An in-line power transmission line live X-ray detection and cleaning integrated obstacle-crossing robot

Abstract

The present application discloses a live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines, which includes a mounting frame and a control chassis detachably and fixedly connected below the mounting frame for receiving control signals and controlling the actions of the robot. An X-ray detection unit for detecting defects of transmission lines and a walking unit for driving the robot to move along the transmission line are further provided on the mounting frame. The walking unit includes two walking pulley assemblies symmetrically installed along the length direction of the mounting frame, and a support pulley assembly telescopically connected to the mounting frame and extending outward along the transmission line and on the same axis as the walking pulley assemblies for rotatably clamping the transmission line. The present invention can perform multi-level and in-depth line inspections. Compared with traditional inspection robots, it can perform visible light detection, directly perform X-ray detection on possible abnormal parts, explore the internal states of transmission lines and fittings, and prevent potential safety hazards caused by the limitations of visible light or infrared inspections.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to robots for live working on transmission lines, and specifically to an obstacle-crossing robot integrating live X-ray detection and cleaning for transmission lines. Background Art

[0002] Overhead high-voltage transmission lines are the main arteries of the power system. High-voltage transmission cables and towers are densely distributed in every corner, and their operating status directly determines the safety and efficiency of the power system. With the progress of technology and the modern development of industry and agriculture, the living standards of the people have been continuously improved, the power consumption has increased significantly, and higher requirements have been put forward for the safety and reliability of power grid power supply. To ensure the normal operation of transmission lines, it is necessary to regularly or irregularly detect and maintain the lines, such as live patrol inspection, foreign object removal, broken strand repair, etc. At present, these works are mainly carried out by manual live working at ground potential or equal potential. However, due to the limitation of the live working distance, the operation range of the operators is also greatly restricted. Especially when the live working position is in the middle of the span and not close to the tower position, the operation difficulty increases exponentially.

[0003] In recent years, some special live working robots that can perform line patrol inspection or remove foreign objects, snow, replace shock-absorbing hammers, etc. have emerged. Most of the patrol inspection means are limited to visible light and infrared imaging, and the internal conditions of conductors and line fittings, such as internal cracks, broken strands, poor connections, etc., cannot be known, which poses a hidden danger to the safe operation of the line. At the same time, at present, when the existing live working robots that can cross obstacles cross obstacles, one side hanging arm leaves the line. At this time, due to the deviation of the center of gravity and the fulcrum, the robot body will be suspended obliquely and is not easy to control, and it is easy to have a falling accident when crossing obstacles.

[0004] Therefore, developing a live working robot integrating X-ray detection-assisted patrol inspection and cleaning that can safely cross obstacles can improve the effectiveness of patrol inspection, improve the detection efficiency, reduce the number of power outages, and will have significant economic and social values. Summary of the Invention

[0005] In order to solve the problems of high danger in high-altitude operations existing in the cleaning and detection of existing transmission lines and difficult obstacle crossing when operating through existing robots, the present application provides an obstacle-crossing robot integrating live X-ray detection and cleaning for transmission lines, which is used to replace the existing patrol inspection and cleaning operations of transmission lines, brings convenience to the live patrol inspection and detection of transmission lines, avoids abnormal power outages caused by transmission line failures, and avoids huge economic losses caused by power outages.

[0006] In order to achieve the above object, the technical solution adopted in the present application is as follows:

[0007] A live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines, comprising a mounting frame and a control chassis detachably and fixedly connected below the mounting frame for receiving control signals and controlling the actions of the robot. An X-ray detection unit for detecting defects of transmission lines and a traveling unit for driving the robot to move along the transmission line are further provided on the mounting frame. The traveling unit includes two traveling pulley assemblies symmetrically installed along the length direction of the mounting frame, and a support pulley assembly telescopically connected to the mounting frame and extending outward along the transmission line and on the same axis as the traveling pulley assemblies for rotatably clamping the transmission line.

[0008] As a preferred structural design, the traveling pulley assembly is specifically arranged as follows: a first mounting arm fixedly connected to the mounting frame, with the traveling pulley assembly installed at the upper end of the first mounting arm. The traveling pulley assembly includes a housing as a support body and a driving pulley installed on the housing, and the driving pulley is drivingly connected to a third driver.

