Cableway power grid deicing carrying robot with lifting function

Abstract

The cableway power grid deicing carrying robot with the lifting function comprises a plurality of claw walking mechanisms, a box body component and a beating device, each claw walking mechanism comprises a left claw component, a lifting mechanism and a right claw component, and the lifting mechanism is in driving connection with the left claw component and the right claw component; the left claw component is provided with a left walking wheel assembly and a driving component, and the driving component is in driving connection with the left walking wheel assembly. The right claw part is provided with a right walking wheel assembly; 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 left walking wheel assembly and the right walking wheel assembly are in rolling fit with the cableway or the power grid wire; and the beating device is arranged at the advancing end of the box body part. The device has the advantages that through the matching structure of the convex petals and the concave petals of the claw walking mechanism and the lifting mechanism, an eccentric wire is held and centered in the lifting process, and the device can adapt to the working condition that the height of the wire changes.

Description

Technical Field

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

[0002] Cableway power grid de-icing and transport robots are used to de-ice power grids and cableways and transport cargo. Currently, there are very few cableway power grid de-icing robots. Most currently use a single mechanical hammering or manual intervention method, making them unable to adapt to ice coverage with varying thickness and hardness. For example, devices that rely solely on mechanical hammering are prone to damage to the line due to uneven hammering force. Extrusion-type de-icing devices have limited effectiveness in breaking up dense ice and lack a composite de-icing mechanism, resulting in low de-icing efficiency and high residual ice 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 experience diameter variations or irregular ice coverage, traditional walking mechanisms are prone to slipping and derailment. They also lack the ability to overcome obstacles, making stable operation difficult in complex line environments. Therefore, there is an urgent need for a cableway power grid de-icing and transport robot with a lifting function. Summary of the Invention

[0003] Purpose of the Invention

[0004] The purpose of the present invention is to provide a cableway power grid deicing transport robot with a lifting function to solve the shortcomings of existing cableway power grid deicing transport robots.

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

[0006] A cableway power grid deicing carrying robot with a lifting function comprises: a claw walking mechanism, a box component and a knocking device, wherein the claw walking mechanism is arranged on the box component, and a plurality of claw walking mechanisms are provided, each claw walking mechanism comprises a left claw component, a lifting mechanism and a right claw component, the lifting mechanism is drivingly connected to the left claw component and the right claw component to adjust the height of the left claw component and the 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 power grid wire, and the left walking wheel assembly and the right walking wheel assembly are rollingly matched with the cableway or power grid wire;

[0007] The knocking device is arranged at one end of the box body component.

[0008] Furthermore, the lifting mechanism includes a claw shaft, a claw frame, a left electric push rod, a right electric push rod, a hinge shaft, a spiral support sleeve, a claw frame connecting frame, a rotary lifting gear, a spiral support sleeve, a rotary lifting drive motor and a rotary lifting drive gear and a claw frame connecting bolt;

[0009] 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;

[0010] 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.

[0011] A left hinged vertical plate is provided at the lower portion of the left claw component;

[0012] 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;

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

[0014] 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;

[0015] The claw frame is fixed on the claw frame connecting frame by claw frame connecting bolts;

[0016] The spiral support sleeve includes a support sleeve threaded sleeve, a rotary lifting drive motor mounting plate and a support sleeve mounting plate. The support sleeve threaded sleeve has an internal thread; the rotary lifting drive motor mounting plate is arranged on the upper part of the support sleeve threaded sleeve; the support sleeve mounting plate is arranged on the lower part of the support sleeve threaded sleeve, and the support sleeve mounting plate is connected to the box component through a bolt assembly;

[0017] The rotary lifting drive motor is arranged on the rotary lifting drive motor mounting plate, and a rotary lifting drive gear is mounted on the output shaft of the rotary lifting drive motor through a tightening sleeve. The middle portion of the claw frame connecting frame is a rotary lifting gear mounting section, and the rotary lifting gear mounting section is provided with a rotary lifting gear. The lower portion of the claw frame connecting frame is an external threaded section, and the external threaded section is threadedly connected to the threaded sleeve of the support sleeve;

[0018] The lifting mechanism includes a rotary lifting drive gear, a spiral support sleeve, a rotary lifting drive motor and a rotary lifting drive gear. When the rotary lifting drive motor is working, the rotary lifting drive gear drives the rotary lifting gear to rotate, and the rotary lifting gear drives the claw frame connecting frame to rotate through a key, thereby realizing the rotation and lifting of the claw frame connecting frame.

