Crawling structure of holding type insulator detection robot

Abstract

An embracing type insulator detection robot crawling structure is applied to detection of power transmission line insulators and comprises a main frame which comprises two main structure plates arranged symmetrically, a lead screw and a walking guide pipe, and the two ends of the walking guide pipe are connected with the two main structure plates respectively; at least one end of the lead screw is rotationally connected with one main structural plate; each crawling assembly comprises a support plate, a first motor, a transmission gear and a foot holding piece; the support plate is slidably connected with the walking guide pipe. The first motor is fixedly connected with the support plate and is in transmission connection with the transmission gear. The foot holding piece is used for holding or releasing a power transmission line insulator; the transmission gear of at least one crawling assembly is in transmission connection with the lead screw, and the transmission gear of at least one crawling assembly is fixedly connected with the lead screw. Accurate advancing and retreating of the crawling assemblies on the insulator are achieved, the multiple crawling assemblies can independently or alternately move under the guide of the lead screws, and the robot can stably advance step by step along the umbrella skirt of the insulator.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of power equipment detection processing, in particular to a holding type insulator detection robot climbing structure. BACKGROUND

[0002] As a key component in power transmission systems, insulators are widely used in overhead transmission lines, substations and other facilities. Their role is to support and insulate the conductors, prevent current leakage to the ground, and ensure the safe and stable operation of the power system. With the increasing demand for electricity, the scale of transmission lines is expanding, and the number of insulators is also increasing. According to statistics, in a typical high-voltage transmission line, the number of insulators per kilometer of line can reach hundreds, such as 110kV transmission lines, with an average of 100-120 strings of insulators per kilometer, and each string contains multiple insulator units. These insulators are exposed to natural environments for a long time, subject to sun, rain, wind, sand, pollution and other factors, as well as electrical and mechanical stresses, which can cause aging, damage, pollution, breakdown and other problems, affecting their insulation performance and mechanical strength. Once the insulator fails, it may cause line tripping, power failure and other accidents, posing a serious threat to the reliability and stability of the power system.

[0003] Currently, the detection methods for insulators mainly include manual detection and automated detection. Manual detection is performed by detection personnel using tools such as telescopes and infrared thermal imagers to visually inspect and measure the temperature of the insulators. This method has limitations, on the one hand, the detection personnel need to work in high altitude, harsh environments, with high labor intensity, low work efficiency, and the detection accuracy is greatly affected by factors such as the experience and vision of the detection personnel; on the other hand, it is difficult for manual detection to timely detect small defects and potential failures. For example, in complex terrain such as mountainous areas, detection personnel cannot reach all insulator locations, and some insulators may not be effectively detected. Automated detection methods mainly use robots, drones and other equipment equipped with various detection sensors to automatically detect insulators. However, existing automated detection equipment has deficiencies in climbing structure, the traditional wheel type and track type climbing structure has limited adhesion on the surface of the insulator, and it is difficult to adapt to the complex shape and surface conditions of the insulator, which may cause slipping, falling and other problems, resulting in interruption of the detection process, and the detection accuracy and reliability cannot be guaranteed. In the case of irregular insulator umbrella skirt shape or surface contamination, the wheel type climbing structure may not be able to walk stably, affecting the accuracy of the detection results. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a holding type insulator detection robot climbing structure that can improve the stability of the insulator detection robot climbing.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is: A holding type insulator detection robot climbing structure is applied to detect power line insulators, and is characterized in that it comprises: A main frame comprises two main structure plates arranged symmetrically, a lead screw and a walking guide tube, two ends of the walking guide tube are connected with the two main structure plates respectively, and at least one end of the lead screw is rotationally connected with one main structure plate. At least two climbing assemblies comprise a support plate, a first motor, a transmission gear and a holding foot, the support plate is slidingly connected with the walking guide tube, the first motor is fixedly connected with the support plate and drivingly connected with the transmission gear, and the holding foot is rotationally connected with the support plate and used for holding or releasing the power line insulator. The transmission gear of at least one climbing assembly is drivingly connected with the lead screw, and the transmission gear of at least one climbing assembly is fixedly connected with the lead screw.

