Walking obstacle crossing device of deicing robot

Abstract

The invention discloses a walking obstacle crossing device for a deicing robot, and relates to the technical field of deicing robots. The device comprises a device shell, the device shell is composed of a sectional material and a sectional material corner connector, and the device shell is a sectional material frame; the device further comprises a walking mechanism, the walking mechanism comprises three independent walking units, and the three independent walking units comprise the first walking mechanism, the second walking mechanism and the auxiliary walking mechanism. The device further comprises a first clamping mechanism and a second clamping mechanism, and the first clamping mechanism and the second clamping mechanism are used for clamping the power transmission line and keeping the power transmission line stable. According to the walking mechanism, a traditional fixed walking mechanism is changed into a walking unit capable of independently moving up and down through a micro push rod motor, meanwhile, a traditional clamping mechanism using the push rod motor is changed into a rotary clamping mechanism, the clamping requirement is met, and meanwhile, clamping wheels can be prevented from blocking insulators; the obstacle crossing function of the wheel type walking mechanism is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of deicing robots, and in particular to a walking obstacle-crossing device of a deicing robot. Background Art

[0002] As a new deicing method, the power line deicing robot can realize remote high-altitude automated deicing operations by integrating traditional deicing methods with advanced robotics technology. It effectively avoids the safety risks of manual deicing and significantly improves the efficiency of deicing operations. Existing deicing robots mainly perform deicing operations by milling and impacting. The walking method usually chooses wheeled walking, that is, rolling walking on the transmission line with V-shaped wheels. The advantage of this walking mechanism is that the walking speed is fast, which can significantly improve the deicing efficiency, but the disadvantage is that it cannot cross obstacles and can only perform deicing operations on barrier-free transmission lines.

[0003] For example, patent number CN111525486B discloses an anti-icing and de-icing robot for power transmission lines. It removes ice by means of a high-speed rotating milling cutter, and uses two V-shaped wheels for walking. A push rod motor pushes a clamping wheel under the transmission line to cooperate with the V-shaped wheel to clamp and fix the wire. Its walking wheel bracket is connected to the robot body. When there are obstacles such as insulators on the transmission line, the walking wheels of the de-icing robot cannot cross the obstacles, and its clamping mechanism controlled by the push rod motor is under the transmission line and will be blocked by the insulators.

[0004] In summary, it can be seen that the existing deicing robot has structural defects and cannot meet the obstacle crossing function of the wheeled walking mechanism. The wheeled walking mechanism and clamping mechanism of the deicing robot need to be improved.

[0005] To this end, the present application designs a walking obstacle-crossing device for a de-icing robot, providing a new technical solution to solve the technical problems mentioned in the above patents. Summary of the invention

[0006] The purpose of the present invention is to design a walking obstacle-crossing device for a de-icing robot, which rolls on a transmission line through three V-shaped walking wheels. The walking wheels are driven by an independent drive motor. At the same time, their vertical position can be controlled by an upper micro push rod motor. When overcoming obstacles, the three walking wheels move upward in sequence, and at the same time, cooperate with the rolling of the walking wheels to successively cross the insulators to achieve the obstacle-crossing function. The rotary clamping mechanism changes the linear motion of the clamping wheel into rotational motion, rotates the clamping wheel from the side of the transmission line to the bottom of the transmission line, and applies an upward clamping force to it, and cooperates with the walking wheels to clamp the transmission line. During the obstacle-crossing process, the rotary clamping mechanism rotates the clamping wheel to the side of the transmission line, leaving the position below the transmission line vacant for passing the insulator, so as to solve the problems mentioned in the above-mentioned background technology.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solution: a walking obstacle-crossing device of an ice-removing robot, comprising a device shell, the device shell is composed of a profile and a profile angle code, and the device shell is a profile frame;

[0008] It also includes a walking mechanism, wherein the walking mechanism includes three independent walking units, and the three independent walking units include a first walking mechanism, a second walking mechanism and an auxiliary walking mechanism;

[0009] Also included are a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism and the second clamping mechanism are used to clamp the power transmission line and keep it stable;

[0010] The first walking mechanism, the second walking mechanism, the auxiliary walking mechanism, the first clamping mechanism and the second clamping mechanism are fixed on the device housing in sequence.

