CN112606923B - Insulator connecting rod crawling mechanism - Google Patents
Insulator connecting rod crawling mechanism Download PDFInfo
- Publication number
- CN112606923B CN112606923B CN202011470359.7A CN202011470359A CN112606923B CN 112606923 B CN112606923 B CN 112606923B CN 202011470359 A CN202011470359 A CN 202011470359A CN 112606923 B CN112606923 B CN 112606923B
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- connecting rod
- frame
- link
- driving
- mounting plate
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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 device 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 climb 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 invention can simply and rapidly realize crawling on the insulator string, is simple to control, can realize crawling of the mechanism on the insulator string only by the motor doing unidirectional circular motion, 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 used for a telegraph pole or a high-voltage electric wire tower. The insulator is typically made up of two parts, one part being a central iron cap, the ends of which may be connected end to end in a string. The iron cap sleeve is coated with toughened glass, and the iron cap sleeve and the toughened glass are glued into a whole by cement glue, so that the insulator is formed. The insulator is erected in the air after taking a ship according to the iron cap and the external glass or ceramic, and the erection mode has the assumption of horizontal erection, vertical erection and inclination. Because the insulator is dangerous in the environment, the insulator is unfavorable for manual detection, and a plurality of insulator crawling mechanisms are required to load corresponding modules for working.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the insulator connecting rod crawling mechanism which can stably crawl on an insulator string and load other functional modules to complete multiple functions, and the mechanism is simple in structure, easy to control and low in dead weight.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the 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 second connecting rod mechanism and the third connecting rod mechanism are respectively arranged at the other ends of the first frame and the second frame; the first connecting rod mechanism, the second connecting rod mechanism and the third connecting rod mechanism can synchronously climb 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 comprise an installation support frame, a first connecting rod assembly, a second connecting rod assembly and a connecting rod driving mechanism, wherein the first connecting rod assembly, the second connecting rod assembly and the connecting rod driving mechanism are arranged up and down and are 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 swing reversely, so that crawling action along an insulator is realized.
The first connecting rod assembly and the second connecting rod assembly have the same structure and comprise an insulating connecting rod, a rocker 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 with the middle position of the insulating connecting rod, the tail end of the insulating connecting rod is hinged with one end of the rocker connecting rod, the other end of the rocker connecting rod is rotatably connected with the mounting support frame through a rocker 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 in a D shape, and initial installation positions of the insulating connecting rods in the first connecting rod assembly and the second connecting rod assembly are respectively positioned 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 surrounds the first driven wheel, the second driven wheel and the outer side of 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 mounting support 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 mounting frame, wherein the first guide rod and the second guide rod are connected to two sides of the mechanism mounting 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 distributed 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 connecting rod assembly and the second connecting rod assembly are arranged between the first mechanism mounting plate and the second mechanism mounting plate; the connecting rod 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, one ends of the second frame I and the second frame II are rotatably connected 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; 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 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 rapidly realize crawling on an insulator string, is simple to control, can realize crawling on the insulator string only by making a motor perform circular motion in a single direction, and has a good application prospect.
Drawings
FIG. 1 is a schematic diagram of a link climbing mechanism for insulators according to the present invention;
FIG. 2 is an exploded view of a first link mechanism according to the present invention;
FIG. 3 is a schematic view of a driving mechanism of a connecting rod assembly according to 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 rod, 102 is a second guide rod, 103 is a first guide rod connector, 104 is a second guide rod connector, 105 is a first driven wheel, 106 is a tensioning 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 connector, 113 is a second mounting plate frame connector, 114 is a crawling driving 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 driving link, 1154 is a rocker shaft, 1155 is an insulating link end shaft, 1156 is a driving shaft, 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 link crawling mechanism provided by the invention comprises a first link mechanism 1, a second link mechanism 2, a third link 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 link mechanism 1, and the other ends of the first frame 4 and the second frame 5 are respectively provided with the second link mechanism 2 and the third link mechanism 3; the first link mechanism 1, the second link mechanism 2 and the third link mechanism 3 can synchronously creep 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 is 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 ends of the second frame I and the second frame II are rotationally connected 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, the second frame 5 is opened so as to facilitate the rod crawling mechanism to be placed on or taken down from the insulator string, and then the opening angle of the second frame 5 is controlled through the frame opening and closing motor 6 so as to realize the clasping of the rod crawling mechanism on the insulator string.