[0019] Furthermore, the left claw component further 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 housing, a left convex petal and a left concave petal, and the left convex petal and the left concave petal are both provided on the left claw housing;

[0020] 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 arc surface of the left concave petal cooperates with the arc surface of the right convex petal to form an eccentric embracing and centering structure.

[0021] 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;

[0022] 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;

[0023] 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;

[0024] 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 onto the right claw housing;

[0025] 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;

[0026] The upright column is rotatably connected to the left claw housing hinge ring and the right claw housing hinge ring through the claw shaft;

[0027] 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;

[0028] The left claw first travel wheel assembly includes a left claw first travel wheel shaft, a left claw first travel wheel and a left claw first travel wheel gear, the left claw first travel wheel gear is a bevel gear, the left claw first travel wheel gear is arranged at one end of the left claw first travel wheel shaft; the left claw first travel wheel shaft is installed on the left claw first travel wheel mounting bracket through the left claw first oil-free bearing; the left claw first travel wheel is interference connected with the left claw first travel wheel shaft,

[0029] 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;

[0030] 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;

[0031] 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;

[0032] 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.

[0033] 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.

[0034] The striking device connecting plate is arranged at one end of the box body in the direction of travel; the striking motor is arranged on the motor mounting plate;

[0035] 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;

[0036] 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.

[0037] 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;

[0038] The gear set cover plate is arranged on the motor mounting plate.

[0039] 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;

[0040] 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.

[0041] 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;

[0042] 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;

[0043] 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.

[0044] 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;

[0045] 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.

[0046] Furthermore, the claw shaft and the hinge shaft are both made of a copper alloy with self-lubricating function; an oil-free bearing is provided on the outside of the hinge shaft, and axial limitation is achieved through a retaining ring.

[0047] Furthermore, the above-mentioned cableway power grid deicing transport robot also includes an integrated controller, a monitoring system and a battery, the monitoring system includes a camera and a laser radar, and the camera and the laser radar are both provided in plurality;

[0048] The integrated controller and the battery are both arranged in a box body; the integrated controller is electrically connected to multiple cameras, multiple laser radars, 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.

[0049] Advantages and effects of the present invention:

[0050] 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.

[0051] 2. The rotary lifting drive motor of the present application drives the rotary lifting gear to rotate through the rotary lifting drive gear, and combines with the threaded transmission of the spiral support sleeve to drive the claw walking mechanism to lift and lower along the axial direction; the convex petals, concave petals and the matching structure of the lifting mechanism of the claw walking mechanism form a hugging and centering effect on the eccentric wires during the lifting process, which can adapt to the working conditions of the wire height changes, and solves the problem that the existing robots are difficult to adapt to complex lines.

[0052] 3. The cameras and lidars on the top, bottom, front and back of the box body of the present invention collect environmental data in real time, and the integrated controller adjusts the opening and closing angle of the claw walking mechanism, the knocking frequency and the lifting height of the knocking device according to the data.

[0053] It can realize real-time feedback and dynamic adjustment of de-icing effect.

[0054] 4. The box component of the present invention integrates a battery and an integrated controller inside, and is externally connected to a claw walking mechanism, a knocking device and a monitoring device to form an integrated deicing-transportation-monitoring system.

[0055] 5. The claw walking mechanism of the present invention can be driven by a rotary lifting drive motor to rotate the rotary lifting drive gear, which in turn drives the rotary lifting gear to rotate, and further drives the upper left claw component and the right claw component to rotate and lift, which can adapt to the gripping of wires and cableways at different heights, can overcome the deflection changes of wires and cableways caused by their own weight, and has stronger adaptability.