[0006] The present application has the beneficial effects that a holding type insulator detection robot climbing structure is provided, the main frame is provided with symmetric main structure plates, a walking guide tube and a lead screw, thereby forming a climbing support framework with high rigidity and uniform stress, the support plate of the climbing assembly is slidingly connected with the walking guide tube, thereby realizing the movement of the climbing assembly under the main frame, and the realization principle is that the transmission gear of at least one climbing assembly is drivingly connected with the lead screw, and the transmission gear of at least one climbing assembly is fixedly connected with the lead screw, which is divided into two cases. When the holding foot of the climbing assembly with the fixedly connected transmission gear and lead screw holds the insulator, the first motor stops running, the transmission gear and the lead screw are relatively static, at this time, the climbing assembly serves as a support point, the holding foot of the other climbing assembly with the drivingly connected transmission gear and lead screw releases the insulator and controls the first motor to run, thereby driving the transmission gear to rotate and cooperate with the static lead screw to realize the movement along the lead screw and the walking guide tube. When the holding foot of the climbing assembly with the drivingly connected transmission gear and lead screw holds the insulator, the first motor stops running, at this time, the climbing assembly serves as a support point, the holding foot of the other climbing assembly with the fixedly connected transmission gear and lead screw releases the insulator and controls the first motor to run, thereby driving the transmission gear to rotate and further driving the lead screw to rotate, at this time, since the climbing assembly with the drivingly connected transmission gear and lead screw is in a static state, the lead screw can move with the transmission gear as a fixed point, thereby driving the climbing assembly with the drivingly connected transmission gear and lead screw to move along the walking guide tube, and since the lead screw is rotationally connected with the main structure plate, the lead screw moves while driving the main structure plate to move, thereby driving the main frame to move, and realizing the movement of the whole device.

[0007] That is, the screw driving structure converts the rotary motion of the motor into linear movement along the direction of the guide pipe, realizing the precise advance and retreat of the crawling assembly on the insulator. Multiple crawling assemblies can move independently or alternately under the guidance of the screw, enabling the robot to steadily advance along the insulator shed. Not only does it ensure the stability and positioning accuracy of the walking, but it also avoids the problem of slipping and falling of traditional track or wheel structures on curved insulators, improving the stability of the crawling process; at the same time, the overall structure is self-supporting and self-guiding, without the need for external rail or hanger assistance, and can be stably attached to the surface of the insulator in different installation attitudes (horizontal, vertical, inclined), significantly improving the safety and efficiency of insulator detection. BRIEF DESCRIPTION OF DRAWINGS

[0008] Figure 1 Figure 1 is an assembly diagram of a holding type insulator detection robot crawling structure in an embodiment; Figure 2 Figure 2 is a top view of a holding type insulator detection robot crawling structure in an embodiment; Figure 3 Figure 3 is an assembly diagram of a crawling assembly in an embodiment; Figure 4 Figure 4 is a front view of a crawling assembly in an embodiment; Figure 5 Figure 5 is an assembly diagram of a main frame and a positioning assembly in an embodiment; Figure 6 Figure 6 is a working cooperation diagram of a crawling assembly and a positioning assembly in an embodiment; Figure 7 Figure 7 is a working diagram of a holding type insulator detection robot crawling structure in an embodiment; REFERENCE NUMERALS: 1, main frame; 11, main structure plate; 12, screw; 13, walking guide pipe; 14, support pipe; 2, crawling assembly; 21, support plate; 22, first motor; 23, transmission gear; 24, holding foot; 241, second motor; 242, motor connecting rod; 243, support connecting rod; 244, driving connecting rod; 245, driving arm; 246, holding foot; 247, limit pin; 248, screw nut; 249, sunshade; 25, locking bolt; 3, positioning assembly; 31, fixed plate; 32, photoelectric sensing element; 4, power line insulator. DETAILED DESCRIPTION

[0009] To explain the technical content, purposes and effects of the present application in detail, the following embodiments are described in conjunction with the drawings.

[0010] Please refer to Figures 1 to 4 and Figure 7 A holding type insulator detection robot crawling structure applied to detect a power line insulator 4, comprising: The main frame 1 comprises two main structure plates 11 arranged symmetrically, a lead screw 12 and a walking guide pipe 13, two ends of the walking guide pipe 13 are connected with the two main structure plates 11 respectively, and at least one end of the lead screw 12 is rotationally connected with one of the main structure plates 11; The at least two crawling assemblies 2 comprise a support plate 21, a first motor 22, a transmission gear 23 and a gripping member 24, the support plate 21 is slidingly connected with the walking guide pipe 13, the first motor 22 is fixedly connected with the support plate 21 and is drivingly connected with the transmission gear 23, and the gripping member 24 is rotationally connected with the support plate 21 and is used for gripping or releasing the insulator 4 of the power transmission line; The transmission gear 23 of the at least one crawling assembly 2 is drivingly connected with the lead screw 12, and the transmission gear 23 of the at least one crawling assembly 2 is fixedly connected with the lead screw 12.