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 include a mounting support frame, and a first link assembly 115, a second link assembly 116 and a link driving mechanism that are disposed on the mounting support frame, where 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 reversely, so as to implement a crawling action along an insulator.
In the embodiment of the invention, the installation support frame comprises a first guide rod 101, a second guide rod 102, a first guide rod connecting piece 103, a second guide rod connecting piece 104 and a mechanism installation frame, wherein the first guide rod 101 and the second guide rod 102 are respectively connected to two sides of the mechanism installation frame through the first guide rod connecting piece 103 and the second guide rod connecting piece 104, and the first guide rod 101 and the second guide rod 102 are respectively distributed along the vertical direction and are used for being in contact with the 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, where 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 to 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 to 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 provided between the second mechanism mounting plate 110 and the third mechanism mounting plate 109.
As shown in fig. 3, in the embodiment of the invention, the link driving mechanism includes 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, the tensioning wheel 106, the second driven wheel 107 and the driving wheel 108 are rotatably disposed on the second mechanism mounting plate 110, the first driven wheel 105 and the second driven wheel 107 are respectively disposed on the upper side and the lower side 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 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 the first link assembly 115; the second driven wheel 107 is connected to a second linkage 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 perform power transmission by adjusting the position of the tensioning wheel 106.
As shown in fig. 4, in the embodiment of the present invention, the first link assembly 115 and the second link assembly 116 have the same structure and each include an insulating link 1151, a rocker link 1152 and a driving link 1153, where the driving link 1153 is connected to the first driven wheel 105 or the second driven wheel 107 in the link driving mechanism through a driving shaft 1156 and can rotate around a fixed shaft; the tail end of the driving connecting rod 1153 is hinged with the middle position of the insulating connecting rod 1151 through an insulating connecting rod middle rotating shaft 1157, the tail end of the insulating connecting rod 1151 is hinged with one end of the rocker connecting rod 1152 through an insulating connecting rod tail end rotating shaft 1155, 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.
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 movement track of the crawling force application end of the insulating connecting rod 1151 is in a shape of 'D', and the driving rotating shaft 1157 can crawl along the insulator string in an integral structure only by performing repeated circular movement. The initial installation positions of the insulating links 1151 in the first and second link assemblies 115 and 116 are located at the top and bottom of the "D" shaped movement trace, respectively, so that the reverse movement of the insulating links 1151 in the first and second link assemblies 115 and 116 is achieved.
In the embodiment of the present invention, the second frame 5 has a rotating pair which is controlled to be opened and closed by the frame opening and closing motor 6. Before creeping, the frame opening and closing motor 6 controls the rotating pair to open by a certain angle so as to conveniently put the insulator connecting rod creeping mechanism on or take the insulator connecting rod creeping mechanism off the insulator string; when the crawling mechanism is positioned at a proper position on the insulator string, the frame opening and closing motor 6 controls the rotation pair to rotate so as to clamp the insulator string, so that the crawling mechanism is ensured to be reliably and stably held tightly on the insulator string. 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 one circumference, the three link mechanisms are all pressed on the insulator string, the insulating link 1151 of the first link assembly 115 of the three link mechanisms is lapped on the 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 part of the insulating link 1151 of the second link assembly 116 is positioned on one side, far away from the insulator, of the corresponding first guide rod 101 and second guide rod 102. The number of the link mechanisms can be appropriately increased or decreased according to actual task requirements.
