CN112606923A - Insulator connecting rod creeping mechanism - Google Patents
Insulator connecting rod creeping mechanism Download PDFInfo
- Publication number
- CN112606923A CN112606923A CN202011470359.7A CN202011470359A CN112606923A CN 112606923 A CN112606923 A CN 112606923A CN 202011470359 A CN202011470359 A CN 202011470359A CN 112606923 A CN112606923 A CN 112606923A
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- connecting rod
- frame
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- driving
- crawling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Insulators (AREA)
- Devices Affording Protection Of Roads Or Walls For Sound Insulation (AREA)
Abstract
The invention relates to the technical field of mobile robots, in particular to an insulator connecting rod crawling mechanism. The frame opening and closing driving mechanism comprises a first connecting rod mechanism, a second connecting rod mechanism, a third connecting rod mechanism, a first frame, a second frame and a frame opening and closing driving mechanism, wherein one ends of the first frame and the second frame are connected through the first connecting rod mechanism, and the other ends of the first frame and the second frame are respectively provided with the second connecting rod mechanism and the third connecting rod mechanism; the first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism can synchronously crawl along the insulator; the second frame is an openable structure, and the frame opening and closing driving mechanism is arranged on the second frame and used for driving the second frame to open and close. The climbing mechanism can simply and quickly realize climbing on the insulator string, is simple to control, can realize climbing of the mechanism on the insulator string only by the motor doing circular motion in a single direction, and has good application prospect.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to an insulator connecting rod crawling mechanism.
Background
The insulator is a special insulating electronic control and is mainly used for telegraph poles or high-voltage line towers. Insulators are generally made up of two parts, one part being a central iron cap, with the ends of multiple iron caps being connectable end to end in a string. The iron cap is sleeved with toughened glass, and the toughened glass and the cement are glued into a whole by cement glue to form the insulator. The insulator is erected in the air according to the iron cap and the external glass or ceramic after being carried by a ship, and the erection mode is horizontal erection, vertical erection and inclined assumption. Because the environment that the insulator is located is comparatively dangerous, be unfavorable for the manual work to detect, need some insulators to crawl the corresponding module of mechanism load and carry out work.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an insulator connecting rod crawling mechanism, which can implement stable crawling on an insulator string, and load other functional modules to perform multiple functions, and the mechanism has a simple structure, is easy to control, and has a low self weight.
In order to achieve the purpose, the invention adopts the following technical scheme:
an insulator connecting rod crawling mechanism comprises a first connecting rod mechanism, a second connecting rod mechanism, a third connecting rod mechanism, a first frame, a second frame and a frame opening and closing driving mechanism, wherein one ends of the first frame and the second frame are connected through the first connecting rod mechanism, and the other ends of the first frame and the second frame are respectively provided with the second connecting rod mechanism and the third connecting rod mechanism; the first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism can synchronously crawl along the insulator;
the second frame is of an openable structure, and the frame opening and closing driving mechanism is arranged on the second frame and used for driving the second frame to open and close.
The first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism are identical in structure and respectively comprise an installation support frame, and a first connecting rod assembly, a second connecting rod assembly and a connecting rod driving mechanism which are arranged on the installation support frame, wherein the first connecting rod assembly and the second connecting rod assembly are arranged up and down and are respectively connected with the connecting rod driving mechanism, and the connecting rod driving mechanism drives the first connecting rod assembly and the second connecting rod assembly to reversely swing, so that the crawling action along the insulator is realized.
The first connecting rod assembly and the second connecting rod assembly are identical in structure and respectively comprise an insulating connecting rod, a rocker arm connecting rod and a driving connecting rod, wherein the driving connecting rod is connected with the connecting rod driving mechanism and can rotate around a fixed shaft; one end of the driving connecting rod is hinged to the middle of the insulating connecting rod, the tail end of the insulating connecting rod is hinged to one end of the rocker arm connecting rod, the other end of the rocker arm connecting rod is rotatably connected with the mounting support frame through a rocker arm rotating shaft, and the head end of the insulating connecting rod is a crawling force application end.
