Power transmission line crimped pipe detection system, and method

Abstract

A power transmission line crimped pipe detection system, and a method. The detection system comprises: a beam-type platform (25) and a detection robot (30). The beam-type platform (25) is connected to the detection robot (30) by means of a rope body and is arranged on a bundled conductor (23) to control the ascent and descent of the detection robot (30). The detection robot (30) comprises: a robot body (65), a rotating mechanism connected to the robot body (65), and a detection mechanism, the rotating mechanism being connected to the detection mechanism. The detection robot (30) is configured to change the relative position between the detection mechanism and the robot body (65) by means of the rotating mechanism, so as to perform balance control during processes of climbing up and down a line and during detection processes.

Description

Transmission line pressure pipe detection system and method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on July 10, 2023, with application number 202310840924.1, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of electric power robots, for example, to a system and method for detecting pressure pipes for power transmission lines. Background Art

[0003] Transmission line tension clamps absorb the horizontal stress of conductors and secure them in place. Poor quality can cause conductors to break and fall, potentially resulting in serious accidents such as casualties. Quality issues with the compression fittings in transmission line tension clamps are hidden defects that cannot be detected visually after crimping and can only be detected using X-ray equipment.

[0004] The X-ray detection method has the following problems:

[0005] (1) All inspections are carried out manually by climbing the tower. X-ray inspections of manually pressed pipes are carried out by the "drone + flying man" method, which is mainly divided into three steps: drone-assisted rope throwing, "flying man" isopotential entry and exit of the electric field, and manual remote control X-ray inspection. The above methods not only consume the physical strength of the operators, but also cause ionizing radiation damage to the operators due to close contact with X-ray equipment. The above inspection methods can only be carried out under power outage conditions and are restricted by maintenance plans, so the operations cannot be carried out in a timely manner as needed.

[0006] (2) When the intelligent inspection robot is put into operation, it is first necessary to use a drone to mount a lightweight traction rope, and then replace it with a load-bearing insulating rope to pull the X-ray inspection robot. However, the multiple phase lines of the transmission line are arranged in a vertical and staggered manner, and the pulling space is limited, which makes the operation extremely inconvenient and increases the difficulty of going online. The load-bearing insulating rope itself affects the process of the X-ray inspection robot riding on the line and affects the X-ray inspection robot walking along the line. It is necessary to design an avoidance mechanism, which increases the difficulty of going online.

[0007] (3) When a robot carrying X-ray equipment is used for crimped pipe detection, the robot's balance performance is poor due to the existence of the robot body, the robot's walking mechanism, and the detection mechanism. During the process of going online, the robot is prone to spinning or touching the split wire, and cannot achieve rapid up and down line balance control. It needs to be continuously traction controlled in the air, which may result in the actual operation efficiency being lower than that of manual detection methods.

[0008] Summary of the Invention

[0009] The present application provides a transmission line crimped tube detection system and method, which solves the problem of robots going online and offline, improves the efficiency of crimped tube detection, reduces the labor intensity of operators, and increases operation safety.

[0010] The present application provides a transmission line pressure tube detection system.

[0011] A transmission line pressure pipe detection system, comprising: a beam platform and a detection robot;

[0012] The beam platform is connected to the detection robot via a rope body, and the beam platform is arranged on the split conductor and performs lifting and lowering control of the detection robot;

[0013] The detection robot includes: a robot body, a rotating mechanism connected to the robot body, and a detection mechanism. The rotating mechanism is connected to the detection mechanism. The detection robot is configured to change the relative position of the detection mechanism and the robot body through the rotating mechanism to perform balance control of the up and down lines and the detection process.

[0014] In one or more embodiments, the beam platform comprises: a platform body, a wire hooking groove located at a first end of the platform body, and a wire clamping groove located at a second end of the platform body, wherein a locking device configured to lock the platform body to a split wire is arranged on the platform body;

[0015] A traction rope hook is provided at the first end of the platform body, and an auxiliary rope hook is provided at the second end of the platform body. A fixed pulley, a magnetic device, a wire groove, a weight block, a conical weight, and a conical weight sleeve are arranged on the platform body. A first through hole is opened in the central axis direction of the conical weight, and the conical weight is placed in the conical weight sleeve;

[0016] The first end of the first auxiliary rope is connected to the weight block attracted by the magnetic attraction device, and the second end of the first auxiliary rope passes through the fixed pulley, passes through the through slot of the conical weight and the wire groove in sequence, and then droops naturally. The second end of the first auxiliary rope is provided with a blocking object configured to prevent the second end of the first auxiliary rope from passing through the first through hole, and the platform body is provided with a second through hole configured to allow the weight block to fall and a third through hole configured to allow the conical weight to fall;

[0017] The second traction rope replacing the first auxiliary rope is arranged to be connected to the robot body to realize the detection of the up and down lines of the robot.

[0018] In one or more embodiments, the second through hole is located opposite the bottom of the weight block on the platform body, the third through hole is located at the conical weight outlet of the conical weight sleeve, and the second through hole and the third through hole are located on both sides of the fixed pulley.

[0019] In one or more embodiments, the central axis of the wire groove is perpendicular to the central axis of the fixed pulley.

[0020] In one or more embodiments, a fourth through hole is provided in the conical weight sleeve for placing the conical weight, the central axis of the fourth through hole is at a set angle to the upper surface of the platform body, and the conical weight outlet of the fourth through hole is facing obliquely upward of the platform body.

[0021] In one or more embodiments, the locking device includes: a driving mechanism, a photoelectric switch and an arc-shaped locking plate. The driving mechanism is connected to the arc-shaped locking plate. The arc-shaped locking plate can be rotated onto the wire under the drive of the driving mechanism and cooperate with the wire hook groove to lock the wire. The photoelectric switch is configured to detect whether the arc-shaped locking plate has been rotated into place.

[0022] In one or more embodiments, the driving mechanism includes: a reduction motor, a first bevel gear, a second bevel gear, and a transmission shaft;

[0023] The output end of the reduction motor is connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to the transmission shaft, the transmission shaft is connected to the arc-shaped locking plate, and the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear.

[0024] In one or more embodiments, a notch is provided at the center of the first end of the platform body, the notch divides the wire hook groove into two symmetrical parts, and the arc-shaped locking plate is located at the position of the notch.

[0025] In one or more embodiments, the first end of the platform body is provided with at least two traction rope hooks, and the second end of the platform body is provided with at least two auxiliary rope hooks, and the traction rope hooks at the first end of the platform body and the auxiliary rope hooks at the second end are symmetrically arranged along the platform body.

[0026] In one or more embodiments, the wire clamping groove is a speaker groove facing directly below the platform body, and the wire hooking groove is a groove facing the lower inner side of the platform body.

[0027] In one or more embodiments, the inspection robot further includes: a horizontal opening and closing mechanism and a first driving arm and a second driving arm symmetrically arranged along a midline of the horizontal opening and closing mechanism, wherein the first driving arm and the second driving arm can be opened and closed under the drive of the horizontal opening and closing mechanism;

[0028] The rotating mechanism includes a rotating shaft connected to the detection robot and a rotating arm connected to the rotating shaft, wherein the distal end of the rotating arm is connected to the detection mechanism so that the detection mechanism can perform a semicircular motion around the robot body;

[0029] The first driving arm and the second driving arm both include: a driving wheel mechanism and a pressing wheel mechanism configured to press the split conductors, and a lifting mechanism configured to drive the pressing wheel mechanism to move up and down.

[0030] In one or more embodiments, a horizontal opening and closing mechanism includes: a crossbeam, an electric push rod, a slide rail, a first slider, a first connecting rod, a second connecting rod, a first hinged rod, a second hinged rod, a third hinged rod, a fourth hinged rod, a first hinged base, a second hinged base, and a support base;

[0031] The support base, the slide rail and the end of the electric push rod are fixed to the upper surface of the crossbeam, the first hinge rod and the fourth hinge rod are staggered and distributed up and down, the middle position of the first hinge rod and the fourth hinge rod are respectively hinged to the first end of the support base, the second end of the first hinge rod is hinged to the first end of the first hinge base, and the second end of the fourth hinge rod is hinged to the first end of the second hinge base;

[0032] The second hinge rod and the third hinge rod are staggered in an upper and lower arrangement, the first ends of the second hinge rod and the third hinge rod are respectively hinged to the second end of the support base, the second end of the second hinge rod is hinged to the second end of the first hinge base, and the second end of the third hinge rod is hinged to the second end of the second hinge base;

[0033] The first end of the first hinged rod is hinged to the first end of the first connecting rod, the first end of the fourth hinged rod is hinged to the first end of the second connecting rod, the second end of the first connecting rod and the second end of the second connecting rod are hinged to the first slider, and the first slider can slide along the slide rail under the drive of the electric push rod to drive the opening and closing of the first driving arm and the second driving arm.

[0034] In one or more embodiments, the distance between the two hinge points on the first hinge base, the distance between the two hinge points on the second hinge base, and the distance between the two hinge points on the support base are all equal.

[0035] In one or more embodiments, the first hinge rod, the second hinge rod, the first hinge base and the support base are hinged to form a parallelogram, and the third hinge rod, the fourth hinge rod, the second hinge base and the support base are hinged to form another parallelogram.

[0036] In one or more embodiments, the first driving arm includes: a first lifting mechanism, a first driving wheel mechanism and a first pressing wheel mechanism. The first end of the first lifting mechanism is fixed with the first driving wheel mechanism, the second end of the first lifting mechanism is connected to the first hinged base, the first pressing wheel mechanism is connected to the first lifting mechanism, and can move along the slide rail on the first lifting mechanism under the drive of the first lifting mechanism to cooperate with the first driving wheel mechanism to compress or release the first split wire.