[0011] Furthermore, the first walking mechanism and the second walking mechanism are completely consistent, and both the first walking mechanism and the second walking mechanism include a height adjustment component, a power transmission component and a walking wheel. The inner wall of the height adjustment component is provided with a power transmission component, and the power transmission component is provided with a walking wheel. The height adjustment component is used to drive the power transmission component and the walking wheel to complete height adjustment, and the power transmission component is used to drive the walking wheel to complete rotation.

[0012] Furthermore, the height adjustment assembly includes a right-angle support plate, a top block, a first micro push rod motor and a second micro push rod motor, the top ends of the first micro push rod motor and the second micro push rod motor are fixedly connected to the device housing, and the bottom ends of the first micro push rod motor and the second micro push rod motor are connected to the right-angle support plate via a top block.

[0013] Furthermore, the power execution component includes a first transmission shaft, a first rolling bearing and a first bearing bracket, the first transmission shaft is sleeved with first rolling bearings at both ends, the outer ring of the first rolling bearing is embedded in the inner wall of the first bearing bracket, the first bearing bracket is connected to the right-angle support plate, and the outer side of the first transmission shaft is connected to a walking wheel via a key.

[0014] Furthermore, the power execution component also includes a right-angle motor bracket, a driving motor, an active bevel gear and a driven bevel gear. One side of the interior of the right-angle support plate is fixedly connected to the right-angle motor bracket, the bottom end of the right-angle motor bracket is fixedly connected to the driving motor, the output end of the driving motor is fixedly connected to the active bevel gear, and the driven bevel gear is sleeved on the side of the first transmission shaft close to the active bevel gear, and the driven bevel gear is meshingly connected to the active bevel gear.

[0015] Furthermore, the auxiliary walking mechanism includes an auxiliary push rod motor, the top end of the auxiliary push rod motor is fixedly connected to the device housing, the bottom end of the auxiliary push rod motor is fixedly connected to the square support plate, the lower end of the square support plate is connected to two second bearing brackets, the second bearing brackets are embedded with two second rolling bearings, the inner ring of the second rolling bearing is fixedly connected to the second transmission shaft, and the outer side of the second transmission shaft is connected to the auxiliary wheel through a key.

[0016] Furthermore, the second clamping mechanism has the same structure as the first clamping mechanism.

[0017] Furthermore, the first clamping mechanism includes a clamping motor bracket, the clamping motor bracket is fixed to the side profile of the device housing, one end of the clamping motor bracket is fixedly connected to a worm gear reducer, the upper end of the worm gear reducer is connected to the clamping motor main body shaft, the worm gear reducer output shaft is fixedly connected to a flange, the end of the flange away from the output shaft is fixedly connected to a mounting plate, the side of the mounting plate away from the worm gear reducer is fixedly connected to a right-angle bracket, and the inner side of the right-angle bracket is rotatably connected to a clamping wheel.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The first clamping mechanism and the second clamping mechanism in the walking obstacle crossing device provided by the present invention have the same structure and function, and are both fixedly connected to the side profile of the device shell on the side of the power transmission line. The difference is that the first clamping mechanism is placed between the first walking wheel and the auxiliary walking wheel, and the second clamping mechanism is placed between the auxiliary walking wheel and the second walking wheel. The clamping motor drives the worm gear reducer, and drives the clamping wheel to rotate as a whole through the output shaft to change the position of the clamping wheel. When the walking mechanism is walking normally on the power transmission line, the clamping wheel moves to the bottom of the power transmission line to apply force to it. Add vertical upward clamping force, and self-lock through worm gear, cooperate with the travel wheel to clamp the transmission line. When overcoming obstacles, the clamping wheel rotates to the side of the transmission line, leaving the space below it empty for the insulator to pass. Compared with the traditional method of placing a push rod motor under the travel wheel to push the clamping wheel up and down to clamp the transmission line, the clamping mechanism is placed on the side of the transmission line to leave the space below the travel wheel empty, thus realizing the obstacle overcoming function from a structural perspective, and using a worm gear reducer to make the clamping wheel self-locking during the clamping process, and it will not loosen due to the stop of the clamping motor.