The motion trail of the crawling force application end of the insulating connecting rod is D-shaped, and the initial installation positions of the insulating connecting rods in the first connecting rod assembly and the second connecting rod assembly are respectively located at the top and the bottom of the motion trail.
The connecting rod driving mechanism comprises a first driven wheel, a tensioning wheel, a second driven wheel, a driving wheel, a power transmission belt and a crawling driving motor, wherein the first driven wheel and the second driven wheel are respectively arranged on the upper side and the lower side of the driving wheel, and the power transmission belt is wound around the outer sides of the first driven wheel, the second driven wheel and the driving wheel and is tensioned through the tensioning wheel; the output end of the crawling driving motor is connected with the driving wheel; the first driven wheel is connected with a driving connecting rod in the first connecting rod assembly; the second driven wheel is connected with a driving connecting rod in the second connecting rod assembly.
The installing and supporting frame comprises a first guide rod, a second guide rod, a first guide rod connecting piece, a second guide rod connecting piece and a mechanism installing frame, wherein the first guide rod and the second guide rod are connected to two sides of the mechanism installing frame through the first guide rod connecting piece and the second guide rod connecting piece respectively, and the first guide rod and the second guide rod are arranged along the vertical direction and are used for being in contact with the outer circumference of the insulator.
The mechanism mounting frame comprises a first mechanism mounting plate, a second mechanism mounting plate, a third mechanism mounting plate, a first mounting plate frame connecting piece and a second mounting plate frame connecting piece, wherein the first mechanism mounting plate, the second mechanism mounting plate and the third mechanism mounting plate are sequentially arranged in parallel, the first mechanism mounting plate is connected with the second mechanism mounting plate through the first mounting plate frame connecting piece and the second mounting plate frame connecting piece, and the third mechanism mounting plate is connected with the second mechanism mounting plate;
the first and second link assemblies are disposed between the first and second mechanism mounting plates; the link driving mechanism is arranged between the second mechanism mounting plate and the third mechanism mounting plate.
The second frame comprises a second frame I and a second frame II, wherein one end of the second frame I is rotatably connected with one end of the second frame II through a rotating shaft, the other end of the second frame I is connected with the first connecting rod mechanism, and the other end of the second frame II is connected with the third connecting rod mechanism; the frame opening and closing driving mechanism is arranged on the second frame I, and the output end of the frame opening and closing driving mechanism is connected with the rotating shaft; and the frame opening and closing driving mechanism drives the second frame II to rotate.
The frame opening and closing driving mechanism is a frame opening and closing motor.
The first frame and the second frame are both arc-shaped structures.
The invention has the advantages and beneficial effects that: the insulator connecting rod crawling mechanism provided by the invention can simply and quickly crawl on an insulator string, is simple to control, can crawl on the insulator string only by the circular motion of the motor in a single direction, and has a good application prospect.
Drawings
Fig. 1 is a schematic structural view of an insulator connecting rod crawling mechanism according to the present invention;
FIG. 2 is an exploded view of the first linkage mechanism of the present invention;
FIG. 3 is a schematic view of the drive mechanism of the linkage assembly of the present invention;
FIG. 4 is a schematic structural view of a connecting rod assembly according to the present invention.