[0009] In order to further improve the stability of the traveling pulley assembly and avoid problems such as walking imbalance, tilting, or dropping during walking due to foreign objects, such as snow, on the transmission line, preferably, a wire clamping clip is further provided at the lower part of the housing, and the wire clamping clip is driven to deflect by a servo motor provided on the housing.

[0010] Furthermore, third mounting arms are fixedly connected to both ends of the mounting frame, and a horizontally arranged horizontal telescopic arm is fixedly connected to the upper end of the third mounting arm. The horizontal telescopic arm is drivingly connected to a first driver for driving and controlling the telescopic or length change of the horizontal telescopic arm. A vertical telescopic arm is fixedly connected to the free end of the horizontal telescopic arm, and the vertical telescopic arm is drivingly connected to a second driver for driving and controlling the elongation or shortening of the vertical telescopic arm. The free end of the vertical telescopic arm is connected to the support pulley assembly.

[0011] In order to improve the obstacle-crossing ability and convenience, preferably, the support pulley assembly includes a clamp body fixedly connected to the vertical telescopic arm, two half clamps symmetrically arranged and hinged to one end of the clamp body, and a first support pulley is fixedly installed on the inner side of any one of the half clamps. A telescopic mechanism for driving the opening and closing of the half clamps is also slidably connected to the clamp body, and a second support pulley is further installed at the lower end of the telescopic mechanism.

[0012] The telescopic mechanism includes a telescopic rod for clamping and fixing the second support pulley, and two connecting rods symmetrically arranged on the telescopic rod and respectively hinged to the half clamps on both sides; a fourth driver for driving the telescopic rod to move up and down is installed at the upper end of the telescopic rod.

[0013] For facilitating obstacle clearance during walking, preferably, jet nozzles for jetting airflows are symmetrically installed on the inner sidewalls of the half clamps, and the jet nozzles are communicated with a pressurizing device arranged in the control chassis through hoses.

[0014] Overhead cameras and front cameras for collecting the actual impacts on the power transmission line are respectively installed on the clamp body and are communicatively connected with the control chassis.

[0015] To improve the working stability of the X-ray detection unit, preferably, the X-ray detection unit includes a base and a detection plate symmetrically arranged on both sides in the length direction of the mounting frame and fixedly connected to the mounting frame through a second mounting arm. An X-ray machine opposite to the detection plate is installed on the base, and a shielding cover covering the X-ray machine is further arranged on the base.

[0016] Advantageous effects:

[0017] (1) Multi-level and in-depth line inspection. Compared with the traditional single visible light or infrared inspection, this robot can perform visible light detection, and directly perform X-ray detection on the possibly abnormal parts to explore the internal states of the power transmission line and fittings, preventing potential safety hazards caused by the limitations of visible light or infrared inspection.

[0018] (2) High stability: Compared with traditional obstacle-crossing robots, the robot of the present invention has more fulcrums and higher stability. It is safer compared with traditional crawling obstacle-crossing and wrong-arm obstacle-crossing methods.

[0019] (3) High functional integration. Compared with traditional single-functional live working robots, the present invention highly integrates the functions of inspection robots, detection robots, and cleaning robots, and has stronger practicability.

[0020] (4) High economy: The line inspection and cleaning robots replace grid operators to perform live working, ensuring the safety of personnel and the line. There is no need to cut off the power supply of the line, avoiding economic losses caused by power outage, and having high economy.

[0021] (5) The present invention is provided with an X-ray detection unit. When abnormalities are detected by ordinary visible light or infrared rays, the control chassis turns on the X-ray detection function to further perform visual ray detection on the abnormal parts, deeply analyze the defect causes and give an alarm in time.

