A robot for X-ray inspection of power transmission fittings

Abstract

The present invention belongs to the technical field of power transmission fittings detection, and is particularly a robot for X-ray detection of power transmission fittings, which is used to detect a connecting pipe body installed on a cable body, and includes a walking mechanism, wherein the walking mechanism is used to walk on the cable body, a turning mechanism is provided below the walking mechanism, a detection mechanism and an ice-shaving mechanism are installed on the turning mechanism, the ice-shaving mechanism is used to shave ice cubes on the connecting pipe body, the detection mechanism is used to perform X-ray detection on the connecting pipe body, and the walking mechanism and the turning mechanism are connected to the same rotating table. The present invention can shave and remove ice cubes attached to the connecting pipe body through the ice-shaving mechanism, and can apply pressure to the ice cubes during the shaving process, ensuring that the multiple rectangular plates on the ice-shaving mechanism can always be tightly pressed against the ice cubes on the connecting pipe body, and ensuring that the ice-shaving ability of the rectangular plates will not be weakened.

Description

Technical Field

[0001] The invention relates to the technical field of power transmission fitting detection, and in particular to a robot used for X-ray detection of power transmission fittings. Background Art

[0002] As an important part of power transmission, the safe operation of transmission lines is crucial to the stable operation of the power grid. As an important connecting device of the line, the joint pipe bears the tension and load of the wire, and its state directly affects the stability and safety of the line.

[0003] For the inspection of power transmission fittings on the line, the traditional UAV power transmission line inspection scheme can only detect surface defects through visible light, such as missing connection bolts, surface cracks, etc. Most of the joints are crimped by hydraulic pressure during installation. The quality of crimping cannot be detected by traditional inspection methods. If the crimping quality does not meet the standard at the beginning of installation, after a period of operation, the wire may fall off at the crimping point, causing safety accidents. In order to find the defects of the joints as early as possible to avoid accidents, the traditional radiographic inspection of joints usually requires personnel to carry radiographic inspection equipment to the tower for inspection. The safety of manual inspection is poor. In addition, in the cold winter, the joints are easily covered with thick ice, which can easily affect the inspection results. The traditional heating method to remove ice can easily cause the joints to expand and loosen due to the alternation of hot and cold. In addition, some methods of deicing by knocking can easily cause the cable and itself to shake during actual use, and the safety is also poor. Therefore, a robot for X-ray inspection of power transmission fittings is proposed. Summary of the invention

[0004] In order to solve the shortcomings in the prior art, the present invention proposes a robot for X-ray detection of power transmission fittings.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a robot for X-ray detection of power transmission fittings, which is used to detect a connecting pipe body installed on a cable body, including a walking mechanism, wherein the walking mechanism is used to walk on the cable body, a turning mechanism is provided below the walking mechanism, a detection mechanism and an ice-shaving mechanism are installed on the turning mechanism, the ice-shaving mechanism is used to shave ice on the connecting pipe body, and the detection mechanism is used to perform X-ray detection on the connecting pipe body, and a same rotating table is connected between the walking mechanism and the turning mechanism, and the rotating table is used to drive the turning mechanism to rotate so that the detection mechanism and the ice-shaving mechanism exchange positions.

[0006] Preferably, the detection mechanism comprises a fixing plate, two fixing rods are fixedly mounted on the top of the fixing plate, and a receiving plate and an X-ray emitter are fixedly mounted on the top ends of the two fixing rods, respectively.

[0007] Preferably, the ice shaving mechanism includes a mounting frame, on the top of which two chassis are fixedly mounted, the two chassis are diagonally arranged, and the same annular box is fixedly mounted on the top of the two chassis, the two chassis are connected to the annular box, the inner side of the annular box is opened, and a cylinder is rotatably mounted on the inner side of the annular box, a plurality of rectangular plates distributed in a circular array are installed in the chassis, and the rectangular plates are provided with inclined holes for shaving.

[0008] Preferably, a through opening 1 is provided on the annular box, a through opening 2 is provided on the cylinder, a sector gear ring 1 is rotatably installed in the annular box, the sector gear ring 1 is fixedly sleeved on the cylinder, motors are fixedly installed in both cases, bevel gears 1 are fixedly installed on the output shafts of the two motors, and the two bevel gears 1 are meshed with the sector gear ring 1.

[0009] Preferably, two screws are fixedly installed on one side of the rectangular plate away from the axis of the cylinder, and both screws are threadedly sleeved with internal threaded cylinders, both internal threaded cylinders penetrate the cylinder and are rotatably connected to the cylinder, and both internal threaded cylinders are fixedly sleeved with bevel gears 2, and both sides of the annular box are fixedly installed with sector gear rings 2, and the two bevel gears 2 are respectively meshed and connected with the corresponding sector gear rings 2.