[0020] 2. The walking mechanism in the present invention changes the traditional fixed walking mechanism into a walking unit that can move up and down independently through a micro push rod motor, and at the same time changes the traditional clamping mechanism using a push rod motor into a rotary clamping mechanism, which can meet the clamping requirements while preventing the clamping wheel from obstructing the insulator, thereby realizing the obstacle crossing function of the wheeled walking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the scheme of the present invention, a brief introduction is given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of the overall structure of the walking obstacle surmounting device provided by the present invention;

[0023] Figure 2 A schematic diagram of the overall structure of the walking obstacle surmounting device provided by the present invention from another perspective;

[0024] Figure 3 A schematic structural diagram of a first clamping mechanism of the walking obstacle surmounting device provided by the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the obstacle-crossing device provided by the present invention after all the micro push rod motors are extended;

[0026] Figure 5 A schematic diagram of the structure of the first walking mechanism of the walking obstacle surmounting device provided by the present invention;

[0027] Figure 6 This is a structural schematic diagram of the auxiliary walking mechanism of the walking obstacle surmounting device provided by the present invention.

[0028] The markings in the figure are as follows:

[0029] 1. Device housing; 2. Profile; 3. Profile angle code; 4. Second walking mechanism; 5. Auxiliary walking mechanism; 6. Second clamping mechanism; 7. First clamping mechanism; 8. Transmission line; 9. First walking mechanism; 10. Second micro push rod motor; 11. First micro push rod motor; 12. Top block; 13. Right-angle support plate; 14. Right-angle motor bracket; 15. Drive motor; 16. Active bevel gear; 17. Driven bevel gear; 18. Travel wheel; 19. First transmission shaft; 20. First rolling bearing; 21. First bearing bracket; 22. Auxiliary push rod motor; 23. Clamping motor body; 24. Square support plate; 25. Clamping motor bracket; 26. Flange; 27. Auxiliary wheel; 28. Mounting plate; 29. ​​Clamping wheel; 30. Right-angle bracket; 31. Worm gear reducer; 32. Second transmission shaft; 33. Second bearing bracket; 34. Second rolling bearing. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 creative work should fall within the scope of protection of the present invention.

[0031] As described in the background technology, however, in actual use, the fixed wheeled walking mechanism of the device cannot cross the insulators on the transmission line 8, and the clamping mechanism controlled by the push rod motor will block the insulators, and the overall structure cannot meet the requirements of crossing obstacles.

[0032] In order to solve this technical problem, the present invention provides a walking obstacle-crossing device for an ice-removing robot, which is applied to the power transmission line ice-removing robot to cross obstacles.

[0033] The general working principle of a walking obstacle crossing device of a deicing robot is as follows:

[0034] The walking obstacle surmounting device provided by the present invention has a walking mechanism that can be divided into three independent motion units. The vertical position of the walking mechanism can be changed by the micro push rod motor connected to the support plate, so that the three walking wheels can move up and down independently. The walking wheels of the first walking mechanism and the second walking mechanism are driven by their respective drive motors, and the auxiliary wheels serve as auxiliary supports. When the walking mechanism reaches the insulator and needs to surmount an obstacle, the micro push rod motors of the three walking mechanisms extend. Since the walking wheels are on the transmission line, the device housing is lifted up by the micro push rod motors. The first and second micro push rod motors retract, the first walking mechanism is lifted up, and only the second walking wheel and the auxiliary wheel are on the transmission line. The drive motor runs, and the walking obstacle surmounting device moves forward as a whole. When the insulator moves between the walking wheel and the auxiliary wheel, the drive motor stops running, the first and second micro push rod motors extend, and the walking wheels contact the transmission line again. The third micro push rod motor retracts, the auxiliary walking mechanism is lifted up, and only the second walking wheel is on the transmission line. The drive motor runs. The walking obstacle crossing device moves forward as a whole. When the insulator moves between the auxiliary wheel and the second walking wheel, the drive motor stops running, the third micro-push rod motor extends, and the auxiliary wheel contacts the transmission line again; the fourth and fifth micro-push rod motors retract, and the second walking mechanism is lifted. Only the walking wheel and the auxiliary wheel are on the transmission line. The drive motor runs, and the walking obstacle crossing device moves forward as a whole. When the insulator moves behind the second walking wheel, the drive motor stops running, so the micro-push rod motor retracts, and the device shell returns to its initial position. At this point, the obstacle crossing is completed. The traditional fixed walking mechanism is converted into a walking unit that can move up and down independently through the micro-push rod motor, thereby realizing the obstacle crossing function of the wheeled walking mechanism.

