An X-ray flaw detection robot for overhead lines

Abstract

The present invention discloses an X-ray flaw detection robot for overhead lines, comprising a frame, a translation device being arranged in the frame, a first mechanical arm module and a second mechanical arm module being arranged relatively on the translation device, the translation device being used to control the first mechanical arm module and the second mechanical arm module to perform relative translation movement; a ray assembly being arranged at the free end of the first mechanical arm module, and an imaging plate assembly being arranged at the free end of the second mechanical arm module; a routing arm device and a wire rack being arranged on both sides of the frame, one end of the wire rack being hinged to the frame, and the other end of the wire rack being movably connected to the frame through a guide mechanism; when the flaw detection robot is performing hanging operations or being transported, the initial state is maintained, the first mechanical arm module and the second mechanical arm module are folded and stored in the frame, so that the ray assembly and the imaging plate assembly are stored in the frame or on one side of the frame, so that the flaw detection robot can maintain its center of gravity during the hanging operations, thereby improving its stability during the hanging operations.

Description

Technical Field

[0001] The present invention relates to the technical field of high-voltage cable maintenance, in particular to an X-ray flaw detection robot for overhead lines. Background Art

[0002] Cables or workpieces on them need to be inspected and maintained after long-term use. Currently, these inspections are generally performed manually or through automated flaw detection robots. Manual inspections have a low safety factor and low inspection efficiency, while existing flaw detection robots require the installation of a large number of instruments, making it more difficult to mount the flaw detection robots. These robots are prone to interference with cables or towers during the mounting process.

[0003] It can be seen that the existing technology still needs to be improved and enhanced. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an X-ray flaw detection robot for overhead lines, which can store the radiation component and the imaging plate component in the frame during the hanging process, so that the center of gravity of the flaw detection robot remains balanced and the difficulty of hanging the flaw detection robot is reduced.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] An X-ray flaw detection robot for overhead lines includes a frame, a translation device is provided in the frame, a first robotic arm module and a second robotic arm module are provided on the translation device, the first robotic arm module and the second robotic arm module are positioned relative to each other, and the translation device is used to control the first robotic arm module and the second robotic arm module to perform relative translational movement; the free end of the first robotic arm module is provided with a radiation assembly, and the free end of the second robotic arm module is provided with an imaging plate assembly; routing arm devices and wire racks are provided on both sides of the frame, one end of the wire rack is hinged to the frame, and the other end of the wire rack is movably connected to the frame through a guide mechanism.

[0007] In the X-ray flaw detection robot for overhead lines, the translation device includes a first translation module and a second translation module, the first translation module is located below the second translation module and is respectively connected to the frame, and the transmission directions of the first translation module and the second translation module are opposite; one end of the first robotic arm module is transmission connected to the first translation module, and one end of the second robotic arm module is transmission connected to the second translation module.

[0008] In the X-ray flaw detection robot for overhead lines, the structures of the first translation module and the second translation module are consistent; the first translation module includes two oppositely arranged transmission rails, a sliding seat arranged between the two transmission rails and a translation motor, the two ends of the sliding seat are respectively slidably connected to the two transmission rails, a plurality of transmission wheels are provided on the transmission rails, and the plurality of transmission wheels are connected by synchronous belt transmission, and the translation motor is transmission-connected to any transmission wheel on any transmission rail; belt clamp assemblies are respectively provided on both sides of the bottom of the sliding seat, and the belt clamp assemblies are detachably connected to the belt body of the synchronous belt; the sliding seat is used to connect to the first robotic arm module or the second robotic arm module.

[0009] In the X-ray flaw detection robot for overhead lines, a first storage area and second storage areas are provided in the frame, respectively provided on both sides of the first storage area; the first translation module, the second translation module, the first robotic arm module and the second robotic arm module are all located in the first storage area, the radiation component is located in the second storage area, and the imaging plate assembly is located on the side of the frame away from the radiation component.

[0010] In the X-ray flaw detection robot for overhead lines, the X-ray flaw detection robot for overhead lines also includes an equipotential component, a first trigger switch, a second trigger switch and a main control unit, the equipotential component is hinged to the top of the frame, and the equipotential component extends in the direction of any conductor rack; the first trigger switch, the second trigger switch and the main control unit are respectively arranged in the frame, and the trigger part of the first trigger switch is transmission-connected to the equipotential component; the main control unit is respectively electrically connected to the first trigger switch, the second trigger switch, the translation device, the first robotic arm module, the second robotic arm module and the ray component; the first trigger switch is used to control the switch state of the main control unit; the second trigger switch is used to detect the position of the frame and control the switch state of the main control unit.

[0011] In the X-ray flaw detection robot for overhead lines, the equipotential component includes an equipotential rod, a swing arm and a mounting bracket. The equipotential rod is connected to one end of the swing arm through a first torsion spring assembly, and the other end of the swing arm is connected to the mounting bracket through a second torsion spring assembly; the end of the swing arm close to the second torsion spring assembly is transmission-connected to the trigger part of the trigger switch through a transmission rope.

