rod guide rod section (313a) and a right beating rod beating section (313b); the bottom of the right beating rod beating section (313b) is connected to the top of the right beating rod guide rod section (313a); a right beating rod long guide hole (313d) is provided on the right beating rod guide rod section (313a); and the bottom of the right beating rod guide rod section (313a) is hinged to the motor mounting plate (302) via a right hinge shaft (302d).

7. The cableway power grid deicing transport robot according to claim 5, characterized in that: The striking device connecting plate (301) is L-shaped as a whole, and comprises a box connecting plate (301a), a support plate (301b) and a motor mounting plate connecting plate (301c). The box connecting plate (301a) is mounted on the front end surface of the box component (2); the support plate (301b) is used to connect the box connecting plate (301a) and the motor mounting plate connecting plate (301c); A motor mounting plate (302) is provided on the motor mounting plate connecting plate (301c), the motor mounting plate (302) comprising a connecting frame (302a) and a gear mounting back plate (302c), the connecting frame (302a) being arranged along the circumference of the gear mounting back plate (302c), and a gear set cover plate (303) being provided on the connecting frame (302a); A motor mounting hole (302b) is provided on the upper portion of the gear mounting back plate (302c), the striking motor (315) is arranged on the motor mounting hole (302b), and a right hinge shaft (302d) and a left hinge shaft (302e) are provided on the lower portion of the gear mounting back plate (302c), the right hinge shaft (302d) being hingedly mounted to a right striking rod (313), and the left hinge shaft (302e) being hingedly mounted to a left striking rod (314), and the right hinge shaft (302d) and the left hinge shaft (302e) being symmetrically arranged on the left and right. A right gear mounting shaft (302f) and a left gear mounting shaft (302g) are respectively provided in the middle of the gear mounting back plate (302c); the right gear (305) and the left gear (306) of the striking device are respectively provided on the right gear mounting shaft (302f) and the left gear mounting shaft (302g); and the right gear mounting shaft (302f) and the left gear mounting shaft (302g) are arranged symmetrically with respect to each other; the left hinge shaft (302e), the right hinge shaft (302d), the right gear mounting shaft (302f) and the left gear mounting shaft (302g) are all made of a self-lubricating copper-based material; The gear set cover plate (303) is provided with through holes corresponding to the right gear installation shaft (302f), the left gear installation shaft (302g), the right hinge shaft (302d) and the left hinge shaft (302e).

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