The invention relates to the technical field of mobile robots, in particular to a crawling mechanism applied to a multi-working-condition insulator chain detection task. The crawling mechanism comprises a body frame and an upper and lower string opening and closing mechanism, a compliant mechanism and a moving mechanism, which are arranged on the body frame, wherein the upper and lower string opening and closing mechanism is used for tightly holding an insulator string, so that the climbing mechanism can climb up and down; the compliant mechanism is located on the inner side of theupper and lower string opening and closing mechanism and is used for being in flexible contact with the edge of an insulator umbrella skirt; and the moving mechanism clamps an insulator iron cap and abuts against the cross section of the insulator umbrella skirt, so that the crawling mechanism moves. The crawling mechanism crawl stably, is high in reliability, can move along overhanging, horizontal and large-inclination-angle insulator strings, and has high adaptability to insulator strings with different axes.
本发明涉及移动机器人技术领域,特别涉及一种应用于多工况绝缘子串检测任务的爬行机构。包括本体框架及设置于本体框架上的上下串开合机构、柔顺机构及移动机构;其中上下串开合机构用于抱紧绝缘子串,实现爬行机构上串与下串;柔顺机构位于上下串开合机构的内侧,用于与绝缘子伞裙边缘处柔性接触;移动机构通过夹紧绝缘子铁帽以及抵住绝缘子伞裙截面,实现爬行机构的移动。本发明爬行平稳,可靠性强,可沿着悬垂、水平以及具备较大倾斜角度绝缘子串运动,同时对不同轴线绝缘子串表现出较强适应能力。
Crawling mechanism applied to multi-working-condition insulator chain detection task
一种应用于多工况绝缘子串检测任务的爬行机构
2021-09-10
Patent
Electronic Resource
Chinese
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