[0011] From the above description, the beneficial effects of the present application are that the main frame 1 is provided with the symmetric main structure plates 11, the walking guide pipe 13 and the lead screw 12, forming a rigid and uniformly stressed crawling support framework, the support plate 21 of the crawling assembly 2 is slidingly connected with the walking guide pipe 13, realizing the movement of the crawling assembly 2 under the main frame 1, wherein the realization principle is that the transmission gear 23 of the at least one crawling assembly 2 is drivingly connected with the lead screw 12, and the transmission gear 23 of the at least one crawling assembly 2 is fixedly connected with the lead screw 12, which is divided into two cases: When the gripping member 24 of the crawling assembly 2 with the transmission gear 23 and the lead screw 12 fixedly connected grips the insulator, the first motor 22 thereof stops running, the transmission gear 23 and the lead screw 12 are relatively static, at this time, this crawling assembly 2 serves as a support point, the gripping member 24 of the other crawling assembly 2 with the transmission gear 23 and the lead screw 12 drivingly connected releases the insulator and controls the first motor 22 to run, driving the transmission gear 23 to rotate and cooperate with the static lead screw 12 to realize the movement along the lead screw 12 and the walking guide pipe 13; When the gripping member 24 of the crawling assembly 2 with the transmission gear 23 and the lead screw 12 drivingly connected grips the insulator, the first motor 22 thereof stops running, at this time, this crawling assembly 2 serves as a support point, the gripping member 24 of the other crawling assembly 2 with the transmission gear 23 and the lead screw 12 fixedly connected releases the insulator and controls the first motor 22 to run, driving the transmission gear 23 to rotate and further driving the lead screw 12 to rotate, at this time, since the crawling assembly 2 with the transmission gear 23 and the lead screw 12 drivingly connected is in a static state, the lead screw 12 can move with the transmission gear 23 as a fixed point, thereby driving the crawling assembly 2 with the transmission gear 23 and the lead screw 12 drivingly connected to move, and since the lead screw 12 is rotationally connected with the main structure plate 11, the lead screw 12 moves while driving the main structure plate 11 to move, thereby driving the main frame 1 to move, realizing the movement of the whole device.

[0012] That is, the screw rod 12 driving structure converts the rotary motion of the motor into linear movement along the direction of the conduit, realizing the precise advance and retreat of the crawling assembly 2 on the insulator. Multiple crawling assemblies 2 can move independently or alternately under the guidance of the screw rod 12, enabling the robot to steadily advance along the insulator shed step by step. Not only does it ensure the stability and positioning accuracy of the movement, but it also avoids the problem of slipping and falling of traditional track or wheel structures on curved insulators, improving the stability of the crawling process; at the same time, the overall structure is self-supporting and self-guiding, without the need for external rail or hanger assistance, and can stably adhere to the surface of the insulator in different installation attitudes (horizontal, vertical, inclined), significantly improving the safety and efficiency of insulator detection.

[0013] Please refer to Figures 3 to 4 In some embodiments, the gripping member 24 includes a second motor 241, a transmission part, and a gripping foot 246. The second motor 241 is fixedly connected to the support plate 21, the second motor 241 is in transmission connection with the transmission part, and the gripping foot 246 is in movable connection with the transmission part; the gripping foot 246 is provided with an arc surface matched with the insulator shed of the power transmission line, and the second motor 241 is used to control the gripping foot 246 to tightly or release the insulator of the power transmission line by driving the transmission part.

[0014] As can be seen from the above description, the gripping member 24 is composed of a second motor 241, a transmission part, and an arc-shaped gripping foot 246. The motor drives the gripping foot 246 to rotate through the transmission part, so that the arc surface accurately fits the shed of the insulator. Through this structure, the gripping foot 246 can contact or separate from the outer wall of the insulator in a smooth trajectory during the opening and closing process, avoiding the stress concentration and slipping risk caused by direct compression. The arc fitting design makes the stress distribution of the gripping foot 246 more uniform, thereby providing greater friction and stability when holding. The precise control of the second motor 241 allows the holding force to be dynamically adjusted, ensuring firm grip while avoiding mechanical damage to the surface of the insulator. This gripping foot 246 structure enables the robot to realize automatic attachment and detachment operations, greatly simplifying the installation process and improving the adaptability of the insulator detection robot to different types of insulators.

[0015] Please refer to Figures 3 to 4 In some embodiments, the transmission part includes a motor connecting rod 242, a support connecting rod 243, a driving connecting rod 244, and a driving arm 245. One end of the motor connecting rod 242 is hinged to the output end of the second motor 241, and the other end is hinged to one end of the support connecting rod 243. The middle segment of the support connecting rod 243 is hinged to the support plate 21, and the other end is hinged to one end of the driving connecting rod 244. The other end of the driving link 244 is hinged with the driving arm 245; One end of the driving arm 245 is sleeved on the walking guide pipe 13 and hinged with the support plate 21, and the other end is hinged with the embracing foot 246.