In the figure: 1 is a first link mechanism, 2 is a second link mechanism, 3 is a third link mechanism, 4 is a first frame, 5 is a second frame, 6 is a frame opening and closing motor, 101 is a first guide bar, 102 is a second guide bar, 103 is a first guide bar connecting member, 104 is a second guide bar connecting member, 105 is a first driven wheel, 106 is a tension wheel, 107 is a second driven wheel, 108 is a driving wheel, 109 is a third mechanism mounting plate, 110 is a second mechanism mounting plate, 111 is a first mechanism mounting plate, 112 is a first mounting plate frame connecting member, 113 is a second mounting plate frame connecting member, 114 is a crawling drive motor, 115 is a first link assembly, 116 is a second link assembly, 117 is a power transmission belt, 1151 is an insulating link, 1152 is a rocker link, 1153 is a drive link, 1154 is a rocker link shaft, 1155 is an insulating link end shaft, 1156 is a drive shaft, and 1157 is an insulating link middle shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the insulator connecting rod crawling mechanism provided by the present invention includes a first connecting rod mechanism 1, a second connecting rod mechanism 2, a third connecting rod mechanism 3, a first frame 4, a second frame 5 and a frame opening and closing driving mechanism, wherein one end of the first frame 4 is connected with one end of the second frame 5 through the first connecting rod mechanism 1, and the other end of the first frame 4 is provided with the second connecting rod mechanism 2 and the third connecting rod mechanism 3 respectively; the first connecting rod mechanism 1, the second connecting rod mechanism 2 and the third connecting rod mechanism 3 can synchronously crawl along the insulator; the second frame 5 is an openable structure, and the frame opening and closing driving mechanism is arranged on the second frame 5 and used for driving the second frame 5 to open and close.
In the embodiment of the invention, the first frame 4 and the second frame 5 are both arc-shaped structures, and the frame opening and closing driving mechanism is a frame opening and closing motor 6. Specifically, the second frame 5 comprises a second frame I and a second frame II, wherein one end of the second frame I is rotatably connected with one end of the second frame II through a rotating shaft, the other end of the second frame I is connected with the first link mechanism 1, and the other end of the second frame II is connected with the third link mechanism 3; the frame opening and closing motor 6 is arranged on the second frame I, and the output end of the frame opening and closing motor is connected with the rotating shaft; the frame opening and closing motor 6 drives the second frame II to rotate around the rotating shaft, so that the second frame 5 is opened or closed. Before crawling, second frame 5 is open to on conveniently putting insulator chain with the connecting rod mechanism of crawling, later through the opening and shutting motor 6 control second frame 5 open angle, in order to realize that the connecting rod mechanism of crawling hugs closely insulator chain.
As shown in fig. 2, in the embodiment of the present invention, the first link mechanism 1, the second link mechanism 2, and the third link mechanism 3 have the same structure, and each of the first link mechanism 1, the second link mechanism 2, and the third link mechanism 3 includes an installation support frame, and a first link assembly 115, a second link assembly 116, and a link driving mechanism that are disposed on the installation support frame, wherein the first link assembly 115 and the second link assembly 116 are disposed up and down and are connected to the link driving mechanism, and the link driving mechanism drives the first link assembly 115 and the second link assembly 116 to swing in opposite directions, so as to implement a crawling.
In an embodiment of the present invention, the mounting support frame includes a first guide bar 101, a second guide bar 102, a first guide bar connector 103, a second guide bar connector 104, and a mechanism mounting frame, wherein the first guide bar 101 and the second guide bar 102 are respectively connected to two sides of the mechanism mounting frame through the first guide bar connector 103 and the second guide bar connector 104, and the first guide bar 101 and the second guide bar 102 are both arranged along a vertical direction and are used for contacting with an outer circumference of an insulator.
Specifically, the mechanism mounting frame includes a first mechanism mounting plate 111, a second mechanism mounting plate 110, a third mechanism mounting plate 109, a first mounting plate frame connector 112 and a second mounting plate frame connector 113, wherein the first mechanism mounting plate 111, the second mechanism mounting plate 110 and the third mechanism mounting plate 109 are sequentially arranged in parallel, the first mechanism mounting plate 111 is connected with the second mechanism mounting plate 110 through the first mounting plate frame connector 112 and the second mounting plate frame connector 113, and the third mechanism mounting plate 110 is connected with the second mechanism mounting plate 110; the first link assembly 115 and the second link assembly 116 are disposed between the first mechanism mounting plate 111 and the second mechanism mounting plate 110; the link drive mechanism is disposed between the second mechanism mounting plate 110 and the third mechanism mounting plate 109.