[0056] 6. The gripping part of the claw walking mechanism of the present invention is composed of two parts, a left claw component and a right claw component that can be opened and closed under the control of an integrated controller. The sequential opening and closing actions of multiple claw walking mechanisms are coordinated, thereby having the ability to overcome obstacles.

[0057] 7. The robot of the present invention has multiple claw walking mechanisms, which have stronger grasping ability and can achieve large load-carrying transportation capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a structural diagram of a cableway power grid deicing transport robot with lifting function according to an embodiment of the present invention;

[0059] Figure 2 This is a box structure diagram of an embodiment of the present invention;

[0060] Figure 3 The claw walking mechanism structure of the embodiment of the present invention Figure 1 ;

[0061] Figure 4 The claw walking mechanism structure of the embodiment of the present invention Figure 2 ;

[0062] Figure 5 The claw walking mechanism structure of the embodiment of the present invention Figure 3 ;

[0063] Figure 6 This is a structural diagram of the left claw according to an embodiment of the present invention;

[0064] Figure 7 This is a structural diagram of the right claw according to an embodiment of the present invention;

[0065] Figure 8for Figure 4 A partial enlarged view of the Figure 4 An enlarged view of part I; Figure b is Figure 4 The enlarged view of part II; Figure c is Figure 4 The enlarged view of part III; Figure d is Figure 4 The enlarged view of part IV, where Figure e is Figure 4 A magnified view of part V;

[0066] Figure 9 This is a structural diagram of a claw frame according to an embodiment of the present invention;

[0067] Figure 10 This is a structural diagram of a claw frame connecting frame according to an embodiment of the present invention;

[0068] Figure 11 This is a structural diagram of a spiral support sleeve according to an embodiment of the present invention;

[0069] Figure 12 A structural diagram of a striking device according to an embodiment of the present invention;

[0070] Figure 13 This is a structural diagram of a connecting plate of a beating device according to an embodiment of the present invention;

[0071] Figure 14 This is a structural diagram of a motor mounting plate according to an embodiment of the present invention;

[0072] Figure 15 This is a diagram of a gear set cover plate according to an embodiment of the present invention;

[0073] Figure 16 This is a structural diagram of the left beating stick and the right beating stick according to an embodiment of the present invention.

[0074] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0075] 1-claw walking mechanism; 101-left claw component; 1011-left claw; 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 walking wheel mounting bracket; 1011f-left claw first walking wheel mounting hole; 1011g-left claw power component mounting plate; 1011h-left claw power component mounting hole; 1011i-left claw semi-cylindrical hole; 1011j-left claw second walking wheel mounting bracket; 1011k-left claw second walking wheel mounting hole; 1011m-left convex petal; 1011n-left concave petal; 1012-left claw first walking wheel component; 1012a-left claw first walking wheel axle; 1012b-left 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; 1012f-left claw first travel wheel gear; 1012g-left claw first gear key; 1013-left claw second travel wheel component; 1013a-left claw second travel wheel shaft; 1013b-left claw second travel wheel; 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; 1013f-left claw second travel wheel gear; 1013g-left claw second gear key; 1014-left claw power component; 1014a-left claw motor; 1014b-left claw drive gear; 101 4c- expansion sleeve; 1015- left claw cover plate; 102- right claw component; 1021- right claw; 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; 1022- right claw first travel wheel component; 1022a- right claw first travel wheel axle; 1022b- right claw first travel wheel; 1022c- right claw first oil-free bearing; 10 22d - right claw first oil-free bearing retaining ring; 1023 - right claw second travel wheel component; 1023a - right claw second travel wheel shaft; 1023b - right claw second travel wheel; 1023c - right claw second oil-free bearing; 1023d - right claw second oil-free bearing retaining ring; 1024 - right claw cover plate; 103 - claw shaft; 104 - claw frame; 104a - column; 104b - crossbeam; 104c - lower sheet-shaped vertical plate; 104d - lower hinge hole; 104e - upper sheet-shaped vertical plate; 104f - upper hinge hole; 105 - left electric push rod; 106 - right electric push rod; 107 - hinge shaft; 107a - first hinge shaft; 107b - second hinge shaft; 108 - retaining ring; 108a - first retaining ring; 108b - second retaining ring;109-Oilless bearing; 109a-First oilless bearing; 109b-Second oilless bearing; 110-Claw frame connecting frame; 110a-Upper connector; 110b-Rotation lifting gear mounting section; 110c-External threaded section; 111-Claw frame connecting bolt; 112-Rotation lifting gear; 113-Spiral support sleeve; 113a-Support sleeve threaded sleeve; 113b-Rotation lifting drive motor mounting plate; 113c-Rotation lifting drive motor mounting hole; 113d-Support sleeve mounting plate; 114-Rotation lifting drive motor; 115-Rotation lifting drive gear; 2-Box components; 201-Box; 202-Box cover; 3-Strike device; 301-Strike device connecting plate; 301a-Box connecting plate; 301b-Support plate; 301c-Motor mounting plate connecting plate; 302-Motor mounting plate;