[0016] From the above description, it can be seen that the transmission part composed of the motor link 242, the support link 243, the driving link 244 and the driving arm 245 makes the opening and closing movement of the embracing foot 246 present the non-rigid and multi-stage transmission movement characteristics. The link mechanism can smoothly decompose the rotating force of the motor into the push-pull linear displacement, thereby driving the driving arm 245 to rotate around the guide pipe and realizing the flexible opening and closing of the arc-shaped embracing foot 246. The design not only improves the smoothness of the movement, but also can absorb slight position errors, so that the embracing foot 246 has certain buffer elasticity in the fitting process. The mechanical amplification effect of the multi-stage link makes the small-power motor output sufficient clamping force, thereby reducing the overall weight and energy consumption. The scheme improves the response speed and control accuracy of the mechanism while maintaining the stability of the holding, which is convenient for realizing continuous automatic crawling operation.

[0017] Please refer to Figure 4 In some embodiments, the support link 243 further comprises a limit pin 247; when the support link 243 rotates to a first position, the limit pin 247 abuts against the driving link 244 to limit the rotating amplitude of the driving link 244.

[0018] From the above description, it can be seen that by arranging the limit pin 247 on the support link 243, when the link moves to a predetermined angle, the limit pin 247 abuts against the driving link 244, which can effectively limit the limit position of the opening and closing of the embracing foot 246. The design prevents the embracing foot 246 from being excessively opened to cause disengagement from the guide pipe track or being excessively closed to cause extrusion damage to the insulator. The limit structure realizes the action boundary protection at the mechanical level, so that the opening and closing angle of the embracing foot 246 is kept within the safety range, reducing the dependence on the control system accuracy. Especially in the high-frequency movement of continuous crawling, the limit pin 247 can effectively prevent the positional deviation caused by mechanical fatigue, ensuring the stability and consistency of long-term operation.

[0019] Please refer to Figure 2 In some embodiments, the transmission gear 23 and the screw 12 fixedly connected with the crawling assembly 2 are located at the first end or the last end of the walking guide pipe 13.

[0020] From the above description, by arranging the crawling assembly 2 fixedly connected with the transmission gear 23 and the lead screw 12 at the front end or the tail end of the walking conduit 13, the role of driving anchor point can be played in the whole system. When the gripping member 24 of the assembly grips the insulator, the lead screw 12 and its gear are relatively static, and the main frame 1 is in a controlled fixed state; when the first motor 22 is started, the lead screw 12 is synchronously driven to rotate, pushing the lead screw 12 to move as a whole, thereby driving the main structural plate 11 and the main frame 1 to move forward synchronously, realizing the overall crawling. The design enables the device to take the end or front assembly as the power output end, realizes the displacement of the whole machine through the rotation of the lead screw 12, avoids the torque interference caused by simultaneous driving of multiple assemblies, and ensures the movement coordination and stability.

[0021] Please refer to Figure 6 In some embodiments, the crawling assembly 2 connected with the transmission gear 23 and the lead screw 12 further comprises a lead screw nut 248, the lead screw nut 248 is threadedly connected with the lead screw 12, and the transmission gear 23 and the lead screw nut 248 are drivingly connected.

[0022] From the above description, the crawling assembly 2 connected with the transmission gear 23 and the lead screw 12 realizes the mutual conversion of rotation and linear motion through the lead screw nut 248, and can realize high-precision linear propulsion along the walking conduit 13 during driving. When the gripping member 24 of the crawling assembly 2 grips the insulator, the motor stops running and serves as a support point; when the motor of the crawling assembly 2 connected with the transmission gear 23 and the lead screw 12 at the other end drives the lead screw 12 to rotate, the transmission assembly is driven to move forward through the thread matching relationship of the nut pair. The self-locking property of the lead screw nut 248 enables the assembly to maintain the current position after stopping driving, avoiding slipping or reverse back, and ensuring the consistency and repeat accuracy of the crawling pitch. The separable design of the transmission gear 23 and the lead screw 12 also facilitates different step control, so that the crawling structure can still move stably on complex curved surfaces or slope surfaces.

[0023] Please refer to Figure 5 In some embodiments, the main frame 1 further comprises two symmetrical support tubes 14, the support tubes 14 are parallel to the walking conduit 13, and the two ends of the support tubes 14 are connected with the two main structural plates 11 respectively.

[0024] From the above description, the main frame 1 forms a multi-pipe parallel space truss structure by adding two support tubes 14 arranged in parallel with the walking conduit 13, significantly improving the overall torsional stiffness and force balance. The support tubes 14 can share the bending force and lateral load of the walking conduit 13 during crawling, preventing deformation or shaking caused by the structure of the walking conduit 13.

[0025] Please refer to Figure 5 and Figure 6In some embodiments, at least two positioning components 3 are further included, the positioning component 3 comprises a fixed plate 31 and a photoelectric sensing piece 32, the fixed plate 31 is fixedly connected with two support pipes 14, and the fixed plates 31 of multiple positioning components 3 are arranged at a preset interval; the photoelectric sensing piece 32 is fixedly connected with the fixed plate 31 and is used for detecting the moving distance of the crawling component 2 along the walking guide pipe 13.

