Insulator detecting robot mechanism

Abstract

The invention relates to a mobile robot mechanism, in particular to an insulator detecting robot mechanism which comprises an opening and closing mechanism, a detecting mechanism and a plurality of moving parts. The moving parts are evenly distributed on the opening and closing mechanism in the circumferential direction. The detecting mechanism is arranged on the opening and closing mechanism or any one moving part. When an insulator string is detected, the robot mechanism climbs on the insulator string through the moving parts and detects the insulator string through the detecting mechanism. The opening and closing mechanism is provided with a self-locked worm and gear structure, the moving parts are the same in structure and each comprise an upper connecting rod, a second rotary joint, an upper wheel leg, a lower connecting rod, a third rotary joint and a lower wheel leg, and the upper wheel leg and the lower wheel leg are the same in structure. The insulator detecting robot mechanism has high adaptability to insulators of different types and is high in moving speed, convenient to detect and high in reliability, and the detecting mechanism is easy to arrange.

Description

technical field [0001] The invention relates to a mobile robot mechanism, in particular to an insulator detection robot mechanism. Background technique [0002] In the prior art, the insulator detection robot mechanism can be divided into three types according to the moving mode of the robot: crawler type, crawler type and wheel-leg type. The creeping type walking mechanism uses the principle of bionics to crawl along the hanging insulator string. The movement of the mechanism is stable and reliable, but its gait control is complicated. 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 a strong surface adaptability. It is widely used in various obstacle-crossing robots, but its structure is complex and bulky. The wheel-leg walking mechanism is a mechanism that uses the contact between the wheel legs and the insulator porcelain skirt to realize the movement along the h...

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Problems solved by technology

[0002] In the prior art, the insulator detection robot mechanism can be divided into three types according to the moving mode of the robot: crawler type, crawler type and wheel-leg type. The creeping type walking mechanism uses the principle of bionics to crawl along the hanging insulator string. The movement of the mechanism is stable and reliable, but its gait control is complicated

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 a strong surface adaptability. It is widely used in various obstacle-crossing robots, but its structure is complex and bulky.

The wheel-leg walking mechanism is a mechanism that uses the contact between the wheel legs and the insulator porcelain skirt to realize the movement along the hanging insulator string. The principle of the mechanism is simple and the volume is light. Poor, easy to interfere with insulators, poor movement reliability, etc.

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