A cableway power grid deicing carrier robot walking device

Abstract

The utility model relates to a kind of cableway power grid deicing carrying robot walking device, including claw walking mechanism, the claw walking mechanism is arranged on box body component, and the claw walking mechanism is provided with multiple, each the claw walking mechanism includes left claw component and right claw component, the left claw component has left walking wheel assembly and drive component, the drive component is driven connection with left walking wheel assembly;The right claw component has right walking wheel assembly;When working, the left claw component and right claw component are merged to form clamping passage to clamp cableway or power grid electric wire, left walking wheel assembly and right walking wheel assembly are rolling fit with cableway or power grid electric wire.This utility model's advantage: adopt multiple claw walking mechanism structure, multiple claw series extrusion deicing, simultaneously, adopt the multiple claw walking mechanism that can open and close, the gripping effect of cableway and power grid electric wire is good, and carrying capacity is strong.

Description

Technical Field

[0001] This utility model relates to the field of de-icing transport robots, specifically to a walking device for a cableway power grid de-icing transport robot. Background Technology

[0002] Cableway and power grid de-icing and transport robots are used to de-ice power grids and cableways, and to transport goods within them. Regarding walking and gripping capabilities, existing cableway and power grid robots generally employ a single-wheel lifting structure, resulting in insufficient gripping stability and difficulty in handling cargo transport demands. When cableways or power lines have varying diameters or irregular ice formations, traditional walking mechanisms are prone to slippage and derailment, and lack obstacle-crossing capabilities, making stable operation impossible in complex network environments.

[0003] Furthermore, the existing walking mechanisms have high lubrication and maintenance costs for their transmission components, especially in low-temperature environments where frequent lubrication is required, increasing the difficulty and risk of high-altitude operations. They also lack adaptive clamping and alignment with the track, affecting transport accuracy and stability. Therefore, there is an urgent need for a new type of cableway power grid de-icing transport robot walking device with composite de-icing functions, a highly stable gripping structure, and adaptive obstacle-crossing capabilities. Utility Model Content

[0004] The purpose of this invention is to provide a walking device for a cableway power grid de-icing transport robot, in order to solve the technical problems of low de-icing efficiency, slippage, and inability to overcome obstacles in existing cableway power grid de-icing transport robots.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A walking device for a cableway power grid de-icing transport robot includes a claw walking mechanism and a box-shaped component.

[0007] The claw walking mechanism is mounted on the housing component, and there are multiple claw walking mechanisms. Each claw walking mechanism includes a left claw component and a right claw component. The left claw component has a left walking wheel assembly and a drive component, and the drive component is drivenly 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 merge to form a clamping channel for clamping the cableway or power grid wire. The left walking wheel assembly and the right walking wheel assembly are in rolling cooperation with the cableway or power grid wire.

[0008] Furthermore, the claw walking mechanism also includes a claw shaft, a claw frame, a left electric push rod, a right electric push rod, a hinge shaft, a claw frame connecting frame, and claw frame connecting bolts;

[0009] 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;

[0010] The bottoms of both the left and right claw components are rotatably mounted on the top of the column via claw shafts.

[0011] The lower part of the left claw component is provided with a left hinged vertical plate;

[0012] 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.

[0013] The lower part of the right claw component is provided with a right hinged vertical plate;

[0014] 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.

[0015] The claw frame is fixedly mounted on the claw frame connecting frame by claw frame connecting bolts, and the claw frame connecting frame is connected to the box body component by bolts.

[0016] 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.

[0017] The right claw component also includes a right claw, which is a hollow semi-cylindrical structure with a semi-cylindrical hole in the middle and an open end. 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 disposed on the right claw shell.

[0018] 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.

[0019] 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;

[0020] 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.

[0021] 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.

[0022] 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 to the right claw housing.

[0023] 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;

[0024] The column is rotatably connected to the hinge rings of the left and right claw housings via a claw shaft.

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

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Furthermore, the aforementioned cableway power grid de-icing transport robot walking device also includes a battery and an integrated controller. The integrated controller and the battery are both housed within the housing component. The integrated controller is electrically connected to multiple claw walking mechanisms. The battery is electrically connected to the integrated controller and multiple claw walking mechanisms.