[0026] As can be seen from the above description, the positioning component 3 is composed of the fixed plate 31 and the photoelectric sensing piece 32, and is arranged at a preset interval along the support pipe 14, so as to realize real-time detection of the moving distance of the crawling component 2. The photoelectric sensing piece 32 can sense the position of the light shielding plate 249 of the crawling component 2 in a non-contact state, avoiding the problem of mechanical contact wear. Multiple positioning points constitute a distributed detection system, which can accurately judge the moving stage and position of each supporting foot 246 component, and realize step-by-step control. The structure improves the accuracy and repeatability of walking positioning, so that the robot can move step by step according to the insulator pitch. The adoption of photoelectric positioning also facilitates system calibration and self-checking, greatly improving the automation degree of detection operation.

[0027] In some embodiments, a control unit is further included, which controls the operation or stop of the first motor 22 according to the moving distance of the crawling component 2 along the walking guide pipe 13 detected by the photoelectric sensing piece.

[0028] As can be seen from the above description, the control unit realizes intelligent control of the start and stop of the first motor 22 in combination with the photoelectric sensing signal, so that the crawling action is linked with the positioning signal. When the photoelectric sensing detects that the crawling component 2 has traveled to the target distance, the control unit automatically stops the driving motor, realizing accurate single-step control. The closed-loop control logic ensures that each crawling stage corresponds to an insulator pitch, thereby maintaining the synchronization of system movement rhythm and detection. By replacing manual judgment with software control, position error accumulation is avoided, and the accuracy and stability of the overall detection path are improved, providing a reliable control basis for multi-component collaborative crawling.

[0029] Please refer to Figure 6 In some embodiments, the support plate 21 of the crawling component 2 further comprises a light shielding plate 249, which can enter or leave the sensing range of the photoelectric sensing piece 32 during the movement of the crawling component 2 along the walking guide pipe 13.

[0030] From the above description, the light shield 249 is arranged on the support plate 21 of the crawling assembly 2, and alternately enters or leaves the sensing range of the photoelectric sensing part 32 during movement, so as to form a stable detection trigger signal. This structure can realize stroke determination without adding additional sensors, the signal change is obvious, and the anti-interference ability is strong. The position of the light shield 249 is synchronized with the stroke, and can accurately reflect the actual displacement of the crawling assembly 2, so as to realize visual feedback of the motion state. The design makes the photoelectric detection system run more reliably, and can still maintain detection accuracy under the conditions of light change or external vibration, and provide clear start-stop basis for the control unit.

[0031] Embodiment one of the present application is as follows: Please refer to Figures 1 to 4 and Figure 7 A holding type insulator detection robot crawling structure includes a main frame 1 and at least two crawling assemblies 2, the structure is installed on an insulator string of a high-voltage transmission line, and is used for automatically crawling along an insulator umbrella under the condition of no auxiliary guide rail. The main frame 1 includes two main structure plates 11 arranged symmetrically, a walking guide pipe 13 and a lead screw 12. The two main structure plates 11 are arranged in parallel, and the two ends of the walking guide pipe 13 are fixedly connected with the two main structure plates 11 respectively, for supporting and guiding the movement of the crawling assembly 2. The lead screw 12 is arranged along the direction of the walking guide pipe 13, and at least one end of the lead screw 12 is rotationally connected with one main structure plate 11, and the rotational connection of the lead screw 12 and the main structure plate 11 can be realized through a bearing. This arrangement mode makes the lead screw 12 not only serve as a driving element, but also serve as a support shaft of the frame, so as to realize the rigid cooperation and dynamic transmission of the whole main frame 1. Specifically, the number of the walking guide pipes 13 is two, and the two walking guide pipes 13 are arranged in parallel.

[0032] Each crawling assembly 2 includes a support plate 21, a first motor 22, a transmission gear 23 and a holding foot 24. The support plate 21 is sleeved outside the walking guide pipe 13 and can slide along the guide pipe, for supporting the motor and the holding foot 24 mechanism. The first motor 22 is installed on the support plate 21 and is in transmission connection with the transmission gear 23, the transmission gear 23 is in meshing or fixed cooperation with the lead screw 12, so as to form a coupling relationship of driving and guiding. The holding foot 24 is installed at the bottom of the support plate 21, for realizing the holding or releasing action on the outer wall of the insulator umbrella.

