Cableway power grid inspection carrying robot with cross-line walking and obstacle crossing functions

Abstract

The invention relates to a cableway power grid inspection carrying robot with cross-line walking and obstacle crossing functions. The cableway power grid inspection carrying robot comprises a first robot unit, a second robot unit and an active joint coupling, the first robot unit and the second robot unit are rotatably connected through a driving joint coupling, the first robot unit is provided with claw walking mechanisms, a box body part and an integrated controller, each claw walking mechanism comprises a left claw part, a lifting mechanism and a right claw part, and the lifting mechanisms are in driving connection with the left claw parts and the right claw parts; the second robot unit and the first robot unit are the same in structure. The driving joint coupler and the claw walking mechanism are both electrically connected with the integrated controller. The robot has the advantages that the multi-claw walking mechanism structure capable of being opened and closed is adopted, and obstacle crossing can be achieved; meanwhile, the structure that multiple box bodies are combined with the driving joint couplings is adopted, and cross-over type obstacle crossing of cross cableways and power grid wires can be achieved.

Description

Technical Field

[0001] This invention relates to the field of de-icing transport robots, and in particular to a cableway power grid inspection transport robot with the functions of walking across lines and overcoming obstacles. Background Technology

[0002] Currently, significant technical bottlenecks exist in robotic equipment used for inspection and transportation tasks in the fields of cableways and power grids. Existing cableway and power grid inspection robots are few in number and generally lack obstacle-crossing and cross-line walking capabilities, making them ill-suited for complex cable environments. When encountering such obstacles, existing robots struggle to cross them autonomously, requiring manual intervention or additional equipment assistance, resulting in low inspection efficiency and safety hazards. Therefore, there is an urgent need to develop a cableway and power grid inspection robot with cross-line walking and obstacle-crossing capabilities. Summary of the Invention

[0003] Purpose of the invention

[0004] The purpose of this invention is to provide a cableway power grid inspection and transport robot with cross-line walking and obstacle crossing functions to address the shortcomings of existing cableway power grid de-icing transport robots.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A cableway power grid inspection and transport robot with cross-line walking and obstacle crossing functions includes a first robot unit, a second robot unit, and an active joint coupling.

[0007] The first robot unit and the second robot unit are rotatably connected via an active joint coupling.

[0008] The first robot unit is equipped with a claw walking mechanism, a housing component, and an integrated controller. Multiple claw walking mechanisms are mounted on the housing component, each including a left claw component, a lifting mechanism, and a right claw component. The lifting mechanism is driven and connected to the left and right claw components to adjust their height. The left claw component has a left walking wheel assembly and a drive component, which is driven and connected to the left walking wheel assembly. The right claw component has a right walking wheel assembly. During operation, the left and right claw components merge to form a clamping channel for clamping cableways or power grid cables. The left and right walking wheel assemblies engage in rolling cooperation with the cableways or power grid cables.

[0009] The second robot unit has the same structure as the first robot unit;

[0010] Both the active joint coupling and the claw walking mechanism are electrically connected to the integrated controller.

[0011] 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 rotary lifting drive gear and claw frame connecting bolts;

[0012] The claw frame includes a column and a crossbeam, the column is mounted on the crossbeam, and both ends of the crossbeam are provided with lower plate-shaped uprights;

[0013] The bottoms of both the left and right claw components are rotatably mounted on the top of the column via claw shafts.

[0014] The lower part of the left claw component is provided with a left hinged vertical plate;

[0015] One end of the left electric push rod is connected to the left hinged vertical plate via a hinge shaft, and the other end of the left electric push rod is connected to the lower plate-shaped vertical plate via a hinge shaft.

[0016] The lower part of the right claw component is provided with a right hinged vertical plate;

[0017] One end of the right electric push rod is connected to the right hinged vertical plate via a hinge shaft, and the other end of the right electric push rod is connected to the lower plate-shaped vertical plate via a hinge shaft.

[0018] The claw frame is fixedly mounted on the claw frame connecting frame by claw frame connecting bolts;

[0019] 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 internal threads. The rotary lifting drive motor mounting plate is located at the upper part of the support sleeve threaded sleeve. The support sleeve mounting plate is located at the lower part of the support sleeve threaded sleeve. The support sleeve mounting plate is fixedly connected to the housing component through a connector.

[0020] The rotary lifting drive motor is mounted on the rotary lifting drive motor mounting plate. A rotary lifting drive gear is mounted on the output shaft of the rotary lifting drive motor through a shrink sleeve. The middle part of the claw frame connecting frame is the rotary lifting gear mounting section, and the rotary lifting gear is provided on the rotary lifting gear mounting section. The lower part of the claw frame connecting frame is an external thread section, and the external thread section is threadedly connected to the support sleeve threaded sleeve.

[0021] 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 the key, thereby realizing the rotation and lifting of the claw frame connecting frame.

[0022] Furthermore, the left claw component also includes a left claw, which is a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The left claw includes a left claw shell, a left convex petal, and a left concave petal, both of which are disposed on the left claw shell.

[0023] 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, both of which are disposed on the right claw shell. When the left claw component and the right claw component are closed, the arc surfaces of the left convex petal and the right concave petal engage, and the arc surfaces of the left concave petal and the right convex petal engage, forming an eccentric embracing and centering structure.

[0024] Furthermore, the left claw component also includes a left claw cover plate, the shape and structure of which match the left claw housing, and the left claw cover plate is fastened onto the left claw housing;

[0025] The left claw housing is provided with a left claw first traveling wheel mounting bracket and a left claw second traveling wheel mounting bracket inside, and the left claw first traveling wheel mounting bracket is located above the left claw second traveling wheel mounting bracket. The left claw housing is provided with a drive component mounting plate on the outside and a left claw housing hinge ring at the bottom.

[0026] The drive component is mounted on the drive component mounting plate. The drive component includes a left claw motor and a left claw drive gear. The left claw drive gear is mounted on the output shaft of the left claw motor via a shrink sleeve.

[0027] The right claw component also includes a right claw cover plate, the shape and structure of which match the right claw housing, and the right claw cover plate is fastened onto the right claw housing.

[0028] The right claw housing is provided with a right claw first travel wheel mounting bracket and a right claw second travel wheel mounting bracket inside, and the right claw first travel wheel mounting bracket is located above the right claw second travel wheel mounting bracket; the bottom of the right claw housing is provided with a right claw housing hinge ring;

[0029] The column is rotatably connected to the left claw housing hinge ring and the right claw housing hinge ring via a claw shaft;

[0030] The left traveling wheel assembly includes a left claw first traveling wheel assembly and a left claw second traveling wheel assembly; the right traveling wheel assembly includes a right claw first traveling wheel assembly and a right claw second traveling wheel assembly.

[0031] The left claw first traveling wheel assembly includes a left claw first traveling wheel axle, a left claw first traveling wheel, and a left claw first traveling wheel gear. The left claw first traveling wheel gear is a bevel gear and is located at one end of the left claw first traveling wheel axle. The left claw first traveling wheel axle is mounted on a left claw first traveling wheel mounting bracket via a left claw first oil-free bearing. The left claw first traveling wheel and the left claw first traveling wheel axle are interference-fitted.

[0032] The left claw second traveling wheel assembly includes a left claw second traveling wheel shaft, a left claw second traveling wheel, and a left claw second traveling wheel gear. The left claw second traveling wheel gear is a bevel gear and is located at one end of the left claw second traveling wheel shaft. The left claw second traveling wheel shaft is mounted on the left claw second traveling wheel mounting bracket via a left claw second oil-free bearing. The left claw second traveling wheel and the left claw second traveling wheel shaft are interference-fitted.

[0033] The left claw drive gear is driven by the left claw first traveling wheel gear, and the left claw first traveling wheel gear is meshed with the left claw second traveling wheel gear for transmission.

[0034] The right claw first traveling wheel assembly includes a right claw first traveling wheel axle and a right claw first traveling wheel. The right claw first traveling wheel axle is mounted on the right claw first traveling wheel mounting bracket via a right claw first oil-free bearing. The right claw first traveling wheel is interference-fitted with the right claw first traveling wheel axle.

[0035] The right claw second traveling wheel assembly includes a right claw second traveling wheel axle and a right claw second traveling wheel. The right claw second traveling wheel axle is mounted on the right claw second traveling wheel mounting bracket via a right claw second oil-free bearing, and the right claw second traveling wheel is interference-fitted with the right claw second traveling wheel axle.

[0036] Furthermore, the active joint coupling includes a left coupling bracket, a coupling motor, a coupling drive gear, a right coupling bracket, a coupling central shaft, and a coupling driven gear;

[0037] One end of the left coupling is connected to the housing component of the first robot unit, and the other end of the left coupling is rotatably connected to the right coupling via the central shaft of the coupling.

[0038] The end of the right coupling frame away from the left coupling frame is connected to the second robot unit housing.