[0033] Advantages and effects of this utility model:

[0034] 1. In this application, when the left and right claw components of the claw walking mechanism are closed, the arc surfaces of the left convex and right concave petals and the left concave and right convex petals of the eccentric grabbing and centering structure cooperate to achieve adaptive gripping of the cableway or power line. The walking wheel assembly rolls under the drive of the drive component, and the compression de-icing is completed simultaneously. Moreover, the electric push rod thrust can be adjusted by the integrated controller to adapt to the de-icing requirements of different ice hardness. In addition, multiple claw walking mechanisms are arranged in a straight line on the top of the box component to form a stepped de-icing path: the first claw group initially squeezes and breaks the ice layer, and the subsequent claw group further crushes the residual ice slag. Combined with the pre-crushing function of the hammering device, the de-icing effect is 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 is good, and the carrying capacity is strong.

[0035] 2. The left and right electric push rods of this application drive the claw components to open and close via a hinge shaft, which can grip cableways or wires and can adapt to the gripping of cableways and wires of different diameters; at the same time, multiple claw walking mechanisms have obstacle crossing functions, and the claw units are driven to open and close via electric push rods to achieve the crossing of obstacles.

[0036] 3. The left walking wheel assembly of this application adopts upper and lower double bevel gear transmission. The first walking wheel gear of the left claw meshes with the second walking wheel gear. The drive wheel and the driven wheel form a four-point support. Combined with the automatic centering function of the eccentric gripping structure, the robot can overcome the deflection of the cableway and wire caused by its own weight when carrying goods, improve the grip redundancy, improve the gripping ability, and thus improve the carrying efficiency.

[0037] 4. The claw shaft, hinge shaft and gear mounting shaft of this application are all made of self-lubricating copper alloy material. With the axial limiting design of oilless bearings and retaining rings, no additional lubrication is required, which significantly reduces the maintenance cost of high-altitude operations. Attached Figure Description

[0038] Figure 1 This is a structural diagram of a cableway power grid de-icing transport robot according to an embodiment of the present invention;

[0039] Figure 2 This is a structural diagram of the box-shaped component of the cableway power grid de-icing transport robot according to an embodiment of the present invention;

[0040] Figure 3The claw-walking mechanism structure of the cableway power grid de-icing transport robot according to an embodiment of the present invention. Figure 1 ;

[0041] Figure 4 The claw-walking mechanism structure of the cableway power grid de-icing transport robot according to an embodiment of the present invention. Figure 2 ;

[0042] Figure 5 for Figure 3 A schematic diagram of the cover plate installation;

[0043] Figure 6 for Figure 4 Enlarged schematic diagram of Part I;

[0044] Figure 7 for Figure 4 Enlarged schematic diagram of Part II;

[0045] Figure 8 for Figure 4 Enlarged schematic diagram of Part III;

[0046] Figure 9 for Figure 4 Enlarged schematic diagram of Part IV;

[0047] Figure 10 for Figure 4 Enlarged diagram of Part V;

[0048] Figure 11 This is a structural diagram of the left claw in an embodiment of the present invention;

[0049] Figure 12 This is a structural diagram of the right claw in an embodiment of the present invention;

[0050] Figure 13 This is a schematic diagram of the cover plate installation for the left and right claws in an embodiment of the present invention;

[0051] Figure 14 This is a diagram of the claw structure of the cableway power grid de-icing transport robot according to an embodiment of the present invention;

[0052] Figure 15 This is a structural diagram of the claw frame connecting frame of the cableway power grid de-icing transport robot according to an embodiment of the present invention.

[0053] The attached diagram lists the components represented by each number as follows:

[0054] 1. Claw walking mechanism; 2. Housing component; 6. Battery; 7. Integrated controller; 101. Left claw component; 102. Right claw component; 103. Claw shaft; 104. Claw frame; 105. Left electric push rod; 106. Right electric push rod; 107. 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 frame connecting frame; 111. Claw frame connecting bolt; 1011. Left claw; 1012. Left claw first traveling wheel component; 1013. Left claw second traveling wheel component; 1014. Drive component; 1015. Left claw cover Plate; 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, Drive component mounting plate; 1011h, Drive 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; 1011n, Left concave flap; 1012a, Left claw first traveling wheel axle; 1012b, Left claw first traveling wheel; 1012f, Left claw first traveling wheel gear; 1012c, Left claw first oilless bearing; 101 2d, Left claw first oilless bearing retaining ring; 1012e, Left claw first traveling wheel gear retaining ring; 1012g, Left claw first gear key; 1013a, Left claw second traveling wheel shaft; 1013b, Left claw second traveling wheel; 1013f, Left claw second traveling wheel gear; 1013c, Left claw second oilless bearing; 1013d, Left claw second oilless bearing retaining ring; 1013e, Left claw second traveling wheel gear retaining ring; 1013g, Left claw second gear key; 1014a, Left claw motor; 1014b, Left claw drive gear; 1014c, Expansion sleeve; 1021, Right claw; 1022, Right claw first traveling wheel assembly; 1023, Right claw second traveling wheel assembly; 1024, Right claw cover plate; 1021a, Right claw housing; 1021b, Right hinged vertical plate; 1021c, Right hinged vertical plate hinge hole; 1021d, Right claw housing hinge ring; 1021e, Right claw first traveling wheel mounting bracket; 1021f, Right claw first traveling wheel mounting hole; 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; 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; 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; 104a, Column; 104b, Crossbeam; 104c, Lower plate-shaped vertical plate; 104d, Lower hinge hole; 104e, Upper plate-shaped vertical plate; 104f, Upper hinge hole; 201, Housing; 202, Housing cover. Detailed Implementation