[0076] 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; 303-gear set cover; 303a-back plate; 303b-round through hole; 303c-round through hole; 304-beating device driving gear; 305-beating device right gear; 306-beating device left gear; 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; 313a-right beating rod guide rod section; 313b-right beating rod striking section; 313c-right beating rod hinge hole; 313d-right beating rod long guide hole; 314-left beating rod; 314a-left beating rod guide rod section; 314b-left beating rod striking section; 314c-left beating rod hinge hole; 314d-left beating rod long guide hole; 315-beating motor; 4-camera; 5-laser radar; 6-battery; 7-integrated controller. 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 with lifting function, comprising: a claw walking mechanism 1, a box component 2 and a knocking device 3,

[0079] The claw walking mechanism 1 is arranged on the box part 2, and a plurality of claw walking mechanisms 1 are provided, each claw walking mechanism 1 includes a left claw part 101, a lifting mechanism and a right claw part 102, the lifting mechanism is driven and connected to the left claw part 101 and the right claw part 102 to adjust the height of the left claw part 101 and the right claw part 102; the left claw part 101 has a left walking wheel assembly and a driving part 1014, and the driving part 1014 is driven and connected to the left walking wheel assembly; the right claw part 102 has a right walking wheel assembly; when working, the left claw part 101 and the right claw part 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 in rolling cooperation with the cableway or the power grid wire;

[0080] The striking device 3 is provided at one end of the box member 2 .

[0081] The lifting mechanism of the present invention 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 spiral support sleeve 113, a claw frame connecting frame 110, a rotary lifting gear 112, a spiral support sleeve 113, a rotary lifting drive motor 114 and a rotary lifting drive gear 115 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 by the claw frame connecting bolt 111; the spiral support sleeve 113 of the present invention includes a support sleeve threaded sleeve 113a, a rotation and lifting drive motor mounting plate 113b and a support sleeve mounting plate 113d, and the support sleeve threaded sleeve 113a has an internal thread; the rotation and lifting drive motor mounting plate 113b is arranged on the upper part of the support sleeve threaded sleeve 113a; the support sleeve mounting plate 113d is arranged on the lower part of the support sleeve threaded sleeve 113a, and the support sleeve mounting plate 113d is connected to the box component 2 by a bolt assembly;

[0089] The rotary lifting drive motor 114 is arranged on the rotary lifting drive motor mounting plate 113b, and the rotary lifting drive gear 115 is mounted on the output shaft of the rotary lifting drive motor 114 via a tightening sleeve.

[0090] The middle part of the claw frame connecting frame 110 is a rotating lifting gear installation section 110b, on which a rotating lifting gear 112 is installed. The lower part of the claw frame connecting frame 110 is an external thread section 110c, which is threadedly connected to the support sleeve threaded sleeve 113a.

[0091] The lifting mechanism includes a rotary lifting drive gear 115, a spiral support sleeve 113, a rotary lifting drive motor 114 and a rotary lifting drive gear 115. When the rotary lifting drive motor 114 is working, the rotary lifting drive gear 115 drives the rotary lifting gear 112 to rotate, and the rotary lifting gear 112 drives the claw frame connecting frame 110 to rotate through the key, thereby realizing the rotation and lifting of the claw frame connecting frame 110.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] The driving component 1014 is disposed on the driving component mounting plate 1011g. The driving component 1014 includes a left claw motor 1014a and a left claw driving gear 1014b. The left claw driving gear 1014b is mounted on the output shaft of the left claw motor 1014a via a tightening sleeve 1014c.