[0033] The principle of the crawling implementation of the structure is that the transmission gear 23 of at least one crawling component 2 is drivingly connected with the lead screw 12 (hereinafter referred to as No. 1 crawling component 2), and the transmission gear 23 of at least one crawling component 2 is fixedly connected with the lead screw 12 (hereinafter referred to as No. 2 crawling component 2), and the two kinds of crawling components 2 are alternately matched to complete the step-by-step movement. When the No. 2 crawling component 2 tightly holds the insulator, the first motor 22 stops running, and the component and the lead screw 12 remain relatively static and form a stable support point; the No. 1 crawling component 2 releases the holding foot 246 and drives the first motor 22 to run, so that the transmission gear 23 thereof is matched with the static lead screw 12 in the screw pair, realizing the linear sliding in the direction of the walking guide pipe 13. When the No. 1 crawling component 2 completes the movement and re-holds the insulator, the driving motor of the fixed connection type component is switched on to drive the lead screw 12 to rotate and produce axial displacement, thereby driving the main structure plate 11 and the main frame 1 to move forward as a whole along the longitudinal direction of the insulator. Through the alternate action of the two types of crawling components 2, a circulating process of alternating forward movement can be realized, so that the whole crawling structure stably advances on the insulator. The lead screw 12 transmission structure converts the rotary motion of the motor into linear displacement in the direction of the guide pipe, so that the movement path of the crawling component 2 is accurate and controllable. Since the lead screw 12 is rotatably connected with the main structure plate 11, when the lead screw 12 moves axially, it drives the whole main frame 1 to displace, thereby realizing the self-driven crawling of the whole machine. Specifically, the number of No. 1 crawling components 2 is 2, and the number of No. 2 crawling components 2 is 1.

[0034] Specifically, the first motor 22 of the crawling component 2 is provided with an electronic brake, and when the holding foot 24 tightly holds the insulator, the electronic brake is started to control the first motor 22 to be static, so as to avoid deflection or reverse rotation and ensure the stability of holding.

[0035] Please refer to Figure 3 and Figure 4 The holding foot 24 on the crawling component 2 includes a second motor 241, a transmission part and a holding foot 246. The second motor 241 is fixedly installed on the support plate 21 and is used to provide driving force for holding action. The output shaft of the second motor 241 is drivingly connected with the transmission part, and the transmission part is movably connected with the holding foot 246. The inner side of the holding foot 246 is provided with an arc-shaped matching surface matched with the curvature of the insulator umbrella skirt, and when the motor is driven, the arc-shaped surface of the holding foot 246 can be opened and closed along the set track to hold or release the umbrella skirt outer wall of the insulator. The holding foot 246 is made of flexible anti-skid coating material, which can provide sufficient friction and effectively prevent damage to the surface of the insulator caused by hard clamping.

[0036] In the working process of this embodiment, the second motor 241 drives the transmission part to rotate according to the instruction of the control unit, so that the holding feet 246 gradually close from the open state and fit the surface of the insulator, realizing stable holding. When the robot needs to move or switch the support point, the control unit controls the second motor 241 to rotate reversely, driving the transmission part to drive the holding feet 246 to open, thereby releasing the insulator and providing space for the next walking action. Through this structural design, the holding feet 246 move smoothly along the circular arc trajectory in the opening and closing process, avoiding the stress concentration phenomenon caused by direct translation and compression, and ensuring the stability and reliability of the crawling structure in repeated holding operation.

[0037] In another embodiment, the transmission part includes a motor connecting rod 242, a bracket connecting rod 243, a driving connecting rod 244, and a driving arm 245. One end of the motor connecting rod 242 is hinged to the output shaft of the second motor 241, and the other end is hinged to one end of the bracket connecting rod 243; the middle segment of the bracket connecting rod 243 is hinged to the bracket plate 21, and the other end is hinged to one end of the driving connecting rod 244; the other end of the driving connecting rod 244 is hinged to the driving arm 245, one end of the driving arm 245 is sleeved in the walking guide pipe 13 and hinged to the bracket plate 21 through a shaft sleeve, and the other end is hinged to the holding feet 246. Through the above-mentioned four-bar multi-stage connecting rod structure, the rotating force of the motor is gradually decomposed into push-pull displacement, thereby driving the driving arm 245 to swing in the guide pipe direction, realizing the flexible opening and closing of the holding feet 246. This transmission structure has self-adjusting characteristics during the action process, which can absorb local assembly errors or irregularities of the insulator surface, making the holding action more smooth and safe. At the same time, the mechanical amplification effect of the multi-stage connecting rod makes the second motor 241 can output enough clamping force with smaller power, thereby reducing the overall weight, energy consumption and improving the response speed.

[0038] To prevent the holding feet 246 from over-swinging or clamping too tightly during repeated opening and closing, a limit pin 247 is provided on the bracket connecting rod 243. When the bracket connecting rod 243 rotates to a preset first position around the bracket plate 21, the limit pin 247 abuts against the driving connecting rod 244, thereby limiting the continuous rotation of the driving connecting rod 244. This mechanical limiting structure can effectively control the limit range of the opening and closing angle of the holding feet 246, preventing the holding feet 246 from over-opening and leaving the constraint of the walking guide pipe 13, or over-closing and exerting excessive pressure on the surface of the insulator. The cooperation of the limit pin 247 and the connecting rod ensures the repeated accuracy of the action of the holding feet 246, even in the state of long-term operation or high-frequency switching, the stable opening and closing stroke can be maintained, thereby improving the reliability and safety of the whole machine.