[0022] (6) The present invention is provided with two horizontal telescopic arms and a vertical telescopic arm in the front and back, and is provided with a support pulley assembly, which is used to increase the support span of the robot on the line while removing foreign objects, improving stability. It realizes bionic crawling obstacle-crossing and has higher stability compared with traditional obstacle-crossing methods. Description of the drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is the structural axonometric view of the present invention;

[0025] Figure 2 is Figure 1 another visual axonometric view of

[0026] Figure 3 is Figure 2 the top view of

[0027] Figure 4 is the axonometric view of the support pulley assembly;

[0028] Figure 5 is the front view when both the horizontal telescopic arm and the vertical telescopic arm are in the retracted state;

[0029] Figure 6 is Figure 5 the front view when one of the horizontal telescopic arms on one side in

[0030] Figure 7 is the axonometric view when both vertical telescopic arms are in the extended state.

[0031] In the figure: 1 - control chassis; 2 - mounting bracket; 21 - third mounting arm; 22 - horizontal telescopic arm; 23 - vertical telescopic arm; 24 - first driver; 25 - second driver; 3 - first mounting arm; 4 - traveling pulley assembly; 41 - housing; 42 - driving pulley; 43 - wire clamping clip; 44 - third driver; 5 - second mounting arm; 6 - detection plate; 7 - base; 8 - shielding cover; 9 - ray machine; 10 - support pulley assembly; 101 - half clamp; 102 - first support pulley; 103 - second support pulley; 104 - air nozzle; 105 - connecting rod; 106 - top view camera; 107 - front view camera; 108 - fourth driver; 109 - clamp body. Detailed implementation manners

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Generally, the components of the embodiments of the present application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0033] Accordingly, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the scope of protection of the present application.

[0034] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0035] In the description of the present application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application. In addition, in the description of the present application, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they should not be construed as indicating or implying relative importance.

[0036] In addition, in the description of the present application, if terms such as "horizontal" and "vertical" are used, it does not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0037] In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0038] Embodiment 1:

[0039] A live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines, comprising a mounting frame 2 and a control chassis 1 detachably and fixedly connected below the mounting frame 2 for receiving control signals and controlling the actions of the robot. An X-ray detection unit for detecting defects of transmission lines and a traveling unit for driving the robot to move along the transmission line are further arranged on the mounting frame 2. The traveling unit includes two traveling pulley assemblies 4 symmetrically installed along the length direction of the mounting frame 2, and a support pulley assembly 10 telescopically connected to the mounting frame 2 and extending outward along the transmission line and on the same axis as the traveling pulley assemblies 4 for rotatably clamping the transmission line.

[0040] Description of working and structural principles:

[0041] Combined with the attached drawings of the specification Figure 1 - Figure 2 、 Figure 6 and Figure 7 As shown, the two middle traveling pulley assemblies 4 are in contact with the transmission line to be detected and inspected. Friction is generated between the driving of the traveling pulley assemblies 4 and the transmission line to enable the entire robot to move along the transmission line. The drive control of the traveling pulley assemblies 4 is completed by the control chassis 1 arranged below the mounting frame 2 which is the main frame structure of the robot. The control chassis 1 is the control host for receiving and sending the working instructions of the entire robot. The control chassis 1 can be realized by wired or wireless means through existing control technologies. The improvement points of this embodiment compared with the prior art only involve the structural part, and the existing control system can be adopted for the electrical control part. It is preferably realized by using the existing PLC logic control module and wireless communication module, so as to be targeted and adaptable. Of course, it can also be realized by using the existing single-chip microcomputer. It is default that any existing realizable scheme can be adopted for the control system, and it is not within the scope of the improvement points of this embodiment, so it will not be elaborated here. As Figure 1 For the structure of the support pulley assembly 10 described, during the process of the robot moving along the transmission line, in addition to being able to improve the stability better, the wrapping structure formed by rotatably clamping around the transmission line by the support pulley assembly 10 can remove foreign objects attached to the transmission line. In reality, the transmission line is installed at a high altitude, and the main foreign objects are mainly ice and snow. Generally, the best period for cleaning is when there is snow accumulation. Since the snow stays on the static transmission line mainly through adhesion and static friction, when the support pulley assembly 10 passes by, by destroying the balance of the snow, the snow can quickly fall off the transmission line, achieving the effect of removing foreign objects.