[0098] The right claw component 102 further includes a right claw cover plate 1024. The shape and structure of the right claw cover plate 1024 match the right claw housing 1021a. The right claw cover plate 1024 is buckled onto the right claw housing 1021a.

[0099] 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;

[0100] The column 104a is rotatably connected to the left claw housing hinge ring 1011d and the right claw housing hinge ring 1021d through the claw shaft 103; the left walking wheel assembly includes the left claw first walking wheel assembly 1012 and the left claw second walking wheel assembly 1013; the right walking wheel assembly includes the right claw first walking wheel assembly 1022 and the right claw second walking wheel assembly 1023;

[0101] 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. 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.

[0102] 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;

[0103] 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.

[0104] The right claw second walking wheel assembly 1023 includes a right claw second walking wheel shaft 1023a and a right claw second walking wheel 1023b. The right claw second walking wheel shaft 1023a is installed on the right claw second walking wheel mounting bracket 1021j through the right claw second oil-free bearing 1023c. The right claw second walking wheel 1023b is interference connected with the right claw second walking wheel shaft 1023a.

[0105] 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.

[0106] 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;

[0107] 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.

[0108] 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 shrink 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.

[0109] 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 slidably arranged in the right beating rod long guide hole 313d at the lower part of the right beating rod 313 and the left beating rod long guide hole 314d at the lower part of the left beating rod 314 respectively;

[0110] The gear set cover plate 303 is disposed on the motor mounting plate 302 .

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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;

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] The claw shaft 103 and the hinge shaft 107 of the present invention are both made of a copper alloy with a self-lubricating function; an oil-free bearing 109 is sleeved on the outside of the hinge shaft 107, and axial limitation is achieved through a retaining ring 108.

[0120] The cableway power grid deicing transport robot of the present invention further includes an integrated controller 7, a monitoring system and a battery 6. The monitoring system includes a camera 4 and a laser radar 5, and multiple cameras 4 and laser radars 5 are provided.

[0121] The integrated controller 7 and the battery 6 are both arranged in the box part 2; the integrated controller 7 is electrically connected to the multiple cameras 4, the multiple laser radars 5, the knocking 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 knocking device 3 and the multiple claw walking mechanisms 1. The cameras 4 and the laser radars 5 at the top, bottom, front and back of the box part 2 of the present application collect environmental data in real time, and the integrated controller 7 adjusts the opening and closing angles of the claw walking mechanism 1, the knocking frequency and the lifting height of the knocking device 3 according to the data, which can achieve real-time feedback and dynamic adjustment of the deicing effect; at the same time, the battery 6 and the integrated controller 7 are integrated inside the box part 2, and are connected to the claw walking mechanism 1, the knocking device 3 and the monitoring equipment outside, forming an integrated deicing-transportation-monitoring system.

[0122] 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 3 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.

[0123] The rotary lifting drive motor 114 of the present application drives the rotary lifting gear 112 to rotate through the rotary lifting drive gear 115, and combined with the threaded transmission of the spiral support sleeve 113, drives the claw walking mechanism 1 to lift and lower axially; the convex petals, concave petals and the matching structure of the lifting mechanism of the claw walking mechanism 1 form a hugging and centering effect on the eccentric wires during the lifting process, which can adapt to the working conditions of the wire height changes, and solves the problem that existing robots are difficult to adapt to complex lines.

[0124] The claw walking mechanism 1 of the present invention can be driven by the rotary lifting drive motor 114 to drive the rotary lifting drive gear 115 to rotate, and then drive the rotary lifting gear 112 to rotate, and then drive the upper left claw component 101 and the right claw component 102 to rotate and lift, which can adapt to the gripping of wires and cableways at different heights, can overcome the deflection changes of wires and cableways caused by their own weight, and has stronger adaptability.