[0039] The coupling motor is mounted on the left coupling frame, and a coupling drive gear is mounted on the output shaft of the coupling motor. The coupling driven gear is mounted on the central shaft of the coupling, and the coupling driven gear meshes with the coupling drive gear.

[0040] Furthermore, the left coupling frame includes a left coupling frame connecting flange, a cylindrical connecting section, a coupling motor mounting plate, a rod-shaped connecting part, and a disc-shaped connecting tongue. One end of the left coupling frame connecting flange is connected to the housing component of the first robot unit, and the other end of the left coupling frame connecting flange is connected to the cylindrical connecting section. A coupling motor mounting plate is provided on the upper part of the cylindrical connecting section. A rod-shaped connecting part is provided at the end of the cylindrical connecting section away from the left coupling frame connecting flange. A disc-shaped connecting tongue is provided at the end of the rod-shaped connecting part near the right coupling frame. A coupling center shaft hole is opened on the upper surface of the middle part of the disc-shaped connecting tongue.

[0041] The right coupling includes a right coupling connecting flange, a rod-shaped connecting part, and a disc-shaped connecting groove. One end of the right coupling connecting flange is connected to the housing component of the second robot unit, and the other end of the right coupling connecting flange is connected to the rod-shaped connecting part. The rod-shaped connecting part is provided with a disc-shaped connecting groove that matches the disc-shaped connecting tongue at one end near the left coupling connecting flange. The disc-shaped connecting groove is provided with a concave tongue center hole, and a concave tongue center hole keyway is provided on the inner cylindrical surface of the concave tongue center hole.

[0042] The coupling motor is mounted on the coupling motor mounting plate;

[0043] The coupling's central shaft is installed through the coupling's central shaft hole and the concave tongue's central hole, and an oilless bearing is fitted on the outside of the coupling's central shaft, allowing the left and right coupling frames to be rotatably connected.

[0044] Furthermore, both the claw shaft and the hinge shaft are made of copper alloy with self-lubricating function; the hinge shaft is externally fitted with an oil-free bearing and is axially limited by a retaining ring.

[0045] Furthermore, the cableway power grid inspection and transport robot described above, which has the functions of walking across lines and overcoming obstacles, further includes a monitoring system and a battery in the first robot unit and the second robot unit. The monitoring system includes multiple cameras, lidar, and temperature and gas detection sensor groups.

[0046] The batteries are all housed within the enclosure; the integrated controller is electrically connected to multiple cameras, multiple lidar sensors, multiple temperature and gas detection sensor groups, and multiple claw-walking mechanisms; the batteries are electrically connected to the integrated controller, multiple cameras, multiple lidar sensors, multiple temperature and gas detection sensor groups, and multiple claw-walking mechanisms.

[0047] Advantages and effects of the present invention:

[0048] 1. This invention uses an integrated controller to link the eccentric gripping structure of the left and right claw components with the lifting mechanism: when encountering a cable obstacle, the integrated controller first controls the left / right electric push rods to drive the claw components to open, and then adjusts the height of the claw frame through the lifting mechanism so that the claw components close after avoiding the obstacle, achieving adaptive obstacle crossing and precise gripping; at the same time, the first and second traveling wheel components of the left claw cooperate in driving, and the right traveling wheel cooperates in driven, forming a rolling mechanism of active driving and driven friction. Meanwhile, when the eccentric gripping structure closes, it automatically centers the cable through the arc surface cooperation, ensuring gripping stability.

[0049] 2. This invention uses an active joint coupling to synchronously control the first and second robot units via an integrated controller: When crossing intersecting cables, the coupling motor drives the left and right connecting frames to rotate relative to each other, causing the first and second robot units to form an angle matching the angle of the intersecting cables. Simultaneously, the claw walking mechanisms of the two units alternately open and close to achieve cable switching. In addition, after the active joint coupling adjusts the angle between the first and second robot units, the lifting mechanism synchronously adjusts the height of the claw components to ensure consistent gripping of the two units on cables at different heights. This enables gripping of cableways and power grids at different heights, achieving gripping of intersecting cableways and power grids, and realizing extremely strong obstacle-crossing capabilities.

[0050] 3. This invention collects environmental data in real time through multiple cameras, lidar, and temperature and gas sensor groups, and transmits it to the integrated controller to form a composite perception of spatial scanning and close-range detection. Compared with the traditional single-camera solution, the accuracy of fault identification is greatly improved. At the same time, the battery powers the integrated controller, environmental monitoring components, and joint drive motor, ensuring the energy supply for critical actions such as obstacle crossing and avoiding shutdown due to insufficient power.

[0051] 4. This invention uses an oil-free bearing in the active joint coupling and a self-lubricating copper alloy material for the claw shaft to reduce mechanical wear, extend equipment life, and significantly improve applicability to various working conditions.

[0052] 5. The claw walking mechanism 1 of the present invention can be driven by a rotary lifting drive motor to rotate a rotary lifting drive gear, which in turn drives the rotary lifting gear to rotate, thereby driving the upper left claw component and right claw component to rotate and lift. It can adapt to the gripping of wires and cables at different heights, and can overcome the deflection changes of wires and cables caused by their own weight, making it more adaptable.

[0053] 6. The gripping part of the claw walking mechanism of the present invention consists of two parts: a left claw component and a right claw component that can be opened and closed. The opening and closing can be realized under the control of an integrated controller. The sequential opening and closing actions of multiple claw walking mechanisms are coordinated to achieve obstacle crossing ability. At the same time, the robot of the present invention has multiple claw walking mechanisms, which has stronger gripping ability and can achieve heavy load transportation capacity. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the cableway power grid inspection and transport robot with cross-line walking and obstacle crossing functions according to an embodiment of the present invention;

[0055] Figure 2 This is a structural diagram of the housing component according to an embodiment of the present invention;

[0056] Figure 3 The claw walking mechanism structure of this invention embodiment Figure 1 ;

[0057] Figure 4 The claw walking mechanism structure of this invention embodiment Figure 2 ;

[0058] Figure 5 The claw walking mechanism structure of this invention embodiment Figure 3 ;

[0059] Figure 6 This is a structural diagram of the left claw according to an embodiment of the present invention;

[0060] Figure 7 This is a structural diagram of the right claw in an embodiment of the present invention;

[0061] Figure 8 for Figure 4 A magnified view of a portion of the image, where Figure a is... Figure 4 Enlarged view of part I; where Figure b is Figure 4 Enlarged view of Part II; where Figure c is Figure 4 Enlarged view of Part III; where Figure d is Figure 4 Enlarged view of Part IV, where Figure e is Figure 4 Enlarged view of part V;

[0062] Figure 9 This is a structural diagram of the claw frame according to an embodiment of the present invention;

[0063] Figure 10 This is a structural diagram of the claw frame connecting frame according to an embodiment of the present invention;

[0064] Figure 11 This is a structural diagram of the spiral support sleeve according to an embodiment of the present invention;

[0065] Figure 12Figure 1 is a three-dimensional structural diagram of the active joint coupling according to an embodiment of the present invention; Figure 2 is a structural diagram of the active joint coupling; Figure 3 is a structural diagram of the central shaft of the coupling; Figure 4 is a cross-sectional view of the active joint coupling; and Figure 5 is a structural diagram of the right coupling bracket. Figure 1 Figure e shows the structure of the right coupling. Figure 2 Figure f is a structural diagram of the left coupling frame.

[0066] The attached diagram lists the components represented by each number as follows:

[0067] 1-Claw walking mechanism; 101-Left claw component; 1011-Left claw; 1011a-Left claw housing; 1011b-Left hinge plate; 1011c-Left hinge plate hinge hole; 1011d-Left claw housing hinge ring; 1011e-Left claw first traveling wheel mounting bracket; 1011f-Left claw first traveling 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 traveling wheel mounting bracket; 1011k-Left claw second traveling wheel mounting hole; 1011m-Left convex flap; 1011 n - Left concave flap; 1012 - Left claw first traveling wheel assembly; 1012a - Left claw first traveling wheel axle; 1012b - Left claw first traveling wheel; 1012c - Left claw first oilless bearing; 1012d - Left claw first oilless bearing retaining ring; 1012e - Left claw first traveling wheel gear retaining ring; 1012f - Left claw first traveling wheel gear; 1012g - Left claw first gear key; 1013 - Left claw second traveling wheel assembly; 1013a - Left claw second traveling wheel axle; 1013b - Left claw second traveling wheel; 1013c - Left claw second oilless bearing; 1013d - Left claw second oilless bearing retaining ring;

