Insulator detection crawling mechanism

Abstract

An insulator detection crawling mechanism is applied to detection of power transmission line insulators and comprises a support plate; the at least two guide stud assemblies are respectively connected with the bracket plate; the guide stud assembly is meshed with an umbrella skirt of a power transmission line insulator; the guiding skid assembly is movably connected with the support plate and abuts against the power transmission line insulator. Through the arrangement of the guide skid assembly, the support plate and the guide stud assembly in threaded fit with the umbrella skirt of the insulator, self-adaptive clamping of the insulator structure of the high-voltage transmission line and stable movement along the longitudinal umbrella skirt are achieved. And the guide skid is movably connected with the bracket plate, so that stable support is provided, and the whole machine is endowed with good fitness and adaptability, so that the mechanism can be stably mounted on the surface of an insulator without an auxiliary tool, and the convenience, safety and environmental adaptability of insulator detection operation are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of insulator testing, and in particular to an insulator testing crawling mechanism. Background Technology

[0002] An insulator is a special type of insulating control that plays an important role in overhead power transmission lines. In the early days, insulators were mostly used on utility poles. Gradually, they were developed into a type of high-voltage power transmission line. Many disc-shaped insulators are hung at one end of the tower to increase the creepage distance. They are usually made of glass or ceramic and are called insulators.

[0003] Currently, the inspection of insulators mainly relies on manual inspection or the use of traditional mounted equipment. However, manual inspection has problems such as high operational risks, low efficiency, and poor detection accuracy. Existing mounted inspection devices are mostly limited to unidirectional movement or require external auxiliary structures such as slings and tracks, making the inspection process cumbersome. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an insulator detection crawling mechanism that enables the insulator to adapt and move stably during the insulator detection process.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An insulator detection crawling mechanism, used for detecting power transmission line insulators, includes: support plate; At least two guide stud assemblies are respectively connected to the bracket plate; the guide stud assemblies engage with the sheds of the power transmission line insulator. The guide skid assembly is movably connected to the support plate and abuts against the power transmission line insulator.

[0006] The beneficial effects of this invention are as follows: It provides an insulator inspection crawling mechanism, which, by setting up a guide skid assembly, a support plate, and a guide stud assembly that meshes with the insulator skirts, achieves adaptive clamping of the high-voltage transmission line insulator structure and stable movement of the skirts along the longitudinal direction. The guide skid is movably connected to the support plate, which not only provides stable support but also gives the whole machine good fit and adaptability, allowing the mechanism to be firmly installed on the insulator surface without auxiliary tools, effectively improving the convenience, safety, and environmental adaptability of insulator inspection operations. Attached Figure Description

[0007] Figure 1 A schematic diagram of the usage state of an insulator detection crawling mechanism. Figure 1 ; Figure 2 A schematic diagram of the usage state of an insulator detection crawling mechanism. Figure 2 ; Figure 3 This is a schematic diagram of the top assembly of an insulator detection crawling mechanism; Figure 4 for Figure 3 A magnified view of a portion of the image; Figure 5 This is a schematic diagram of the bottom assembly of an insulator detection crawling mechanism; Figure 6 for Figure 5 A magnified view of a portion of the image, C; Figure 7 An exploded view of an insulator detection crawling mechanism; Figure 8 for Figure 7 Enlarged view of part D in the image; Figure 9 This is a top view of an insulator detection crawling mechanism; Figure 10 for Figure 9 EE sectional view; Figure 11 for Figure 3 Enlarged view of part B; Label Explanation: 1. Guide stud assembly; 11. Main bearing plate; 12. First drive component; 13. Stud; 131. Cavity; 132. Drive shaft; 14. Limiting screw; 15. Second drive component; 16. Rotating inner chamber; 17. Rotating plate; 18. Connecting plate; 19. Transmission plate; 191. Transmission groove; 2. Guide skid assembly; 21. Third drive component; 22. Guide component; 221. Main guide rod; 222. Auxiliary guide rod; 223. Hinge point; 23. Skid; 3. Support plate; 31. Guide hole; 32. Guide slot; 34. Support column; 4. Power transmission line insulator. Detailed Implementation

[0008] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0009] Please refer to Figure 1 as well as Figure 2 An insulator detection crawling mechanism, used for detecting transmission line insulators 4, includes: Support plate 3; At least two guide stud assemblies 1 are respectively connected to the bracket plate 3; the guide stud assemblies 1 engage with the sheds of the power transmission line insulator 4; The guide skid assembly 2 is movably connected to the bracket plate 3 and abuts against the power transmission line insulator 4.