[0037] In one or more embodiments, the second driving arm includes: a second lifting mechanism, a second driving wheel mechanism and a second pressing wheel mechanism. The first end of the second lifting mechanism is fixed with the second driving wheel mechanism, the second end of the second lifting mechanism is connected to the second hinged base, the second pressing wheel mechanism is connected to the second lifting mechanism, and can move along the slide rail on the second lifting mechanism under the drive of the second lifting mechanism to cooperate with the second driving wheel mechanism to compress or release the second split wire.

[0038] In one or more embodiments, the robot body is provided with a first camera device configured to monitor whether the detection mechanism reaches a set position and monitor the opening and closing status of the receiving plate, a second camera device configured to monitor the environment in front of the detection robot, and a third camera device configured to monitor the opening and closing status of the first driving arm and the second driving arm of the detection robot and the upper and lower line positions of the detection robot.

[0039] In one or more embodiments, a first lifting ring is provided on the top of the robot body for controlling the vertical direction when the robot goes up and down the line, and a second lifting ring is provided on the side of the robot body for controlling the horizontal direction when the robot goes up and down the line.

[0040] In one or more embodiments, the detection mechanism includes: a detection module, a swing mechanism, and a lifting mechanism;

[0041] The detection module includes a receiving plate and a transmitter, and the receiving plate and the transmitter are connected by a retractable connecting piece;

[0042] The detection module is connected to the swing mechanism so that the detection module covers the detection range of the crimping tube;

[0043] The swing mechanism is connected to the lifting mechanism to move the detection module to the detection position.

[0044] In one or more embodiments, the distance between the receiving board and the transmitter is adjusted by adjusting the length of the connecting member to accommodate different distances between the upper wire and the lower wire, as well as the transmission distance of the transmitter.

[0045] In one or more embodiments, the lifting mechanism includes a lifting guide rail, a second slider arranged on the lifting guide rail, and a lifting motor that drives the second slider to move along the lifting guide rail; the swinging mechanism is connected to the second slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper wire to the detection position of the lower wire.

[0046] In one or more embodiments, the swing mechanism is configured to drive the detection module to cover the crimping tube detection range on the left and right sides in the same plane respectively.

[0047] In one or more embodiments, the detection mechanism includes: a detection module, a lifting mechanism, and a swing mechanism;

[0048] The detection module is connected to the lifting mechanism so that the detection module moves to the detection position;

[0049] The detection module includes a first receiving plate, a second receiving plate and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected by an opening and closing mechanism so that the first receiving plate and the second receiving plate cover the detection range of the crimping tube;

[0050] The symmetrical connection between the first receiving plate and the second receiving plate is connected to the transmitter via a retractable connecting piece;

[0051] The transmitter is connected to the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate.

[0052] In one or more embodiments, the opening and closing mechanism includes a connecting rod and an opening and closing motor configured to drive the connecting rod movement. The first receiving plate and the second receiving plate are symmetrically connected by multiple connecting rods, and the forward and reverse rotation of the opening and closing motor is configured to drive the opening and closing of the first receiving plate and the second receiving plate.

[0053] In one or more embodiments, the distance between the first receiving plate and the second receiving plate and the transmitter is adjusted by adjusting the length of the connecting member to adapt to different distances between the upper wire and the lower wire, and the transmission distance of the transmitter.

[0054] In one or more embodiments, the swing mechanism is configured to adjust the angle of the launcher.

[0055] In one or more embodiments, the lifting mechanism includes a lifting guide rail, a second slider provided on the lifting mechanism, and a lifting motor that drives the second slider to move along the lifting guide rail; the detection module is connected to the second slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper wire to the detection position of the lower wire.

[0056] In one or more embodiments, the detection mechanism is connected to the robot body via a U-shaped guide rail, so that the detection mechanism moves in a circular arc along the U-shaped guide rail.

[0057] In one or more embodiments, one end of the U-shaped guide rail is arranged on one side of the robot body, and the other end of the U-shaped guide rail is arranged on the other side of the robot body; the U-shaped guide rail includes a guide groove and a rack and a guide wheel arranged in the guide groove, and a guide rail motor is provided on the detection mechanism, and the end of the guide rail motor is connected to a gear, and the gear and the rack form a torque transmission. Under the guidance of the guide wheel, the gear at the end of the guide rail motor moves along the U-shaped guide rail.

[0058] The present application also provides a method for robot-assisted pulling and lowering of transmission line pressure tube inspection.

[0059] A method for detecting a pressure-conducting pipe on a transmission line by robot-assisted pulling and unloading, applied to the pressure-conducting pipe detection system for a transmission line described in this application, comprises:

[0060] Hanging the first traction rope with a pulley on the ground wire;

[0061] Hooking the first end of the first traction rope to the traction rope hook at the first end of the platform body, pulling the first traction rope and the second auxiliary rope connected to the auxiliary rope hook, and pulling the beam platform to the guide wire position;

[0062] By adjusting the first traction rope, hooking the hooking groove onto the first wire, activating the locking device, locking the second end of the platform body onto the first wire, loosening the first traction rope, slowly leveling the platform body, and making the wire clamping groove clamp onto the second wire, wherein the first wire and the second wire are wires located on the same horizontal plane;

[0063] The locking device is opened to cut off the power to the magnetic device, and the weight block attracted on the magnetic device begins to fall from the second through hole with the first auxiliary rope. After the weight block falls to the ground, the first auxiliary rope is continued to be pulled, and with the cooperation of the obstacle, the conical weight is pulled out of the conical weight sleeve, so that the conical weight falls from the third through hole;

[0064] The first auxiliary rope is replaced with a second traction rope configured to pull the inspection robot, and the inspection robot is pulled to the working position with the cooperation of the beam platform and the second traction rope;

[0065] After the inspection robot completes its work, it is placed on the ground at the set inspection position via the second traction rope;

[0066] Activate the locking device to lock the second end of the platform body to the first wire, pull the first end of the first traction rope to separate the wire groove from the second wire, release the locking device, and place the platform body on the ground by controlling the first traction rope and the second auxiliary rope;

[0067] After the platform body falls to the ground, the first traction rope with the pulley is removed from the ground line.

[0068] The present application also provides a parallel opening and closing method of a power transmission line crimping tube detection robot with adaptive line spacing.

[0069] A parallel opening and closing method for a power transmission line crimped tube inspection robot with adaptive line spacing, applied to the power transmission line crimped tube inspection system described in this application, comprising:

[0070] When the electric push rod is controlled to move forward, the first slider drives the first hinge rod and the fourth hinge rod to open through the first connecting rod and the second connecting rod. Under the action of the parallelogram, the first hinge base and the second hinge base are driven to open horizontally and always remain parallel to each other. After the electric push rod reaches the set stroke, the horizontal opening and closing mechanism is in a fully open state, and the distance between the driving wheels is equal to the distance between the two split wires.

[0071] When the electric push rod is controlled to retract, the first slider drives the first hinged rod and the fourth hinged rod to open through the first connecting rod and the second connecting rod. Under the action of the parallelogram, the first hinged base and the second hinged base are driven to close horizontally and always remain parallel to each other. After the electric push rod is fully retracted, the horizontal opening and closing mechanism is in a closed state, and the spacing between the driving wheels is smaller than the spacing between the two split wires, so that the detection robot can pass between the wires to achieve up and down lines.

[0072] The present application also provides an adaptive balancing control method for a power transmission line pressure pipe detection robot.

[0073] An adaptive balancing control method for a transmission line pressure pipe detection robot, applied to the transmission line pressure pipe detection system described in this application, comprises:

[0074] When the inspection robot is hoisted onto or off the production line, the inspection robot is controlled to swing the inspection mechanism to a horizontal position at the rear side of the robot body through the swing arm and the rotating shaft, so that the center of gravity of the inspection robot is located at the hoisting point. The inspection robot is in a hoisting balance state as a whole, and the inspection robot is raised and lowered by the beam platform;

[0075] When the driving wheel of the inspection robot passes over the split conductor upward, the driving wheel and the clamping wheel are controlled to lock the conductor, releasing the traction rope force of the beam platform on the inspection robot during the up and down process, so that the inspection robot is completely suspended on the conductor. The swing arm is controlled to drive the inspection robot to rotate 90° around the center of the rotation axis, so that the detection mechanism is located at the bottom of the inspection robot and the center of gravity of the inspection robot is located directly below the driving wheel. The inspection robot is in a balanced state of walking along the line, and the driving wheel of the inspection robot is controlled to rotate, and the inspection robot runs along the split conductor.

[0076] When the robot to be inspected moves near the target position to be inspected, the driving wheels stop moving, and the detection mechanism is rotated and lifted to a horizontal position in front of the detection robot so that the detection mechanism is located at the detection target position. At this time, the center of gravity of the detection robot will move forward. Under the locking action of the clamping wheel, the robot body remains stationary, and the detection operation of the target object is achieved by operating the detection mechanism. After the detection operation is completed, the detection mechanism is rotated to the bottom of the detection robot through the swing arm, so that the detection robot returns to a walking balance state.

[0077] The present application also provides an operating method of a crimped tube X-ray detection mechanism.

