Horizontal insulator walking mechanism

Abstract

The invention discloses a horizontal insulator walking mechanism. The mechanism comprises a plurality of arc-shaped frames; the arc-shaped frames are connected end to end to form an open-loop structure; one frame motor is arranged between every two arc-shaped frames so as to achieve rotating connection between the corresponding two arc-shaped frames; and a walking wheel and a driving motor for driving the walking wheel to rotate are arranged at the inner side of each arc-shaped frame. According to the horizontal insulator walking mechanism provided by the invention, the multiple arc-shaped frames and the frame motors are adopted, so that the multiple walking wheels are reliably pressed on the surface of an insulator string; even if the sizes of insulators are different, the pressing and walking of the walking wheels on the insulators are not affected; and the driving motors drive the walking wheels to rotate to provide traction forces for walking. The horizontal insulator walking mechanism has the advantages of high crawling speed, good adaptability and stable crawling process.

Description

technical field [0001] The invention relates to the technical field of electric power detection equipment, in particular to a horizontal insulator traveling mechanism. Background technique [0002] Scientific research institutions and companies at home and abroad have developed a variety of insulator crawling robots, which can be divided into various forms according to the principle. Among them, the creeping walking mechanism uses the principle of bionics to crawl along the hanging insulator string. This mechanism is stable and reliable, but its steps The state control is complex; the crawler-type walking mechanism mainly relies on the crawler to crawl along the surface of the insulator. This mechanism has a strong bearing capacity and strong surface adaptability, and is widely used in various obstacle-crossing robots, but its structure is complex and bulky. Heavy; the wheel-leg walking mechanism is a mechanism that uses multiple sets of wheel legs to alternately contact the...

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Problems solved by technology

[0002] Scientific research institutions and companies at home and abroad have developed a variety of insulator crawling robots, which can be divided into various forms according to the principle. Among them, the creeping walking mechanism uses the principle of bionics to crawl along the hanging insulator string. This mechanism is stable and reliable, but its steps The state control is complex; the crawler-type walking mechanism mainly relies on the crawler to crawl along the surface of the insulator. This mechanism has a strong bearing capacity and strong surface adaptability, and is widely used in various obstacle-crossing robots, but its structure is complex and bulky. Heavy; the wheel-leg walking mechanism is a mechanism that uses multiple sets of wheel legs to alternately contact the insulator porcelain skirt to realize movement along the hanging insulator string. The mechanism is simple in principle, continuous in motion, and light in size. The adaptability, motion stability and carrying capacity are slightly insufficient.

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