[0010] It is understandable that the detection of the transmission line insulator 4 is carried out by the prior art using a detection module. The detection module can use existing products such as infrared thermal imaging, ultrasonic waves, and high-definition cameras to detect the transmission line insulator 4. In the embodiment, multiple sets of mounting holes can be provided on the surface of the bracket plate 3 for installation with the above-mentioned detection equipment. Since the detection module is prior art, it will not be described in detail here.

[0011] As can be seen from the above description, the beneficial effects of the present invention are as follows: It provides an insulator detection crawling mechanism, comprising a guide skid assembly 2, a support plate 3, and at least two guide stud assemblies 1. The core purpose is to achieve stable clamping of the transmission line insulator 4 and spiral propulsion along the shed. By engaging the guide stud assembly 1 with the insulator shed, a spiral propulsion effect similar to that of a nut engaging a bolt is achieved, allowing the mechanism to naturally crawl along the shed on the insulator shell. At the same time, the guide skid is set to abut against the insulator during the sliding process to ensure the adhesion of the crawling mechanism. Compared with traditional detection devices that rely on rails, cables, or boom structures, this mechanism can be firmly attached to the insulator structure without external auxiliary equipment, significantly improving equipment deployment efficiency and field operation flexibility.

[0012] By setting up the guide skid assembly 2, the support plate 3, and the guide stud assembly 1 that meshes with the insulator skirts, the self-adaptive clamping of the high-voltage transmission line insulator 4 structure and the stable movement of the skirts along the longitudinal direction are achieved. The guide skid 23 is movably connected to the support plate 3, which not only provides stable support but also gives the whole machine good fit and adaptability. This allows the mechanism to be firmly installed on the insulator surface without auxiliary tools, effectively improving the convenience, safety, and environmental adaptability of insulator inspection operations.

[0013] Specifically, there are two guide stud assemblies 1, and the two guide stud assemblies 1 and the guide skid assembly 2 form a triangle that abuts against the outside of the power transmission line insulator 4. This triangular support structure not only ensures stable attachment and operation of the equipment in various spatial directions (such as horizontal, inclined, and vertical), but also significantly improves the mechanism's shock resistance and fit in complex environments such as wind loads and high-altitude operations. Combined with electric drive control, this structure can achieve dynamic clamping, attitude fine-tuning, and adaptive support, ensuring the insulator fit detection effect while reducing the workload of manual adjustment and auxiliary installation, greatly improving intelligent detection efficiency and on-site operation safety.

[0014] Preferably, the threaded surface of the guide stud assembly 1 is provided with a cleaning component, such as a brush or cloth, to clean the dirt on the surface of the insulator during the crawling inspection process, thereby ensuring the inspection accuracy.

[0015] Please refer to Figure 3 and Figure 4In some embodiments, the guide stud assembly 1 includes a main support plate 11, a first drive member 12, and a stud 13. The first drive member 12 is tractively connected to one end of the stud 13 along its length and is used to control the rotation of the stud 13. The first drive member 12 is fixedly connected to the support plate 3. One end of the main support plate is rotatably connected to the support plate, and the other end is rotatably connected to the stud. Understandably, the outer surface of the guide stud is equipped with a helical structure that matches the geometry of the insulator skirt groove, forming a nested meshing pair similar to a "screw and nut". The insulator body is a fixed component. When the stud rotates around its own axis under the action of the first driving component, it cannot rotate freely due to the strong meshing relationship between itself and the insulator's helical groove. At this time, due to the restricted rotation, its rotational motion is forcibly converted into an axial thrust, i.e., generating a linear thrust component along the direction of the helical groove. Secondly, the first driving component and the support plate are fixedly connected, and both ends of the guide stud are connected to the support plate via a bearing main plate, and are mutually constrained by the limiting screw and the guide hole, guide groove, and other structures. This means that the axial thrust of the stud will not act solely on the stud body, but will move forward along with the bearing structure it is connected to. The rotational connection between the bearing main plate and the support plate allows it to move freely in the axial direction, thus directly transmitting this creeping force to the support plate body, thereby driving the support plate, guide skid, and the attached detection module, among other components, forward along the skirt surface.