[0012] In the X-ray flaw detection robot for overhead lines, the routing arm device includes a transverse movement mechanism, a lifting mechanism and a routing wheel mechanism. The transverse movement mechanism is arranged on the frame, and the routing wheel mechanism is arranged on the transverse movement mechanism through the lifting mechanism. Pads are respectively provided on both sides of the top of the frame, and the pads are located below the routing wheel mechanism; the transverse movement mechanism is used to drive the routing wheel mechanism to slide horizontally, and the lifting mechanism is used to drive the routing wheel mechanism to rise and fall.

[0013] In the X-ray flaw detection robot for overhead lines, a rope release mechanism is provided on the frame at the hinge of the conductor rack, and an openable and closable release slot is provided on the rope release mechanism; a rope threading portion is provided at the end of the conductor rack away from the hinge with the frame, and the rope threading portion is movably connected to the frame through a guide mechanism; the rope threading portion and the guide mechanism are both used to thread the rope; and the rope release mechanism is used to control the release action of the rope.

[0014] In the X-ray flaw detection robot for overhead lines, the rope threading part includes a groove arranged at the end of the wire rack and a first rope threading hole arranged in the groove; the guide mechanism includes a connecting seat and a support rod, the connecting seat is connected to the frame, a linear bearing seat is hinged on the connecting seat, one end of the support rod is transmission-connected to the linear bearing seat, the other end of the support rod is hinged to the groove, and a second rope threading hole is provided on one side of the connecting seat.

[0015] In the X-ray flaw detection robot for overhead lines, the rope release mechanism includes a pulling part, a mounting seat and a clamp assembly, the clamp assembly is connected to the frame through the mounting seat, the pulling part is connected to the frame, the pulling part is transmission-connected to the clamp assembly, and the pulling part is used to control the opening and closing action of the clamp assembly; the release groove is located on the mounting seat, and the notch of the release groove is provided with a rope locking part, one end of the rope locking part is rotatably connected to the mounting seat, and the other end of the rope locking part is located in the clamping groove of the clamp assembly.

[0016] Beneficial effects:

[0017] The present invention provides an X-ray flaw detection robot for overhead lines. The robot is divided into an initial state and an expanded state during operation. When the flaw detection robot is performing a hanging operation or being transported, the initial state is maintained, and a first robotic arm module and a second robotic arm module are folded and stored in a frame so that a radiation component and an imaging plate component are stored in the frame or on one side of the frame. This allows the flaw detection robot to maintain its center of gravity during the hanging operation, avoiding interference between the radiation component and the imaging plate component and the cable when hanging. It also facilitates the transportation of the flaw detection robot by workers. When the flaw detection robot is performing a flaw detection operation, a translation device moves the first robotic arm module and the second robotic arm module toward both sides of the frame respectively until the first robotic arm module and the second robotic arm module are moved outside the frame. Then, the first robotic arm module and the second robotic arm module are expanded to move the radiation component and the imaging plate component to both sides of the detection target. The internal structure of the detection target is illuminated by the radiation component and the imaging plate component to generate a flaw detection image for data analysis by the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A diagram of the X-ray flaw detection robot for overhead lines provided by the present invention in its hanging operation state;

[0019] Figure 2 A diagram showing the flaw detection operation status of the X-ray flaw detection robot for overhead lines provided by the present invention;

[0020] Figure 3 The folded state structure of the X-ray flaw detection robot for overhead lines provided by the present invention Figure 1 ;

[0021] Figure 4 The folded state structure of the X-ray flaw detection robot for overhead lines provided by the present invention Figure 2 ;

[0022] Figure 5 The expanded state structure of the X-ray flaw detection robot for overhead lines provided by the present invention Figure 1 ;

[0023] Figure 6 The expanded state structure of the X-ray flaw detection robot for overhead lines provided by the present invention Figure 2 ;

[0024] Figure 7 A schematic diagram of the assembly structure of the translation device, the first robotic arm module, and the second robotic arm module in the X-ray flaw detection robot for overhead lines provided by the present invention;

[0025] Figure 8Schematic diagram of the assembly structure of the first translation module and the first mechanical arm module in the X-ray flaw detection robot for overhead lines provided by the present invention Figure 1 ;

[0026] Figure 9 Schematic diagram of the assembly structure of the first translation module and the first mechanical arm module in the X-ray flaw detection robot for overhead lines provided by the present invention Figure 2 ;

[0027] Figure 10 This is a schematic diagram of the assembly structure of the second translation module and the second mechanical arm module in the X-ray flaw detection robot for overhead lines provided by the present invention;

[0028] Figure 11 This is a schematic structural diagram of the equipotential component in the X-ray flaw detection robot for overhead lines provided by the present invention;

[0029] Figure 12 This is a schematic diagram of the overall structure of the frame of the X-ray flaw detection robot for overhead lines provided by the present invention;

[0030] Figure 13 This is a schematic diagram of the overall structure of the rope release mechanism in the X-ray flaw detection robot for overhead lines provided by the present invention;

[0031] Figure 14 This is a schematic diagram of the disassembled structure of the rope release mechanism in the X-ray flaw detection robot for overhead lines provided by the present invention;

[0032] Figure 15 Schematic diagram of the assembly structure of the conductor frame and the guide mechanism in the X-ray flaw detection robot for overhead lines provided by the present invention Figure 1 ;

[0033] Figure 16 Schematic diagram of the assembly structure of the conductor frame and the guide mechanism in the X-ray flaw detection robot for overhead lines provided by the present invention Figure 2 ;

[0034] Figure 17 This is a schematic diagram of the disassembled structure of the routing arm device in the X-ray flaw detection robot for overhead lines provided by the present invention.