[0078] A method for operating a crimped tube X-ray detection mechanism, applied to the transmission line crimped tube detection system described in this application, comprises:

[0079] When hoisting the inspection robot on or off the production line, the inspection mechanism is controlled to rotate along the swing arm or U-shaped guide rail to the right side of the robot body, and the hanging point of the robot body on the beam platform is located in the vertical direction of the center of gravity;

[0080] After the inspection robot is online, the inspection mechanism is controlled to rotate along the swing arm or U-shaped guide rail to the lower side of the robot body so that the center of gravity of the robot body remains at the moving balance center of the inspection robot;

[0081] After the inspection robot reaches the inspection position, the inspection mechanism is controlled to rotate along the swing arm or U-shaped guide rail to the left side of the robot body, thereby performing the inspection operation at the fixed position;

[0082] The detection module is driven to the detection position by the lifting mechanism;

[0083] The detection module is driven by the swing mechanism to cover the crimped tube detection range on the left and right sides of the same plane respectively; alternatively, the first receiving plate and the second receiving plate are driven to open by the opening and closing mechanism, so that the first receiving plate and the second receiving plate cover the crimped tube detection range, and the angle of the transmitter is adjusted by the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0084] FIG1 is a schematic structural diagram of a beam-type platform provided in an embodiment of the present application;

[0085] FIG2 is a schematic structural diagram of another beam-type platform provided in an embodiment of the present application;

[0086] FIG3 is a schematic structural diagram of another beam-type platform provided in an embodiment of the present application;

[0087] FIG4 is a schematic diagram of a method for logging in and out of a robot according to an embodiment of the present application;

[0088] FIG5 is a schematic diagram of another method for logging on and off a robot provided in an embodiment of the present application;

[0089] FIG6 is a schematic diagram of another method for logging in and out of a robot according to an embodiment of the present application;

[0090] FIG7 is a schematic diagram of another method for logging in and out of a robot provided in an embodiment of the present application;

[0091] FIG8 is a schematic diagram of another method for logging on and off a robot provided in an embodiment of the present application;

[0092] FIG9 is a schematic diagram of another method for logging in and out of a robot provided in an embodiment of the present application;

[0093] FIG10 is a schematic diagram of another method for logging in and out of a robot provided in an embodiment of the present application;

[0094] FIG11 is a schematic diagram of another method for logging in and out of a robot according to an embodiment of the present application;

[0095] FIG12 is a schematic diagram of another method for logging in and out of a robot according to an embodiment of the present application;

[0096] FIG13 is a schematic diagram of a robot walking mechanism provided in an embodiment of the present application;

[0097] FIG14 is a schematic diagram of a horizontal opening and closing mechanism provided in an embodiment of the present application;

[0098] FIG15 is a schematic diagram of another horizontal opening and closing mechanism provided in an embodiment of the present application;

[0099] FIG16 is a schematic diagram of a walking mechanism in a closed upper line state according to an embodiment of the present application;

[0100] FIG17 is a schematic diagram of the running state of the walking mechanism provided in an embodiment of the present application;

[0101] FIG18 is an overall schematic diagram of a transmission line pressure tube detection system provided in an embodiment of the present application;

[0102] FIG19 is an overall schematic diagram of another transmission line pressure tube detection system provided in an embodiment of the present application;

[0103] FIG20 is a side view of an X-ray detection mechanism for a power transmission line crimped tube according to an embodiment of the present application;

[0104] FIG21 is a top view of an X-ray detection mechanism for a power transmission line crimped tube according to an embodiment of the present application;

[0105] FIG22 is a front view of a transmission line crimped tube X-ray detection mechanism provided in an embodiment of the present application;

[0106] FIG23 is a side view of an X-ray detection mechanism for a power transmission line crimped tube according to an embodiment of the present application;

[0107] 24A and 24B are schematic front views of the lifting and lowering mechanism for the transmission line crimped tube X-ray detection according to an embodiment of the present application;

[0108] FIG25 is an overall schematic diagram of a transmission line crimped tube X-ray detection mechanism provided in an embodiment of the present application;

[0109] FIG26A, FIG26B and FIG26C are schematic diagrams of the positions of the detection mechanisms provided in the embodiments of the present application;

[0110] FIG27A, FIG27B and FIG27C are schematic diagrams of the positions of the detection mechanisms provided in the embodiments of the present application;

[0111] Among them, 1-first conductor; 2-second conductor; 3-hook wire groove; 4-clip wire groove; 5-conical weight sleeve; 6-conical weight; 7-cone wire groove; 8-first auxiliary rope; 9-reduction motor; 10-first bevel gear; 11-second bevel gear; 12-drive shaft; 13-arc-shaped locking plate; 14-traction rope hook; 15-auxiliary rope hook; 16-control board shielding box; 17-battery shielding box; 18-drive shielding box; 20-ground wire; 21-drone; 22-2 mm traction rope; 23-split conductor; 24-somersault pulley; 25-beam platform; 26-first traction rope; 27-weight block; 28-block; 29-second traction Lead rope; 30-Detection robot; 31-Photoelectric switch; 32-Platform body; 33-Magnetic device; 34-Second auxiliary rope; 35-Fixed pulley; 36-First driving arm; 37-Second driving arm; 38-First driving wheel mechanism; 39-First pinch wheel mechanism; 40-First lifting mechanism; 41-Second driving wheel mechanism; 42-Second pinch wheel mechanism; 43-Second lifting mechanism; 44-Beam; 45-Electric push rod; 46-Slide rail; 47-First slider; 48-First hinged rod; 49-Second hinged rod; 50-Third hinged rod; 51-Fourth hinged rod; 52-First hinged base; 53-Second hinged base; 54-Support Support; 55 - First connecting rod; 56 - Second connecting rod; 57 - First hinge axis; 58 - Second hinge axis; 59 - Third hinge axis; 60 - Fourth hinge axis; 61 - Fifth hinge axis; 62 - Sixth hinge axis; 63 - Seventh hinge axis; 64 - Eighth hinge axis; 65 - Robot body; 66 - First lifting ring; 67 - Second lifting ring; 68 - First camera device; 69 - Second camera device; 70 - Third camera device; 71 - Upper wire; 72 - Lower wire; 73 - Receiving plate; 73-1 - First receiving plate; 73-2 - Second receiving plate; 74 - Connecting piece; 75 - Second slider; 76 - Lifting mechanism; 76-1 - Lifting motor; 76-2, lifting limiter; 76-3, lifting guide rail; 77, swing mechanism; 77-1, swing limiter; 77-2, swing motor; 78, transmitter; 79, right wire; 80, left wire; 81, opening and closing mechanism; 81-1, opening and closing limiter; 81-2, opening and closing motor; 82, connecting rod; 83, swing arm; 83-1, swing arm motor; 83-2, swing arm limiter; 84, U-shaped guide rail; 85, guide rail motor; 86, guide wheel; 87, quick-disassembly structure; 89, notch; 90, rotating mechanism; 91, rotating shaft; 92, rotating arm; 93, first through hole; 94, second through hole; 95, third through hole; 96, fourth through hole. DETAILED DESCRIPTION

[0112] The present application is described below with reference to the accompanying drawings and embodiments.

[0113] The following descriptions are exemplary and are intended to illustrate the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0114] The terms used herein are only for describing the embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0115] In the present application, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are merely relational words determined for the convenience of describing the structural relationships of multiple parts or elements in the present application, and do not specifically refer to any part or element in the present application, and should not be understood as a limitation on the present application.

[0116] In this application, terms such as "fixed connection," "connected," and "connection" should be interpreted broadly to mean a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediary. The meaning of these terms in this application may be determined based on actual circumstances and should not be construed as limiting this application.

[0117] In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0118] This embodiment provides a transmission line pressure pipe detection system, comprising: a beam platform 25 and a transmission line pressure pipe detection robot;

[0119] The beam platform 25 is connected to the inspection robot 30 via a rope (herein, the rope may refer to the second traction rope 29 ), and the beam platform 25 is arranged on the split conductor 23 and performs lifting and lowering control of the inspection robot 30 ;

[0120] The detection robot includes: a robot body 65, a rotating mechanism 90 connected to the robot body 65, and a detection mechanism. The rotating mechanism 90 is connected to the detection mechanism. The detection robot 30 is configured to change the relative position of the detection mechanism and the robot body 65 through the rotating mechanism 90 to perform balance control of the up and down lines and the detection process.

[0121] Hereinafter, the transmission line pressure pipe inspection robot may be referred to as the inspection robot or the robot.

[0122] The beam platform 25, as shown in FIG1 , includes: a platform body 32 , a wire hooking groove 3 located at a first end of the platform body 32 , and a wire clamping groove 4 located at a second end of the platform body 32 . A locking device configured to lock the platform body 32 on a split conductor 23 is arranged on the platform body 32 .

[0123] The platform body 32 is provided with hooks at the first and second ends thereof (a traction rope hook 14 and an auxiliary rope hook 15, respectively). The platform body 32 is provided with a fixed pulley 35, a magnetic device 33, a guide wire groove 7, a weight block 27, a conical weight 6, and a conical weight sleeve 5. A first through hole 93 is defined along the central axis of the conical weight 6, and the conical weight 6 is placed in the conical weight sleeve 5.

[0124] The first end of the first auxiliary rope 8 (i.e., the light rope) is connected to the weight block 27 attracted by the magnetic device 33. After the second end of the first auxiliary rope 8 passes around the fixed pulley 35, it passes through the through groove of the conical weight 6 (the through groove here is the first through hole 93) and the wire groove 7 in sequence and then droops naturally. The second end of the first auxiliary rope 8 is provided with a barrier 28 configured to prevent the second end of the first auxiliary rope 8 from passing through the first through hole 93. The platform body 32 is provided with a second through hole 94 configured to allow the weight block 27 to fall and a third through hole 95 configured to allow the conical weight 6 to fall.

[0125] In this embodiment, the second through hole 94 (i.e., the hollowing out on the platform body 32) is located at a position directly opposite the bottom of the weight block 27 on the platform body 32, and the third through hole 95 (i.e., the hollowing out on the platform body 32) is located at the exit position of the conical weight 6 of the conical weight sleeve 5, and the second through hole 94 and the third through hole 95 are located on both sides of the fixed pulley 35.