[0010] Preferably, the switching mechanism includes a V-shaped plate, and a rotating plate 1 and a rotating plate 2 are rotatably installed on both sides of the V-shaped plate respectively, two telescopic rods 1 are hinged between the V-shaped plate and the rotating plate 2, and two telescopic rods 2 are hinged between the rotating plate 1 and the V-shaped plate, the bottom of the mounting frame is fixedly connected to the top of the rotating plate 2, and the bottom of the fixed plate is fixedly connected to the top of the rotating plate 1.

[0011] Preferably, the walking mechanism includes a column, a cross frame 2 is fixedly installed on one side of the column, a cross frame 1 is provided on one side of the column, two driving rollers 2 are rotatably installed on the cross frame 1, two driving rollers 1 are rotatably installed on the cross frame 2, the bottom of the rotating table is fixedly connected to one side of the column, and the rotating head of the rotating table is fixedly connected to the V-shaped plate.

[0012] Preferably, a sleeve is slidably mounted on the column, an L-shaped frame is fixedly mounted on one side of the sleeve, one end of the L-shaped frame away from the sleeve is fixedly connected to a cross frame, a base plate is fixedly mounted on the bottom of the column, an adjusting bolt is threadedly connected to the base plate, and the top end of the adjusting bolt abuts against the sleeve.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. The present invention can shave and remove ice cubes attached to the connecting pipe body through the ice shaving mechanism, and can apply pressure to the ice cubes during the shaving process, ensuring that the multiple rectangular plates on the ice shaving mechanism can always be tightly pressed against the ice cubes on the connecting pipe body, ensuring that the ice shaving ability of the rectangular plates will not be weakened;

[0015] 2. By exchanging the positions of the detection mechanism and the ice-shaving mechanism, the connecting pipe body can be X-ray inspected after the ice-shaving mechanism has shaved off the ice on the connecting pipe body, ensuring that the inspection result will not be affected by the ice. Secondly, the shaving will not cause the connecting pipe body to alternate between hot and cold. Therefore, even if the connecting pipe body becomes loose, the loosening will not be aggravated by the alternation between hot and cold. In addition, the de-icing method of shaving will not cause large vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a robot for X-ray inspection of power transmission fittings in an ice-shaving state, as proposed by the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of a detection mechanism in a robot for X-ray detection of power transmission fittings proposed by the present invention;

[0018] Figure 3 This is a structural schematic diagram of an ice-shaving mechanism in a robot for X-ray inspection of power transmission fittings proposed by the present invention;

[0019] Figure 4 A side cross-sectional view of an ice-shaving mechanism in a robot for X-ray inspection of power transmission fittings proposed by the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the walking mechanism and the rotating platform in a robot for X-ray inspection of power transmission fittings proposed by the present invention;

[0021] Figure 6 This is a schematic diagram of the structure of a turning mechanism in a robot for X-ray inspection of power transmission fittings proposed by the present invention;

[0022] Figure 7 This is a schematic structural diagram of a robot for X-ray inspection of power transmission fittings proposed by the present invention in the inspection state.

[0023] In the figure: 1. walking mechanism; 11. upright column; 12. horizontal frame 1; 13. horizontal frame 2; 14. driving roller 1; 15. driving roller 2; 16. sleeve; 17. L-shaped frame; 18. bottom plate; 19. adjusting bolt; 2. turning mechanism; 21. V-shaped plate; 22. rotating plate 1; 23. rotating plate 2; 24. telescopic rod 1; 25. telescopic rod 2; 3. rotating table; 4. detection mechanism; 41. fixed plate; 42. fixed rod; 43. connecting rod Receiving plate; 44, X-ray transmitter; 5, ice shaving mechanism; 51, mounting frame; 52, chassis; 53, ring box; 531, through port one; 54, cylinder; 541, through port two; 55, sector gear ring one; 56, motor; 57, bevel gear one; 58, internal thread cylinder; 59, screw; 510, rectangular plate; 511, planing oblique hole; 512, bevel gear two; 513, sector gear ring two; 6, cable body; 7, connecting pipe body. DETAILED DESCRIPTION

[0024] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Please refer to Figure 1-Figure 7 The present invention provides a technical solution: a robot for X-ray detection of power transmission fittings, which is used to detect a connecting pipe body 7 installed on a cable body 6, including a walking mechanism 1, the walking mechanism 1 is used to walk on the cable body 6, a turning mechanism 2 is provided below the walking mechanism 1, a detection mechanism 4 and an ice-shaving mechanism 5 are installed on the turning mechanism 2, the ice-shaving mechanism 5 is used to shave ice on the connecting pipe body 7, the detection mechanism 4 is used to perform X-ray detection on the connecting pipe body 7, and a rotating table 3 is connected between the walking mechanism 1 and the turning mechanism 2, and the rotating table 3 is used to drive the turning mechanism 2 to rotate so that the detection mechanism 4 and the ice-shaving mechanism 5 exchange positions.