[0035] Explanation of the main component symbols: 100-frame, 11-first storage area, 12-second storage area, 200-translation device, 21-first translation module, 22-second translation module, 211-transmission track, 212-sliding seat, 213-translation motor, 214-transmission wheel, 215-synchronous belt, 216-belt clamp assembly, 300-first robotic arm module, 400-second robotic arm module, 500-ray assembly, 600-imaging plate assembly, 700-wire rack, 71-rope threading part, 800-guide mechanism, 81-connecting seat, 82-support rod, 83-linear bearing seat, 84-second rope threading hole, 900-routing arm device, 4-transverse mechanism, 41-transverse track, 42-first drive assembly , 421-transverse motor, 422-transverse screw, 5-lifting mechanism, 51-slide, 52-lifting rail, 53-second drive assembly, 6-walking wheel mechanism, 61-drive seat, 62-walking wheel, 63-equipotential wheel frame, 64-cantilever, 65-drive cover, 66-pad, 110-ropes release mechanism, 91-pulling part, 92-mounting seat, 93-clamp assembly, 94-release slot, 95-rope locking part, 120-equipotential assembly, 1201-first trigger switch, 1202-second trigger switch, 1203-equipotential rod, 1204-swing arm, 1205-mounting frame, 1206-first torsion spring assembly, 1207-second torsion spring assembly, 130-winch, 140-ropes. DETAILED DESCRIPTION

[0036] The present invention provides an X-ray flaw detection robot for overhead lines. To make the objectives, technical solutions, and effects of the present invention more clear and explicit, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are intended only to illustrate the present invention and are not intended to limit the present invention.

[0037] In the description of the present invention, it should be understood that the terms "middle," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the drawings and are intended solely to facilitate and simplify the description of the present invention. Furthermore, the terms "first," "second," and "third" are used solely for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features.

[0038] Please refer to Figure 1 to Figure 17The present invention provides an X-ray flaw detection robot for overhead lines, comprising a frame 100, wherein a translation device 200 is provided in the frame 100, and a first robotic arm module 300 and a second robotic arm module 400 are provided on the translation device 200, the first robotic arm module 300 and the second robotic arm module 400 are positioned relative to each other, and the translation device 200 is used to control the first robotic arm module 300 and the second robotic arm module 400 to perform relative translation movement; a ray assembly 500 is provided at the free end of the first robotic arm module 300, and an imaging plate assembly 600 is provided at the free end of the second robotic arm module 400; a routing arm device 900 and a wire rack 700 are provided on both sides of the frame 100, one end of the wire rack 700 is hinged to the frame 100, and the other end of the wire rack 700 is movably connected to the frame 100 through a guide mechanism 800.

[0039] In actual use, the flaw detection robot is divided into an initial state and an expanded state during operation. When the flaw detection robot is performing a hanging operation or transportation, it maintains the initial state, and the first robotic arm module 300 and the second robotic arm module 400 are folded and stored in the frame 100, so that the radiation component 500 and the imaging plate component 600 are stored in the frame 100 or on one side of the frame 100, so that the flaw detection robot can maintain its center of gravity during the hanging operation, avoiding the problem of interference between the radiation component 500 and the imaging plate component 600 and the cable when hanging. , and it is also convenient for the staff to transport the flaw detection robot; when the flaw detection robot performs flaw detection operations, the first robot arm module 300 and the second robot arm module 400 are respectively moved toward the two sides of the frame 100 through the translation device 200, until the first robot arm module 300 and the second robot arm module 400 are moved to the outside of the frame 100, and then the first robot arm module 300 and the second robot arm module 400 are unfolded, and the radiation assembly 500 and the imaging plate assembly 600 are moved to the two sides of the detection target, and the radiation assembly 500 and the imaging plate assembly 600 are moved to the two sides of the detection target through the radiation assembly 500. 00 cooperates with the imaging plate assembly 600 to illuminate the internal structure of the detection target to generate a flaw detection image for the operator to perform data analysis; in addition, when the flaw detection robot is hung, it needs to cooperate with the external hoisting device 130 and the hanging rope 140 to operate. The rope body of the hanging rope 140 passes through the wire rack 700 and the guide mechanism 800 on the same side and the guide mechanism 800 and the wire rack 700 on the other side from left to right or from right to left, and the two free ends of the hanging rope 140 are wound in the hoisting device 130 on the ground. The hanging rope 140 is located at The rope between the wire rack 700 and the guide mechanism 800 is suspended on the cable line through an external hanger and a drone, so that the hoisting device 130, the lifting rope 140, the cable line and the flaw detection robot form a fixed pulley structure. When the hoisting device 130 reels the two ends of the lifting rope 140, the lifting rope 140 is used as a fixed pulley to pull the body of the flaw detection robot upward. When the flaw detection robot approaches the bottom of the target cable line, the wiring arm device 900 is used to complete the hanging action, thereby achieving the purpose of hanging the flaw detection robot.