[0126] As shown in Figures 2 and 3, the central axis of the wire groove 7 is perpendicular to the central axis of the fixed pulley 35. The wire groove 7 is configured to position the first auxiliary rope 8, ensuring that the first auxiliary rope 8 passes along the wire groove 7, thereby avoiding the influence of the first auxiliary rope 8 on the platform body 32 and the components on the platform body 32.

[0127] In this embodiment, a fourth through hole 96 is provided in the conical weight sleeve 5 for placing the conical weight 6. The central axis of the fourth through hole 96 is at a set angle to the upper surface of the platform body 32, and the conical weight outlet of the fourth through hole 96 is facing obliquely upward of the platform body 32. In the conical weight sleeve 5, the end with the smaller cross-section of the conical weight 6 is facing obliquely downward of the platform body 32.

[0128] In this embodiment, the locking device includes: a driving mechanism, a photoelectric switch 31 and an arc-shaped locking plate 13 (in the shape of an inward-concave hook). The driving mechanism is connected to the arc-shaped locking plate 13. The arc-shaped locking plate 13 can be rotated onto the wire under the drive of the driving mechanism, and cooperate with the wire hook groove 3 to lock the wire. The photoelectric switch 31 is configured to detect whether the arc-shaped locking plate 13 has been rotated into place.

[0129] Optionally, in this embodiment, the driving mechanism includes: a reduction motor 9, a first bevel gear 10, a second bevel gear 11 and a transmission shaft 12. The output end of the reduction motor 9 is connected to the first bevel gear 10, the first bevel gear 10 is meshed with the second bevel gear 11, the second bevel gear 11 is connected to the transmission shaft 12, the transmission shaft 12 is connected to the arc-shaped locking plate 13, and the central axis of the first bevel gear 10 is perpendicular to the central axis of the second bevel gear 11. This arrangement of the driving mechanism can ensure that driving is achieved in the limited space of the platform body 32.

[0130] In some other embodiments, the reduction motor 9 and the transmission shaft 12 may be directly used to drive the arc-shaped locking plate 13. In other embodiments, the driving mode may be selected according to the actual working conditions, as long as the rotation locking of the arc-shaped locking plate 13 can be achieved, which will not be described in detail here.

[0131] In this embodiment, a notch 89 is provided at the center of the first end of the platform body 32 . The notch 89 divides the wire hooking groove 3 into two symmetrical parts. The arc-shaped locking plate 13 is located at the position of the notch 89 .

[0132] In this embodiment, at least two traction rope hooks 14 are provided at the first end of the platform body 32, and at least two auxiliary rope hooks 15 are provided at the second end of the platform body 32. The traction rope hooks 14 at the first end of the platform body 32 and the auxiliary rope hooks 15 at the second end are symmetrically arranged along the platform body 32.

[0133] In this embodiment, the wire clamping groove 4 is a loudspeaker groove facing directly below the platform body 32 , and the wire hooking groove 3 is a groove facing the inner side below the platform body 32 .

[0134] In this embodiment, in order to avoid electromagnetic interference, a plurality of shielding boxes are arranged, such as a control board shielding box 16 , a battery shielding box 17 , and a driver shielding box 18 .

[0135] In this embodiment, the layout of the platform body 32 and multiple components on the platform body 32 is optimized to ensure that the overall center of gravity of the platform body 32 and its components is located at the center of the robot's beam platform 25 to ensure the stability and safety of the robot's beam platform 25 when it is on and off the line.

[0136] Taking the four-split conductor 23 as an example, a beam platform 25 described in an embodiment is placed across the two upper conductors of the four-split conductor 23 (i.e., the first conductor 1 and the second conductor 2). The two ends of the beam platform 25 are clamped on the two upper conductors to ensure that the beam platform 25 will not fall from the two upper conductors. The fixed pulley on the beam platform 25 is used to hoist the inspection robot 30 between the four-split conductors 23, so that the inspection robot 30 can be put on and off the line.

[0137] Exemplarily, the process includes the following:

[0138] S1: Use the drone 21 to hang a somersault pulley 24 on the ground wire 20, use the drone 21 to carry the end of the 2mm traction rope 22, fly from the outside of the four-split conductor 23 to the upper position of the ground wire 20, and drop the 2mm traction rope 22 from the inside of the ground wire 20. Manually replace the 2mm traction rope 22 with a 12mm silk rope with a pulley (i.e., the first traction rope 26), and install the pulley on the ground wire 20, as shown in Figure 4.

[0139] S2: Connect the first end of the 12mm silk rope (i.e., the first traction rope 26) on the bucket pulley 24 to the traction rope hook 14 of the beam platform 25. The second end of the 12mm silk rope is pulled by manpower or a winch to quickly pull the beam platform 25 to the vicinity of the four-split conductor 23. The debugging personnel controls the second auxiliary rope 34 connected to the auxiliary rope hook 15 of the beam platform 25 to make the hooking groove 3 of the beam platform 25 away from the lower conductor of the four-split conductor 23, and continue to drive the winch to make the beam platform 25 as a whole come to the vicinity of the upper conductor. The debugging personnel control the first traction rope 26 and the second auxiliary rope 34 so that the hooking groove 3 of the beam platform 25 can be hooked onto the first conductor 1, as shown in Figures 5 and 6.

[0140] S3: The locking device is started, and the reduction motor 9 drives the first bevel gear 10 and the second bevel gear 11 to rotate, thereby driving the transmission shaft 12 to rotate, and then driving the arc-shaped locking plate 13 to rotate, and cooperate with the hook groove 3 to lock the beam platform 25 on the first conductor 1, as shown in Figure 7, and loosen the first traction rope 26 of the bucket pulley 24, so that the beam platform 25 is slowly placed on the upper conductor. Under the positioning of the bell mouth, the bell mouth is stuck on the second conductor 2, as shown in Figure 8.

[0141] S4: After the beam platform 25 is positioned on the upper conductor (i.e., the first conductor 1 and the second conductor 2), the locking device is opened, and the ground debugging personnel give a signal to cut off the power to the magnetic attraction device 33 (such as an electromagnet) of the upper pulley of the beam platform 25. Then, the counterweight adsorbed on the fixed pulley begins to fall from the second through hole 94 with the first auxiliary rope 8. After measuring the height, the first auxiliary rope 8 passes around one side of the fixed pulley 35, as shown in Figure 9.

[0142] S5: After the weight block 27 at the first end of the first auxiliary rope 8 falls to the ground, the first auxiliary rope 8 is manually pulled until the other end of the first auxiliary rope 8 starts to fall with the conical weight 6 (there is a barrier 28 at the second end of the first auxiliary rope 8. The barrier 28 cannot continue to move after contacting the conical weight 6. Continuing to apply tension can pull the conical weight 6 out of the conical weight sleeve 5, and thus fall from the third through hole 95 on the other side of the fixed pulley), as shown in Figure 10. In this way, with the mutual cooperation of the counterweight 27 and the conical weight 6, the goal of hanging the second traction rope 29 (i.e., the silk rope of the pulling detection robot 30) on the beam platform 25 is achieved, as shown in Figure 11.

[0143] S6: Fix the first end of the second traction rope 29 hanging on the fixed pulley of the beam platform 25 on the detection robot 30, and connect the second end to the climber. Through the climber, quickly lift the detection robot 30 to the conductor. The first end of the second traction rope 29 is connected to a two-fork hinge, and the two forks are connected to the robot body 65 to ensure that the detection robot 30 always maintains a vertical posture during the ascent. As shown in Figure 12, an adjustment rope for adjusting the posture is installed on the robot body 65 to ensure that the detection robot 30 can smoothly enter the four-split conductor 23. After the detection robot 30 enters the range of the four-split conductor 23, it is controlled to hang directly on the upper conductor 71 to enable the detection robot 30 to go online.

[0144] S7: After the detection robot 30 completes the operation, the detection robot 30 is placed on the ground from the set detection position through the second traction rope 29.

[0145] The locking device is activated, locking the second end of the beam platform 25 on the first conductor 1, pulling the first end of the first traction rope 26 to disengage the wire groove 4 from the second conductor 2, and the locking device is relaxed. By controlling the first traction rope 26, the beam platform 25 is placed on the ground. After the beam platform 25 falls to the ground, the first traction rope 26 with the pulley is removed from the ground wire 20.

[0146] In this embodiment, as shown in Figures 13 to 19, a robot for detecting crimped pipes for power transmission lines includes:

[0147] The robot body 65, the horizontal opening and closing mechanism, and the first driving arm 36 and the second driving arm 37 arranged symmetrically along the midline of the horizontal opening and closing mechanism, the first driving arm 36 and the second driving arm 37 being able to open and close under the drive of the horizontal opening and closing mechanism;

[0148] The robot body 65 is connected to a rotating shaft 91, which is connected to a rotating arm 92. The end of the rotating arm 92 is configured to connect to a detection mechanism so that the detection mechanism can perform a semicircular motion around the robot body 65.

[0149] The first driving arm 36 and the second driving arm 37 both include a driving wheel mechanism and a pressing wheel mechanism configured to press the split conductor 23 , and a lifting mechanism configured to drive the pressing wheel mechanism to move up and down.

[0150] In this embodiment, the horizontal opening and closing mechanism includes: a crossbeam 44, an electric push rod 45, a slide rail 46, a first slider 47, a first connecting rod 55, a second connecting rod 56, a first hinge rod 48, a second hinge rod 49, a third hinge rod 50, a fourth hinge rod 51, a first hinge base 52, a second hinge base 53 and a support base 54;

[0151] The ends of the support base 54, the slide rail 46, and the electric push rod 45 are fixed to the upper surface of the crossbeam 44. The first hinge rod 48 and the fourth hinge rod 51 are staggered in an upper and lower arrangement. The middle positions of the first hinge rod 48 and the fourth hinge rod 51 are respectively hinged to the first end of the support base 54 via a third hinge axis 57. The second end of the first hinge rod 48 is hinged to the first end of the first hinge base 52 via a fourth hinge axis 58. The second end of the fourth hinge rod 51 is hinged to the first end of the second hinge base 53 via an eighth hinge axis 64.