[0042] When it is necessary to cross an obstacle, such as a strain clamp on a transmission line, etc., first, the support pulley assembly 10 close to the obstacle is opened, and then the support pulley assembly 10 is controlled to extend towards the obstacle side to perform a horizontal telescopic action until the support pulley assembly 10 completely crosses the obstacle and then clamps on the transmission line; secondly, the support pulley assembly 10 is controlled to extend in the vertical direction so that the two support pulley assemblies 10 on both sides lift the entire robot relative to the transmission line to expand the gap between the walking pulley assembly 4 and the obstacle, so as to achieve the purpose of the walking pulley group 4 avoiding the obstacle. When crossing an obstacle, since the walking pulley assembly 4 has completely separated from the transmission line, therefore, during the entire obstacle-crossing process, the walking of the robot can no longer rely on the walking pulley assembly 4 to achieve. Its obstacle-crossing principle is as follows:

[0043] The support pulley assembly 10 on the side close to the obstacle first crosses the obstacle and clamps on the transmission line on the other side of the obstacle through the clamping and telescopic structure functions of the support pulley assembly 10 itself. The action sequence of the support pulley assembly 10 crossing the obstacle is: loosen the transmission line, and contract in the vertical direction, and then extend in the horizontal direction so that the support pulley assembly 10 crosses the obstacle; finally, extend in the vertical direction and clamp on the transmission line. At this time, the state is that the obstacle is between the two support pulley assemblies 10. Finally, simultaneously hold tightly and extend the two support pulley assemblies 10 in the vertical direction so that the entire robot rises relative to the transmission line, the support pulley assembly 10 on the side far from the obstacle extends towards the side close to the obstacle, and at the same time the support pulley assembly 10 on the side close to the obstacle shortens, so that the center of the entire robot moves towards the obstacle side to cross the obstacle, and finally shorten the support pulley assembly 10 in the vertical direction so that the walking pulley assembly 4 contacts the transmission line and returns to the state of being driven by the walking pulley assembly 4. It should be noted that if a single crossing is not sufficient to completely cross the obstacle, it can also be carried out in multiple times, but it should be noted that before the walking pulley assembly 4 contacts the transmission line after each movement is completed, the walking pulley assembly 4 should be avoided from contacting the obstacle to avoid the instability of the robot.

[0044] Embodiment 2:

[0045] On the basis of the structure and principle of Embodiment 1, as a preferred structural design, the walking pulley assembly 4 is specifically arranged as follows: As Figure 1 and Figure 2 shown, the first mounting arm 3 fixedly connected to the mounting frame 2, the walking pulley assembly 4 is mounted at the upper end of the first mounting arm 3, the walking pulley assembly 4 includes a housing 41 as a support main body, and a driving pulley 42 mounted on the housing 41, and the driving pulley 42 is drivingly connected to the third driver 44.

[0046] The first mounting arm 3 is fixedly connected to the mounting frame 2 to form an integral fixed frame structure. The driving pulley 42 slidably connected through the housing 41 mounted on the free end of the first mounting arm 3 is in snap-rolling connection with the transmission line, so that the weight of the entire robot is borne by the two driving pulleys 42. After the third driver 44 drives the driving pulley 42 to rotate, the driving pulley 42 rolls on the transmission line, so that the robot moves on the transmission line. The third driver 44 can be implemented by using an existing servo motor or stepping motor. The driving signal is provided through the control chassis 1. The driving part belongs to a very existing and mature technology and is not the improvement of this embodiment, so it will not be described in detail here.

[0047] Embodiment 3:

[0048] In order to further improve the stability of the walking pulley assembly 4 and avoid problems such as walking imbalance, inclination, or dropping due to foreign objects, such as snow, on the transmission line during walking, preferably, a wire clamping clip 43 is further provided at the lower part of the housing 41, and the wire clamping clip 43 is driven to deflect by a servo motor provided on the housing 41. As Figure 1 shown, the wire clamping clip 43 adopts an arc structure, one end is a free end, and the other end is hinged to the housing 41 and driven by a servo motor to deflect, so as to realize the switching between the open release or closed clamping state of the wire clamping clip 43.