[0040] In this embodiment, the first robotic arm module 300 and the second robotic arm module 400 are both six-axis robotic arms, which provide multi-dimensional posture adjustment, making the radiation assembly 500 and the imaging plate assembly 600 more flexible when moving.

[0041] like Figures 1 to 17As shown, further, the translation device 200 includes a first translation module 21 and a second translation module 22, the first translation module 21 is located below the second translation module 22, and is respectively connected to the frame 100, and the transmission directions of the first translation module 21 and the second translation module 22 are opposite; one end of the first mechanical arm module 300 is transmission-connected to the first translation module 21, and one end of the second mechanical arm module 400 is transmission-connected to the second translation module 22; when in use, the first translation module 21 and the second translation module 22 are stacked up and down, reducing the translation The translation device 200 occupies space in the frame 100, and during the deployment process, the first robot arm module 300 and the second robot arm module 400 are pushed to both sides of the frame 100 through the first translation module 21 and the second translation module 22, so that the first robot arm module 300 and the second robot arm module 400 can be moved and deployed outside the frame 100. The first translation module 21 and the second translation module 22 are used to achieve the purpose of storing the first robot arm module 300 and the second robot arm module 400 in the frame 100, so that the flaw detection robot can maintain its center of gravity during the hanging operation, thereby improving its stability during the hanging operation.

[0042] like Figures 1 to 17 As shown, further, the structures of the first translation module 21 and the second translation module 22 are consistent; the first translation module 21 includes two oppositely arranged transmission rails 211, a sliding seat 212 arranged between the two transmission rails 211 and a translation motor 213, the two ends of the sliding seat 212 are respectively slidably connected to the two transmission rails 211, and a plurality of transmission wheels 214 are provided on the transmission rails 211. The plurality of transmission wheels 214 are transmission-connected through a synchronous belt 215, and the translation motor 213 is transmission-connected to any transmission wheel 214 on any transmission rail 211; the bottom of the sliding seat 212 Belt clamp assemblies 216 are respectively provided on both sides, and the belt clamp assemblies 216 are detachably connected to the belt body of the synchronous belt 215; the sliding seat 212 is used to connect with the first robotic arm module 300 or the second robotic arm module 400; when in use, the translation motor 213 controls any transmission track 211 to perform the transmission task, and the output end of the translation motor 213 drives the synchronous belt 215 to roll along the transmission track 211 through multiple transmission wheels 214, and the sliding seat 212 moves along the transmission direction of the synchronous belt 215 through the belt clamp assembly 216, so as to achieve the purpose of transferring the first robotic arm module 300 and the second robotic arm module 400.

[0043] In this embodiment, the belt clamp assembly 216 includes a first clamp and a second clamp, the first clamp is connected to the bottom of the sliding seat 212, the belt body of the synchronous belt 215 is clamped between the first clamp and the second clamp, and the first clamp and the second clamp are connected by fasteners.

[0044] In another embodiment, teeth are provided on the surfaces of the first clamp and the second clamp that are in contact with the synchronous belt 215 , so that the friction between the first clamp and the second clamp and the synchronous belt 215 is increased by the teeth, thereby achieving an anti-slip effect.

[0045] like Figures 1 to 17 As shown, further, the frame 100 is provided with a first storage area 11 and second storage areas 12 respectively provided on both sides of the first storage area 11; the first translation module 21, the second translation module 22, the first robotic arm module 300 and the second robotic arm module 400 are all located in the first storage area 11, the radiation assembly 500 is located in the second storage area 12, and the imaging plate assembly 600 is located on a side of the frame 100 away from the radiation assembly 500; in this embodiment, by dividing the frame 100 into The area is set up so that the first translation module 21, the second translation module 22, the first robotic arm module 300, the second robotic arm module 400 and the radiation component 500 can be stored according to the designated area, and the space in the rack 100 is reasonably used so that the first robotic arm module 300, the second robotic arm module 400 and the radiation component 500 can all be built into the rack 100 during the non-destructive testing period, and the imaging plate assembly 600 is set on one side of the rack 100 to make the overall center of gravity of the rack 100 more concentrated, thereby improving the stability when hanging.