In this embodiment, in each set of link mechanisms, the complete movement locus of the head of the insulating link 1151 in each set of link 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 movement track plane, and the common straight line of the two planes is located approximately in the middle of the "D" shape of the movement track and parallel to the vertical portion of the "D" shape. In this embodiment, the three sets of crawling driving motors 114 provide motive power for movement, and only need to perform synchronous and repeated constant-speed full-rotation, so that crawling of the whole crawling mechanism along the insulator string can be realized. In the motion, the first guide rod 101 and the second guide rod 102 are always pressed on the insulator string, the upward motion track of the head of the insulating connecting rod 1151 is positioned on one side of the first guide rod 101 and the second guide rod 102 far away from the insulator, and the downward motion track of the head of the insulating connecting rod 1151 is positioned on one side of the first guide rod 101 and the second guide rod 102 close to the insulator, so that crawling along the umbrella skirt of the insulator 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 for fixing the connecting rod mechanisms and a group of fixed frames with motors capable of rotating in a fixed shaft. The connecting rod mechanisms can increase or decrease the number according to actual tasks, each group of connecting rod mechanisms is driven by one motor and is provided with two identical simple connecting rod mechanisms, the power transmission is carried out through a belt, the tail end running track of each simple connecting rod mechanism is approximately in a shape like a Chinese character 'D', so that the tail end reciprocating motion and crawling are realized, one of the two simple mechanism is always carried on the umbrella skirt of the insulator and moves downwards in the motion process, the integral structure is driven to climb upwards, and the other simple mechanism moves upwards and is in non-contact with the insulator; the fixed frame is used for fixing the connecting rod mechanism, the motor and opening and closing so as to facilitate the whole structure to tightly hold the insulator string. The crawling mechanism can simply and rapidly achieve crawling on the insulator string, is simple to control, can achieve crawling on the insulator string only by means of unidirectional circular motion of the motor, and has good application prospects.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. The insulator link crawling mechanism is characterized by comprising a first link mechanism (1), a second link mechanism (2), a third link 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 link mechanism (1), and the other ends of the first frame (4) and the second frame (5) are respectively provided with the second link mechanism (2) and the third link mechanism (3); the first connecting rod mechanism (1), the second connecting rod mechanism (2) and the third connecting rod mechanism (3) can synchronously climb 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 is used for driving the second frame (5) to open and close;
the first connecting rod mechanism (1), the second connecting rod mechanism (2) and the third connecting rod mechanism (3) have the same structure and comprise an installation support frame, a first connecting rod assembly (115), a second connecting rod assembly (116) and a connecting rod driving mechanism, wherein the first connecting rod assembly (115) and the second connecting rod assembly (116) are arranged up and down and are 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 reversely, so that crawling action along an insulator is realized;
the first connecting rod assembly (115) and the second connecting rod assembly (116) have the same structure and 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 position 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.
2. The insulator link creeper mechanism of claim 1, characterized in that the movement locus of the creeper force application end of the insulator link (1151) is "D" shaped, and initial installation positions of the insulator link (1151) in the first link assembly (115) and the second link assembly (116) are located at the top and bottom of the movement locus, respectively.
3. The insulator link crawling mechanism according to claim 1, wherein the link 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), 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 through 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 connecting rod (1153) in the first connecting rod assembly (115); the second driven wheel (107) is connected with a driving connecting rod (1153) in the second connecting rod assembly (116).
4. The insulator link crawling mechanism according to claim 1, characterized in that the mounting support comprises a first guide bar (101), a second guide bar (102), a first guide bar connecting piece (103), a second guide bar connecting piece (104) and a mechanism mounting frame, wherein the first guide bar (101) and the second guide bar (102) are connected to two sides of the mechanism mounting frame through the first guide bar connecting piece (103) and the second guide bar connecting piece (104), and the first guide bar (101) and the second guide bar (102) are arranged along the vertical direction and are used for being in contact with the outer circumference of an insulator.
5. The insulator link crawling mechanism according to claim 4, 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 arranged in parallel in sequence, 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 (109) 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 provided between the second mechanism mounting plate (110) and the third mechanism mounting plate (109).
6. The insulator link crawling mechanism according to claim 1, characterized in that the second frame (5) comprises a second frame i and a second frame ii, wherein one end of the second frame i and one end of the second frame ii are rotatably connected 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 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; the frame opening and closing driving mechanism drives the second frame II to rotate.
7. The insulator link climbing mechanism according to claim 1, wherein the frame opening and closing driving mechanism is a frame opening and closing motor (6).
8. The insulator link climbing mechanism according to claim 1, wherein the first frame (4) and the second frame (5) are each of an arc-shaped structure.
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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| Publication Number | Publication Date |
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| CN112606923A CN112606923A (en) | 2021-04-06 |
| CN112606923B true 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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| CN112606923A (en) | 2021-04-06 |
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