[0049] Embodiment 4:

[0050] As a preferred embodiment of the present application, on the basis of any of the above embodiments, this embodiment is further combined with the attached Figure 1 - Figure 7 shown, third mounting arms 21 are further fixedly connected to both ends of the mounting frame 2. A horizontally arranged horizontal telescopic arm 22 is fixedly connected to the upper end of the third mounting arm 21. The horizontal telescopic arm 22 is drivingly connected to a first driver 24 for driving and controlling the telescopic or length change of the horizontal telescopic arm 22. A vertical telescopic arm 23 is fixedly connected to the free end of the horizontal telescopic arm 22. The vertical telescopic arm 23 is drivingly connected to a second driver 25 for driving and controlling the elongation or shortening of the vertical telescopic arm 23. The free end of the vertical telescopic arm 23 is connected to the support pulley assembly 10.

[0051] When it is necessary to perform up and down lifting in the vertical direction, it is specifically realized by driving the vertical telescopic arm 23 to elongate or shorten by the second driver 25. At the same time, the first driver 24 drives the horizontal telescopic arm 22 to elongate or shorten in the same principle to realize the left and right movement of the robot in the horizontal direction. The first driver 24 and the second driver 25 are implemented by using servo motors in this embodiment, and the driving method is realized by using an existing lead screw and threaded sleeve structure. This driving structure can maintain extremely high precision and make the coordination of the entire robot higher.

[0052] To improve the obstacle-crossing ability and convenience, preferably, the support pulley assembly 10 includes a clamp body 109 fixedly connected to the vertical telescopic arm 23, two half clamps 101 symmetrically arranged and hinged to one end of the clamp body 109. A first support pulley 102 is fixedly installed on the inner side of any one of the half clamps 101. A telescopic mechanism for driving the opening and closing of the half clamps 101 is also slidably connected to the clamp body 109, and a second support pulley 103 is installed at the lower end of the telescopic mechanism.

[0053] The telescopic mechanism includes a telescopic rod that clamps and fixes the second support pulley 103. Two connecting rods 105 symmetrically arranged on the telescopic rod are respectively hinged to the two side half clamps 101; a fourth driver 108 for driving the telescopic rod to move up and down is installed at the upper end of the telescopic rod.

[0054] The principle of realizing the opening and clamping states of the support pulley assembly 10 is as follows:

[0055] The fourth driver 108 drives the telescopic rod to move up and down, that is, to move in the vertical direction in the use state. Since the two side half clamps 101 are hinged through the connecting rods 105, when the telescopic rod moves down, under the action of the connecting rods 105, the two side half clamps 101 are in an open state. The greater the downward movement distance of the telescopic rod, the greater the opening degree of the half clamps 101; conversely, when the fourth driver 108 reverses and the telescopic rod moves up, the two side half clamps 101 are in a closed clamping state. The greater the upward movement distance, the tighter the clamping of the two side half clamps 101 until the minimum value of the designed clamping gap is reached. It should be noted that the tighter the clamping, the better the cleaning effect on the snow.

[0056] To facilitate obstacle clearance during walking, in this embodiment, jet nozzles 104 for jetting air are symmetrically installed on the inner side walls of the half clamps 101. The jet nozzles 104 are connected to a pressurizing device arranged in the control chassis 1 through hoses. Under the premise of actual use requirements, air can be jetted through the jet nozzles 104 to blow the snow or thin ice on the transmission line. Of course, setting the jet nozzles 104 for snow and ice removal only plays an auxiliary role, mainly used when the transmission line cannot move effectively by friction between the driving pulley 42, then snow and ice removal operations need to be carried out to avoid slipping and unable to perform normal inspection.

[0057] A top-view camera 106 and a front-view camera 107 for collecting the actual impact of the transmission line are respectively installed on the clamp body 109 and are communicatively connected to the control chassis 1. Setting the top-view camera 106 and the front-view camera 107 of the visualization system can perform visual operations according to the actual situation, such as turning on jet snow and ice removal, etc.

[0058] In order to improve the working stability of the X-ray detection unit, in this embodiment, the X-ray detection unit includes a base 7 and a detection board 6 that are symmetrically arranged on both sides in the length direction of the mounting frame 2 and are fixedly connected to the mounting frame 2 through a second mounting arm 5. A ray machine 9 that is oppositely installed to the detection board 6 is installed on the base 7, and a shielding cover 8 that covers the ray machine 9 is further arranged on the base 7. When it is necessary to detect a certain part, a corresponding shooting instruction is sent to the control chassis 1 to turn on the ray machine 9 for shooting. The influence is collected and stored by the detection board 6 and then sent to the control terminal through a wired or wireless network. The control terminal is a mobile intelligent device that establishes a communication connection with the control chassis 1.