[0046] like Figures 1 to 17As shown, further, the X-ray flaw detection robot for overhead lines also includes an equipotential component 120, a first trigger switch 1201, a second trigger switch 1202 and a main control unit, wherein the equipotential component 120 is hinged to the top of the frame 100, and the equipotential component 120 extends toward any one of the conductor racks 700; the first trigger switch 1201, the second trigger switch 1202 and the main control unit are respectively arranged in the frame 100, and the trigger part of the first trigger switch 1201 is transmission-connected to the equipotential component 120; the main control unit is electrically connected to the first trigger switch 1201, the second trigger switch 1202, the translation device 200, the first robotic arm module 300, the second robotic arm module 400 and the ray assembly 500 respectively; the first trigger switch 1201 is used to control the switch state of the main control unit; the second trigger switch 1202 is used to detect the position of the frame 100 and control the switch state of the main control unit.

[0047] It should be noted that the second trigger switch 1202 is disposed at the lower middle portion of the rack 100 .

[0048] Since there is high voltage on the cable line, the cable line will cause serious electromagnetic interference to the flaw detection robot. In order to solve the electromagnetic interference problem, the flaw detection robot and the cable line need to be treated with equipotential treatment. In this embodiment, when the flaw detection robot approaches the cable line, the equipotential component 120 will first contact the cable line, and the equipotential component 120 will instantly connect the flaw detection robot with the cable line, so that the flaw detection robot and the cable line are kept at the same potential. Then, as the cable line presses against the equipotential component 120, the trigger part of the first trigger switch 1201 is triggered. The main control unit is started under the condition of equal potential to eliminate the electromagnetic interference on the main control unit caused by the potential difference, thereby improving the stability and reliability of the flaw detection robot during use; in addition, when the second trigger switch 1202 detects that the cable has passed through the rack 100, it should be noted that at this time the equipotential component 120 has been separated from the cable, and there may be a potential difference between the flaw detection robot and the cable. The second trigger switch 1202 sends a shutdown signal to the main control unit to cut off the power of the flaw detection robot as a whole, thereby avoiding the electromagnetic interference on the main control unit caused by the potential difference and preventing the occurrence of uncontrolled problems.

[0049] It should be noted that the main control unit can be an existing PLC controller, a single chip microcomputer controller, a CPU controller, etc., which will not be described in detail here.

[0050] like Figures 1 to 17As shown, further, the equipotential component 120 includes an equipotential rod 1203, a swing arm 1204 and a mounting bracket 1205, the equipotential rod 1203 is connected to one end of the swing arm 1204 through a first torsion spring assembly 1206, and the other end of the swing arm 1204 is connected to the mounting bracket 1205 through a second torsion spring assembly 1207; the end of the swing arm 1204 close to the second torsion spring assembly 1207 is transmission-connected to the trigger part of the trigger switch through a transmission rope; when in use, the equipotential operation of the flaw detection robot is realized by the equipotential rod 1203 contacting and conducting with the cable. When the cable is pressed against the equipotential rod 1203, the first torsion spring assembly 1206 and the second torsion spring assembly 1207 cooperate with the swing arm 1204 to pull the transmission rope, thereby triggering the trigger part of the trigger switch. After the equipotential rod 1203 passes over the cable, the equipotential rod 1203 is reset by the first torsion spring assembly 1206 and the second torsion spring assembly 1207.

[0051] In this embodiment, the first trigger switch 1201 can be a travel switch, which controls the switching state of the trigger switch by triggering its travel swing arm 1204; the second trigger switch 1202 can be a photoelectric switch, which controls the switching state of the main control unit by detecting the position of the cable.

[0052] It should be noted that both the first torsion spring assembly 1206 and the second torsion spring assembly 1207 are composed of a rotating pin and a torsion spring.

[0053] like Figures 1 to 17 As shown, further, the wiring arm device 900 includes a transverse movement mechanism 4, a lifting mechanism 5 and a wiring wheel mechanism 6. The transverse movement mechanism 4 is arranged on the frame 100, and the wiring wheel mechanism 6 is arranged on the transverse movement mechanism 4 through the lifting mechanism 5. Pads 66 are respectively provided on both sides of the top of the frame 100, and the pads 66 are located below the wiring wheel mechanism 6; the transverse movement mechanism 4 is used to drive the wiring wheel mechanism 6 to slide horizontally, and the lifting mechanism 5 is used to drive the wiring wheel mechanism 6 to move up and down; by arranging the transverse movement mechanism 4 and the lifting mechanism 5, the wiring wheel mechanism 6 is provided with two-dimensional adjustment requirements, so that the wiring wheel mechanism 6 can be adjusted in the horizontal and vertical directions to achieve the purpose of hanging the cable. In addition, when the flaw detection robot performs flaw detection operations, the wiring wheel mechanism 6 is pressed downward by the lifting mechanism 5, and the cable is pressed tightly between the wiring wheel mechanism 6 and the pad 66, so that the entire flaw detection robot is fixed on the cable, thereby improving the stability of the flaw detection robot during flaw detection operations.