[0055] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0056] A walking device for a cableway or power grid de-icing transport robot includes a claw walking mechanism 1 and a housing component 2. The claw walking mechanism 1 is mounted on the housing component 2, and multiple claw walking mechanisms 1 are provided. Each claw walking mechanism 1 includes a left claw component 101 and a right claw component 102. The left claw component 101 has a left walking wheel assembly and a drive component 1014, and the drive component 1014 is drivenly 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 the cableway or power grid wires. The left and right walking wheel assemblies roll in cooperation with the cableway or power grid wires.

[0057] The claw walking mechanism 1 of this utility model also includes a claw shaft 103, a claw frame 104, a left electric push rod 105, a right electric push rod 106, a hinge shaft 107, a claw frame connecting frame 110, and a claw frame connecting bolt 111.

[0058] 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.

[0059] 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.

[0060] The lower part of the left claw component 101 is provided with a left hinged vertical plate 1011b;

[0061] 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.

[0062] The lower part of the right claw component 102 is provided with a right hinged vertical plate 1021b;

[0063] 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.

[0064] The claw frame 104 is fixedly mounted on the claw frame connecting frame 110 by claw frame connecting bolts 111, and the claw frame connecting frame 110 is connected to the housing component 2 by bolts. The left electric push rod 105 and the right electric push rod 106 of this application drive the claw component to open and close through the hinge shaft 107, which can grip cableways or wires and can adapt to the gripping of cableways and wires of different diameters; at the same time, the multiple claw walking mechanisms 1 have obstacle crossing functions, and the claw units are driven to open and close by electric push rods to achieve obstacle crossing.

[0065] The left claw component 101 of this utility model 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 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.

[0066] 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.

[0067] 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. When the left claw component 101 and right claw component 102 of the claw walking mechanism 1 are closed, the left convex petal 1011m and the right concave petal 1021n, and the left concave petal 1011n and the right convex petal 1021m of the eccentric hugging and centering structure cooperate to achieve adaptive gripping of the cableway or power line. The walking wheel assembly rolls under the drive component 1014, and the compression de-icing is completed simultaneously. 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 first claw group initially squeezes and breaks the ice layer, and the subsequent claw group further crushes the residual ice slag, so that the de-icing effect is 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 is good and the carrying capacity is strong.

[0068] The left claw component 101 of this utility model also includes a left claw cover plate 1015. 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 left claw housing 1011a.

[0069] 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.

[0070] 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.

[0071] 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 snapped onto the right claw housing 1021a.

[0072] 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;

[0073] 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;

[0074] The left travel wheel assembly includes a left claw first travel wheel assembly 1012 and a left claw second travel wheel assembly 1013; the right travel wheel assembly includes a right claw first travel wheel assembly 1022 and a right claw second travel wheel assembly 1023.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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. The left traveling wheel assembly of this application uses upper and lower double-set bevel gear transmission. The left claw first traveling wheel gear 1012f meshes with the second traveling wheel gear 1013f. The drive wheel and the driven wheel form a four-point support. Combined with the automatic centering function of the eccentric gripping structure, the robot can overcome the deflection changes of the power line or cableway caused by its own weight, reliably grip, improve the redundancy of gripping, and thus improve the carrying efficiency.

[0080] The left electric push rod 105 and the right electric push rod 106 of this application drive the claw component to open and close via the hinge shaft 107, which can clamp the cableway or the wire. With the self-lubricating copper alloy material of the hinge shaft 107 and the oil-free bearing 109, a stable travel speed can be maintained. At the same time, the multiple claw walking mechanisms 1 have obstacle crossing function. By driving the claw unit to open and close via the electric push rod, the obstacle crossing can be achieved.

[0081] The walking wheel assembly of this application adopts upper and lower double bevel gear transmission. The first walking wheel gear 1012f of the left claw meshes with the second walking wheel gear 1013f. The drive wheel and the driven wheel form a four-point support. Combined with the automatic centering function of the eccentric gripping structure, the robot can overcome the deflection of the cableway and wire caused by its own weight when carrying goods, improve the grip redundancy, improve the gripping ability, and thus improve the carrying efficiency.