[0152] The second hinge rod 49 and the third hinge rod 50 are staggered in an upper and lower arrangement. The first ends of the second hinge rod 49 and the third hinge rod 50 are respectively hinged to the second end of the support base 54 via a sixth hinge axis 62. The second end of the second hinge rod 49 is hinged to the second end of the first hinge base 52 via a fifth hinge axis 61. The second end of the third hinge rod 50 is hinged to the second end of the second hinge base 53 via a seventh hinge axis 63.

[0153] The first end of the first hinged rod 48 is hinged to the first end of the first connecting rod 55 through the first hinge shaft 57, the first end of the fourth hinged rod 51 is hinged to the first end of the second connecting rod 56 through the second hinge shaft 58, the second end of the first connecting rod 55 and the second end of the second connecting rod 56 are hinged to the first slider 47, and the first slider 47 can slide along the slide rail 46 under the drive of the electric push rod 45 to drive the opening and closing of the first drive arm 36 and the second drive arm 37.

[0154] In this embodiment, the distance between the two hinge points on the first hinge base 52, the distance between the two hinge points on the second hinge base 53, and the distance between the two hinge points on the support base 54 are all equal.

[0155] In this embodiment, the first hinged rod 48, the second hinged rod 49, the first hinged base 52 and the support base 54 are hinged to form a parallelogram, and the third hinged rod 50, the fourth hinged rod 51, the second hinged base 53 and the support base 54 are hinged to form another parallelogram.

[0156] In this embodiment, the first driving arm 36 includes: a first lifting mechanism 40, a first driving wheel mechanism 38 and a first pressing wheel mechanism 39. The first end of the first lifting mechanism 40 is fixed with the first driving wheel mechanism 38, and the second end of the first lifting mechanism 40 is connected to the first hinged base 52. The first pressing wheel mechanism 39 is connected to the first lifting mechanism 40 and can move along the slide rail 46 on the first lifting mechanism 40 under the drive of the first lifting mechanism 40 to cooperate with the first driving wheel mechanism 38 to compress or release the first split wire.

[0157] In this embodiment, the second driving arm 37 includes: a second lifting mechanism 43, a second driving wheel mechanism 41 and a second pressing wheel mechanism 42. The first end of the second lifting mechanism 43 is fixed with the second driving wheel mechanism 41, and the second end of the second lifting mechanism 43 is connected to the second hinged base 53. The second pressing wheel mechanism 42 is connected to the second lifting mechanism 43 and can move along the slide rail 46 on the second lifting mechanism 43 under the drive of the second lifting mechanism 43 to cooperate with the second driving wheel mechanism 41 to compress or release the second split wire.

[0158] In this embodiment, the robot body 65 is provided with a first camera device 68 configured to monitor whether the detection mechanism reaches the set position and monitor the opening and closing status of the receiving plate 73, a second camera device 69 configured to monitor the front environment of the detection robot 30, and a third camera device 70 configured to monitor the opening and closing status of the first driving arm 36 and the second driving arm 37 of the detection robot 30 and the upper and lower line positions of the detection robot 30.

[0159] In this embodiment, a first lifting ring 66 is provided on the top of the robot body 65 for controlling the vertical direction of the robot when it goes up and down the line, and a second lifting ring 67 is provided on the side of the robot body 65 for controlling the horizontal direction of the robot when it goes up and down the line.

[0160] Exemplary, the operation method is:

[0161] When the electric push rod 45 is pushed forward, the first slider 47 drives the first hinged rod 48 and the fourth hinged rod 51 to open through the first connecting rod 55 and the second connecting rod 56. Under the action of the parallelogram, the first hinged base 52 and the second hinged base 53 are driven to open horizontally and always remain parallel to each other. After the electric push rod 45 reaches the set stroke, the horizontal opening and closing mechanism is in a fully open state, and the spacing between the driving wheels is equal to the spacing between the two split conductors.

[0162] For example, when the driving wheel of the robot reaches the top of the wire, the horizontal opening and closing mechanism opens, driving the driving arms on both sides to gradually approach the wire. After it is fully opened, the center distance between the left and right driving wheels is equal to the distance between the split wires, that is, L1=L3. With the cooperation of the online device, the robot falls as a whole, allowing the driving wheels on both sides of the robot to ride on the wire; the clamping wheel mechanism moves upward under the drive of the lifting mechanism, so that the clamping wheel fits the wire, and the wire is wrapped between the driving wheel and the clamping wheel, which protects it and increases its climbing ability.

[0163] When the electric push rod 45 is retracted, the first slider 47 drives the first hinged rod 48 and the fourth hinged rod 51 to open through the first connecting rod 55 and the second connecting rod 56. Under the action of the parallelogram, the first hinged base 52 and the second hinged base 53 are driven to close horizontally and always remain parallel to each other. After the electric push rod 45 is fully retracted, the horizontal opening and closing mechanism is in a closed state, and the spacing between the driving wheels is smaller than the spacing between the two split wires, so that the robot can pass between the wires to achieve up and down lines.

[0164] For example, when the robot is ascending or descending, the horizontal opening and closing mechanism is closed. At this point, the outer dimensions of the left and right drive arms are smaller than the spacing between the split conductors 23, i.e., L2 < L1. This allows the robot to pass through the center of the split conductors 23 from bottom to top during ascending, preventing interference with the conductors. Furthermore, when ascending or descending, the pinch wheel mechanism is at the lowest end of the lifting mechanism, leaving ample space between the pinch wheel and the drive wheel for wire entry.

[0165] In this embodiment, during the operation of the robot, the balance control and adjustment of the robot are performed, including:

[0166] When the robot is hoisted up and down the line, the robot swings the detection mechanism to a horizontal position behind the robot body through the swing arm (which can be the rotating arm in the rotating mechanism) and the rotating shaft. The center of gravity of the robot is located at the hoisting point, and the robot is in a hoisting balance state. The robot is raised and lowered by the beam platform 25.

[0167] When the driving wheel of the robot passes over the split conductor 23 upward, the driving wheel and the clamping wheel are controlled to lock the conductor, and the traction rope force of the beam platform 25 on the robot is released when the line is up and down. The robot is completely suspended on the conductor, and the swing arm is controlled to drive the robot to rotate 90° around the center of the rotation axis, so that the detection mechanism is located at the bottom of the robot and the center of gravity of the robot is located directly below the driving wheel. The robot is in a balanced state of walking along the line, and the driving wheel of the robot is controlled to rotate, and the robot moves along the split conductor;

[0168] When the robot reaches the vicinity of the target position to be detected, the driving wheel stops moving, and the detection mechanism is rotated and lifted to a horizontal position in front of the robot so that the detection mechanism is located at the detection target position. At this time, the center of gravity of the robot will move forward. Under the locking action of the clamping wheel, the robot body remains stationary. The detection operation of the target object is achieved by operating the detection mechanism. After the detection operation is completed, the detection mechanism is rotated to the bottom of the robot through the swing arm and returns to the walking balance state.

[0169] In this embodiment, the detection mechanism, as shown in FIG20 , includes: a detection module, a swing mechanism 77 and a lifting mechanism 76;

[0170] The detection module includes a receiving plate 73 and a transmitter 78, and the receiving plate 73 and the transmitter 78 are connected by a retractable connecting member 74;

[0171] The detection module is connected to the swing mechanism 77 so that the detection module covers the detection range of the crimping tube;

[0172] The swing mechanism 77 is connected to the lifting mechanism 76 to move the detection module to the detection position.

[0173] In this embodiment, the distance between the receiving plate 73 and the transmitter 78 is adjusted by adjusting the length of the connecting member 74 to accommodate different distances between the upper wire 71 and the lower wire 72 and the transmission distance of the transmitter 78 .

[0174] The detection module is connected to the swing mechanism 77 through the connector 74. The swing mechanism 77 drives the detection module to rotate and swing, so that the receiving plate 73 covers the detection range of the left wire 80, the right wire 79 and the crimping tube, as shown in FIG21.

[0175] As an optional embodiment, the swing mechanism 77 is provided with a swing limiter 77 - 1 to prevent over-limit movement.

[0176] As an optional embodiment, the swing mechanism 77 adopts a swing motor 77 - 2 .

[0177] In this embodiment, the lifting mechanism 76 includes a lifting guide rail 76-3, a second slider 75 provided on the lifting guide rail 76-3, and a lifting motor 76-1 driving the second slider 75 to move along the lifting guide rail 76-3;

[0178] The swing mechanism 77 is connected to the second slider 75, and under the driving action of the lifting motor 76-1, the detection module moves up and down, so that the detection module moves from the detection position of the upper wire 71 to the detection position of the lower wire 72, as shown in Figure 20.

[0179] As an optional embodiment, the lifting mechanism 76 is provided with a lifting limiter 76-2 to prevent over-limit movement.

[0180] The transmission mode of the swing mechanism 77 and the lifting mechanism 76 is not described. They are conventional gear transmission, screw transmission or connecting rod transmission. The transmission mode can be reasonably selected according to the allowed size and space, and is not limited here.