[0035] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0036] Embodiment 1:

[0037] Please refer to Figure 1 - Figure 2 , this embodiment is used to disclose a walking obstacle-crossing device of an ice-removing robot;

[0038] A walking obstacle-crossing device for an ice-removing robot comprises a device housing 1, the device housing 1 is composed of a profile 2 and a profile angle bracket 3, and the device housing 1 is a profile frame;

[0039] It also includes a walking mechanism, which includes three independent walking units, and the three independent walking units include a first walking mechanism 9, a second walking mechanism 4 and an auxiliary walking mechanism 5;

[0040] It also includes a first clamping mechanism 7 and a second clamping mechanism 6, which are used to clamp the power transmission line 8 and keep it stable;

[0041] The first traveling mechanism 9 , the second traveling mechanism 4 , the auxiliary traveling mechanism 5 , the first clamping mechanism 7 and the second clamping mechanism 6 are fixed on the device housing 1 in sequence.

[0042] Embodiment 2:

[0043] Please refer to Figure 1 - Figure 4 , based on the above-mentioned embodiment 1, a specific design of the first clamping mechanism 7 and the second clamping mechanism 6 is proposed;

[0044] The second clamping mechanism 6 has the same structure as the first clamping mechanism 7 but is located in a different position.

[0045] The first clamping mechanism 7 includes a clamping motor bracket 25, which is fixed to the side profile of the device housing 1, one end of the clamping motor bracket 25 is fixedly connected to a worm gear reducer 31, the upper end of the worm gear reducer 31 is connected to the axis of the clamping motor body 23, the output shaft of the worm gear reducer 31 is fixedly connected to a flange 26, the end of the flange 26 away from the output shaft is fixedly connected to a mounting plate 28, the side of the mounting plate 28 away from the worm gear reducer 31 is fixedly connected to a right-angle bracket 30, and the inner side of the right-angle bracket 30 is rotatably connected to a clamping wheel 29.

[0046] Through the above-mentioned structural design, the torque output by the clamping motor body 23 is transmitted to the mounting plate 28 through the cooperation of the clamping motor body 23 and the worm gear reducer 31. The position of the clamping wheel 29 can be changed by rotating the mounting plate 28. When the walking obstacle crossing device is walking on the transmission line 8, the clamping wheel 29 rotates to the bottom of the transmission line 8. At this time, the clamping motor body 23 is controlled to apply an upward clamping force. At this time, the clamping wheel 29 cooperates with the walking wheel 18 and the auxiliary wheel 27 to clamp the transmission line 8. When encountering an insulator on the transmission line 8, the clamping motor body 23 controls the position of the clamping wheel 29 to move away from the transmission line 8, leaving the position under the walking wheel 18 vacant for the insulator to pass.

[0047] Embodiment three:

[0048] Please refer to Figure 4 - Figure 6 , a specific walking mechanism design is proposed based on the above-mentioned embodiment 2;

[0049] The first walking mechanism 9 and the second walking mechanism 4 are completely consistent. Both the first walking mechanism 9 and the second walking mechanism 4 include a height adjustment component, a power transmission component and a walking wheel 18. The inner wall of the height adjustment component is provided with a power transmission component, and the walking wheel 18 is provided at the power transmission component. The height adjustment component is used to drive the power transmission component and the walking wheel 18 to complete the height adjustment, and the power transmission component is used to drive the walking wheel 18 to complete the rotation.

[0050] The height adjustment assembly includes a right-angle support plate 13, a top block 12, a first micro push rod motor 11 and a second micro push rod motor 10. The top ends of the first micro push rod motor 11 and the second micro push rod motor 10 are fixedly connected to the device housing 1, and the bottom ends of the first micro push rod motor 11 and the second micro push rod motor 10 are connected to the right-angle support plate 13 through the top block 12.

[0051] The power execution component includes a first transmission shaft 19, a first rolling bearing 20 and a first bearing bracket 21. The first transmission shaft 19 is sleeved with first rolling bearings 20 at both ends. The outer ring of the first rolling bearing 20 is embedded in the inner wall of the first bearing bracket 21. The first bearing bracket 21 is connected to the right-angle support plate 13. The outer side of the first transmission shaft 19 is connected to the walking wheel 18 through a key.