As shown in fig. 3, in the embodiment of the present invention, the link driving mechanism includes a first driven wheel 105, a tension pulley 106, a second driven wheel 107, a driving wheel 108, a power transmission belt 117 and a crawling driving motor 114, wherein the first driven wheel 105, the tension pulley 106, the second driven wheel 107 and the driving wheel 108 are rotatably disposed on a second mechanism mounting plate 110, the first driven wheel 105 and the second driven wheel 107 are respectively disposed on the upper and lower sides of the driving wheel 108, and the power transmission belt 117 surrounds the outer sides of the first driven wheel 105, the second driven wheel 107 and the driving wheel 108 and is tensioned by the tension pulley 106; the output end of the crawling drive motor 114 is connected with the driving wheel 108; the first driven wheel 105 is connected to a first link assembly 115; the second driven wheel 107 is connected to a second link assembly 116.
The crawling driving motor 114 drives the driving wheel 108 to rotate, the first driven wheel 105 and the second driven wheel 107 are driven to rotate through the power transmission belt 117, and the power transmission belt 117 can effectively transmit power by adjusting the position of the tension pulley 106.
As shown in fig. 4, in the embodiment of the present invention, the first link assembly 115 and the second link assembly 116 are identical in structure and each include an insulating link 1151, a rocker link 1152 and a driving link 1153, wherein the driving link 1153 is connected to the first driven wheel 105 or the second driven wheel 107 of the link driving mechanism through a driving rotating shaft 1156 and can rotate around a fixed shaft; the tail end of the driving connecting rod 1153 is hinged to the middle position of the insulating connecting rod 1151 through a middle rotating shaft 1157 of the insulating connecting rod, the tail end of the insulating connecting rod 1151 is hinged to one end of the rocker arm connecting rod 1152 through a tail rotating shaft 1155 of the insulating connecting rod, the other end of the rocker arm connecting rod 1152 is rotatably connected with the mounting support frame through a rocker arm rotating shaft 1154, and the head end of the insulating connecting rod 1151 is a crawling force application end.
Specifically, the first driven wheel 105 or the second driven wheel 107 drives the driving connecting rod 1153 to rotate along the circumferential direction, the driving connecting rod 1153 drives the insulating connecting rod 1151 to swing, the motion track of the crawling force application end of the insulating connecting rod 1151 is in a 'D' shape, and the driving rotating shaft 1157 only needs to do repeated circular motion to achieve crawling of the whole structure along the insulator string. The initial mounting positions of the insulated links 1151 in the first and second link assemblies 115 and 116 are located at the top and bottom of the "D" shaped motion trajectory, respectively, thereby enabling the insulated links 1151 in the first and second link assemblies 115 and 116 to move in opposite directions.
In the embodiment of the present invention, the second frame 5 has a rotating pair controlled by the frame opening and closing motor 6. Before crawling, the frame opening and closing motor 6 controls the rotating pair to be opened at a certain angle, so that the insulator connecting rod crawling mechanism can be conveniently placed on or taken down from an insulator string; when this mechanism of crawling is located the suitable position on the insulator chain, this revolute pair of frame control 6 rotation of opening and shutting is in order to press from both sides tight insulator chain, ensures this mechanism of crawling reliably stable enclasping on the insulator chain. The relative positions of the first link mechanism 1 and the third link mechanism 3 are not changed, the first link mechanism 1, the second link mechanism 2 and the third link mechanism 3 are uniformly distributed on a circumference, the three link mechanisms are all pressed on an insulator string, and an insulating connecting rod 1151 of a first link assembly 115 of the three link mechanisms is lapped on an insulator umbrella skirt so as to prevent the crawling mechanism from sliding off the insulator string due to the influence of gravity, and the head of the insulating connecting rod 1151 of the second link assembly 116 is positioned on one side, away from the insulator, of the corresponding first guide rod 101 and the second guide rod 102. The number of the link mechanisms can be increased or decreased according to the actual task requirement.