[0039] Preferably, the holding member 24 further comprises a locking bolt 25, which is movably connected with the holding member 246 and used to adjust the curvature of the arc surface of the holding member 246, and in particular, when the holding member 246 holds the insulator, tightening the locking bolt 25 can further reduce the curvature of the holding member 246, enhance the holding friction, and improve the stability.

[0040] The No. 2 crawling assembly 2 is arranged at the head end or tail end of the walking guide tube 13 as the main driving point of the device. When the holding member 24 of the assembly holds the insulator, the first motor 22 stops running, and the lead screw 12 and the transmission gear 23 remain relatively stationary, so that the whole main frame 1 forms a stable support. When the assembly starts the first motor 22, the lead screw 12 rotates under the driving of the motor and produces axial displacement along the main structural plate 11, so as to realize the forward movement of the whole main frame 1 with reference to the No. 1 crawling assembly 2. Through this structural arrangement, the lead screw 12 and the main structural plate 11 form a synchronous driving relationship, so that the fixed end assembly can not only serve as an anchoring point, but also as a main driving force input end, thereby realizing smooth overall propulsion in the process of alternating crawling. Since the power output points are arranged at both ends of the structure, the movement torque is evenly distributed, avoiding the torsion or displacement interference caused by simultaneous driving of multiple assemblies, and further improving the coordination and pitch accuracy of crawling.

[0041] In the embodiment, the No. 2 crawling assembly 2 comprises a lead screw nut 248, which is threadedly connected with the lead screw 12, and the transmission gear 23 is engaged with the lead screw nut 248. This structure can convert the rotary motion of the motor into linear displacement along the lead screw 12, realizing high-precision propulsion of the crawling assembly 2 along the walking guide tube 13. When the holding member 24 of the No. 2 assembly holds the insulator and remains stationary, it can serve as a fixed support point; when the lead screw 12 is driven to rotate by the No. 1 crawling assembly 2, the No. 2 crawling assembly 2 is driven to move forward along the lead screw 12 through the cooperation of the nut pair. The lead screw nut 248 transmission has self-locking performance, which can maintain the current position after stopping driving, preventing slipping due to vibration or inclination in high-altitude operation, and ensuring the pitch consistency of each step of crawling. This transmission structure enables the robot to maintain smooth and controllable action in complex curved or sloping surface environments, thereby ensuring the continuity and accuracy of the detection process.

[0042] Please refer to Figure 5 and Figure 6In order to further improve the structural stiffness and support stability, the main frame 1 further comprises two support pipes 14 arranged in parallel with the walking guide pipe 13, and the two ends of the support pipe 14 are fixedly connected with the two main structural plates 11 respectively. The support pipe 14 and the walking guide pipe 13 jointly form a space truss structure with multiple pipes arranged in parallel, which can share the bending force and lateral load from the walking guide pipe 13 during the crawling process, thereby preventing structural deformation or vibration caused by the stress of a single guide pipe. This arrangement makes the center of gravity of the entire main frame 1 more evenly distributed, maintains a stable posture when running on the insulator curved surface, effectively prevents yawing and shaking, and provides reliable structural support for the crawling action.

[0043] Three positioning assemblies 3 are arranged in the direction of the support pipe 14 at intervals for accurately detecting the movement distance of the crawling assembly 2. Each positioning assembly 3 comprises a fixed plate 31 and a photoelectric sensing element 32, the fixed plate 31 is bridged between the two support pipes 14, and the photoelectric sensing element 32 is installed on the fixed plate 31 and faces the crawling assembly 2. The support plate 21 of the crawling assembly 2 is provided with a light shield plate 249, which moves synchronously with the crawling assembly 2 and periodically enters or exits the sensing range of the photoelectric sensing element 32 during the walking process. Specifically, the light shield plate 249 is a T-shaped plate; the photoelectric sensing element 32 generates start-stop signals by detecting changes in the light shielding signal, and the control unit determines the moving position and distance of the crawling assembly 2 according to the photoelectric sensing result.

[0044] Specifically, the spacing of the three positioning assemblies 3 is set according to the setting spacing of the insulator to be detected, when the light shield plate 249 is detected to enter the sensing area, the control unit sends a stop signal to stop the corresponding motor from running, achieving accurate single-step positioning. The three positioning assemblies 3 are distributed along the walking direction, and can monitor the displacement of multiple crawling stages in turn, ensuring that the crawling pitch is consistent with the length of the insulator unit. The non-contact photoelectric detection method eliminates the problem of mechanical wear and tear, has fast signal response and strong anti-interference ability, and can operate stably under strong light or vibration conditions outdoors.