[0068] 1013e ​​- Left claw second traveling wheel gear retaining ring; 1013f - Left claw second traveling wheel gear; 1013g - Left claw second gear key; 1014 - Left claw power component; 1014a - Left claw motor; 1014b - Left claw drive gear; 1014c - Expansion sleeve; 1015 - Left claw cover plate; 102 - Right claw component; 1021 - Right claw; 1021a - Right claw housing; 1021b - Right hinge plate; 1021c - Right hinge plate hinge hole; 1021d - Right claw housing hinge ring; 1021e - Right claw first traveling wheel mounting bracket; 1021f - Right claw first traveling wheel mounting hole; 1021g - Right claw power component mounting plate; 1021i - Right claw semi-cylindrical hole; 1021j - Right claw second traveling wheel Mounting bracket; 1021k - Right claw second traveling wheel mounting hole; 1021m - Right convex flap; 1021n - Right concave flap; 1022 - Right claw first traveling wheel assembly; 1022a - Right claw first traveling wheel axle; 1022b - Right claw first traveling wheel; 1022c - Right claw first oilless bearing; 1022d - Right claw first oilless bearing retaining ring; 1023 - Right claw second traveling wheel assembly; 1023a - Right claw second traveling wheel axle; 1023b - Right claw second traveling wheel; 1023c - Right claw second oilless bearing; 1023d - Right claw second oilless bearing retaining ring; 1024 - Right claw cover plate; 103 - Claw shaft; 104 - Claw frame; 104a - Column; 104b - Crossbeam; 104c - Lower plate-shaped vertical plate; 104d - 104e - Lower hinge hole; 104f - Upper plate-shaped vertical plate; 105 - Upper hinge hole; 106 - Left electric push rod; 107 - 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 - Oil-free bearing; 109a - First oil-free bearing; 109b - Second oil-free bearing; 110 - Claw holder connecting frame; 110a - Upper connector; 110b - Rotary lifting gear mounting section; 110c - External thread section; 111 - Claw holder connecting bolt; 112 - Rotary lifting gear; 113 - Spiral support sleeve; 113a - Support sleeve threaded sleeve; 113b - Rotary lifting drive motor mounting plate; 113c - Rotary... 113d - Lifting drive motor mounting hole; 114 - Rotary lifting drive motor; 115 - Rotary lifting drive gear; 117 - Fork support frame; 117a - Support frame head; 118 - Upper rotary gear; 119 - Upper drive gear; 120 - Upper motor; 121 - Upper shaft frame; 121a - Upper shaft frame large sleeve section; 121b - Upper motor mounting plate; 121e - Upper shaft frame connecting lug; 122 - Lower shaft frame; 122e - Lower shaft frame connecting lug; 122c - Lower shaft frame external thread section; 126 - Mounting bushing; 130 - Lower rotary gear; 131 - Lower drive gear; 132 - Lower motor; 133 - Spiral support sleeve; 133a - Support sleeve threaded sleeve;133b - Lower motor mounting plate; 133d - Spiral support sleeve base plate; 2 - Housing components; 201 - Housing; 202 - Left cover of housing; 203 - Right cover of housing; 3 - Active joint coupling; 301 - Left coupling bracket; 301a - Left coupling bracket connecting flange; 301b - Cylindrical connecting section; 301c - Coupling motor mounting plate; 301d - Coupling motor mounting hole; 301e - Rod-shaped connecting part; 301f - Disc-shaped connecting tongue; 301g - Coupling center shaft hole; 302 - Coupling motor; 303 - Coupling drive gear; 304 - Right coupling bracket; 304a - Right coupling bracket connecting flange; 304b - Rod-shaped connecting part; 304c - Disc-shaped connecting tongue 304d - Groove; 304e - Center hole of concave tongue; 304f - Keyway of center hole of concave tongue; 305 - Coupling center shaft; 305a - Large cylindrical section; 305b - Oil-free bearing mounting section; 305c - Shoulder section; 305d - Driven gear mounting section; 305e - Center shaft mounting keyway; 305f - Center shaft retaining ring annular groove; 305g - Driven gear mounting keyway; 306 - Coupling driven gear; 307 - Driven gear lock nut; 308 - Driven gear key; 309 - Center shaft retaining ring; 310 - Oil-free bearing; 311 - Center shaft mounting key; 4 - Camera; 5 - LiDAR; 6 - Battery; 7 - Integrated controller; 8 - Temperature and gas detection sensor group. Detailed Implementation

[0069] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] The above description is merely a few embodiments of this application and is not intended to limit this application in any way. Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

[0071] A cableway power grid inspection and transport robot with cross-line walking and obstacle crossing functions includes a first robot unit, a second robot unit, an integrated controller 7, and an active joint coupling 3.

[0072] The first robot unit and the second robot unit are rotatably connected via an active joint coupling 3.

[0073] Both the first and second robot units are equipped with a claw walking mechanism 1 and a housing component 2. The claw walking mechanism 1 is mounted on the housing component 2, and there are multiple claw walking mechanisms 1. Each claw walking mechanism 1 includes a left claw component 101, a lifting mechanism, and a right claw component 102. The lifting mechanism is driven and connected to the left claw component 101 and the right claw component 102 to adjust their height. The left claw component 101 has a left walking wheel assembly and a drive component 1014, which is driven and connected to the left walking wheel assembly. The right claw component 102 has a right walking wheel assembly. When working, the left claw component 101 and the right claw component 102 merge to form a clamping channel for clamping cableways or power grid cables. The left and right walking wheel assemblies roll in cooperation with the cableways or power grid cables. An integrated controller 7 is mounted inside the housing component 2. The active joint coupling 3 and the claw walking mechanism 1 are both electrically connected to the integrated controller 7.

[0074] 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, a rotary lifting drive gear 115, and a claw frame connecting bolt 111.

[0075] The claw frame includes a column 104a and a crossbeam 104b. The column 104a is mounted on the crossbeam 104b, and both ends of the crossbeam 104b are provided with lower plate-shaped vertical plates 104c.

[0076] The bottoms of both the left claw component 101 and the right claw component 102 are rotatably mounted on the top of the column 104a via the claw shaft 103.

[0077] The lower part of the left claw component 101 is provided with a left hinged vertical plate 1011b;

[0078] One end of the left electric push rod 105 is connected to the left hinged vertical plate 1011b via the hinge shaft 107, and the other end of the left electric push rod 105 is connected to the lower plate-shaped vertical plate 104c via the hinge shaft 107.

[0079] The lower part of the right claw component 102 is provided with a right hinged vertical plate 1021b;

[0080] One end of the right electric push rod 106 is connected to the right hinged vertical plate 1021b via the hinge shaft 107, and the other end of the right electric push rod 106 is connected to the lower plate-shaped vertical plate 104c via the hinge shaft 107.

[0081] The claw frame 104 is fixedly mounted on the claw frame connecting frame 110 by the claw frame connecting bolt 111, and the claw frame 104 is connected to the lifting mechanism through the claw frame connecting frame 110.

[0082] The spiral support sleeve 113 of the present invention includes 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 disposed on the upper part of the support sleeve threaded sleeve 113a. The support sleeve mounting plate 113d is disposed on the lower part of the support sleeve threaded sleeve 113a. The support sleeve mounting plate 113d is connected to the housing component 2 by a bolt assembly.

[0083] The rotary lifting drive motor 114 is mounted 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 shrink sleeve.

[0084] The middle part of the claw frame connecting frame 110 is a rotary lifting gear mounting section 110b, on which a rotary lifting gear 112 is provided. 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.

[0085] When the rotary lifting drive motor 114 is working, the rotary lifting drive gear 115 drives the rotary lifting gear 112 to rotate. 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. The left claw component 101 of the present invention also includes a left claw 1011. The left claw 1011 is a hollow semi-cylindrical structure with a semi-cylindrical hole in the middle and an open end. The left claw 1011 includes a left claw housing 1011a, a left convex lobe 1011m, and a left concave lobe 1011n. The left convex lobe 1011m and the left concave lobe 1011n are both disposed on the left claw housing 1011a.

[0086] The right claw component 102 also includes a right claw 1021. The right claw 1021 is a hollow semi-cylindrical structure with a semi-cylindrical hole in the middle and an open end. The right claw 1021 includes a right claw housing 1021a, a right convex lobe 1021m, and a right concave lobe 1021n. The right convex lobe 1021m and the right concave lobe 1021n are both disposed on the right claw housing 1021a.

[0087] When the left claw component 101 and the right claw component 102 are closed, the arc surfaces of the left convex lobe 1011m and the right concave lobe 1021n cooperate, and the arc surfaces of the left concave lobe 1011n and the right convex lobe 1021m cooperate, forming an eccentric embracing and centering structure.

[0088] The left claw component 101 of the present invention also includes a left claw cover plate 1015, the shape and structure of which match the left claw housing 1011a, and the left claw cover plate 1015 is fastened to the left claw housing 1011a;

[0089] The left claw housing 1011a has a left claw first traveling wheel mounting bracket 1011e and a left claw second traveling wheel mounting bracket 1011j inside, and the left claw first traveling wheel mounting bracket 1011e is located above the left claw second traveling wheel mounting bracket 1011j. The left claw housing 1011a has a drive component mounting plate 1011g on the outside, and a left claw housing hinge ring 1011d at the bottom of the left claw housing 1011a.