[0181] In this embodiment, after the receiving plate 73 and the transmitter 78 are fixedly connected, they are connected to the swing mechanism 77, and the swing mechanism 77 is connected to the lifting mechanism 76; the detection module reaches the detection position of the upper conductor 71 through the lifting mechanism 76, and completes the detection of the tension clamps of the left and right conductors by swinging left and right. Similarly, the detection module descends to the detection position of the lower conductor 72 through the lifting mechanism 76, and completes the detection of the tension clamps of the left and right conductors on the lower side by swinging left and right; so that the detection module can move up and down to complete the detection of the tension clamps of the upper and lower conductors, and complete the detection of the tension clamps on the left and right sides in the same plane by swinging. The receiving plate 73 is a single plate with fewer accessories and a lighter overall weight. It only needs to perform two actions, swinging and lifting, and is relatively simple to control. In addition, to prevent damage to the receiving plate 73, the receiving plate 73 can be folded inward during storage and transportation and when loading and unloading the line. The distance between the transmitter 78 and the receiving plate 73 is adjustable.

[0182] When inspecting a wire or crimped tube, receiving plate 73 is in the inspection position, and transmitter 78 emits continuous X-ray pulses facing receiving plate 73. The X-rays pass through the object to be inspected and form an image on receiving plate 73. Receiving plate 73 wirelessly transmits the image data to a ground-based display device. By analyzing the image data, the internal conditions of the inspected object can be determined. Currently available detectors all work on this principle, so I will not elaborate further.

[0183] As shown in FIG22 and FIG23 , in some other implementations, a transmission line crimped tube X-ray detection mechanism is provided, comprising: a detection module, a lifting mechanism 76 and a swing mechanism 77 ;

[0184] The detection module is connected to the lifting mechanism 76 to move the detection module to the detection position;

[0185] The detection module includes a first receiving plate 73-1, a second receiving plate 73-2 and a transmitter 78; the first receiving plate 73-1 and the second receiving plate 73-2 are symmetrically connected by an opening and closing mechanism 81, so that the first receiving plate 73-1 and the second receiving plate 73-2 cover the detection range of the crimping tube;

[0186] The symmetrical connection between the first receiving plate 73 - 1 and the second receiving plate 73 - 2 is connected to the transmitter 78 via a retractable connector 74 ;

[0187] The transmitter 78 is connected to the swing mechanism 77 so that the transmitter 78 is aligned with the first receiving plate 73 - 1 or the second receiving plate 73 - 2 .

[0188] In this embodiment, the opening and closing mechanism 81 includes a connecting rod 82 and an opening and closing motor 81-2 configured to drive the connecting rod 82; the first receiving plate 73-1 and the second receiving plate 73-2 are symmetrically connected by multiple connecting rods 82, and the opening and closing actions of the first receiving plate 73-1 and the second receiving plate 73-2 are realized by the forward and reverse rotation of the opening and closing motor 81-2.

[0189] As an optional embodiment, the opening and closing mechanism 81 is provided with an opening and closing limiter 81 - 1 to prevent over-limit movement.

[0190] In this embodiment, the distance between the two receiving boards and the transmitter 78 is adjusted by adjusting the length of the connecting member 74 to accommodate different distances between the upper and lower conductors and the transmission distance of the transmitter.

[0191] In this embodiment, the transmitter 78 is connected to the swing mechanism 77. Under the driving action of the swing mechanism 77, the angle of the transmitter 78 is adjusted so that the transmitter 78 is respectively aligned with the first receiving plate 73-1 or the second receiving plate 73-2 on the left and right sides, thereby realizing the detection of the wires and crimping tubes on the left and right sides.

[0192] As an optional embodiment, the swing mechanism 77 is provided with a swing limiter 77 - 1 to prevent over-limit movement.

[0193] As an optional embodiment, the swing mechanism 77 adopts a swing motor 77 - 2 .

[0194] In this embodiment, the lifting mechanism 76 includes a lifting guide rail 76-3, a second slider 75 provided on the lifting guide rail 76-3, and a lifting motor 76-1 driving the second slider 75 to move along the lifting guide rail 76-3;

[0195] The detection module is connected to the second slider 75. Under the driving action of the lifting motor 76-1, the detection module moves up and down along the lifting guide rail 76-3, so that the detection module moves from the detection position of the upper wire 71 to the detection position of the lower wire 72, as shown in Figures 24A and 24B.

[0196] As an optional embodiment, the lifting mechanism 76 is provided with a lifting limiter 76-2 to prevent over-limit movement.

[0197] The transmission mode of the swing mechanism 77, the opening and closing mechanism 81 and the lifting mechanism 76 is not described. They can be conventional gear transmission, screw transmission or connecting rod transmission. The transmission mode can be reasonably selected according to the allowed size and space, and is not limited here.

[0198] In this embodiment, two receiving plates are used and can be opened and closed for connection. When not being tested, they are folded up to reduce the occupied space. The overall structure is relatively compact to avoid damage during the online process. When being opened for testing, the receiving plates on both sides correspond to the tension clamps of the left and right conductors respectively. The left and right tension clamps are tested by swinging the transmitter 78; at the same time, the detection module is driven by the lifting mechanism 76 to reach the detection position of the upper and lower tension clamps.

[0199] The transmission line crimped tube X-ray inspection mechanism provided by the above implementation method can be used to inspect 500kV four-split conductors and 220kV horizontal double-split conductors; among them, the spacing of the 500kV four-split conductors is 450*450mm and 500*500mm, and the spacing of the 220kV horizontal double-split conductors is 400mm, 500mm and 600mm.

[0200] The detection mechanism described in this embodiment is connected via a swing arm 83 so that the detection mechanism performs a semicircular motion around the robot body 65 . FIG25 is a schematic diagram of a detection system in which the detection mechanism is connected to the robot body 65 .

[0201] During the upper and lower line hoisting, the detection mechanism rotates to the right side of the robot body 65 through the swing arm 83. The hanging point of the robot body 65 on the beam platform 25 is located in the vertical direction of the center of gravity. At this time, the detection mechanism acts as a counterweight, as shown in Figure 26C.

[0202] After going online, the detection mechanism rotates to the lower side of the robot body 65 through the swing arm 83, so that the center of gravity of the robot body 65 is maintained at the moving balance center of the robot, as shown in Figure 26B.

[0203] After reaching the detection position, the detection mechanism rotates to the left side of the robot body 65 through the swing arm 83, thereby performing a fixed-point position detection operation, as shown in FIG26A .

[0204] As an optional embodiment, the swing arm 83 is driven by a swing arm motor 83-1, which can be driven by a worm gear, and is also provided with a swing arm limiter 83-2 to avoid over-limit movement.

[0205] In this embodiment, a quick-disassembly structure 87 is designed at the end of the detection mechanism. Firstly, it prevents the overall structure of the robot from being too large or irregular in shape, making the robot easy to transport; secondly, it treats the detection mechanism as a separate module that can be assembled and used with other robot bodies, thereby enhancing the practicality of the detection mechanism.

[0206] Optionally, in some other implementations, the detection mechanism is connected to the robot body 65 via a U-shaped guide rail 84 , so that the detection mechanism moves in an arc along the U-shaped guide rail 84 . The gear and the guide wheel move along the U-shaped guide rail 84 .

[0207] One end of the U-shaped guide rail 84 is arranged on one side of the robot body 65 , and the other end is arranged on the other side of the robot body 65 , so that the U-shaped guide rail 84 covers the front and back sides of the robot body 65 .

[0208] In this embodiment, the U-shaped guide rail 84 includes a guide groove and a rack and a guide wheel 86 disposed in the guide groove;

[0209] A guide rail motor 85 is provided on the detection mechanism. The end of the guide rail motor 85 is connected to a gear. The gear and the rack form a torque transmission. Under the guidance of the guide wheel 86, the gear at the end of the guide rail motor 85 moves along the U-shaped guide rail 84.

[0210] During the upper and lower line hoisting, the detection mechanism rotates along the U-shaped guide rail 84 to the right side of the robot body 65. The hanging point of the robot body 65 on the beam platform 25 is located in the vertical direction of the center of gravity. At this time, the detection mechanism acts as a counterweight, as shown in Figure 27C.

[0211] After going online, the detection mechanism rotates along the U-shaped guide rail 84 to the lower side of the robot body 65, so that the center of gravity of the robot body 65 is maintained at the moving balance center of the robot, as shown in FIG27B .

[0212] After reaching the detection position, the detection mechanism rotates along the U-shaped guide rail 84 to the left side of the robot body 65, thereby performing a fixed-point position detection operation, as shown in FIG27A .

[0213] Based on the same principle, in order to ensure the stability of the robot during hoisting, movement and detection, the detection mechanism needs to complete a rotation within one cycle through the U-shaped guide rail 84.

[0214] In this embodiment, a quick-disassembly structure 87 is designed at the end of the detection mechanism. Firstly, it prevents the overall structure of the robot from being too large or irregular in shape, making the robot easy to transport; secondly, it treats the detection mechanism as a separate module that can be assembled and used with other robot bodies, thereby enhancing the practicality of the detection mechanism.

[0215] An exemplary method of operation of a testing organization includes:

[0216] During the up-and-down line hoisting, the transmission line crimping tube X-ray detection mechanism rotates along the swing arm 83 or the U-shaped guide rail 84 to the right side of the robot body 65, and the hanging point of the robot body on the beam platform 25 is located in the vertical direction of the center of gravity;

[0217] After going online, the X-ray detection mechanism of the transmission line crimping tube rotates along the swing arm 83 or the U-shaped guide rail 84 to the lower side of the robot body 65 so that the center of gravity of the robot body 65 remains at the moving balance center of the robot;

[0218] After reaching the inspection position, the transmission line crimp tube X-ray inspection mechanism rotates along the swing arm 83 or the U-shaped guide rail 84 to the left side of the robot body 65, thereby performing the inspection operation at the fixed position;

[0219] The detection module is driven to the detection position by the lifting mechanism 76;

[0220] The detection module is driven by the swing mechanism 77 to cover the crimped tube detection range on the left and right sides of the same plane respectively; or, the first receiving plate 73-1 and the second receiving plate 73-2 are driven to open by the opening and closing mechanism 81, and the first receiving plate 73-1 and the second receiving plate 73-2 cover the crimped tube detection range, and the angle of the transmitter 78 is adjusted by the swing mechanism 77 so that the transmitter 78 is aligned with the first receiving plate 73-1 or the second receiving plate 73-2.