[0052] The power execution assembly also includes a right-angle motor bracket 14, a drive motor 15, an active bevel gear 16 and a driven bevel gear 17. The right-angle motor bracket 14 is fixedly connected to one side of the interior of the right-angle support plate 13, the drive motor 15 is fixedly connected to the bottom end of the right-angle motor bracket 14, the active bevel gear 16 is fixedly connected to the output end of the drive motor 15, and the driven bevel gear 17 is sleeved on one side of the first transmission shaft 19 close to the active bevel gear 16, and the driven bevel gear 17 is meshingly connected to the active bevel gear 16.

[0053] The auxiliary walking mechanism 5 includes an auxiliary push rod motor 22, the top end of the auxiliary push rod motor 22 is fixedly connected to the device housing 1, the bottom end of the auxiliary push rod motor 22 is fixedly connected to the square support plate 24, the lower end of the square support plate 24 is connected to two second bearing brackets 33, the second bearing brackets 33 are embedded with two second rolling bearings 34, the inner ring of the second rolling bearing 34 is fixedly connected to the second transmission shaft 32, and the outer side of the second transmission shaft 32 is connected to the auxiliary wheel 27 through a key.

[0054] The dual motor support of the first micro push rod motor 11 and the second micro push rod motor 10 can make the structure of the first walking mechanism 9 more stable. The two micro push rod motors are fixedly connected to the right angle support plate 13 through the top block 12. The entire first walking mechanism 9 and the second walking mechanism 4 can be moved up and down through the extension and contraction of the two micro push rod motors. One side of the right angle support plate 13 is fixedly connected to the right angle motor bracket 14, and the other side is fixedly connected to the two first bearing brackets 21. The right angle motor bracket 14 is used to fix the drive motor 15. The active bevel gear 16 is fixed on its output shaft and meshes with the driven bevel gear 17 on the end of the first transmission shaft 19 to transmit the rotational motion of the drive motor 15. The first transmission shaft 19 is connected to the first bearing bracket 21 through the first rolling bearings 20 mounted at both ends. The first transmission shaft 19 is connected to the walking wheel 18 by a key.

[0055] Through the above structural design, the driving motor 15 drives the walking wheel 18 to realize the walking obstacle-crossing device walking on the transmission line 8. When encountering an insulator, the walking obstacle-crossing device crosses the obstacle, and the micro push rods of the three walking mechanisms extend, namely the first micro push rod motor 11, the second micro push rod motor 10, the auxiliary push rod motor 22, and the micro push rod motor of the second walking mechanism 4, to lift the device housing 1. At this time, the micro push rod motor of the first walking mechanism 9 retracts, the first walking mechanism 9 is lifted, and the driving motor 15 of the second walking mechanism 4 runs, driving the first transmission shaft 19 equipped with the driven bevel gear 17 to rotate through the active bevel gear 16, and the walking obstacle-crossing device moves forward. When the insulator is located between the walking wheel 18 and the auxiliary wheel 27, the driving motor 15 stops running, the micro push rod motor of the first walking mechanism 9 extends, and the walking wheel 18 is re-connected with the transmission line 8, the auxiliary push rod motor 22 of the auxiliary walking mechanism 5 retracts, the auxiliary walking mechanism 5 is lifted, the drive motor 15 starts running, and the walking obstacle surmounting device moves forward. When the insulator is located between the auxiliary wheel 27 and the walking wheel 18 of the second walking mechanism 4, the drive motor 15 stops running, the auxiliary push rod motor 22 of the auxiliary walking mechanism 5 extends out, the auxiliary wheel 27 contacts with the transmission line 8 again, the micro push rod motor of the second walking mechanism 4 retracts, the second walking mechanism 4 is lifted, the drive motor 15 of the first walking mechanism 9 starts running, and the walking obstacle surmounting device moves forward. When the insulator is located behind the walking wheel 18 of the second walking mechanism 4, the drive motor 15 of the first walking mechanism 9 stops running, so the micro push rod motor retracts, and the device housing returns to its initial position, so that the walking wheel 18 at the second walking mechanism 4 contacts with the transmission line 8 again, and the obstacle surmounting is completed.