[0082] The claw shaft 103, hinge shaft 107 and gear mounting shaft of this application are all made of self-lubricating copper alloy. The hinge shaft 107, in conjunction with the axial limiting design of the oilless bearing 109 and the retaining ring 108, does not require additional lubrication, which significantly reduces the maintenance cost of high-altitude operations.

[0083] The cableway electric grid de-icing transport robot walking device of this utility model also includes a battery 6 and an integrated controller 7. The integrated controller 7 and the battery 6 are both installed in the housing component 2. The integrated controller 7 is electrically connected to multiple claw walking mechanisms 1. The battery 6 is electrically connected to the integrated controller 7 and multiple claw walking mechanisms 1. Example

[0084] This utility model relates to a walking device for a cableway and electric grid de-icing robot. Specifically, it mainly consists of multiple claw-like walking mechanisms 1, a housing component 2, a battery 6, an integrated controller 7, and wiring. Multiple (generally three or more) claw-like walking mechanisms 1 are arranged in a straight line on the top central axis of the housing component 2. They are used to grip the cableway and electric grid wires and move along them. The claw-like walking mechanisms 1 also squeeze the ice on the cableway and electric grid wires to achieve the de-icing effect. The battery 6 and the integrated controller 7 are located inside the housing component 2. The integrated controller 7 is used for integrated control of the robot's multiple claw-like walking mechanisms 1. The battery 6 provides power to the multiple claw-like walking mechanisms 1 and the integrated controller 7. The integrated controller 7 is connected to the robot's multiple claw-like walking mechanisms 1 via signal wires, and the battery 6 is connected to the integrated controller 7 and the multiple claw-like walking mechanisms 1 via wiring.

[0085] The claw walking mechanism 1 of this utility model mainly 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 (a first oil-free bearing 109a and a second oil-free bearing 109b), a claw frame connecting frame 110, and a claw frame connecting bolt 111.

[0086] 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, which is provided with through holes and upper hinge holes 104f.

[0087] 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.

[0088] 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.

[0089] The claw holder 104 is connected to the claw holder connecting frame 110 via claw holder connecting bolts 111, and the claw holder connecting frame 110 is connected to the housing component 2 via bolts. The claw holder connecting frame 110 consists of three parts: an upper connecting head 110a, a connecting column 110b, and a connecting base plate 110c. The upper connecting head 110a is generally U-shaped, and through-holes are provided on both side plates for installing the claw holder connecting bolts 111. The connecting column 110b in the middle is columnar. The connecting base plate 110c at the bottom is plate-shaped and has through holes for screw connections.

[0090] The left claw component 101 of this utility model consists of a left claw 1011, a left claw first traveling wheel component 1012, a left claw second traveling wheel component 1013, a drive component 1014, and a left claw cover plate 1015.

[0091] 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 shell 1011a is also a hollow semi-cylindrical structure with an open end and a semi-cylindrical hole in the middle. The semi-cylindrical hole 1011i in the middle is used for cableway and power grid cables to pass through. The upper part of the left claw shell 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 curved surface, which matches the arc-shaped curved 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 curved surface, which matches the arc-shaped curved 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 forms a cylinder 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 cables when their axial directions do not coincide with the axial directions 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.

[0092] The left claw 1011 has a pair of left claw first traveling wheel mounting brackets 1011e on the upper left side of the housing axis on the inner back plate of the left claw housing 1011a. 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. The left claw 10111 has a pair of left claw second traveling wheel mounting brackets 1011j on the lower left side of the housing axis on the inner back plate of the 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. The left claw 1011 has a drive component mounting plate 1011g on the outer cylindrical surface of the housing 1011a. The drive component mounting plate 1011g has drive component mounting holes 1011h for mounting the drive component 1014. The lower part of the left claw housing 1011a has a left claw housing hinge ring 1011d for mounting the claw shaft 103.

[0093] The drive 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.

[0094] 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 through the left claw first gear key 1012g. The left claw first traveling wheel axle 1012a is provided with a keyway that matches the left claw first gear key, and the left claw first traveling wheel axle 1012a is also provided with an annular groove that matches the left claw first oilless bearing retaining ring 1012d.

[0095] 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 through the left pawl second gear key 1013g. The left pawl second traveling wheel axle 1013a is provided with a keyway that matches the left pawl second gear key, and the left pawl second traveling wheel axle 1013a is also provided with an annular groove that matches the left pawl second oilless bearing retaining ring 1013d.