In this embodiment, in each set of linkage mechanisms, the complete motion trajectory of the head portion of the insulating link 1151 in each set of linkage assemblies is a completely repeated "D" shape. The plane formed by the first guide bar 115 and the second guide bar 116 is perpendicular to the motion trajectory plane, and the common straight line of the two planes is located substantially at the middle of the "D" shape of the motion trajectory and parallel to the vertical portion of the "D" shape. In this embodiment, the three sets of crawling drive motors 114 provide motive power, and crawling of the overall crawling mechanism along the insulator string can be achieved only by performing synchronous and repeated constant-speed full-circle rotation. In the movement process, the first guide rod 101 and the second guide rod 102 are pressed on the insulator string all the time, the upward movement track of the head of the insulating connecting rod 1151 is positioned on the side, far away from the insulator, of the first guide rod 101 and the second guide rod 102, and the downward movement track of the head of the insulating connecting rod 1151 is positioned on the side, close to the insulator, of the first guide rod 101 and the second guide rod 102, so that the crawling along the insulator shed is realized.
The invention provides an insulator connecting rod crawling mechanism which comprises three identical connecting rod mechanisms used for crawling, a group of fixed frames used for fixing the connecting rod mechanisms and a group of fixed frames provided with motors and capable of rotating in a fixed shaft mode. The number of the connecting rod mechanisms can be increased or decreased according to actual tasks, each group of the connecting rod mechanisms is driven by one motor, the connecting rod mechanisms are provided with two identical simple connecting rod mechanisms, power transmission is carried out through a belt, the tail end running track of each simple connecting rod mechanism is approximately in a D shape so as to realize the reciprocating motion and crawling of the tail end, one of the two simple mechanisms is always lapped on an insulator umbrella skirt and moves downwards in motion to drive the whole structure to climb upwards, and the other simple mechanism moves upwards and is not in contact with the insulator; the fixed frame is used for fixing the connecting rod mechanism and the motor and opening and closing the connecting rod mechanism and the motor so as to enable the whole structure to tightly hold the insulator string. The crawling mechanism can simply and quickly crawl on the insulator string, is simple to control, can crawl on the insulator string by only needing the motor to do circular motion in a single direction, and has good application prospect.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. An insulator connecting rod crawling mechanism is characterized by comprising a first connecting rod mechanism (1), a second connecting rod mechanism (2), a third connecting rod mechanism (3), a first frame (4), a second frame (5) and a frame opening and closing driving mechanism, wherein one ends of the first frame (4) and the second frame (5) are connected through the first connecting rod mechanism (1), and the other ends of the first frame (4) and the second frame (5) are respectively provided with the second connecting rod mechanism (2) and the third connecting rod mechanism (3); the first connecting rod mechanism (1), the second connecting rod mechanism (2) and the third connecting rod mechanism (3) can synchronously crawl along the insulator;
the second frame (5) is of an openable structure, and the frame opening and closing driving mechanism is arranged on the second frame (5) and used for driving the second frame (5) to open and close.
2. The insulator connecting rod crawling mechanism according to claim 1, wherein the first connecting rod mechanism (1), the second connecting rod mechanism (2) and the third connecting rod mechanism (3) are identical in structure and respectively comprise an installation support frame and a first connecting rod assembly (115), a second connecting rod assembly (116) and a connecting rod driving mechanism, the first connecting rod assembly (115) and the second connecting rod assembly (116) are arranged on the installation support frame in an up-and-down mode and are respectively connected with the connecting rod driving mechanism, and the connecting rod driving mechanism drives the first connecting rod assembly (115) and the second connecting rod assembly (116) to swing in opposite directions, so that crawling action along the insulator is achieved.
3. The insulator connecting rod crawling mechanism according to claim 2, wherein the first connecting rod assembly (115) and the second connecting rod assembly (116) are identical in structure and each comprise an insulating connecting rod (1151), a rocker connecting rod (1152) and a driving connecting rod (1153), wherein the driving connecting rod (1153) is connected with the connecting rod driving mechanism and can rotate around a fixed shaft; one end of the driving connecting rod (1153) is hinged to the middle of the insulating connecting rod (1151), the tail end of the insulating connecting rod (1151) is hinged to one end of the rocker connecting rod (1152), the other end of the rocker connecting rod (1152) is rotatably connected with the mounting support frame through a rocker rotating shaft (1154), and the head end of the insulating connecting rod (1151) is a crawling force application end.