[0125] The gripping part of the claw walking mechanism 1 of the present invention is composed of two parts, a left claw component 101 and a right claw component 102, which can be opened and closed under the control of the integrated controller 7. The sequential opening and closing actions of multiple claw walking mechanisms 1 are coordinated, thereby having the ability to overcome obstacles.

[0126] The robot of the present invention is equipped with multiple claw walking mechanisms 1, which has a stronger gripping ability and can achieve a large load-carrying capacity.

[0127] Example 1

[0128] A cableway and power grid de-icing transport robot with lifting capabilities is primarily composed 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, and wires. Multiple (typically three) claw walking mechanisms 1 are arranged linearly on the top central axis of the housing 2. They are used to grip the cableway and power grid wires and move along them. The claw walking mechanisms 1 squeeze ice from the wires to remove ice. The tapping device 3 is mounted in front of the housing 2 and is used to knock ice off the 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 de-icing process. 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 camera 4, laser radar 5, and multiple claw walking mechanisms 1. A battery 6 is used to provide power to the multiple claw walking mechanisms 1, the tapping device 3, the multiple cameras 4, the multiple laser radars 5, and the integrated controller 7. Signal wires connect the integrated controller 7 to the robot's camera 4, laser radar 5, multiple claw walking mechanisms 1, and tapping device 3, while wires connect the battery 6 to the integrated controller 7, the robot's camera 4, laser radar 5, multiple claw walking mechanisms 1, and tapping device 3.

[0129] The claw walking mechanism 1 consists 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 (a first articulated shaft 107a, 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, a claw frame connecting bolt 111, a rotating lifting gear 112, a spiral support sleeve 113, a rotating lifting drive motor 114, and a rotating lifting drive gear 115.

[0130] The left claw component 101 and the right claw component 102 are rotatably connected via 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, which is used to clamp cableways and power grid wires. The claw shaft 103 is made of a self-lubricating copper alloy and has a stepped cylindrical shape. It has a cylindrical head at one end and an annular groove at the other. This groove houses a claw shaft retaining ring, which serves to axially limit the position of 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.

[0131] 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.

[0132] 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.

[0133] 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 consists of an upper connecting head 110a and a lower connecting shaft. The upper connecting head 110a is generally U-shaped, with through-holes provided on the vertical plates on both sides for receiving the claw frame connecting bolts 111. The lower connecting shaft is a stepped shaft, with an upper main shaft connecting section and a middle rotating lifting gear mounting section 110b. This shaft section has a keyway for keyed mounting of the rotating lifting gear 112, and a lower externally threaded section 110c for threaded connection with the spiral support sleeve 113. The lower portion of the spiral support sleeve 113 is a support sleeve mounting plate 113d, which has mounting holes provided on the support sleeve mounting plate 113d for screw connection to the box component 2.

[0134] The middle section of the spiral support sleeve 113 is a hollow cylindrical threaded sleeve 113a with internal threads. A rotary lift drive motor mounting plate 113b is located above the spiral support sleeve 113. This mounting plate 113b has a rotary lift drive motor mounting hole 113c for securing the rotary lift drive motor 114. A rotary lift drive gear 115 is secured to the output shaft of the rotary lift drive motor 114 via a locking sleeve. The rotary lift drive gear 115 meshes with the rotary lift gear 112 for transmission.

[0135] The left claw component 101 is composed of a left claw 1011 , a left claw first running wheel component 1012 , a left claw second running wheel component 1013 , a left claw power component 1014 , and a left claw cover plate 1015 .

[0136] The left claw 1011 is generally hollow and semi-cylindrical, with one end open and a semi-cylindrical hole in the middle. The left claw housing 1011a is also generally hollow and semi-cylindrical, with one end open 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 also 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.

[0137] A pair of left-pawl first travel wheel mounting brackets 1011e are located 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 located 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 left-pawl power component mounting plate 1011g is located on the outer cylindrical surface of the housing 1011a of the left-pawl 1011. This left-pawl power component mounting plate 1011g is provided with a left-pawl power component mounting hole 1011h for mounting the left-pawl power component 1014. A left-pawl housing hinge ring 1011d is located at the lower portion of the left-pawl housing 1011a, for mounting the pawl shaft 103.