[0059] The foregoing is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines, comprising a mounting frame (2) and a control chassis (1) detachably and fixedly connected below the mounting frame (2) for receiving control signals and controlling the actions of the robot. It is characterized in that: An X-ray detection unit for detecting defects of transmission lines and a walking unit for driving the robot to move along the transmission line are further provided on the mounting frame (2). The walking unit includes two walking pulley assemblies (4) symmetrically installed along the length direction of the mounting frame (2), and a support pulley assembly (10) telescopically connected to the mounting frame (2) and extending outward along the transmission line and on the same axis as the walking pulley assemblies (4) for rotatably clamping the transmission line; a first mounting arm (3) fixedly connected to the mounting frame (2), the upper end of the first mounting arm (3) is provided with the walking pulley assemblies (4), the walking pulley assemblies (4) include a housing (41) as a support body, and a driving pulley (42) installed on the housing (41), the driving pulley (42) is drivingly connected to a third driver (44); the X-ray detection unit includes a base (7) and a detection plate (6) symmetrically arranged on both sides in the length direction of the mounting frame (2) and fixedly connected to the mounting frame (2) through a second mounting arm (5), an X-ray machine (9) opposite to the detection plate (6) is installed on the base (7), and a shielding cover (8) covering the X-ray machine (9) is further provided on the base (7). The action sequence of the support pulley assembly (10) to cross an obstacle is: release the transmission line, contract in the vertical direction, then extend in the horizontal direction so that the support pulley assembly (10) crosses the obstacle; finally, extend in the vertical direction and clamp on the transmission line.

2. A live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines according to claim 1, It is characterized in that: A wire clamping clip (43) is further provided at the lower part of the housing (41), and the wire clamping clip (43) is driven to deflect by a servo motor arranged on the housing (41).

3. A live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines according to any one of claims 1-2, It is characterized in that: Third mounting arms (21) are fixedly connected to both ends of the mounting frame (2), a horizontally arranged horizontal telescopic arm (22) is fixedly connected to the upper end of the third mounting arms (21), the horizontal telescopic arm (22) is drivingly connected to a first driver (24) for driving and controlling the telescopic or length of the horizontal telescopic arm (22), a vertical telescopic arm (23) is fixedly connected to the free end of the horizontal telescopic arm (22), the vertical telescopic arm (23) is drivingly connected to a second driver (25) for driving and controlling the extension or shortening of the vertical telescopic arm (23), and the free end of the vertical telescopic arm (23) is connected to the support pulley assembly (10).

4. A live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines according to claim 3, It is characterized in that: The support pulley assembly (10) includes a clamp body (109) fixedly connected to the vertical telescopic arm (23), two half clamps (101) symmetrically arranged and hinged to one end of the clamp body (109), a first support pulley (102) fixedly installed on the inner side of any one of the half clamps (101), a telescopic mechanism slidably connected to the clamp body (109) for driving the opening and closing of the half clamps (101), and a second support pulley (103) is also installed at the lower end of the telescopic mechanism.

5. The live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines according to claim 4, characterized in that: The telescopic mechanism includes a telescopic rod that holds and fixes the second support pulley (103), and two connecting rods (105) symmetrically arranged on the telescopic rod and hinged to the half clamps (101) on both sides respectively; a fourth driver (108) for driving the telescopic rod to move up and down is installed at the upper end of the telescopic rod.

6. The live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines according to claim 5, characterized in that: Jet nozzles (104) for jetting air are symmetrically installed on the inner side walls of the half clamps (101), and the jet nozzles (104) are communicated with a pressurizing device arranged in the control chassis (1) through hoses.

7. The live X-ray detection and cleaning integrated obstacle-crossing robot for transmission lines according to claim 5, characterized in that: A top-view camera (106) and a front-view camera (107) for collecting the actual influence of the transmission line are respectively installed on the clamp body (109) and are communicatively connected to the control chassis (1).

Images