公开(公告)号：US11283247B2

公开(公告)日：2022-03-22

申请号：US17298607

申请日：2019-11-12

申请人： INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES

发明人： Guodong Yang ,  Xiaoyu Long ,  Weiqing Zhao ,  En Li ,  Zize Liang ,  Fengshui Jing ,  Han Wang ,  Hao Wang ,  Zishu Gao ,  Yunong Tian ,  Yuansong Sun ,  Sixi Lu ,  Guangyao Xu

IPC分类号： H02G1/02 ,  B25J5/02 ,  B61B7/06 ,  H02G7/16

摘要： A carrier mechanism for walking on a line includes a carrier platform constituted by a first mounting plate, a second mounting plate and a longitudinal movable plate, a walking apparatus, a clamping apparatus, a driving apparatus, and a self-balance control apparatus configured to adjust a posture of the carrier mechanism. The longitudinal movable plate is slidably arranged on the second mounting plate fixedly connected to the first mounting plate in parallel. The walking apparatus includes at least two sets of walking wheels arranged along a walking direction. The clamping apparatus is slidably arranged on the lower side of the longitudinal movable plate. The driving apparatus includes a first driving apparatus configured to drive the walking wheels to roll, and a second driving apparatus configured to drive the longitudinal movable plate to move. The clamping apparatus is driven by the longitudinal movable plate to clamp or release a to-be-inspected target.