[0090] The drive component 1014 is mounted on the drive component mounting plate 1011g. The drive component 1014 includes a left claw motor 1014a and a left claw drive gear 1014b. The left claw drive gear 1014b is mounted on the output shaft of the left claw motor 1014a through a shrink sleeve 1014c.

[0091] The right claw component 102 also includes a right claw cover plate 1024, the shape and structure of which match the right claw housing 1021a, and the right claw cover plate 1024 is fastened onto the right claw housing 1021a.

[0092] The right claw housing 1021a has a right claw first traveling wheel mounting bracket 1021e and a right claw second traveling wheel mounting bracket 1021j inside, and the right claw first traveling wheel mounting bracket 1021e is located above the right claw second traveling wheel mounting bracket 1021j; the bottom of the right claw housing 1021a has a right claw housing hinge ring 1021d;

[0093] The 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 traveling wheel assembly includes the left claw first traveling wheel assembly 1012 and the left claw second traveling wheel assembly 1013; the right traveling wheel assembly includes the right claw first traveling wheel assembly 1022 and the right claw second traveling wheel assembly 1023;

[0094] The left claw first traveling wheel assembly 1012 includes a left claw first traveling wheel shaft 1012a, a left claw first traveling wheel 1012b, and a left claw first traveling wheel gear 1012f. The left claw first traveling wheel gear 1012f is a bevel gear and is located at one end of the left claw first traveling wheel shaft 1012a. The left claw first traveling wheel shaft 1012a is mounted on the left claw first traveling wheel mounting bracket 1011e via a left claw first oil-free bearing 1012c. The left claw first traveling wheel 1012b is interference-fitted with the left claw first traveling wheel shaft 1012a. The left claw second traveling wheel assembly 1013 includes a left claw second traveling wheel shaft 1013a, a left claw second traveling wheel 1013b, and a left claw second traveling wheel gear 1013f. The left claw second traveling wheel gear 1013f is a bevel gear and is located at one end of the left claw second traveling wheel shaft 1013a. The left claw second traveling wheel shaft 1013a is mounted on the left claw second traveling wheel mounting bracket 1011j via a left claw second oil-free bearing 1013c. The left claw second traveling wheel 1013b is interference-fitted with the left claw second traveling wheel shaft 1013a.

[0095] The left claw drive gear 1014b is driven by the left claw first traveling wheel gear 1012f, and the left claw first traveling wheel gear 1012f is meshed with the left claw second traveling wheel gear 1013f for transmission.

[0096] The right claw first traveling wheel assembly 1022 includes a right claw first traveling wheel axle 1022a and a right claw first traveling wheel 1022b. The right claw first traveling wheel axle 1022a is mounted on the right claw first traveling wheel mounting bracket 1021e via a right claw first oil-free bearing 1022c. The right claw first traveling wheel 1022b is interference-fitted with the right claw first traveling wheel axle 1022a.

[0097] The right claw second traveling wheel assembly 1023 includes a right claw second traveling wheel shaft 1023a and a right claw second traveling wheel 1023b. The right claw second traveling wheel shaft 1023a is mounted on the right claw second traveling wheel mounting bracket 1021j via a right claw second oil-free bearing 1023c. The right claw second traveling wheel 1023b is interference-fitted with the right claw second traveling wheel shaft 1023a.

[0098] The active joint coupling 3 of the present invention includes a left coupling frame 301, a coupling motor 302, a coupling drive gear 303, a right coupling frame 304, a coupling central shaft 305, and a coupling driven gear 306.

[0099] One end of the left coupling bracket 301 is connected to the housing component 2 of the first robot unit, and the other end of the left coupling bracket 301 is rotatably connected to the right coupling bracket 304 through the central shaft 305 of the coupling.

[0100] The end of the right coupling 304 furthest from the left coupling 301 is connected to the second robot unit housing.

[0101] The coupling motor 302 is mounted on the left coupling bracket 301, and the output shaft of the coupling motor 302 is equipped with a coupling drive gear 303. The coupling driven gear 306 is mounted on the coupling central shaft 305, and the coupling driven gear 306 meshes with the coupling drive gear 303.

[0102] The left coupling bracket 301 of the present invention includes a left coupling bracket connecting flange 301a, a cylindrical connecting section 301b, a coupling motor mounting plate 301c, a rod-shaped connecting part 301e, and a disc-shaped connecting tongue 301f.

[0103] One end of the left coupling bracket connecting flange 301 is connected to the housing component 2 of the first robot unit, and the other end of the left coupling bracket connecting flange 301a is connected to the cylindrical connecting section 301b. A coupling motor mounting plate 301c is provided on the upper part of the cylindrical connecting section 301b.

[0104] The cylindrical connecting section 301b is provided with a rod-shaped connecting part 301e at the end away from the left coupling frame connecting flange 301a. The rod-shaped connecting part 301e is provided with a disc-shaped connecting tongue 301f at the end near the right coupling frame 304. The upper surface of the disc-shaped connecting tongue 301f is provided with a coupling center shaft hole 301g.

[0105] The right coupling bracket 304 includes a right coupling bracket connecting flange 304a, a rod-shaped connecting part 304b, and a disc-shaped connecting groove 304c. One end of the right coupling bracket connecting flange 304a is connected to the housing component 2 of the second robot unit, and the other end of the right coupling bracket connecting flange 304a is connected to the rod-shaped connecting part 304b. The rod-shaped connecting part 304b is provided with a disc-shaped connecting groove 304c that is adapted to the disc-shaped connecting tongue 301f at one end near the left coupling bracket connecting flange 301. The disc-shaped connecting groove 304c is provided with a concave tongue center hole 304e, and a concave tongue center hole keyway 304f is provided on the inner cylindrical surface of the concave tongue center hole 304e.

[0106] The coupling motor 302 is mounted on the coupling motor mounting plate 301c;

[0107] The coupling center shaft 305 is installed through the coupling center shaft hole 301g and the concave tongue center hole 304e, and an oilless bearing 310 is fitted on the outside of the coupling center shaft 305, so that the left coupling bracket 301 and the right coupling bracket 304 can be rotatably connected.

[0108] This application utilizes the eccentric gripping structure of the left claw component 101 and the right claw component 102, along with a lifting mechanism, to be linked by an integrated controller 7. When encountering a cable obstacle, the integrated controller 7 first controls the left / right electric push rods to drive the claw components to open, and then adjusts the claw frame height through the lifting mechanism to allow the claw components to close after avoiding the obstacle, thus achieving adaptive obstacle crossing and precise gripping. Simultaneously, the left claw first traveling wheel assembly 1012 and the left claw second traveling wheel assembly 1013 drive and cooperate, while the right traveling wheel cooperates passively, forming a rolling mechanism of active drive and passive friction. At the same time, the eccentric gripping structure automatically centers the cable through the arc surface cooperation when closing, ensuring gripping stability.

[0109] This application uses an active joint coupling 3 to synchronously control the first and second robot units via an integrated controller 7. When crossing intersecting cables, the coupling motor drives the left coupling frame 301 and the right coupling frame 304 to rotate relative to each other, so that the first and second robot units form an angle that matches the angle of the intersecting cables. At the same time, the claw walking mechanism of the two units alternately opens and closes to achieve cable switching. In addition, after the active joint coupling 3 adjusts the angle between the first and second robot units, the lifting mechanism synchronously adjusts the height of the claw components to ensure consistent gripping of the two units on cables at different heights. This enables the gripping of cableways and power grids at different heights, and the gripping of intersecting cableways and power grids, achieving a strong obstacle-crossing capability.

[0110] The claw walking mechanism 1 of this application can be driven by a rotary lifting drive motor 114 to rotate a rotary lifting drive gear 115, which in turn drives a rotary lifting gear 112 to rotate, thereby driving the upper left claw component 101 and right claw component 102 to rotate and lift. It can adapt to the gripping of wires and cables at different heights, and can overcome the deflection changes of wires and cables caused by their own weight, making it more adaptable.

[0111] The gripping part of the claw walking mechanism 1 of this application consists of two parts: a left claw component 101 and a right claw component 102 that can be opened and closed. Under the control of the integrated controller 7, the opening and closing actions of multiple claw walking mechanisms are coordinated to achieve obstacle crossing ability. At the same time, the robot of this invention has multiple claw walking mechanisms, which has stronger gripping ability and can achieve heavy load transportation capacity.

[0112] Both the claw shaft 103 and the hinge shaft 107 of this invention are made of copper alloy with self-lubricating function; the hinge shaft 107 is externally fitted with an oilless bearing 109, and axial positioning is achieved by a retaining ring 108. This invention uses the oilless bearing of the active joint coupling 3 in conjunction with the self-lubricating copper alloy material of the claw shaft, which reduces mechanical wear, extends the service life of the equipment, and significantly improves the applicability of working conditions.