Claims

1. A walking obstacle-crossing device for an ice-removing robot, characterized in that: The device comprises a device housing (1), wherein the device housing (1) is composed of a profile (2) and a profile angle bracket (3), and the device housing (1) is a profile frame; It also includes a walking mechanism, wherein the walking mechanism includes three independent walking units, and the three independent walking units include a first walking mechanism (9), a second walking mechanism (4) and an auxiliary walking mechanism (5); It also includes a first clamping mechanism (7) and a second clamping mechanism (6), wherein the first clamping mechanism (7) and the second clamping mechanism (6) are used to clamp the power transmission line (8) and maintain stability; The first walking mechanism (9), the second walking mechanism (4), the auxiliary walking mechanism (5), the first clamping mechanism (7) and the second clamping mechanism (6) are fixed on the device housing (1) in sequence.

2. The walking obstacle-crossing device of the deicing robot according to claim 1, characterized in that: The first walking mechanism (9) and the second walking mechanism (4) are completely consistent. The first walking mechanism (9) and the second walking mechanism (4) both include a height adjustment component, a power transmission component and a walking wheel (18). The inner wall of the height adjustment component is provided with a power transmission component. The power transmission component is provided with a walking wheel (18). The height adjustment component is used to drive the power transmission component and the walking wheel (18) to complete height adjustment. The power transmission component is used to drive the walking wheel (18) to complete rotation.

3. The walking obstacle-crossing device of the deicing robot according to claim 2, characterized in that: The height adjustment component comprises a right-angle support plate (13), a top block (12), a first micro push rod motor (11) and a second micro push rod motor (10); the top ends of the first micro push rod motor (11) and the second micro push rod motor (10) are fixedly connected to the device housing (1); and the bottom ends of the first micro push rod motor (11) and the second micro push rod motor (10) are connected to the right-angle support plate (13) via the top block (12).

4. The walking obstacle-crossing device of the deicing robot according to claim 3, characterized in that: The power execution assembly comprises a first transmission shaft (19), a first rolling bearing (20) and a first bearing bracket (21); the first transmission shaft (19) is sleeved with first rolling bearings (20) at both ends; the outer ring of the first rolling bearing (20) is embedded in the inner wall of the first bearing bracket (21); the first bearing bracket (21) is connected to a right-angle support plate (13); and the outer side of the first transmission shaft (19) is connected to a travel wheel (18) via a key.

5. The walking obstacle-crossing device of the deicing robot according to claim 4, characterized in that: The power execution assembly further comprises a right-angle motor bracket (14), a driving motor (15), a driving bevel gear (16) and a driven bevel gear (17); one side of the inside of the right-angle support plate (13) is fixedly connected to the right-angle motor bracket (14); the bottom end of the right-angle motor bracket (14) is fixedly connected to the driving motor (15); the output end of the driving motor (15) is fixedly connected to the driving bevel gear (16); the side of the first transmission shaft (19) close to the driving bevel gear (16) is sleeved with the driven bevel gear (17); the driven bevel gear (17) is meshedly connected to the driving bevel gear (16).

6. The walking obstacle-crossing device of the deicing robot according to claim 1, characterized in that: The auxiliary walking mechanism (5) comprises an auxiliary push rod motor (22), the top end of the auxiliary push rod motor (22) is fixedly connected to the device housing (1), the bottom end of the auxiliary push rod motor (22) is fixedly connected to the square support plate (24), the lower end of the square support plate (24) is connected to two second bearing brackets (33), the second bearing brackets (33) are embedded with two second rolling bearings (34), the inner ring of the second rolling bearing (34) is fixedly connected to the second transmission shaft (32), and the outer side of the second transmission shaft (32) is connected to the auxiliary wheel (27) via a key.

7. The walking obstacle-crossing device of the deicing robot according to claim 1, characterized in that: The second clamping mechanism (6) has the same structure as the first clamping mechanism (7).

8. The walking obstacle-crossing device of the deicing robot according to claim 7, characterized in that: The first clamping mechanism (7) comprises a clamping motor bracket (25), the clamping motor bracket (25) being fixed on a side profile of the device housing (1), one end of the clamping motor bracket (25) being fixedly connected to a worm gear reducer (31), the upper end of the worm gear reducer (31) being connected to the axis of the clamping motor body (23), the output shaft of the worm gear reducer (31) being fixedly connected to a flange (26), the end of the flange (26) away from the output shaft being fixedly connected to a mounting plate (28), the side of the mounting plate (28) away from the worm gear reducer (31) being fixedly connected to a right-angle bracket (30), the inside of the right-angle bracket (30) being rotatably connected to a clamping wheel (29).

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