Carrier mechanism for walking on line

A carrier mechanism for walking on a line, comprising a carrier platform, a walking apparatus, a clamping apparatus, a driving apparatus, and a self-balance control apparatus;

• wherein
• the carrier platform comprises a first mounting plate, a second mounting plate and a longitudinal movable plate, wherein
• the first mounting plate is fixedly connected to the second mounting plate in parallel,
• the longitudinal movable plate is arranged between the first mounting plate and the second mounting plate in parallel, and
• the longitudinal movable plate is slidably arranged on the second mounting plate;
• the longitudinal movable plate is provided with four guide grooves, and the four guide grooves are symmetrically arranged on a left side and a right side of a longitudinal center line of the carrier platform;
• the guide grooves vertically penetrate the longitudinal movable plate, and the clamping apparatus is slidably connected to the guide grooves;
• the clamping apparatus is driven by the guide grooves to move reversely relative to the longitudinal movable plate;
• the walking apparatus is arranged on a lower side of the second mounting plate, and the walking apparatus comprises at least two sets of walking wheels, wherein
• the plurality of sets of walking wheels are successively arranged along a direction of the longitudinal center line of the carrier mechanism, and
• a walking direction of the walking wheels is consistent with the direction of the longitudinal center line of the carrier mechanism;
• the clamping apparatus is slidably arranged on a lower side of the longitudinal movable plate;
• the driving apparatus comprises a first driving apparatus and a second driving apparatus, wherein both the first driving apparatus and the second driving apparatus are fixedly arranged on the first mounting plate;
• the self-balance control apparatus is arranged on the carrier platform, and is configured to adjust a posture balance of the carrier mechanism;
• and
• wherein, in a working process, the second driving apparatus drives the longitudinal movable plate to move forward along the longitudinal center line of the carrier mechanism, and drives the clamping apparatus to clamp a to-be-inspected target;
• the first driving apparatus drives the walking wheels to roll on the to-be-inspected target;
• the self-balance control apparatus detects posture information of walking of the carrier mechanism, and adjusts a posture of the carrier mechanism to ensure a walking balance of the carrier mechanism on the to-be-inspected target.