[0221] The present application has the following effects: 1. The present application provides a method for assisting the traction of a transmission line pressure tube inspection robot on and off the line and a method for the parallel opening and closing of the transmission line pressure tube inspection robot to adapt to the line spacing. A beam platform for controlling the robot on and off the line and a transmission line pressure tube inspection robot are developed, which solves the problem of the robot on and off the line, realizes the robot's adaptation to different voltage levels such as 200KV and 500KV and different line spacing, and improves the robot's adaptability and line efficiency. The beam platform for controlling the on and off the line ensures that the beam platform is stably arranged on the two conductors through the cooperation of a locking device, a hooking groove and a clamping groove, avoids the beam platform from spinning and shaking in the air, and improves the safety of the operation; through the cooperation of a fixed pulley, a magnetic device, a wire groove, a weight block, a conical weight and a conical weight sleeve, a thin rope is quickly converted to a traction rope, avoiding the inconvenience caused by carrying a heavy traction rope when the beam platform climbs, and improving the operation efficiency. This application designs a horizontal opening and closing parallel mechanism with an adaptive function. By adjusting the stroke of the parallel mechanism, the first driving arm and the second driving arm of the robot can realize the closing and opening functions, adapting to different voltage levels such as 200KV and 500KV and different line spacing, effectively reducing the size and weight of the robot, and improving the robot's adaptability and online efficiency; the robot's horizontal opening and closing function can effectively reduce the size and weight of the robot. After closing, the robot is in the smallest state, and can realize online operation from the middle of the wire, and at the same time adapt to the upper and lower split wires of the four-split wire, avoiding the problem of the overall size of the robot being too large and the difficulty of online operation caused by wrapping the four-split wire inside the robot when online.

[0222] 2. The present application provides a balance control strategy for a power transmission line pressure pipe inspection robot. Through the optimized design of the robot grouping modular structure and the reasonable layout of the robot drive, control and detection structures, the robot can meet the operation requirements in various scenarios such as online and offline operations, walking and inspection operations; through the reasonable planning of the robot operation steps and the transformation of the robot's different structural states, the full-process balanced and stable operation control of the robot in the lifting, walking and inspection states is achieved, ensuring the safety and reliability of the robot's high-altitude operations.

[0223] 3. The present application provides an X-ray detection system for transmission line crimped tubes, and provides a detection strategy for transmission line crimped tubes. According to the different arrangements of tension clamps and the detection requirements of complex overhead line environments, the relative distance and angle between the receiving plate and the transmitter are reasonably arranged, and the detection position is adaptively adjusted to ensure the comprehensiveness and accuracy of the detection, solve the problems of narrow working space and scattered working targets, ensure the comprehensiveness and accuracy of the detection, improve the automation level of X-ray detection of transmission line crimped tubes, free operators from heavy and dangerous working environments, reduce the labor intensity of operators, and have the advantages of strong compactness, high degree of automation, high operating efficiency, and strong reliability, thereby improving the intelligent detection operation level of transmission line crimped tubes.

Claims

1. A transmission line pressure pipe detection system, comprising: Beam platforms and inspection robots; The beam platform is connected to the detection robot through a rope body, and the beam platform is arranged on the split conductor and performs lifting and lowering control of the detection robot; The detection robot includes: a robot body, a rotating mechanism connected to the robot body and a detection mechanism, the rotating mechanism is connected to the detection mechanism, and the detection robot is configured to change the relative position of the detection mechanism and the robot body through the rotating mechanism to perform balance control of the up and down lines and the detection process.

2. The system of claim 1, wherein: The beam platform comprises: a platform body, a wire hooking groove located at a first end of the platform body and a wire clamping groove located at a second end of the platform body, and a locking device configured to lock the platform body on a split wire is arranged on the platform body; A traction rope hook is provided at the first end of the platform body, an auxiliary rope hook is provided at the second end of the platform body, a fixed pulley, a magnetic suction device, a wire groove, a weight block, a conical weight and a conical weight sleeve are arranged on the platform body, a first through hole is opened in the central axis direction of the conical weight, and the conical weight is placed in the conical weight sleeve; The first end of the first auxiliary rope is connected to the weight block attracted by the magnetic attraction device, the second end of the first auxiliary rope passes through the fixed pulley, passes through the through slot and the wire slot of the conical weight in sequence, and then droops naturally, the second end of the first auxiliary rope is provided with a blocking object configured to prevent the second end of the first auxiliary rope from passing through the first through hole, and the platform body is provided with a second through hole configured to allow the weight block to fall and a third through hole configured to allow the conical weight to fall; A second traction rope replacing the first auxiliary rope is arranged to be connected to the robot body to realize the up and down line of the detection robot.

3. The system of claim 2, wherein: The second through hole is located at a position on the platform body directly opposite to the bottom of the weight block, the third through hole is located at an exit position of the conical weight of the conical weight sleeve, and the second through hole and the third through hole are respectively located on both sides of the fixed pulley; or, The central axis of the wire groove is perpendicular to the central axis of the fixed pulley; or, A fourth through hole for placing the conical weight is provided in the conical weight sleeve, the central axis of the fourth through hole forms a set angle with the upper surface of the platform body, and the conical weight outlet of the fourth through hole faces obliquely upward of the platform body.

4. The system of claim 2, wherein: The locking device includes: a driving mechanism, a photoelectric switch and an arc-shaped locking plate. The driving mechanism is connected to the arc-shaped locking plate. The arc-shaped locking plate can be rotated onto the wire under the drive of the driving mechanism and cooperate with the wire hook groove to lock the wire. The photoelectric switch is configured to detect whether the arc-shaped locking plate has been rotated into place.

5. The system of claim 4, wherein: The driving mechanism comprises: a reduction motor, a first bevel gear, a second bevel gear and a transmission shaft; The output end of the reduction motor is connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is connected to the transmission shaft, the transmission shaft is connected to the arc-shaped locking plate, and the central axis of the first bevel gear is perpendicular to the central axis of the second bevel gear.

6. The system of claim 4, wherein: A notch is provided at the center of the first end of the platform body, the notch divides the wire hooking groove into two symmetrical parts, and the arc-shaped locking plate is located at the position of the notch.

7. The system of claim 2, wherein: The first end of the platform body is provided with at least two traction rope hooks, the second end of the platform body is provided with at least two auxiliary rope hooks, and the traction rope hooks at the first end of the platform body and the auxiliary rope hooks at the second end are symmetrically arranged along the platform body; or, The wire clamping groove is a speaker groove facing directly below the platform body, and the wire hooking groove is a groove facing the lower inner side of the platform body.

8. The system of claim 1, wherein: The detection robot further includes: a horizontal opening and closing mechanism and a first driving arm and a second driving arm symmetrically arranged along a midline of the horizontal opening and closing mechanism, wherein the first driving arm and the second driving arm can be opened and closed under the drive of the horizontal opening and closing mechanism; The rotating mechanism comprises a rotating shaft connected to the detection robot and a rotating arm connected to the rotating shaft, and the end of the rotating arm is connected to the detection mechanism so that the detection mechanism can perform a semicircular motion around the robot body; The first driving arm and the second driving arm both include: a driving wheel mechanism and a pressing wheel mechanism configured to press the split conductor, and a lifting mechanism configured to drive the pressing wheel mechanism to rise and fall.

9. The system of claim 8, wherein: The horizontal opening and closing mechanism includes: a crossbeam, an electric push rod, a slide rail, a first slide block, a first connecting rod, A second connecting rod, a first hinge rod, a second hinge rod, a third hinge rod, a fourth hinge rod, a first hinge base, a second hinge base and a support base; The ends of the support seat, the slide rail and the electric push rod are fixed on the upper surface of the crossbeam, the first hinge rod and the fourth hinge rod are staggered and distributed up and down, the middle positions of the first hinge rod and the fourth hinge rod are respectively hinged to the first end of the support seat, the second end of the first hinge rod is hinged to the first end of the first hinge base, and the second end of the fourth hinge rod is hinged to the first end of the second hinge base; The second hinge rod and the third hinge rod are staggered in an upper and lower arrangement, the first ends of the second hinge rod and the third hinge rod are respectively hinged to the second end of the support seat, the second end of the second hinge rod is hinged to the second end of the first hinge base, and the second end of the third hinge rod is hinged to the second end of the second hinge base; The first end of the first hinged rod is hinged to the first end of the first connecting rod, the first end of the fourth hinged rod is hinged to the first end of the second connecting rod, the second end of the first connecting rod and the second end of the second connecting rod are hinged to the first slider, and the first slider can slide along the slide rail under the drive of the electric push rod to drive the opening and closing of the first driving arm and the second driving arm; or, The distance between the two hinge points on the first hinge base, the distance between the two hinge points on the second hinge base, and the distance between the two hinge points on the support base are all equal; or, The first hinged rod, the second hinged rod, the first hinged base and the support base are hinged to form a parallelogram, and the third hinged rod, the fourth hinged rod, the second hinged base and the support base are hinged to form another parallelogram.

10. The system of claim 9, wherein: The first driving arm includes: a first lifting mechanism, a first driving wheel mechanism and a first clamping wheel mechanism. The first end of the first lifting mechanism is fixed with the first driving wheel mechanism, the second end of the first lifting mechanism is connected to the first hinged base, the first clamping wheel mechanism is connected to the first lifting mechanism, and can move along the slide rail on the first lifting mechanism under the drive of the first lifting mechanism to cooperate with the first driving wheel mechanism to clamp or release the first split wire.