[0138] The left claw power 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.

[0139] 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 left-claw first travel wheel gear 1012f axially via the 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. The left-claw first travel wheel shaft 1012a is provided with a keyway that matches the left-claw first gear key and an annular groove that matches the left-claw first oil-free bearing retaining ring 1012d.

[0140] 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 two ends of the left-claw second travel wheel gear 1013f 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 a left-claw second gear key 1013g. The left-claw second travel wheel shaft 1013a is provided with a keyway that matches the left-claw second gear key and an annular groove that matches the left-claw second oil-free bearing retaining ring 1013d.

[0141] 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. Since the left claw first traveling wheel gear 1012f is meshed with the left claw second traveling wheel gear 1013f for transmission, the two gears rotate in the same direction, and therefore the left claw first traveling wheel 1012b and the left claw second traveling wheel 1013b rotate in the same direction.

[0142] The right claw component 102 is 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 .

[0143] The right claw 1021 is generally hollow and semi-cylindrical, with one end open and a semi-cylindrical hole in the middle. The right claw housing 1021a is generally hollow and semi-cylindrical, with one end open and a semi-cylindrical hole in the middle. The semi-cylindrical hole 1021i in the middle of the right claw 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 also 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.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] The box component 2 consists of a box body 201 and a box body cover 202.

[0148] The striking device 3 is 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.

[0149] 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 hinged connection.

[0150] 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 provided with circular through hole right beating stick hinge hole 313c, 313d, right beating stick beating section 313b middle part is provided 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.

[0151] The left beating stick bottom is the left beating stick guide rod section 313a, and the top is the left beating stick beating section 313b, and the left beating stick beating section 313b lower end is established with circular through hole left beating stick hinge hole 313c, 313d, the left beating stick beating section 313b middle part is established with left beating stick strip guide hole 313d.Left beating stick beating section 313b adopts semi-flexible material, is used for beating the icing on ropeway, power grid wire.Circular through hole left beating stick hinge hole 313c is used for articulating the left beating stick, and left beating stick strip guide hole 313d is used for the rocker motion guiding of left beating stick.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] Working principle description

[0157] The cableway and power grid deicing transport robot with a lifting function is carried by humans or drones to the vicinity of the high-altitude cableway or power grid wires during deicing work, and then the integrated controller 7 controls the claw walking mechanisms to open the claw walking mechanisms 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 the claw walking mechanisms to close, firmly grasping the cableway or power grid wires, and driven by the left claw power component 1014 in the left claw component 101, the left claw first walking wheel 1012b and the second walking wheel 1013 are driven by the bevel gear transmission. b rotates, and the rotation directions of these two running wheels are the same, which are active wheels. At the same time, the right claw first running wheel 1022b and the right claw second running wheel 1023b in the right claw component 102 and the left claw first running wheel 1012b and the second running wheel 1013b jointly hold the cableway or the power grid wires, and the right claw first running wheel 1022b and the right claw second running wheel 1023b 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 wires are squeezed and rubbed, so that the robot can walk on the cableway or the power grid wires. At the same time, the squeezing operation is used to squeeze and de-ice the cableway or the power grid wires.

[0158] In addition, the integrated controller 7 controls the beating motor 315 in the beating device 3 installed 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 the power grid wires and achieving the beating de-icing.

[0159] Each electrical component has a battery 6 to provide electrical energy.

[0160] When the claw travel mechanisms of the cableway and power grid de-icing transport robot with lifting functions need to be raised or lowered, the integrated controller 7 controls the rotary lift drive motors 114 of each claw travel mechanism to drive the rotary lift drive gears 115 to rotate, thereby driving the rotary lift gears 112 to rotate. The rotary lift gears 112, through keys, drive the claw frame connecting frame 110 and all the claw travel mechanism components above it to rotate together, that is, the left claw component 101 and the right claw component 102 to rotate together. When the rotation angle is an integer multiple of 360 degrees, the left claw component 101 and the right claw component 102 can be raised or lowered, thereby enabling the robot to grasp cableways and power grid wires at different heights, achieving the ability to grasp cableways and power grid wires with large deflections.