[0096] 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 claw first traveling wheel gear 1012f and the left claw second traveling wheel gear 1013f mesh and drive each other, the two gears rotate in the same direction. Therefore, the left claw first traveling wheel 1012b and the left claw second traveling wheel 1013b rotate in the same direction and roll forward or backward synchronously along the gripped cableway or power grid.

[0097] The right claw component 102 of this utility model embodiment mainly 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.

[0098] 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 shell 1021a is also a hollow semi-cylindrical structure 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 a cylinder with a central circular hole. This structure, in which the right convex lobe 1021m cooperates with the left concave lobe 1011n, and the right concave lobe 1021n cooperates with the left convex lobe 1011m, is used to create an eccentric hugging and centering effect on the cableway and power grid cables when their axial directions do not coincide with the axial directions 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 open side of the right claw housing 1021a.

[0099] The right claw 1011 has a pair of right claw first traveling wheel mounting brackets 1021e on the upper right side of the back plate inside the right claw housing 1021a, along with a pair of right claw first traveling wheel mounting holes 1021f for mounting the right claw first traveling wheel assembly 1022. The right claw housing 1021a has a pair of right claw second traveling wheel mounting brackets 1021j on the lower right side of the back plate inside the right claw housing 1021a, along with a pair of right claw second traveling wheel mounting holes 1021k for mounting the right claw second traveling wheel assembly 1023. The lower part of the right claw housing 1021a has a right claw housing hinge ring 1021d for mounting the claw shaft 103.

[0100] 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. Both 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 is provided with an annular groove that matches the right claw first oil-free bearing retaining rings 1022d.

[0101] 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 mounted in a pair of right claw second traveling wheel mounting holes 1021k via a pair of right claw second oil-free bearings 1023c. Both ends of the right claw second oil-free bearings 1023c are axially fixed by right claw second oil-free bearing retaining rings 1023d. The right claw second traveling wheel shaft 1023a is provided with an annular groove that matches the right claw second oil-free bearing retaining rings 1023d.

[0102] The housing component 2 mainly consists of the housing 201 and the housing cover 202.

[0103] This utility model's cableway and power grid de-icing transport robot, during de-icing operations, is transported manually or by drone to the high-altitude cableway or power grid cableway. Then, the integrated controller 7 controls each claw's walking mechanism 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's walking mechanism is substantially aligned with the axis of the cableway or power grid cable, the integrated controller 7 controls the claw's walking mechanism to close, firmly gripping the cableway or power grid cable. Driven by the drive component 1014 in the left claw component 101, the first walking wheel 1012b and the second walking wheel 1013 of the left claw are driven through bevel gear transmission. The two walking wheels rotate in the same direction and are the driving wheels. At the same time, the first walking wheel 1022b and the second walking wheel 1023b of the right claw component 102, together with the first walking wheel 1012b and the second walking wheel 1013b of the left claw, hold the cableway or power grid cable. The first walking wheel 1022b and the second walking wheel 1023b of the right claw are driven. Under the pushing force of the left electric push rod 105 and the right electric push rod 106, they squeeze and rub against the cableway or power grid cable, so as to realize the robot's movement on the cableway or power grid cable. At the same time, the squeezing operation is used to squeeze and de-ice the cableway or power grid cable.

[0104] Each electrical component is powered by a storage battery 6, which can be charged in advance.

[0105] 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 walking device for a cableway power grid de-icing transport robot, characterized in that, It includes a claw walking mechanism (1) and a box-shaped 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) and a 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 drivenly 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 the cableway or power grid wire. The left walking wheel assembly and the right walking wheel assembly are in rolling cooperation with the cableway or power grid wire.

2. The walking device for the cableway power grid de-icing transport robot according to claim 1, characterized in that, The claw walking mechanism (1) also includes a claw shaft (103), a claw frame (104), a left electric push rod (105), a right electric push rod (106), a hinge shaft (107), a claw frame connecting frame (110), and a claw frame connecting bolt (111). The claw frame 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 the claw frame connecting bolt (111), and the claw frame connecting frame (110) is connected to the box component (2) by bolts.

3. The walking device for the cableway power grid de-icing transport robot 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 walking device for the cableway power grid de-icing transport robot 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 walking device for the cableway power grid de-icing transport robot according to claim 2, 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).

6. The walking device for the cableway power grid de-icing transport robot according to claim 1, characterized in that, It also includes a storage battery (6) and an integrated controller (7), both of which are located inside the housing component (2). The integrated controller (7) is electrically connected to multiple claw walking mechanisms (1). The storage battery (6) is electrically connected to the integrated controller (7) and the multiple claw walking mechanisms (1).

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