[0016] Finally, the entire crawling mechanism consists of a three-dimensional triangular support structure formed by two guide studs and a guide skid, each abutting against the outside of the insulator and maintaining the clamping state through friction. Since the support plate is the connecting platform of the two studs, when the studs rotate and "crawl" along the threads, the clamped triangular structure is pushed as a whole, rather than just undergoing localized movement. This design, which achieves linear propulsion through rotation and then drives the overall crawling through structural linkage, is the key to ensuring that the drive components do not idle and that the entire machine can stably spiral forward along the insulator skirts.

[0017] As can be seen from the above description, by setting the first driving component 12 to drive the stud 13 to rotate, and cooperating with the rotational connection between the bearing main board 11 and the bracket plate 3, the controllable rotation and structural support functions of the guide stud assembly 1 are realized, so that the guide stud 13 can be spirally propelled under electric control, adapting to the geometric contour of the insulator skirt, and improving the automation and intelligence level of the detection mechanism.

[0018] Specifically, the first driving component 12 can be a motor, and the top of the stud 13 is provided with a transmission shaft 132. A transmission chain or belt is provided between the motor and the transmission shaft 132. The power of the first driving component is transmitted to the transmission shaft 132 at the top of the stud through the transmission chain or belt, thereby realizing the rotation of the stud. Then, through the meshing relationship between the surface of stud 13 and the shed, stud 13 is slowly advanced along the longitudinal direction of the insulator. Due to the high driving precision, millimeter-level feed can be achieved during the movement process. At the same time, it can also be combined with a feedback device for real-time position correction to ensure accurate and reliable inspection path.

[0019] Please refer to Figure 5 and Figure 6 In some embodiments, the guide stud assembly 1 further includes a limiting screw 14 and a second driving member 15. The second driving member 15 is connected to the main bearing plate 11 and is used to control the rotation angle between the main bearing plate 11 and the support plate 3. The limiting screw 14 is connected to the main bearing plate 11, and the support plate 3 is provided with a guide hole 31. The limiting screw 14 passes through the guide hole 31.

[0020] As described above, the design further incorporates a limiting screw 14 and a second driving component 15, enabling precise control of the relative rotation angle between the main bearing plate 11 and the support plate 3 of the guide stud assembly 1 without altering the main drive structure. The limiting screw 14 engages with the guide hole 31 on the support plate 3, providing structural guidance and angle limitation during assembly operation. This prevents the main bearing plate 11 from shifting due to torque disturbances or external forces, ensuring the stud 13 maintains directional stability during operation. Simultaneously, the second driving component 15 can utilize a small stepper motor or linear servo module, forming a direct drive or linkage mechanism with the main bearing plate 11. During operation, the operator can fine-tune this driving component via the control module, allowing the main bearing plate 11 to rotate relative to the support plate 3 at a smaller angle. This adjusts the clamping distance or posture of the stud 13 to adapt to different operating environments. This is particularly effective when the insulator exhibits complex geometric states such as eccentricity, bending, or deformation, ensuring the three-point support structure (including the skid 23) remains firmly against the outer wall of the skirt, improving fit and stability.

[0021] Please refer to Figure 6 Specifically, the guide stud assembly also includes a transmission plate 19, which has a transmission groove 191. The transmission plate 19 is fixedly connected to the transmission end (e.g., a rotating shaft) of the second driving member 15. The limiting screw 14 is at least partially located in the transmission groove 191. When the second driving member is running, it drives the transmission plate 19 to rotate, and at the same time, the limiting screw 14 in the transmission groove 191 is also driven to rotate, thereby realizing the swing of the stud.

[0022] Please refer to Figure 6 In some embodiments, the support plate 3 is further provided with a guide groove 32, the direction of which matches the extension direction of the guide hole 31, and the stud 13 is at least partially provided in the guide groove 32.