[0113] The cableway power grid inspection and transport robot with obstacle crossing function of the present invention includes a monitoring system and a battery 6 in the first robot unit and the second robot unit. The monitoring system includes multiple cameras 4, multiple lidar 5 and multiple temperature and gas detection sensor groups 8.

[0114] All batteries 6 are housed within the housing component 2; the integrated controller 7 is electrically connected to multiple cameras 4, multiple lidar 5, multiple temperature and gas detection sensor groups 8, and multiple claw-walking mechanisms 1. This invention uses multiple cameras 4, lidar 5, and temperature and gas detection sensor groups 8 to collect environmental data in real time and transmit it to the integrated controller 7, forming a composite perception of spatial scanning and close-range detection. Compared to traditional single-camera solutions, the accuracy of fault identification is greatly improved. Simultaneously, the batteries 6 power the integrated controller 7, environmental monitoring components, and joint drive motors, ensuring energy supply for critical actions such as obstacle crossing and preventing shutdowns due to insufficient power.

[0115] Example 1

[0116] This cableway power grid inspection robot with obstacle-crossing capabilities mainly consists of a first robot unit, a second robot unit, and an active joint coupling 3.

[0117] The first robot unit consists of a claw-walking mechanism 1, a housing component 2, multiple cameras 4, multiple lidar sensors 5, a battery 6, an integrated controller 7, multiple temperature and gas detection sensor groups 8, and wiring. Multiple (usually two) claw-walking mechanisms 1 are arranged in a straight line on the top central axis of the housing component 2, used to grasp cableways and power grid cables, and to move along them. Cameras 4 and lidar sensors 5 are installed at the front, top, bottom, and rear of the housing component 2 for environmental monitoring. Temperature and gas detection sensor groups 8 are located at the top and bottom of the housing component 2 for detecting the temperature and gas levels in the surrounding environment. The battery 6 and integrated controller 7 are located inside the housing component 2. The integrated controller 7 is used for integrated control of the robot's cameras 4, lidar sensors 5, temperature and gas detection sensor groups 8, multiple claw-walking mechanisms 1, and the coupling motor 302 of the active joint coupling 3. The battery 6 provides power to multiple cameras 4, multiple lidar sensors 5, an integrated controller 7, a group of temperature and gas detection sensors 8, multiple claw walking mechanisms 1, and the coupling motor 302 of the active joint coupling 3. The integrated controller 7 is connected to the multiple robot's cameras 4, multiple lidar sensors 5, multiple temperature and gas detection sensor groups 8, multiple claw walking mechanisms 1, and the coupling motor 302 of the active joint coupling 3 via signal wires. The battery 6 is also connected to the integrated controller 7, the multiple robot's cameras 4, multiple lidar sensors 5, multiple temperature and gas detection sensor groups 8, multiple claw walking mechanisms 1, and the coupling motor 302 of the active joint coupling 3 via wires.

[0118] The second robot unit is identical to the first robot unit. The second robot unit and the first robot unit are rotatably connected by an active joint coupling 3. The second robot unit is connected to the integrated controller 7 in the first robot unit via signal wires, and the two coordinate their control.

[0119] The active joint coupling 3 consists of a left coupling frame 301, a coupling motor 302, a coupling drive gear 303, a right coupling frame 304, a coupling center shaft 305, a coupling driven gear 306, a driven gear key 308, a driven gear lock nut 307, a center shaft retaining ring 309, an oil-free bearing 310, and two center shaft mounting keys 311.

[0120] The left side of the left coupling bracket 301 has a left coupling bracket connecting flange 301a, which has a circular through hole for connecting to the rear of the housing component of the first robot unit using screws. To the right of the left coupling bracket connecting flange 301a is a cylindrical connecting section 301b. Above the cylindrical connecting section 301b is a coupling motor mounting plate 301c, which consists of a vertical plate and a top horizontal plate. The top horizontal plate has a coupling motor mounting hole 301d for mounting the coupling motor 302. To the right of the cylindrical connecting section 301b is a rod-shaped connecting part 301e, and to the right of the rod-shaped connecting part 301e is a disc-shaped connecting tongue 301f. The upper surface of the disc-shaped connecting tongue 301f has a circular through hole, a coupling center shaft hole 301g, for mounting the coupling center shaft 305.

[0121] The right side of the right coupling bracket 304 has a right coupling bracket connecting flange 304a, which has a circular through hole for screw connection to the front of the housing component of the second robot unit. To the left of the right coupling bracket connecting flange 304a is a rod-shaped connecting part 304b, and to the left of the rod-shaped connecting part 304b is a disc-shaped connecting tongue 304c. The disc-shaped connecting tongue 304c has a groove 304d with an opening at its front end on the symmetrical plane of its upper and lower end faces. The shape of the groove 304d matches the shape of the disc-shaped connecting tongue 301f of the left coupling bracket 301, and the two are fitted together. The upper surface of the center of the disc-shaped connecting tongue 304c has a circular through hole, the center hole 304e, for mounting the coupling center shaft 305. A concave tongue center hole keyway 304f is provided on the inner cylindrical surface of the concave tongue center hole 304e. The concave tongue center hole keyway 304f is used to install the center shaft mounting key 311.

[0122] The lower end of the coupling's central shaft 305 is a large cylindrical section 305a. Above the large cylindrical section 305a is a cylindrical oilless bearing mounting section 305b. Both the upper and lower parts of the oilless bearing mounting section 305b are provided with central shaft mounting keyways 305e. Above the oilless bearing mounting section 305b is a shaft shoulder section 305c. The lower part of the shaft shoulder section 305c is provided with a central shaft retaining ring annular groove 305f. Above the shaft shoulder section 305c is a cylindrical driven gear mounting section 305d. The driven gear mounting section 305d is provided with a driven gear mounting keyway 305g. The tail of the driven gear mounting section 305d is provided with an external thread for installing the driven gear locking nut 307.

[0123] A coupling motor 302 is installed in the coupling motor mounting hole 301d on the left coupling bracket 301. The coupling motor 302 is mounted via a shrink sleeve. The coupling center shaft 305 is installed from bottom to top in the coupling center shaft hole 301g of the left coupling bracket 301 and the concave center hole 304e of the right coupling bracket 304. An oilless bearing 310 is installed on the outer side of the coupling center shaft 305, and a center shaft mounting key 311 is installed on both the upper and lower sides of the oilless bearing 310. A center shaft retaining ring 309 is installed in the annular groove 305f of the center shaft retaining ring. A coupling driven gear 306 is installed on the driven gear mounting section 305d of the coupling center shaft, and a driven gear locking nut 307 is installed above the coupling driven gear 306. The coupling drive gear 303 meshes with the coupling driven gear 306 for transmission.

[0124] When the coupling motor 302 drives the coupling drive gear 303 to rotate, the coupling drive gear 303 and the driven gear 306 mesh and drive the coupling central shaft 305 to rotate through the driven gear key 308. The coupling central shaft 305 drives the right coupling bracket 304 to rotate through the two central shaft mounting keys 311, thereby realizing that the left coupling bracket 301 and the right coupling bracket 304 rotate relative to each other by an angle.

[0125] 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, a hinge shaft 107 (including a first hinge shaft 107a and a second hinge shaft 107b), a retaining ring 108 (including a first retaining ring 108a and a second retaining ring 108b), an oil-free bearing 109 (including a first oil-free bearing 109a and a second oil-free bearing 109b), a claw frame connecting frame 110, a claw frame connecting bolt 111, a rotary lifting gear 112, a spiral support sleeve 113, a rotary lifting drive motor 114, and a rotary lifting drive gear 115.

[0126] The left claw component 101 and the right claw component 102 are rotatably connected via the claw shaft 103. The left claw component 101 and the right claw component 102 are generally semi-cylindrical with a semi-circular hole in the center. When closed, they form a cylindrical shape with a cylindrical hole in the center, used to clamp cableways and power grid cables. The claw shaft 103 is made of a self-lubricating copper alloy and is generally stepped cylindrical, with a cylindrical head at one end and an annular groove at the other end. A claw shaft retaining ring is installed in this groove to axially limit the movement of the left claw component 101 and the right claw component 102. The claw shaft 103 is fixedly installed in the upper hinge hole 104f at the top of the claw frame 104. The claw frame 104 is mountain-shaped and mainly consists of a column 104a and a crossbeam 104b. Both ends of the crossbeam 104b are provided with through holes and lower hinge holes 104d. The hinge holes are located on the lower plate-shaped uprights 104c at both ends of the crossbeam 104b. The two plate-shaped uprights 104c are symmetrically arranged at each end of the crossbeam 104b. The top of the column 104a is provided with an upper plate-shaped upright 104e, and the upper plate-shaped upright 104e is provided with through holes and upper hinge holes 104f.