[0054] In this embodiment, the transverse movement mechanism 4 includes a transverse movement rail 41 and a first drive component 42, and the first drive component 42 is arranged on the transverse movement rail 41; the lifting mechanism 5 includes a slide 51, a lifting rail 52 and a second drive component 53, and the second drive component 53 is arranged on the lifting rail 52. The second drive component 53 is transmission-connected to the slide 51, and the slide 51 is transmission-connected to the transverse movement rail 41 through the first drive component 42; the wiring wheel mechanism 6 is arranged at the top of the lifting rail 52; when in use, the slide 51 is driven by the first drive component 42 to slide along the length direction of the transverse movement rail 41, so as to achieve the purpose of adjusting the horizontal position of the wiring wheel mechanism 6; in addition, the lifting rail 52 is raised and lowered on the slide 51 by driving the second drive component 53, so as to achieve the purpose of adjusting the horizontal height of the wiring wheel mechanism 6.

[0055] In this embodiment, the first driving component 42 includes a transverse motor 421 and a transverse screw 422, and the transverse motor 421 and the transverse screw 422 are respectively arranged on the transverse rail 41, and the transverse motor 421 is connected to the transverse screw 422 through a synchronous belt; the transverse movement of the slide 51 is realized through the above arrangement.

[0056] In another embodiment, the second drive assembly 53 is also a screw transmission assembly, that is, it is composed of a motor, a screw, etc.; the sliding of the lifting track 52 is achieved through the screw transmission assembly; it should be noted that the screw transmission assembly is a prior art and will not be described in detail here.

[0057] Specifically, the routing wheel mechanism 6 includes a driving seat 61, a walking wheel 62 and an equipotential wheel frame 63. The walking wheel 62 is connected to the driving seat 61 through a cantilever 64. The walking wheel 62 is rotatably connected to the cantilever 64. A routing motor is provided in the driving seat 61. The output shaft of the routing motor is located in the cantilever 64 and is transmission-connected to the walking wheel 62 through a driving cover 65. The equipotential wheel frame 63 is sleeved on the cantilever 64, and the equipotential wheel frame 63 is located on one side of the walking wheel 62. When walking, the driving cover 65 is driven to rotate by the routing motor, so that the driving cover 65 drives the routing wheel to roll on the cantilever 64, thereby realizing the walking action of the routing wheel device on the cable line. ; In addition, due to the high voltage on the cable line, the cable line will cause serious electromagnetic interference problems to the flaw detection robot. In order to solve the electromagnetic interference problem, the flaw detection robot and the cable line need to be treated with equipotentiality; in this embodiment, when the routing wheel is pressed down onto the cable line, the equipotential wheel frame 63 also contacts the cable line at the same time. At this time, the equipotential wheel frame 63 is combined with the conductive slip ring to make the flaw detection robot as a whole conductive with the cable line, thereby completing the equipotential treatment. After the equipotential is completed, the electromagnetic interference problem caused by the high voltage can be eliminated by starting the flaw detection robot. In addition, the equipotential wheel frame 63 always keeps in contact with the cable line, and the flaw detection robot maintains the same potential as the cable line during the entire routing process.

[0058] like Figures 1 to 17 As shown, further, a rope release mechanism 110 is provided on the frame 100 at the hinge of the wire rack 700, and an openable and closable release slot 94 is provided on the rope release mechanism 110; a rope threading portion 71 is provided at the end of the wire rack 700 away from the hinge with the frame 100, and the rope threading portion 71 is movably connected to the frame 100 through a guide mechanism 800; the rope threading portion 71 and the guide mechanism 800 are both used to thread the rope 140; the rope release mechanism 110 is used to control the release action of the rope 140.

[0059] In actual use, the hoisting mechanism 120, the frame 100 and the cable are connected in advance through the hoisting rope 140, one end of the hoisting rope 140 is wound in the hoisting mechanism 120, and then the other end of the hoisting rope 140 is sequentially passed through the hoisting rope release mechanism 110, the rope threading portion 71 and the guide mechanism 800 on either side, and then the hoisting rope 140 is sequentially passed through the guide mechanism 800, the rope threading portion 71 and the rope release mechanism 110 on the other side, and finally the end of the hoisting rope 140 is wound in the hoisting device 130 to complete the hoisting operation. The suspension rope 140 is pre-installed with the flaw detection robot, and then the suspension rope 140 located between the suspension rope release mechanism 110 and the rope threading part 71 is hung to the topmost cable among the multiple cables with the help of a hanger and a drone. It should be noted that at this time all the cables are located between the two ends of the suspension rope 140, and a triangle shape is formed between the suspension rope 140, the suspension rope release mechanism 110 and the rope threading part 71; the entire hanging process is divided into two steps, first hanging the cable on the left, and then hanging the cable on the right.

[0060] When the cable on the left is hung up, the lifting rope 140 is reeled in by the winch mechanism 120. During the reeling process, the lifting rope 140 will drive the end of the wire rack 700 located at the rope threading part 71 to be pulled upward, so that one end of the wire rack 700 is supported upward along the length direction of the support rod 82, forming a triangular guide structure. When the flaw detection robot approaches the cable, the flaw detection robot is guided to the side away from the lifting rope release mechanism 110 by the wire rack 700 to avoid interference between the flaw detection robot and the cable. When the frame 100 reaches the preset position, the transverse mechanism 4 cooperates with the lifting mechanism 5 to press the wire wheel mechanism 6 against the cable, and then the lifting rope 140 is reeled out by the winch mechanism 120, so that the wire wheel mechanism 6 is hung on the cable, thereby completing the initial hanging operation.