4. The insulator link crawling mechanism according to claim 3, wherein the motion track of the crawling force application end of the insulated link (1151) is D-shaped, and the initial installation positions of the insulated links (1151) in the first link assembly (115) and the second link assembly (116) are respectively located at the top and the bottom of the motion track.
5. The insulator connecting rod crawling mechanism according to claim 3, wherein the connecting rod driving mechanism comprises a first driven wheel (105), a tensioning wheel (106), a second driven wheel (107), a driving wheel (108), a power transmission belt (117) and a crawling driving motor (114), wherein the first driven wheel (105) and the second driven wheel (107) are respectively arranged on the upper side and the lower side of the driving wheel (108), the power transmission belt (117) surrounds the outer sides of the first driven wheel (105), the second driven wheel (107) and the driving wheel (108) and is tensioned by the tensioning wheel (106); the output end of the crawling driving motor (114) is connected with the driving wheel (108); the first driven wheel (105) is connected with a driving link (1153) in the first link assembly (115); the second driven wheel (107) is connected with a driving connecting rod (1153) in the second connecting rod assembly (116).
6. The insulator connecting rod crawling mechanism according to claim 2, wherein the mounting support frame comprises a first guide rod (101), a second guide rod (102), a first guide rod connector (103), a second guide rod connector (104) and a mechanism mounting frame, wherein the first guide rod (101) and the second guide rod (102) are respectively connected to two sides of the mechanism mounting frame through the first guide rod connector (103) and the second guide rod connector (104), and the first guide rod (101) and the second guide rod (102) are vertically arranged and used for contacting with the outer circumference of the insulator.
7. The insulator connecting rod crawling mechanism according to claim 6, wherein the mechanism mounting frame comprises a first mechanism mounting plate (111), a second mechanism mounting plate (110), a third mechanism mounting plate (109), a first mounting plate frame connector (112) and a second mounting plate frame connector (113), wherein the first mechanism mounting plate (111), the second mechanism mounting plate (110) and the third mechanism mounting plate (109) are sequentially arranged in parallel, the first mechanism mounting plate (111) is connected with the second mechanism mounting plate (110) through the first mounting plate frame connector (112) and the second mounting plate frame connector (113), and the third mechanism mounting plate (110) is connected with the second mechanism mounting plate (110);
the first link assembly (115) and the second link assembly (116) are disposed between the first mechanism mounting plate (111) and the second mechanism mounting plate (110); the link driving mechanism is disposed between the second mechanism mounting plate (110) and the third mechanism mounting plate (109).
8. The insulator connecting rod crawling mechanism according to claim 1, wherein the second frame (5) comprises a first frame and a second frame, wherein one end of the first frame is rotatably connected with one end of the second frame through a rotating shaft, the other end of the second frame is connected with the first connecting rod mechanism (1), and the other end of the second frame is connected with the third connecting rod mechanism (3); the frame opening and closing driving mechanism is arranged on the second frame I, and the output end of the frame opening and closing driving mechanism is connected with the rotating shaft; and the frame opening and closing driving mechanism drives the second frame II to rotate.
9. The insulator connecting rod crawling mechanism according to claim 1, wherein the frame opening and closing driving mechanism is a frame opening and closing motor (6).
10. An insulator connecting rod crawling mechanism according to claim 1, characterized in that the first frame (4) and the second frame (5) are both arc-shaped structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011470359.7A CN112606923B (en) | 2020-12-14 | 2020-12-14 | Insulator connecting rod crawling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011470359.7A CN112606923B (en) | 2020-12-14 | 2020-12-14 | Insulator connecting rod crawling mechanism |
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| CN112606923A true CN112606923A (en) | 2021-04-06 |
| CN112606923B CN112606923B (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011470359.7A Active CN112606923B (en) | 2020-12-14 | 2020-12-14 | Insulator connecting rod crawling mechanism |
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| Publication number | Publication date |
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| CN112606923B (en) | 2023-06-23 |
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