[0127] The left claw component 101 has a pair of left hinge plates 1011b at its lower part. These plates are symmetrically arranged and have through holes (left hinge plate hinge holes 1011c). A left electric push rod 105 is mounted between the left hinge plate hinge hole 1011c and the lower hinge hole 104d of the claw holder 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 hinge plate hinge hole 1011c, and the second hinge shaft 107b is installed in the left lower hinge hole 104d of the claw holder 104. The hinge shaft 107 is externally fitted with an oil-free bearing 109. A first oilless bearing 109a is fitted onto a hinge shaft 107a, and a second oilless bearing 109a is fitted onto a second hinge shaft 107b. Both hinge shafts 107 are stepped shafts with a large end and an annular groove at the other end. A retaining ring 108 is installed in the annular groove to axially limit the left electric push rod 105. The first retaining ring 108a is installed in conjunction with the first hinge shaft 107a, and the second retaining ring 108b is installed in conjunction with the second hinge shaft 107b.

[0128] The right claw component 102 has a pair of right hinge plates 1021b at its lower part. The pair of right hinge plates 1021b are symmetrically arranged, and each pair of right hinge plates 1021b has a through hole for a right hinge plate hinge hole 1021c. The right hinge plate hinge hole 1021c and the right lower hinge hole 104d of the claw frame 104 are connected by a hinge shaft 107 (the same hinge shaft 107 used for the installation of the left electric push rod 105). The installation method of the right electric push rod 106 is the same as that of the left electric push rod 105.

[0129] The claw holder 104 is connected to the claw holder connecting frame 110 via claw holder connecting bolts 111. The claw holder 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 on both side plates for installing the claw holder connecting bolts 111. The lower connecting shaft is a stepped shaft, with the upper part being a large shaft connecting section, the middle part being a rotary lifting gear mounting section 110b, which has a keyway for mounting the rotary lifting gear 112 via a key, and the lower part being an external thread section 110c for threaded connection with the spiral support sleeve 113. The lower part of the spiral support sleeve 113 is a support sleeve mounting plate 113d, which has mounting holes for connection with the housing component 2 via screws.

[0130] The middle section of the spiral support sleeve 113 is a threaded sleeve 113a, which is hollow cylindrical and has internal threads. The upper part of the spiral support sleeve 113 is provided with a rotary lifting drive motor mounting plate 113b, which has a rotary lifting drive motor mounting hole 113c for fixing and installing the rotary lifting drive motor 114. A rotary lifting drive gear 115 is fixedly mounted on the output shaft of the rotary lifting drive motor 114 via a tightening sleeve. The rotary lifting drive gear 115 meshes with the rotary lifting gear 112 for transmission.

[0131] The left claw component 101 consists of a left claw 1011, a left claw first traveling wheel component 1012, a left claw second traveling wheel component 1013, a left claw power component 1014, and a left claw cover plate 1015.

[0132] The left claw 1011 is a hollow semi-cylinder with an open end and a semi-cylindrical hole in the middle. The left claw housing 1011a is also a hollow semi-cylinder with an open end and a semi-cylindrical hole in the middle. The semi-cylindrical hole 1011i in the middle is used for cableway and power grid cables to pass through. The upper part of the left claw housing 1011a, where it closes with the right claw 1021, is divided into two halves: a left convex lobe 1011m and a left concave lobe 1011n. The surface of the left convex lobe 1011m that matches the closing surface of the right claw 1021 is an arc-shaped surface, which matches the arc-shaped surface of the right concave lobe 1021n of the right claw 1021. The surface of the left concave lobe 1011n that matches the closing surface of the right claw 1021 is an arc-shaped surface, which matches the arc-shaped surface of the right convex lobe 1021m of the right claw 1021. When the left claw 1011 and right claw 1021 are closed, the whole structure is cylindrical with a central circular hole. This structure, in which the left convex lobe 1011m and the right concave lobe 1021n cooperate, and the left concave lobe 1011n and the right convex lobe 1021m cooperate, is used to create an eccentric hugging and centering effect on the cableway and power grid when the axial direction of the cableway and power grid cables does not coincide with the axial direction after the left claw 1011 and right claw 1021 are closed. The shape and structure of the left claw cover plate 1015 match the left claw housing 1011a, and the left claw cover plate 1015 is fastened to the open side of the left claw housing 1011a. Inside the left claw housing 1011a, on the back plate, on the upper left side of the housing axis, there is a pair of left claw first traveling wheel mounting brackets 1011e. These brackets 1011e have a pair of left claw first traveling wheel mounting holes 1011f for mounting the left claw first traveling wheel assembly 1012. A pair of left claw second traveling wheel mounting brackets 1011j are provided on the lower left side of the housing axis on the inner back plate of housing 1011a. These brackets 1011j have a pair of left claw second traveling wheel mounting holes 1011k for mounting the left claw second traveling wheel assembly 1013. A left claw power component mounting plate 1011g is provided on the outer cylindrical surface of the housing 1011a of the left claw 1011. The left claw power component mounting plate 1011g has left claw power component mounting holes 1011h for mounting the left claw power component 1014. A left claw housing hinge ring 1011d is provided at the lower part of the left claw housing 1011a for mounting the claw shaft 103.

[0133] The left claw power unit 1014 mainly consists of a left claw motor 1014a and a left claw drive gear 1014b. The left claw drive gear 1014b is mounted on the output shaft of the left claw motor 1014a through a shrink sleeve 1014c.

[0134] The left claw first traveling wheel assembly 1012 mainly consists of a left claw first traveling wheel shaft 1012a, a left claw first traveling wheel 1012b, and a left claw first traveling wheel gear 1012f. The left claw first traveling wheel gear 1012f is a bevel gear. The left claw first traveling wheel shaft 1012a is mounted in a pair of left claw first traveling wheel mounting holes 1011f via a pair of left claw first oil-free bearings 1012c. Both ends of the left claw first oil-free bearings 1012c are axially fixed by left claw first oil-free bearing retaining rings 1012d. The left claw first traveling wheel gear 1012f is axially fixed by left claw first traveling wheel gear retaining rings 1012e. The left claw first traveling wheel gear 1012f transmits torque via a left claw first gear key 1012g. The left claw first traveling wheel shaft 1012a has a keyway matching the left claw first gear key and an annular groove matching the left claw first oil-free bearing retaining ring 1012d.

[0135] The left pawl second traveling wheel assembly 1013 mainly consists of a left pawl second traveling wheel shaft 1013a, a left pawl second traveling wheel 1013b, and a left pawl second traveling wheel gear 1013f. The left pawl second traveling wheel gear 1013f is a bevel gear. The left pawl second traveling wheel shaft 1013a is mounted in a pair of left pawl second traveling wheel mounting holes 1011k via a pair of left pawl second oil-free bearings 1013c. Both ends of the left pawl second oil-free bearings 1013c are axially fixed by left pawl second oil-free bearing retaining rings 1013d. The left pawl second traveling wheel gear 1013f is axially fixed by left pawl second traveling wheel gear retaining rings 1013e. The left pawl second traveling wheel gear 1013f transmits torque via a left pawl second gear key 1013g. The left pawl second traveling wheel shaft 1013a has a keyway matching the left pawl second gear key and an annular groove matching the left pawl second oil-free bearing retaining rings 1013d.

[0136] The left pawl drive gear 1014b meshes with the left pawl first traveling wheel gear 1012f for transmission. The left pawl first traveling wheel gear 1012f meshes with the left pawl second traveling wheel gear 1013f for transmission. The left pawl first traveling wheel gear 1012f drives the left pawl first traveling wheel shaft 1012a to rotate via the left pawl first gear key 1012g. The left pawl first traveling wheel shaft 1012a is interference-fitted with the left pawl first traveling wheel 1012b, thereby driving the left pawl first traveling wheel 1012b to rotate. The left pawl first traveling wheel gear 1012f drives the left pawl second traveling wheel gear 1013f to rotate. The left pawl second traveling wheel gear 1013f drives the left pawl second traveling wheel shaft 1013a to rotate via the left pawl second gear key 1013g. The left pawl second traveling wheel shaft 1013a is interference-fitted with the left pawl second traveling wheel 1013b, thereby driving the left pawl second traveling wheel 1013b to rotate. Because the left pawl first traveling wheel gear 1012f and the left pawl second traveling wheel gear 1013f mesh and drive each other, the two gears rotate in the same direction. Therefore, the left pawl first traveling wheel 1012b and the left pawl second traveling wheel 1013b rotate in the same direction.

[0137] The right claw component 102 consists of a right claw 1021, a right claw first traveling wheel component 1022, a right claw second traveling wheel component 1023, and a right claw cover plate 1024.