[0023] As described above, by adding a guide slot 32 to the support plate 3 and matching the direction of the guide slot 32 with the extension direction of the guide hole 31, the stud 13 assembly can achieve smooth and controlled sliding positioning along the slot during operation. This not only provides sliding compensation when the mechanism undergoes posture adjustments but also avoids the stud 13 from shifting due to uneven force. Specifically, the guide slot 32 forms a constraint track. When the limiting screw 14 passes through the guide hole 31, part of the stud 13 structure is embedded in the slot, forming a "pin-guide slot" constraint structure with good guiding properties and torsional stability.

[0024] Please refer to Figures 7 to 10 In some embodiments, the guide stud assembly 1 further includes a rotating inner chamber 16, a rotating plate 17, and a connecting plate 18. The rotating inner chamber 16 is connected to the first driving member 12 in a transmission manner, and the rotating plate 17 is fixedly connected to the rotating inner chamber 16 in a circumferential direction. The stud 13 is provided with at least one cavity 131, and the connecting plate 18 is fixedly connected to the inner wall of the cavity 131 and assembled with the rotating plate 17.

[0025] As described above, by setting up components such as the rotating inner chamber 16, the rotating plate 17, and the connecting plate 18, a complete transmission mechanism chain is constructed inside the guide stud 13, thereby improving the transmission efficiency of the rotational driving force and the structural stability. The stud 13 body has a cavity 131, which, together with the rotating inner chamber 16 and its external rotating plate 17 and connecting plate 18, realizes nested assembly and efficient transmission between multiple components. This not only allows the rotational force of the main drive system to be accurately applied to the stud 13, but also makes the installation and disassembly of the components more convenient.

[0026] Specifically, the top of the rotating inner chamber 16 is provided with a drive shaft 132 with drive teeth, and a drive chain or belt is provided between the drive shaft 132 and the first drive member to achieve a drive connection.

[0027] Please refer to Figure 3 and Figure 9 In some embodiments, the guide skid assembly 2 includes a third drive member 21, a guide member 22, and a skid 23; the third drive member 21 is connected to the support plate 3 and is throttle-connected to the guide member 22, and the guide member 22 is at least partially rotatably connected to the support plate 3; the skid 23 is at least partially rotatably connected to the support plate 3 and at least partially rotatably connected to the guide member 22.

[0028] As described above, a complete dynamic drive and rotational support structure is proposed for the guide skid assembly 2. By introducing multi-layered rotational connections between the third drive component 21, the guide component 22, and the skid 23, the skid 23 structure achieves the ability to actively move, conform, and adjust its attitude along the surface of the insulator skirt. Compared to traditional static auxiliary structures, this skid 23 is not only a support unit but also an active component with drive and adjustment functions.

[0029] In specific implementation, the third drive component 21 can be a compact servo motor or a small geared motor, mounted on the surface of the support plate 3, and connected to the guide component 22 through a coupling. The guide component 22 is set as a main and auxiliary rod structure with a certain degree of flexibility, which is partially connected to the support plate 3 and partially connected to the skid 23, so that it can provide guidance support and flexible adjustment capability at different angles and directions, realize the dynamic cooperation between the guide skid 23 and the stud 13 assembly, and ensure that the mechanism always maintains three-point stable support under different insulator structures, thereby ensuring the structural stability and detection reliability of the overall mechanism during operation.

[0030] Specifically, the support plate 3 has an assembly groove on its surface, and a control box is located inside the assembly groove. The third drive component 21 is placed inside the control box. In order to adapt to control boxes of different specifications, the assembly groove has multiple box positioning holes on its periphery.

[0031] Please refer to Figure 9 and Figure 11 In some embodiments, the guide member 22 includes a main guide rod 221 and at least one auxiliary guide rod 222; one end of the main guide rod 221 is connected to the third drive member 21 for transmission, and the other end is rotatably connected to the auxiliary guide rod 222; the auxiliary guide rod 222 is at least partially rotatably connected to the support plate 3 and rotatably connected to the skid 23.

[0032] It is understandable that the sliding skid 23 is driven by the transmission relationship between the third driving component 21, the main guide rod 221 and the auxiliary guide rod 222. Its core function is to give the sliding skid 23 the ability to move actively and adjust its posture, so as to adapt to the complex and varied umbrella skirt structure on the surface of the insulator and maintain a stable fit, thereby ensuring reliable support during the whole machine's crawling detection process.