11. The system of claim 10, wherein: The second driving arm comprises: a second lifting mechanism, a second driving wheel mechanism and a second pressing wheel mechanism, wherein the first end of the second lifting mechanism is fixed with the second driving wheel mechanism, the second end of the second lifting mechanism is connected to the second hinged base, and the second pressing wheel mechanism is connected to the second lifting mechanism. The second lifting mechanism is connected to the second lifting mechanism, and can move along the slide rail on the second lifting mechanism under the drive of the second lifting mechanism to cooperate with the second driving wheel mechanism to compress or release the second split wire.

12. The system of claim 8, wherein: The robot body is provided with a first camera device configured to monitor whether the detection mechanism reaches a set position and monitor the opening and closing state of the receiving plate, a second camera device configured to monitor the front environment of the detection robot, and a third camera device configured to monitor the opening and closing state of the first driving arm and the second driving arm of the detection robot and the upper and lower line positions of the detection robot; or, A first lifting ring is provided on the top of the robot body for controlling the vertical direction when the robot goes up and down the line, and a second lifting ring is provided on the side of the robot body for controlling the horizontal direction when the robot goes up and down the line.

13. The system of claim 1, wherein: The detection mechanism comprises: a detection module, a swing mechanism and a lifting mechanism; The detection module includes a receiving plate and a transmitter, and the receiving plate and the transmitter are connected via a retractable connecting piece; The detection module is connected to the swing mechanism so that the detection module covers the crimping tube detection range; The swing mechanism is connected to the lifting mechanism to move the detection module to a detection position.

14. The system of claim 13, wherein: The distance between the receiving plate and the transmitter is adjusted by adjusting the length of the connecting member to adapt to different distances between the upper wire and the lower wire, and to adapt to the transmission distance of the transmitter; or, The lifting mechanism includes a lifting rail, a second slider disposed on the lifting rail, and a lifting motor driving the second slider to move along the lifting rail; the swing mechanism is connected to the second slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper wire to the detection position of the lower wire; or, The swing mechanism is configured to drive the detection module to cover the crimping tube detection range on the left and right sides of the same plane respectively.

15. The system of claim 1, wherein: The detection mechanism comprises: a detection module, a lifting mechanism and a swing mechanism; The detection module is connected to the lifting mechanism so that the detection module moves to the detection position; The detection module includes a first receiving plate, a second receiving plate and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected through an opening and closing mechanism so that the first receiving plate and the second receiving plate cover the crimping tube detection range; The symmetrical connection between the first receiving plate and the second receiving plate is connected to the transmitter via a retractable connecting piece; The transmitter is connected to the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate.

16. The system of claim 15, wherein: The opening and closing mechanism includes a connecting rod and an opening and closing motor configured to drive the connecting rod, the first receiving plate and the second receiving plate are symmetrically connected via a plurality of connecting rods, and the forward and reverse rotation of the opening and closing motor is configured to drive the first receiving plate and the second receiving plate to open and close; or, The distance between the first receiving plate and the second receiving plate and the transmitter is adjusted by adjusting the length of the connecting member, so as to adapt to different distances between the upper wire and the lower wire, and to adapt to the transmission distance of the transmitter; or, The swing mechanism is configured to adjust the angle of the launcher; or, The lifting mechanism includes a lifting rail, a second slider arranged on the lifting mechanism, and a lifting motor driving the second slider to move along the lifting rail; the detection module is connected to the second slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper wire to the detection position of the lower wire.

17. The system of claim 15, wherein: The detection mechanism is connected to the robot body via a U-shaped guide rail, so that the detection mechanism moves in an arc along the U-shaped guide rail.

18. The system of claim 17, wherein: One end of the U-shaped guide rail is arranged on one side of the robot body, and the other end of the U-shaped guide rail is arranged on the other side of the robot body; the U-shaped guide rail includes a guide groove and a rack and a guide wheel arranged in the guide groove; a guide rail motor is arranged on the detection mechanism, and the end of the guide rail motor is connected to a gear, and the gear and the rack form a torque transmission. Under the guidance of the guide wheel, the guide rail motor The gear at the end moves along the U-shaped guide rail.

19. A method for robot-assisted pulling and lowering of transmission line crimping tube inspection. A transmission line crimping tube detection system applied to any one of claims 1 to 18, comprising: Hanging the first traction rope with a pulley on the ground wire; Hooking the first end of the first traction rope on the traction rope hook at the first end of the platform body, pulling the first traction rope and the second auxiliary rope connected to the auxiliary rope hook, and pulling the beam platform to the guide wire position; By adjusting the first traction rope, hooking the wire hooking groove onto the first wire, starting the locking device, locking the second end of the platform body onto the first wire, loosening the first traction rope, slowly leveling the platform body, and making the wire clamping groove clamp the second wire, wherein the first wire and the second wire are wires located on the same horizontal plane; The locking device is opened to cut off the power of the magnetic device, and the weight block adsorbed on the magnetic device falls from the second through hole with the first auxiliary rope. After the weight block falls to the ground, the first auxiliary rope is pulled, and with the cooperation of the barrier, the conical weight is pulled out of the conical weight sleeve, so that the conical weight falls from the third through hole; The first auxiliary rope is replaced with a second traction rope configured to pull the detection robot, and the detection robot is pulled to the working position under the cooperation of the beam platform and the second traction rope; After the detection robot completes the operation, the detection robot is placed on the ground at a set detection position by the second traction rope; The locking device is activated to lock the second end of the platform body onto the first wire, the first end of the first traction rope is pulled to separate the wire clamping groove from the second wire, the locking device is released, and the platform body is placed on the ground by controlling the first traction rope and the second auxiliary rope; After the platform body falls to the ground, the first traction rope with the pulley is removed from the ground line.

20. A parallel opening and closing method for a transmission line crimping tube inspection robot with adaptive line spacing, The transmission line crimping tube detection system applied to any one of claims 8 to 12 comprises: When the electric push rod is controlled to push forward, the first slider drives the first hinge rod and the fourth hinge rod to open through the first connecting rod and the second connecting rod, and under the action of the parallelogram, the first hinge base and the second hinge base are driven to open horizontally and always maintain a state of being parallel to each other. After the electric push rod reaches the set stroke, the horizontal opening and closing mechanism is in a fully opened state, and the spacing between the driving wheels is equal to the spacing between the two split conductors. When the electric push rod is controlled to be retracted, the first slider drives the first hinged rod and the fourth hinged rod to open through the first connecting rod and the second connecting rod, and under the action of the parallelogram, the first hinged base and the second hinged base are driven to close horizontally and always remain parallel to each other. After the electric push rod is fully retracted, the horizontal opening and closing mechanism is in a closed state, and the spacing between the driving wheels is smaller than the spacing between the two split conductors, so that the detection robot passes between the conductors to achieve up and down lines.

21. An adaptive balance control method for a transmission line pressure pipe detection robot, A transmission line crimping tube detection system applied to any one of claims 1 to 18, comprising: When the detection robot is hoisted up and down the line, the detection robot is controlled to swing the detection mechanism to the rear horizontal position of the robot body through the swing arm and the rotating shaft, so that the center of gravity of the detection robot is located at the hoisting point, the detection robot is in a hoisting balance state as a whole, and the detection robot is lifted and lowered by the beam platform; When the driving wheel of the detection robot passes over the split conductor upward, the driving wheel and the clamping wheel are controlled to lock the conductor, and the traction rope force of the beam platform on the detection robot during the process of going up and down the line is released, so that the detection robot is completely suspended on the conductor, and the swing arm is controlled to drive the detection robot to rotate 90° around the center of the rotating shaft, so that the detection mechanism is located at the bottom of the detection robot, and the center of gravity of the detection robot is located directly below the driving wheel. The detection robot is controlled to be in a balanced state of walking along the line, and the driving wheel of the detection robot is controlled to rotate, so that the detection robot runs along the split conductor; When the detection robot reaches the vicinity of the target position to be detected, the driving wheel stops moving, and the detection mechanism is rotated and lifted to a horizontal position in front of the detection robot so that the detection mechanism is located at the target position to be detected. The center of gravity of the detection robot will move forward, and under the locking action of the clamping wheel, the robot body remains stationary. The detection operation of the target object is achieved by operating the detection mechanism. After the detection operation is completed, the detection mechanism is rotated to the bottom of the detection robot by the swing arm, so that the detection robot returns to a walking balanced state.

22. A method for operating a crimp tube X-ray detection mechanism, wherein: The transmission line crimping tube detection system applied to any one of claims 13 to 18 comprises: When the detection robot is hoisted on the upper and lower lines, the detection mechanism is controlled to rotate along the swing arm or the U-shaped guide rail to the right side of the robot body, and the hanging point of the robot body on the beam platform is located in the vertical direction of the center of gravity; After the detection robot is online, the detection mechanism is controlled to rotate along the swing arm or the U-shaped guide rail to the lower side of the robot body, so that the center of gravity of the robot body is maintained at the moving balance center of the detection robot; After the detection robot reaches the detection position, the detection mechanism is controlled to rotate along the swing arm or the U-shaped guide rail to the left side of the robot body, so as to perform a detection operation at a fixed point position; Driving the detection module to the detection position by the lifting mechanism; The detection module is driven by a swing mechanism to cover the crimping tube detection range on the left and right sides of the same plane respectively; or, the first receiving plate and the second receiving plate are driven to open by an opening and closing mechanism, and the first receiving plate and the second receiving plate are made to cover the crimping tube detection range, and the angle of the transmitter is adjusted by the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate.

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