[0138] The right claw 1021 is a hollow semi-cylinder with an open end and a semi-cylindrical hole in the middle. The right claw shell 1021a is also a hollow semi-cylinder with an open end and a semi-cylindrical hole in the middle. The semi-cylindrical hole 1021i in the middle is used for cableway and power grid cables to pass through. The upper part of the right claw shell 1021a, where it closes with the left claw 1011, is divided into two halves: a right convex lobe 1021m and a right concave lobe 1021n. The surface of the right convex lobe 1021m that matches the closing surface of the left claw 1011 is an arc-shaped surface, which matches the arc-shaped surface of the left concave lobe 1011n of the left claw 1011. The surface of the right concave lobe 1021n that matches the closing surface of the left claw 1011 is an arc-shaped surface, which matches the arc-shaped surface of the left convex lobe 1011m of the left claw 1011. When the right claw 1021 and the left claw 1011 are closed, the whole structure is cylindrical with a central circular hole. This structure, in which the right convex lobe 1021m and the left concave lobe 1011n cooperate, and the right concave lobe 1021n and the left convex lobe 1011m cooperate, is used to create an eccentric hugging and centering effect on the cableway and power grid when the axial direction of the cableway and power grid cables does not coincide with the axial direction after the left claw 1011 and the right claw 1021 are closed. The shape and structure of the right claw cover plate 1024 match the right claw housing 1021a, and the right claw cover plate 1024 is fastened to the opening side of the right claw housing 1021a. Inside the right claw housing 1021a of the right claw 1011, on the upper right side of the housing axis, there is a pair of right claw first traveling wheel mounting brackets 1021e. These brackets 1021e have a pair of right claw first traveling wheel mounting holes 1021f for mounting the right claw first traveling wheel assembly 1022. A pair of right claw second traveling wheel mounting brackets 1021j are located on the lower right side of the housing axis on the inner back plate of the right claw housing 1021a. These brackets 1021j have a pair of right claw second traveling wheel mounting holes 1021k for mounting the right claw second traveling wheel assembly 1023. A right claw housing hinge ring 1021d is located at the lower part of the right claw housing 1011a for mounting the claw shaft 103. The right claw first traveling wheel assembly 1022 mainly consists of a right claw first traveling wheel shaft 1022a and a right claw first traveling wheel 1022b. The right claw first traveling wheel shaft 1022a is mounted in a pair of right claw first traveling wheel mounting holes 1021f via a pair of right claw first oil-free bearings 1022c. The two ends of the right claw first oil-free bearings 1022c are axially fixed by right claw first oil-free bearing retaining rings 1022d. The right claw first traveling wheel shaft 1022a has an annular groove that matches the right claw first oil-free bearing retaining rings 1022d. The right claw second traveling wheel assembly 1023 mainly consists of a right claw second traveling wheel shaft 1023a and a right claw second traveling wheel 1023b. The right claw second traveling wheel shaft 1023a is installed in a pair of right claw second traveling wheel mounting holes 1021k through a pair of right claw second oilless bearings 1023c. The two ends of the right claw second oilless bearings 1023c are axially fixed by right claw second oilless bearing retaining rings 1023d.The right claw second traveling wheel axle 1023a is provided with an annular groove that matches the right claw second oilless bearing retaining ring 1023d.

[0139] Box component 2 mainly consists of box body 201, left box cover 202, and right box cover 203. Box body 201 is generally a hollow cuboid with an opening in the middle of its upper surface. The opening can be covered or opened by the left box cover 202 and the right box cover 203. Both the left box cover 202 and the right box cover 203 are hinged together by a cover pin. Box body lugs are provided on the outer sides of the left and right side panels at the opening in the middle of the top of box body 201. Cylindrical through holes are provided in the lugs, and the cover pins are installed in the cylindrical through holes. The left box cover 202 and the right box cover 203 are symmetrical in structure. A pair of cover lugs are provided at the hinged position of the cover pin on the left box cover 202. These two cover lugs have cylindrical through holes for installing the cover pins. The top of the left cover 202 and the right cover 203 of the box body are provided with lock hole lugs at the opening and closing parts, and lock holes are provided on the lock hole lugs for installing locks.

[0140] Working principle description

[0141] A cableway and power grid inspection robot with obstacle-crossing capabilities is transported manually or by drone to the high-altitude cableway or power grid. An integrated controller 7 then controls the claw walking mechanisms to open 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 is substantially aligned with the axis of the cableway or power grid, the integrated controller 7 controls the claw walking mechanisms to close, firmly gripping the cableway or power grid. Driven by the left claw power component 1014 in the left claw component 101, the first walking wheel 101 of the left claw is driven by a bevel gear transmission. The first wheel 1022b and the second wheel 1023b rotate in the same direction, acting as the driving wheels. Simultaneously, the first wheel 1022b and the second wheel 1023b of the right claw component 102, together with the first wheel 1012b and the second wheel 1013b of the left claw, grip the cableway or power grid cable. The first wheel 1022b and the second wheel 1023b of the right claw are driven, and under the pushing force of the left electric push rod 105 and the right electric push rod 106, they create compression and friction on the cableway or power grid cable, enabling the robot to move on the cableway or power grid cable.

[0142] Each electrical component is powered by a storage battery 6.

[0143] When the claw-walking mechanisms of the cableway and power grid inspection robot with obstacle-crossing capabilities need to be raised or lowered, the integrated controller 7 controls the rotary lifting drive motors 114 of each claw-walking mechanism to drive the rotary lifting drive gears 115 to rotate, which in turn drives the rotary lifting gears 112 to rotate. The rotary lifting gears 112 drive the claw frame connecting frame 110 and all the claw-walking mechanism components above it to rotate together, that is, drive 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 are raised or lowered, thus enabling them to grasp cableways and power grid cables at different heights, achieving the ability to grasp cableways and power grid cables with large deflections.

[0144] When the robot needs to cross obstacles on cableways or power grids, the left claw component 101 and the right claw component 102 of each claw walking mechanism can be opened and closed in sequence by controlling the integrated controller 7, so that obstacle crossing can be achieved.

[0145] When a robot needs to cross a cross cableway or power line to overcome an obstacle, the integrated controller 7 can control the coupling motor 302 of the active joint coupling 3 to drive the left coupling frame 301 and the right coupling frame 304 of the active joint coupling 3 to rotate relative to each other by an angle. This allows the first robot unit and the second robot unit to rotate relative to each other by the same angle as the cross cableway or power line. Then, the claw walking mechanism on the first robot unit and the second robot unit can be controlled to grab the cross cableway or power line and walk.

[0146] Camera 4 and LiDAR 5 are used for environmental monitoring of the front, rear, top, and bottom environments. Temperature and gas detection sensor group 8 is used to detect the temperature and gas of the surrounding environment. When abnormal temperature and gas detection is detected, the integrated controller 7 sends a danger signal.

[0147] All of the robot's wheels are made of an insulating material with a high coefficient of friction and a hardness lower than that of steel.

[0148] The above description is merely a few embodiments of this application and is not intended to limit this application in any way. Although this application discloses preferred embodiments as described above, it is not intended to limit this application. Any changes or modifications made by those skilled in the art without departing from the scope of the technical solution of this application using the disclosed technical content are equivalent to equivalent implementation cases and fall within the scope of the technical solution.

Claims

1. A cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions, characterized in that, It includes a first robot unit, a second robot unit, and an active joint coupling (3); The first robot unit and the second robot unit are rotatably connected via an active joint coupling (3). The first robot unit is equipped with a claw walking mechanism (1), a housing component (2), and an integrated controller (7). The claw walking mechanism (1) is mounted on the housing component (2), and there are multiple claw walking mechanisms (1). Each claw walking mechanism (1) includes a left claw component (101), a lifting mechanism, and a right claw component (102). The lifting mechanism is driven to connect with the left claw component (101) and the right claw component (102) to adjust the height of the left claw component (101) and the right claw component (102). The left claw component (101) has a left walking wheel assembly and a drive component (1014). The drive component (1014) is driven to connect with the left walking wheel assembly. The right claw component (102) has a right walking wheel assembly. When working, the left claw component (101) and the right claw component (102) merge to form a clamping channel for clamping cableways or power grid wires. The left walking wheel assembly and the right walking wheel assembly roll in cooperation with the cableways or power grid wires. The second robot unit has the same structure as the first robot unit; The active joint coupling (3) and the claw walking mechanism (1) are both electrically connected to the integrated controller (7).

2. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions as described in claim 1, characterized in that, The lifting mechanism 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), a rotary lifting drive gear (115), and a claw frame connecting bolt (111). The claw frame includes a column (104a) and a crossbeam (104b). The column (104a) is mounted on the crossbeam (104b), and both ends of the crossbeam (104b) are provided with lower plate-shaped uprights (104c). The bottoms of both the left claw component (101) and the right claw component (102) are rotatably mounted on the top of the column (104a) via a claw shaft (103). The lower part of the left claw component (101) is provided with a left hinged vertical plate (1011b). 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 plate-shaped vertical plate (104c) via a hinge shaft (107). The lower part of the right claw component (102) is provided with a right hinged vertical plate (1021b). 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 plate-shaped vertical plate (104c) via a hinge shaft (107). The claw frame (104) is fixedly mounted on the claw frame connecting frame (110) by claw frame connecting bolts (111); The spiral support sleeve (113) includes 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 located on the upper part of the support sleeve threaded sleeve (113a). The support sleeve mounting plate (113d) is located on the lower part of the support sleeve threaded sleeve (113a). The support sleeve mounting plate (113d) is connected to the housing component (2) by a bolt assembly. The rotary lifting drive motor (114) is mounted 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) through a shrink sleeve. The middle part of the claw frame connecting frame (110) is a rotary lifting gear mounting section (110b), on which a rotary lifting gear (112) is provided. 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). 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).

3. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions according to claim 2, characterized in that, The left claw component (101) also includes a left claw (1011), which 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 shell (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 disposed on the left claw shell (1011a). The right claw component (102) also includes a right claw (1021), which is a hollow semi-cylindrical structure with an opening at one end and a semi-cylindrical hole in the middle. The right claw (1021) includes a right claw shell (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 disposed on the right claw shell (1021a). When the left claw component (101) and the right claw component (102) are closed, the arc surfaces of the left convex petal (1011m) and the right concave petal (1021n) cooperate, and the arc surfaces of the left concave petal (1011n) and the right convex petal (1021m) cooperate to form an eccentric embracing and centering structure.

4. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions according to claim 3, characterized in that, The left claw component (101) also includes a left claw cover plate (1015), the shape and structure of which match the left claw housing (1011a), and the left claw cover plate (1015) is fastened to the left claw housing (1011a); The left claw housing (1011a) is provided with a left claw first traveling wheel mounting bracket (1011e) and a left claw second traveling wheel mounting bracket (1011j) inside, and the left claw first traveling wheel mounting bracket (1011e) is located above the left claw second traveling wheel mounting bracket (1011j). The left claw housing (1011a) is provided with a drive component mounting plate (1011g) on ​​the outside, and the left claw housing (1011a) is provided with a left claw housing hinge ring (1011d) at the bottom. The drive component (1014) is disposed on the drive component mounting plate (1011g). The drive component (1014) includes a left claw motor (1014a) and a left claw drive gear (1014b). The left claw drive gear (1014b) is mounted on the output shaft of the left claw motor (1014a) through a shrink sleeve (1014c). The right claw component (102) also includes a right claw cover plate (1024), the shape and structure of which match the right claw housing (1021a), and the right claw cover plate (1024) is fastened to the right claw housing (1021a); The right claw housing (1021a) is provided with a right claw first traveling wheel mounting bracket (1021e) and a right claw second traveling wheel mounting bracket (1021j) inside, and the right claw first traveling wheel mounting bracket (1021e) is located above the right claw second traveling wheel mounting bracket (1021j); the bottom of the right claw housing (1021a) is provided with a right claw housing hinge ring (1021d). The 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 includes a left claw first walking wheel assembly (1012) and a left claw second walking wheel assembly (1013); the right walking wheel assembly includes a right claw first walking wheel assembly (1022) and a right claw second walking wheel assembly (1023). The left claw first traveling wheel assembly (1012) includes a left claw first traveling wheel axle (1012a), a left claw first traveling wheel (1012b), and a left claw first traveling wheel gear (1012f). The left claw first traveling wheel gear (1012f) is a bevel gear and is located at one end of the left claw first traveling wheel axle (1012a). The left claw first traveling wheel axle (1012a) is mounted on the left claw first traveling wheel mounting bracket (1011e) via a left claw first oil-free bearing (1012c). The left claw first traveling wheel (1012b) is interference-fitted with the left claw first traveling wheel axle (1012a). The left claw second traveling wheel assembly (1013) includes a left claw second traveling wheel axle (1013a), a left claw second traveling wheel (1013b), and a left claw second traveling wheel gear (1013f). The left claw second traveling wheel gear (1013f) is a bevel gear and is located at one end of the left claw second traveling wheel axle (1013a). The left claw second traveling wheel axle (1013a) is mounted on the left claw second traveling wheel mounting bracket (1011j) via a left claw second oil-free bearing (1013c). The left claw second traveling wheel (1013b) is interference-fitted with the left claw second traveling wheel axle (1013a). The left claw drive gear (1014b) is driven to connect with the left claw first traveling wheel gear (1012f), and the left claw first traveling wheel gear (1012f) meshes with the left claw second traveling wheel gear (1013f) for transmission. The right claw first traveling wheel assembly (1022) includes a right claw first traveling wheel axle (1022a) and a right claw first traveling wheel (1022b). The right claw first traveling wheel axle (1022a) is mounted on the right claw first traveling wheel mounting bracket (1021e) via a right claw first oil-free bearing (1022c). The right claw first traveling wheel (1022b) is interference-fitted with the right claw first traveling wheel axle (1022a). The right claw second traveling wheel assembly (1023) includes a right claw second traveling wheel axle (1023a) and a right claw second traveling wheel (1023b). The right claw second traveling wheel axle (1023a) is mounted on the right claw second traveling wheel mounting bracket (1021j) via a right claw second oil-free bearing (1023c). The right claw second traveling wheel (1023b) is interference-fitted with the right claw second traveling wheel axle (1023a).

5. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions as described in claim 1, characterized in that, The active joint coupling (3) includes a left coupling frame (301), a coupling motor (302), a coupling drive gear (303), a right coupling frame (304), a coupling center shaft (305), and a coupling driven gear (306). One end of the left coupling bracket (301) is connected to the housing component (2) of the first robot unit, and the other end of the left coupling bracket (301) is rotatably connected to the right coupling bracket (304) through the central shaft (305) of the coupling. The end of the right coupling (304) away from the left coupling (301) is connected to the second robot unit housing. The coupling motor (302) is mounted on the left coupling bracket (301), and a coupling drive gear (303) is mounted on the output shaft of the coupling motor (302). The coupling driven gear (306) is mounted on the coupling central shaft (305), and the coupling driven gear (306) meshes with the coupling drive gear (303).

6. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions according to claim 4, characterized in that, The left coupling bracket (301) includes a left coupling bracket connecting flange (301a), a cylindrical connecting section (301b), a coupling motor mounting plate (301c), a rod-shaped connecting part (301e), and a disc-shaped connecting tongue (301f). One end of the left coupling frame connecting flange (301) is connected to the housing component (2) of the first robot unit, and the other end of the left coupling frame connecting flange (301a) is connected to the cylindrical connecting section (301b). The upper part of the cylindrical connecting section (301b) is provided with a coupling motor mounting plate (301c). The cylindrical connecting section (301b) has a rod-shaped connecting part (301e) at one end away from the left coupling frame connecting flange (301a). The rod-shaped connecting part (301e) has a disc-shaped connecting tongue (301f) at one end near the right coupling frame (304). The disc-shaped connecting tongue (301f) has a coupling center shaft hole (301g) on ​​its upper surface in the middle. The right coupling bracket (304) includes a right coupling bracket connecting flange (304a), a rod-shaped connecting part (304b), and a disc-shaped connecting groove (304c). One end of the right coupling bracket connecting flange (304a) is connected to the housing component (2) of the second robot unit, and the other end of the right coupling bracket connecting flange (304a) is connected to the rod-shaped connecting part (304b). The rod-shaped connecting part (304b) is provided with a disc-shaped connecting groove (304c) that is adapted to the disc-shaped connecting tongue (301f) at one end near the left coupling bracket connecting flange (301). The disc-shaped connecting groove (304c) is provided with a concave tongue center hole (304e), and a concave tongue center hole keyway (304f) is provided on the inner cylindrical surface of the concave tongue center hole (304e). The coupling motor (302) is mounted on the coupling motor mounting plate (301c); The coupling center shaft (305) is installed through the coupling center shaft hole (301g) and the concave tongue center hole (304e), and an oilless bearing (310) is fitted on the outside of the coupling center shaft (305), so that the left coupling bracket (301) and the right coupling bracket (304) can be rotatably connected.

7. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions as described in claim 1, characterized in that, Both the claw shaft (103) and the hinge shaft (107) are made of copper alloy with self-lubricating function; the hinge shaft (107) is externally fitted with an oil-free bearing (109) and is axially limited by a retaining ring (108).

8. The cableway power grid inspection and transport robot with cross-line walking and obstacle-crossing functions according to claim 1, characterized in that, The first robot unit and the second robot unit also include a monitoring system and a battery (6). The monitoring system includes multiple cameras (4), a lidar (5), and a temperature and gas detection sensor group (8). The batteries (6) are all installed inside the housing component (2); the integrated controller (7) is electrically connected to multiple cameras (4), multiple lidar (5), multiple temperature and gas detection sensor groups (8) and multiple claw walking mechanisms (1); the batteries (6) are electrically connected to the integrated controller (7), multiple cameras (4), multiple lidar (5), multiple temperature and gas detection sensor groups (8) and multiple claw walking mechanisms (1).

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