[0033] First, the third drive component 21 is fixedly mounted on the bracket plate 3, and its output shaft is connected to one end of the guide rod 221. When the third drive component 21 is started, the output shaft begins to rotate, and drives the guide rod 221 to rotate axially through the coupling structure. The guide rod 221 then becomes the first-stage transmission component of the driving power, outputting the rotational force along the axial direction.

[0034] Secondly, the other end of the main guide rod 221 is connected to the auxiliary guide rod 222 via a rotatable hinge. When the main guide rod 221 rotates under the drive of the third drive member 21, its free end causes the auxiliary guide rod 222 to swing in space. The other end of the auxiliary guide rod 222 is rotatably connected to the skid 23, and its body is also hinged to the support plate 3 through the hinge point 223, thus achieving rotation. Therefore, under the drive of the main rod 221, the auxiliary guide rod 222 can guide the skid 23 to make angular adjustments or slight displacements in space, achieving flexible fit.

[0035] Finally, the sliding skid 23 achieves a stable three-point support structure through the rotatable connection between its two ends and the support plate 3 and the guide rod 222. When the guide rod 222 swings, the sliding skid 23 can automatically conform to the curvature change of the insulator surface while maintaining the clamping state, and continuously make dynamic adjustments as the mechanism moves forward along the umbel helix, thereby improving the overall self-adaptability and operational stability of the structure.

[0036] As described above, by further refining the guide component 22 into a main guide rod 221 and at least one auxiliary guide rod 222, and designing a rotating connection structure between the main and auxiliary rods, the skid 23 assembly possesses stronger attitude adaptability. The main guide rod 221 serves as the primary force transmission channel, with one end connected to the third drive component 21 to ensure control response accuracy. The auxiliary rod, as a flexible connection component, allows for the absorption and adjustment of irregular movements in nonlinear paths, achieving multi-degree-of-freedom dynamic adjustment. This structure ensures that the guide skid 23 maintains close contact and adapts to surface changes even when encountering abrupt changes in insulator geometry or height differences, preventing disengagement, jamming, or detection blind spots due to a single angle or rigid transmission. Simultaneously, when the skid is in a clamping insulator state, the auxiliary guide rod 222 may form a straight alignment under certain circumstances. This allows the reaction force from the skid clamping to be directly transmitted to the support plate 3 without exerting thrust on the third drive component 21, resulting in a stable clamping state and extending the mechanical life of the third drive component 21.

[0037] Please refer to Figure 3 In some embodiments, the two ends of the skid 23 along its length are bent away from the power transmission line insulator 4.

[0038] As can be seen from the above description, by bending the end of the skid 23, it extends away from the insulator at both ends in the length direction, forming an "outward-folding" protective edge, which has the functions of guiding the sliding direction and avoiding interference from the shed protrusion, thus improving the overall smoothness of operation.

[0039] Please refer to Figure 3 and Figure 5In some embodiments, there are two bracket plates 3, which are respectively located at both ends of the guide stud assembly 1 along its length. A support plate or support column 34 is also fixedly connected between the two bracket plates 3.

[0040] As described above, two support plates 3 are positioned at both ends of the guide stud assembly 1 and connected by support plates or support columns 34 to form a stable front and rear rigid frame structure, effectively improving the overall rigidity, torsional resistance, and installation stability of the mechanism. This structure can enclose the guide stud assembly 1 and its drive unit in the middle, facilitating the arrangement of the power system, power cables, and signal modules, and reducing structural swaying and imbalance during movement.

[0041] In practical use, this dual-bracket layout not only ensures the coaxial stability between the internal components of the mechanism, but also provides a more flexible and stable installation platform for the detection module, supporting the multi-sensor fusion deployment of laser ranging, visual recognition, infrared imaging and other technologies.

[0042] Embodiment 1 of the present invention is as follows: Please refer to Figure 1 and Figure 2 An insulator detection crawling mechanism is used for the detection of umbrella-skirt insulators in transmission lines. The mechanism is arranged in a surrounding manner around the axis of the high-voltage insulator. It consists of a guide skid assembly 2, two support plates 3, two sets of guide stud assemblies 1 and their associated drive and limit systems. It has a compact structure, coordinated functions, good adaptability to field operations and high-precision crawling detection capabilities.