[0061] When the operation is completed and the cable needs to be hung on the right side, the hoisting rope 140 is reeled in by the hoisting mechanism 120, so as to properly lift the flaw detection robot, and cooperate with the transverse movement mechanism 4 and the lifting mechanism 5 to separate the wire pulley mechanism 6 from the cable, and then continue to reel in the hoisting rope 140 by the hoisting mechanism 120 until the frame 100 reaches the preset position, and then control the rope release mechanism 110 to open the release slot 94, so that one end of the rope 140 is separated from the frame 100, and the frame 100 will swing to the right under the action of inertia, that is, swing to the lower right of the next cable. After the flaw detection robot stops shaking as a whole, the hoisting rope 140 is reeled in by the hoisting mechanism 120. During the process, the lifting rope 140 will drive the end of the wire rack 700 located at the rope threading part 71 to be pulled upward, so that one end of the wire rack 700 is supported upward along the length direction of the support rod 82, forming a triangular guide structure. When the flaw detection robot approaches the cable, the wire rack 700 is used to guide the flaw detection robot to the side away from the lifting rope release mechanism 110 to avoid interference between the flaw detection robot and the cable. When the frame 100 reaches the preset position, the transverse mechanism 4 cooperates with the lifting mechanism 5 to press the wiring wheel mechanism 6 against the cable, and then the lifting rope 140 is rewound by the winch mechanism 120, so that the wiring wheel mechanism 6 is suspended on the cable, thereby completing the cross-line hanging operation.

[0062] like Figures 1 to 17 As shown, further, the rope threading portion 71 includes a groove arranged at the end of the wire rack 700 and a first rope threading hole arranged in the groove; the guide mechanism 800 includes a connecting seat 81 and a support rod 82, the connecting seat 81 is connected to the frame 100, a linear bearing seat 83 is hinged on the connecting seat 81, one end of the support rod 82 is transmission-connected to the linear bearing seat 83, the other end of the support rod 82 is hinged to the groove, and a second rope threading hole 84 is provided on one side of the connecting seat 81; during operation, when the hoisting mechanism 120 reels the lifting rope 140, the lifting rope 140 will be in a straight state, thereby driving one end of the wire rack 700 to swing upward through the first rope threading hole. During the swinging process, the wire rack 700 is supported by the support rod 82, and the support rod 82 adaptively slides through the rotatable linear bearing seat 83 to adjust the inclination angle of the wire rack 700, thereby realizing the guiding effect of the wire rack 700 on the cable.

[0063] like Figures 1 to 17As shown, further, the rope release mechanism 110 includes a pulling portion 91, a mounting seat 92 and a clamp assembly 93, the clamp assembly 93 is connected to the frame 100 through the mounting seat 92, the pulling portion 91 is connected to the frame 100, the pulling portion 91 is transmission-connected to the clamp assembly 93, and the pulling portion 91 is used to control the opening and closing action of the clamp assembly 93; the release groove 94 is located on the mounting seat 92, and the notch of the release groove 94 is provided with a rope locking portion 95, one end of the rope locking portion 95 is rotatably connected to the mounting seat 92, and the other end of the rope locking portion 95 is located in the clamping groove of the clamp assembly 93; before hanging, the rope body of the rope 140 needs to be locked. When the lifting device 100 is lifted up, the lifting device 100 is lifted up and the lifting device 100 is lifted up, so that the lifting device 100 can be lifted up in the air. When the lifting device 100 is lifted up, the lifting device 100 is lifted up and the lifting device 100 is lifted up, so that the lifting device 100 can be lifted up and the lifting device 100 is lifted up.

[0064] It should be noted that the pulling portion 91 can be a driving device such as a steering gear, a motor, an electric telescopic rod, etc., and the pulling portion 91 is transmission-connected to the clamp assembly 93 via a pull rope.

[0065] In summary, the robot is divided into an initial state and an expanded state during operation. When the flaw detection robot is performing a hanging operation or being transported, the initial state is maintained, and the first robotic arm module 300 and the second robotic arm module 400 are folded and stored in the frame 100, so that the radiation component 500 and the imaging plate component 600 are stored in the frame 100 or on one side of the frame 100, so that the flaw detection robot can maintain its center of gravity during the hanging operation, avoiding the problem of interference between the radiation component 500 and the imaging plate component 600 and the cable when hanging, and also making it easier for the staff to transport the flaw detection robot; when the flaw detection robot is performing a hanging operation or being transported, the first robotic arm module 300 and the second robotic arm module 400 are folded and stored in the frame 100, so that the radiation component 500 and the imaging plate component 600 are stored in the frame 100 or on one side of the frame 100, so that the flaw detection robot can maintain its center of gravity during the hanging operation, avoiding the problem of interference between the radiation component 500 and the imaging plate component 600 and the cable when hanging, and also making it easier for the staff to transport the flaw detection robot; When the robot performs flaw detection operations, the first robotic arm module 300 and the second robotic arm module 400 are respectively moved toward the two sides of the frame 100 through the translation device 200 until the first robotic arm module 300 and the second robotic arm module 400 are moved outside the frame 100. Then the first robotic arm module 300 and the second robotic arm module 400 are unfolded to move the radiation component 500 and the imaging plate component 600 to the two sides of the detection target. The internal structure of the detection target is illuminated by the radiation component 500 in cooperation with the imaging plate component 600 to generate flaw detection images for the operator to perform data analysis.