[0161] When it is necessary to cross obstacles on the cableway or power grid, the left claw component 101 and the right claw component 102 of each claw walking mechanism are controlled by the integrated controller 7 to open and close in sequence, so that walking over the obstacle can be achieved.

[0162] The rotary lifting gear 112 , the spiral support sleeve 113 , the rotary lifting drive motor 114 , and the rotary lifting drive gear 115 are composed.

[0163] All the traveling wheels of the cableway power grid deicing transport robot with lifting function are made of insulating material with high friction coefficient and lower hardness than steel.

[0164] The above are only 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 this 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 with lifting function, characterized in that: include: Claw walking mechanism (1), box component (2) and knocking device (3), The claw walking mechanism (1) is arranged on the box component (2), and the claw walking mechanism (1) is provided in plurality, each claw walking mechanism (1) comprising a left claw component (101), a lifting mechanism and a right claw component (102), the lifting mechanism being drive-connected to the left claw component (101) and the right claw component (102) for adjusting the height of the left claw component (101) and the right claw component (102); the left claw component (101) having a left walking wheel assembly and a driving component (1014), the driving component (1014) being drive-connected to the left walking wheel assembly; the right claw component (102) having 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 in rolling cooperation with the cableway or the power grid wire; The knocking device (3) is arranged at one end of the box component (2) where it moves.

2. The cableway power grid deicing transport robot according to claim 1, characterized in that: The lifting mechanism comprises 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 spiral support sleeve (113), a claw frame connecting frame (110), a rotary lifting gear (112), a spiral support sleeve (113), a rotary lifting drive motor (114), a rotary lifting drive gear (115), 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 mounted on the claw frame connecting frame (110) via a claw frame connecting bolt (111); The spiral support sleeve (113) comprises a support sleeve threaded sleeve (113a), a rotary lifting drive motor mounting plate (113b) and a support sleeve mounting plate (113d); the support sleeve threaded sleeve (113a) has an internal thread; the rotary lifting drive motor mounting plate (113b) is arranged on the upper part of the support sleeve threaded sleeve (113a); the support sleeve mounting plate (113d) is arranged on the lower part of the support sleeve threaded sleeve (113a); the support sleeve mounting plate (113d) is connected to the box component (2) via a bolt assembly; The rotary lifting drive motor (114) is arranged on the rotary lifting drive motor mounting plate (113b), and a rotary lifting drive gear (115) is mounted on the output shaft of the rotary lifting drive motor (114) via a tightening sleeve. The middle portion of the claw frame connecting frame (110) is a rotating lifting gear installation section (110b), and the rotating lifting gear installation section (110b) is provided with a rotating lifting gear (112). The lower portion of the claw frame connecting frame (110) is an external thread section (110c), and the external thread section (110c) is threadedly connected to the support sleeve threaded sleeve (113a). When the rotary lifting drive motor (114) is in operation, the rotary lifting drive gear (115) drives the rotary lifting gear (112) to rotate, and the rotary lifting gear (112) drives the claw frame connecting frame (110) to rotate via a key, thereby realizing the rotation and lifting of the claw frame connecting frame (110).

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 6, 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).

8. The cableway power grid deicing transport robot according to claim 2, characterized in that: The claw shaft (103) and the hinge shaft (107) are both made of a copper alloy with a self-lubricating function; an oil-free bearing (109) is externally mounted on the hinge shaft (107), and axial positioning is achieved through a retaining ring (108).

9. The cableway power grid deicing transport robot according to claim 1, characterized in that: It also includes an integrated controller (7), a monitoring system and a battery (6), wherein the monitoring system includes a camera (4) and a laser radar (5), and a plurality of the cameras (4) and the laser radar (5) are provided; 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 plurality of cameras (4), the plurality of laser radars (5), the knocking device (3) and the plurality of claw walking mechanisms (1); the battery (6) is electrically connected to the integrated controller (7), the plurality of cameras (4), the plurality of laser radars (5), the knocking device (3) and the plurality of claw walking mechanisms (1).

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