[0043] Please refer to Figure 3 and Figure 4 Structurally, the guide stud assembly 1 has an external helical structure that matches the insulator skirt. Two symmetrically arranged studs 13 (which can be made of rubber or Teflon, preferably Teflon to reduce friction) are connected to the front and rear support plates 3 respectively. The rotation of the guide studs 13 is driven by a first driving component 12 (such as a motor), which is fixed to one of the two support plates 3. The main support plate 11 is rotatably connected to the bottom of the support plate 3. When the main drive operates, a "nut-bolt" type meshing helical feeding action occurs between the guide studs 13 and the skirt, thereby smoothly advancing the mechanism along the insulator axis.

[0044] Please refer to Figure 5 and Figure 6To accommodate complex on-site geometric errors or insulator axial deviations, a second driving component 15 is added to the mechanism, working in conjunction with a limiting screw 14 and a guide hole 31. This second driving component is fixed to another support plate 3 and is used to finely adjust the angle between the main bearing plate 11 and the support plate 3, achieving adaptive adjustment of the clamping force and contact surface. This adjustment mechanism effectively improves the contact stability during the creeping process and its compatibility with different types of insulators.

[0045] Please refer to Figure 6 To further enhance the limitation of motion trajectory and running accuracy, the surface of the support plate 3 is provided with a guide groove 32 that cooperates with the limiting screw 14. The stud 13 is partially embedded in the guide groove to form a "pin-groove" guiding structure, which has excellent sliding guidance and angle positioning functions.

[0046] Please refer to Figures 7 to 10 In the drive transmission path, the guide stud 13 is equipped with a rotating inner chamber 16, a rotating plate 17, and a connecting plate 18, forming a complete drive chain from the output end of the first drive component 12 to the rotating inner chamber 16, the rotating plate 17, the connecting plate 18, and the stud 13, ensuring efficient transmission of rotational power. Simultaneously, the rotating plate 17 is reliably connected to the wall of the stud cavity 131 via the connecting plate 18, enhancing structural coaxiality and ease of assembly and disassembly.

[0047] Specifically, since the stud 13 itself can be made of Teflon, a cylindrical rigid cavity 131 is set inside the stud to bear the stress generated during operation, solving the problem of insufficient load-bearing capacity of flexible materials such as Teflon. At the same time, both the cavity and the externally attached studs are designed in segments. The principle is that because the dimensions of insulators produced by different manufacturers may have errors, the spacing of each insulator may also have errors. In order to absorb the impact of errors, the cavity is designed in segments. During the creeping process, the segments can rely on elastic separation or proximity to absorb errors, thereby ensuring smooth creeping and allowing each segment to enjoy a certain degree of longitudinal freedom.

[0048] Please refer to Figure 9 and Figure 11 The guide skid assembly 2, serving as the third point support unit, includes a skid 23 body, a main guide rod 221, and at least one auxiliary guide rod 222. The main rod is connected to the support plate 3, and the auxiliary rods are rotatably connected to both the main rod and the skid 23. The lower end of the skid 23 abuts against the insulator shell through an outwardly bent portion, effectively preventing detachment and providing sliding guidance. During the operation of the mechanism, the guide assembly of the guide skid 23 is driven by the third drive component 21, achieving dynamic contact, position adjustment, and anti-interference support of the skid 23 on the umbrella skirt curved surface, ensuring the stability of the three-point support structure under various spatial angles.

[0049] Please refer to Figure 3 and Figure 5The support plate 3 adopts a double-plate arrangement, with one plate located at each end of the guide stud 13. It forms an overall frame through the support columns 34 or support plates, exhibiting excellent rigidity and load-bearing capacity. Multiple mounting holes are pre-drilled on the surface of the support plate 3, allowing for the installation of detection modules such as infrared thermal imaging, ultrasonic sensors, or high-definition cameras, enabling inspection tasks that are performed while the device is in motion. The power and signal lines of the detection modules are routed through the support plate 3 to the control box, enabling centralized control, data transmission, and local processing.

[0050] Please refer to Figure 3 To enhance adhesion and anti-slip capabilities, the two guide studs 13 and the guide skid 23 form a stable triangular support structure, ensuring stable adhesion in various orientations (horizontal, vertical, and inclined). Furthermore, the surface of the guide studs 13 can be equipped with a brush or cloth component to simultaneously clean dirt from the shed surface as the mechanism moves along the insulator, ensuring accurate and reliable test results.