[0066] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the scope of protection of the claims attached to the present invention.

Claims

1. An X-ray flaw detection robot for overhead lines, characterized in that: The invention also provides a plurality of control units, each of which is connected to the control unit by a plurality of control units, and the plurality of control units are connected to the control unit by a plurality of control units. The robot also includes an equipotential component, a first trigger switch, a second trigger switch and a main control unit. The equipotential component is hinged to the top of the frame and extends in the direction of any wire rack; the first trigger switch, the second trigger switch and the main control unit are respectively arranged in the frame, and the trigger part of the first trigger switch is transmission connected to the equipotential component; the main control unit is electrically connected to the first trigger switch, the second trigger switch, the translation device, the first robotic arm module, the second robotic arm module and the ray component respectively; the first trigger switch is used to control the switching state of the main control unit; the second trigger switch is used to detect the position of the frame and control the switching state of the main control unit; the equipotential component includes an equipotential rod, a swing arm and a mounting frame, the equipotential rod is connected to one end of the swing arm through a first torsion spring assembly, and the other end of the swing arm is connected to the mounting frame through a second torsion spring assembly; the end of the swing arm close to the second torsion spring assembly is transmission connected to the trigger part of the trigger switch through a transmission rope.

2. The X-ray flaw detection robot for overhead lines according to claim 1, characterized in that: The structures of the first translation module and the second translation module are consistent; the first translation module includes two relatively arranged transmission rails, a sliding seat arranged between the two transmission rails and a translation motor, the two ends of the sliding seat are respectively slidably connected to the two transmission rails, a plurality of transmission wheels are arranged on the transmission rails, and the plurality of transmission wheels are connected by synchronous belt transmission, and the translation motor is transmission-connected to any transmission wheel on any transmission rail; belt clamp assemblies are respectively provided on both sides of the bottom of the sliding seat, and the belt clamp assemblies are detachably connected to the belt body of the synchronous belt; the sliding seat is used to connect to the first robotic arm module or the second robotic arm module.

3. The X-ray flaw detection robot for overhead lines according to claim 2, characterized in that: The frame is provided with a first storage area and second storage areas respectively provided on both sides of the first storage area; the first translation module, the second translation module, the first robotic arm module and the second robotic arm module are all located in the first storage area, the radiation component is located in the second storage area, and the imaging plate assembly is located on a side of the frame away from the radiation component.

4. The X-ray flaw detection robot for overhead lines according to claim 1, characterized in that: The routing arm device includes a transverse movement mechanism, a lifting mechanism and a routing wheel mechanism. The transverse movement mechanism is arranged on the frame, and the routing wheel mechanism is arranged on the transverse movement mechanism through the lifting mechanism. Pads are respectively provided on both sides of the top of the frame, and the pads are located below the routing wheel mechanism; the transverse movement mechanism is used to drive the routing wheel mechanism to slide horizontally, and the lifting mechanism is used to drive the routing wheel mechanism to rise and fall.

5. The X-ray flaw detection robot for overhead lines according to claim 1, characterized in that: A rope release mechanism is provided on the frame at the hinge of the wire rack, and an openable and closable release slot is provided on the rope release mechanism; a rope threading portion is provided at one end of the wire rack away from the hinge with the frame, and the rope threading portion is movably connected to the frame through a guide mechanism; the rope threading portion and the guide mechanism are both used for threading the rope; the rope release mechanism is used to control the release action of the rope.

6. The X-ray flaw detection robot for overhead lines according to claim 5, characterized in that: The rope threading part includes a groove arranged at the end of the wire rack and a first rope threading hole arranged in the groove; the guide mechanism includes a connecting seat and a support rod, the connecting seat is connected to the frame, a linear bearing seat is hinged on the connecting seat, one end of the support rod is transmission-connected to the linear bearing seat, the other end of the support rod is hinged to the groove, and a second rope threading hole is provided on one side of the connecting seat.

7. The X-ray flaw detection robot for overhead lines according to claim 5, characterized in that: The rope release mechanism includes a pulling part, a mounting seat and a clamp assembly, the clamp assembly is connected to the frame through the mounting seat, the pulling part is connected to the frame, the pulling part is transmission-connected to the clamp assembly, and the pulling part is used to control the opening and closing action of the clamp assembly; the release groove is located on the mounting seat, and the notch of the release groove is provided with a rope locking part, one end of the rope locking part is rotatably connected to the mounting seat, and the other end of the rope locking part is located in the clamping groove of the clamp assembly.

Images