[0045] The control unit is electrically connected with all the first motors 22, the second motors 241 and the photoelectric sensing elements 32 for realizing coordinated control of the entire crawling process. The control unit automatically determines the position state of the crawling assembly 2 according to the photoelectric sensing signal, and outputs corresponding motor control instructions to complete the start-stop, holding switching and screw rod 12 rotation direction control of the motor. When it is detected that a crawling assembly 2 has completed a pitch movement, the control unit immediately stops the motor of the assembly and drives another assembly to perform the next action, thereby forming an alternating crawling rhythm. Through closed-loop feedback control logic, each crawling cycle corresponds to the length of an insulator unit, avoiding displacement deviation caused by error accumulation, and realizing high-precision synchronous control. The control system has a simple structure, clear action sequence, and good stability and repeatability under different working postures.

[0046] The above merely illustrates the embodiments of the present application, and is not intended to limit the patent scope of the present application. Any equivalent variation or direct or indirect application in the related technical field made according to the content of the present application specification and drawings shall be included in the patent protection scope of the present application.

Claims

1. A crawling structure for a gripping insulator inspection robot, used for inspecting power transmission line insulators, characterized in that, include: The main frame includes two symmetrically arranged main structural plates, a lead screw, and a traveling guide, with both ends of the traveling guide connected to the two main structural plates respectively; at least one end of the lead screw is rotatably connected to one of the main structural plates. At least two crawling components, including a support plate, a first motor, a transmission gear, and a foot gripper; the support plate is slidably connected to the traveling guide tube, the first motor is fixedly connected to the support plate and is drivenly connected to the transmission gear; the foot gripper is rotatably connected to the support plate and is used to grip or release the power transmission line insulator; At least one of the crawling components has a drive gear and a lead screw that are connected by a drive gear, and at least one of the crawling components has a fixed connection between the drive gear and the lead screw.

2. The crawling structure of a gripping insulator inspection robot according to claim 1, characterized in that, The foot-holding component includes a second motor, a transmission unit, and a foot-holding component; The second motor is fixedly connected to the support plate and is driven by the transmission part. The clamping foot is movably connected to the transmission part. The clamping foot has an arc-shaped surface that matches the shed of the power transmission line insulator. The second motor is used to control the arc-shaped surface of the clamping foot to clamp or release the power transmission line insulator by driving the transmission part.

3. The crawling structure of a gripping insulator inspection robot according to claim 2, characterized in that, The transmission unit includes a motor connecting rod, a bracket connecting rod, a drive connecting rod, and a drive arm; One end of the motor connecting rod is hinged to the output end of the second motor, and the other end is hinged to one end of the bracket connecting rod; The middle section of the support connecting rod is hinged to the support plate, and the other end is hinged to one end of the drive connecting rod; The other end of the drive linkage is hinged to the drive arm; One end of the drive arm is fitted onto the traveling guide tube and hinged to the support plate, while the other end is hinged to the foot.

4. The crawling structure of a gripping insulator inspection robot according to claim 3, characterized in that, The support link also includes a limiting pin; when the support link rotates to the first position, the limiting pin abuts against the drive link to limit the rotation range of the drive link.

5. The crawling structure of a gripping insulator inspection robot according to claim 1, characterized in that, The crawling assembly, whose transmission gear is fixedly connected to the lead screw, is located at the beginning or end of the walking guide tube.

6. The crawling structure of a gripping insulator inspection robot according to claim 1, characterized in that, The crawling assembly, in which the transmission gear is connected to the lead screw, further includes a lead screw nut, which is threadedly connected to the lead screw, and the transmission gear and the lead screw nut are connected in a transmission connection.

7. The crawling structure of a gripping insulator inspection robot according to claim 1, characterized in that, The main frame also includes two symmetrically arranged support tubes, which are parallel to the traveling guide tube and whose two ends are respectively connected to the two main structural plates.

8. The crawling structure of a gripping insulator inspection robot according to claim 7, characterized in that, It also includes at least two positioning components, each comprising a fixing plate and a photoelectric sensor. The fixing plate is fixedly connected to two of the support tubes, and the fixing plates of the plurality of positioning components are arranged at preset intervals. The photoelectric sensor is fixedly connected to the fixing plate and is used to detect the distance the crawling component moves along the walking guide tube.

9. The crawling structure of a gripping insulator inspection robot according to claim 8, characterized in that, It also includes a control unit, which controls the operation or stop of the first motor based on the distance the crawling component moves along the walking guide detected by the photoelectric sensor.

10. The crawling structure of a gripping insulator inspection robot according to claim 8, characterized in that, The support plate of the crawling component also includes a light-shielding plate. During the movement of the crawling component along the walking guide, the light-shielding plate can enter or leave the sensing range of the photoelectric sensor.

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