[0051] In summary, the insulator inspection crawling mechanism provided by this invention forms a triangular support structure through a guide skid assembly, a support plate, and a guide stud assembly adapted to the insulator skirt threads, achieving a trackless, autonomous spiral-propelled inspection method along the insulator skirt. Compared to traditional mounted or attached inspection equipment, this invention can firmly attach to the insulator surface without relying on external tracks or slings, making it suitable for various installation scenarios (horizontal, vertical, and inclined), significantly improving deployment flexibility and operational efficiency. A good motion coordination mechanism is formed between the components through driving components, rotating structures, and limiting structures, ensuring both attachment stability and the ability to dynamically adjust clamping distance and crawling angle. Simultaneously, the support plate has multiple sets of pre-drilled mounting holes, allowing for flexible installation of existing inspection modules such as infrared, ultrasonic, and high-definition cameras, achieving integrated linkage between inspection and movement. The guide stud can also be equipped with a cleaning component to simultaneously clean dirt from the skirt surface during propulsion, improving inspection accuracy. The overall system has a high degree of automation and strong structural versatility, making it particularly suitable for intelligent inspection operations in high-voltage transmission line environments.

[0052] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An insulator detection crawling mechanism, used for detecting insulators of transmission lines, characterized in that: include: support plate; At least two guide stud assemblies are respectively connected to the bracket plate; The guide stud assembly engages with the shed of the power transmission line insulator; The guide skid assembly is movably connected to the support plate and abuts against the power transmission line insulator.

2. The insulator detection crawling mechanism according to claim 1, characterized in that: The guide stud assembly includes a main support plate, a first driving member, and a stud. The first driving member is pulsatorically connected to one end of the stud to drive the stud to rotate. The first driving member is fixedly connected to the support plate. One end of the main support plate is rotatably connected to the support plate, and the other end is rotatably connected to the stud.

3. The insulator detection crawling mechanism according to claim 2, characterized in that: The guide stud assembly further includes a limiting screw and a second driving member. The second driving member is connected to the main bearing plate to control the rotation angle between the main bearing plate and the support plate. The limiting screw is connected to the main bearing plate, and the support plate is provided with a guide hole through which the limiting screw passes.

4. The insulator detection crawling mechanism according to claim 3, characterized in that: The support plate is also provided with a guide groove, the direction of which matches the extension direction of the guide hole, and the stud is at least partially provided in the guide groove.

5. The insulator detection crawling mechanism according to claim 2, characterized in that: The guide stud assembly further includes a rotating inner chamber, a rotating plate, and a connecting plate. The rotating inner chamber is connected to the first driving component in a transmission manner, and the rotating plate is fixedly connected to the rotating inner chamber in a circumferential direction. The stud has at least one cavity, and the connecting plate is fixedly connected to the inner wall of the cavity and assembled with the rotating plate.

6. The insulator detection crawling mechanism according to claim 1, characterized in that: The guide skid assembly includes a third drive member, a guide member, and a skid; the third drive member is connected to the support plate and is throttle-connected to the guide member, and the guide member is at least partially rotatably connected to the support plate; the skid is at least partially rotatably connected to the support plate and at least partially rotatably connected to the guide member.

7. The insulator detection crawling mechanism according to claim 6, characterized in that: The guide component includes a main guide rod and at least one auxiliary guide rod; one end of the main guide rod is connected to a third drive component for transmission, and the other end is rotatably connected to one of the auxiliary guide rods; one of the auxiliary guide rods is at least partially rotatably connected to the support plate and rotatably connected to the skid.

8. The insulator detection crawling mechanism according to claim 6, characterized in that: Both ends of the skid along its length are bent away from the power transmission line insulator.

9. The insulator detection crawling mechanism according to claim 1, characterized in that: The number of bracket plates is two, and they are respectively located at both ends of the guide stud assembly along the length direction. A support plate or support column is also fixedly connected between the two bracket plates.

10. The insulator detection crawling mechanism according to claim 1, characterized in that: The number of guide stud assemblies is two, and the two guide stud assemblies and the guide skid assembly are arranged in a triangle and abut against the outside of the power transmission line insulator.

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