[0026] The detection mechanism 4 comprises a fixing plate 41 , on the top of which two fixing rods 42 are fixedly mounted, and on the tops of the two fixing rods 42 are respectively fixedly mounted a receiving plate 43 and an X-ray emitter 44 .

[0027] The ice shaving mechanism 5 includes a mounting frame 51, on the top of which two chassis 52 are fixedly mounted, the two chassis 52 are diagonally arranged, and the same annular box 53 is fixedly mounted on the top of the two chassis 52, the two chassis 52 are both connected to the annular box 53, the inner side of the annular box 53 is opened, and a cylinder 54 is rotatably mounted on the inner side of the annular box 53, a plurality of rectangular plates 510 distributed in a circular array are installed in the chassis 52, and the rectangular plates 510 are provided with inclined planing holes 511.

[0028] The annular box 53 is provided with a through opening 1 531, the cylinder 54 is provided with a through opening 2 541, a sector gear ring 1 55 is rotatably installed in the annular box 53, the sector gear ring 1 55 is fixedly sleeved on the cylinder 54, motors 56 are fixedly installed in both chassis 52, bevel gears 1 57 are fixedly installed on the output shafts of the two motors 56, and the two bevel gears 1 57 are meshed with the sector gear ring 1 55.

[0029] Two screws 59 are fixedly installed on one side of the rectangular plate 510 away from the axis of the cylinder 54, and the two screws 59 are threadedly sleeved with internal threaded cylinders 58. The two internal threaded cylinders 58 penetrate the cylinder 54 and are rotatably connected to the cylinder 54, and the two internal threaded cylinders 58 are fixedly sleeved with bevel gears 512. Sector gear rings 513 are fixedly installed on both sides of the annular box 53, and the two bevel gears 512 are meshed and connected with the corresponding sector gear rings 513 respectively.

[0030] The turning mechanism 2 includes a V-shaped plate 21, on both sides of which a rotating plate 22 and a rotating plate 23 are rotatably installed, two telescopic rods 24 are hinged between the V-shaped plate 21 and the rotating plate 23, and two telescopic rods 25 are hinged between the rotating plate 1 22 and the V-shaped plate 21. The bottom of the mounting frame 51 is fixedly connected to the top of the rotating plate 23, and the bottom of the fixed plate 41 is fixedly connected to the top of the rotating plate 1 22.

[0031] The walking mechanism 1 includes a column 11, a cross frame 13 is fixedly installed on one side of the column 11, a cross frame 12 is provided on one side of the column 11, two driving rollers 15 are rotatably installed on the cross frame 12, and two driving rollers 14 are rotatably installed on the cross frame 13. The bottom of the rotating platform 3 is fixedly connected to one side of the column 11, and the rotating head of the rotating platform 3 is fixedly connected to the V-shaped plate 21.

[0032] A sleeve 16 is slidably mounted on the column 11, an L-shaped frame 17 is fixedly mounted on one side of the sleeve 16, and one end of the L-shaped frame 17 away from the sleeve 16 is fixedly connected to the cross frame 12, a bottom plate 18 is fixedly mounted on the bottom of the column 11, and an adjusting bolt 19 is threadedly connected to the bottom plate 18, and the top end of the adjusting bolt 19 abuts against the sleeve 16.

[0033] Furthermore, when the walking mechanism 1 is installed on the cable body 6, the distance between the cross frame 12 and the cross frame 2 13 is first made to be in the maximum state, and then after the two driving rollers 14 are placed on the cable body 6, the adjusting bolt 19 can be turned to push the sleeve 16 to rise, and the sleeve 16 then drives the two driving rollers 2 15 to move up through the L-shaped frame 17 and the cross frame 1 12 and contact the bottom of the cable body 6. By clamping the cable body 6 with the two driving rollers 1 14 and the two driving rollers 2 15, the entire device can be driven to move during the rotation of the driving rollers 2 15 and the driving rollers 1 14, and at the same time, the driving rollers 2 15 and the driving rollers 1 14 can be prevented from falling off from the cable body 6.

[0034] In this embodiment: when in use, the two driving rollers 14 are placed above the cable body 6, and then the horizontal frame 12 is pushed up to make the two driving rollers 14 contact the bottom of the cable body 6, and then the two driving rollers 14 and the two driving rollers 2 15 drive the entire device to move toward the connecting tube body 7. When approaching the connecting tube body 7, the two telescopic rods 1 24 are controlled to extend so that the rotating plate 2 23 is in a horizontal state;

[0035] During the process of the rotating plate 23 being transformed into a horizontal state, the connecting pipe body 7 will enter the cylinder 54 through the port 1 531 and the port 2 541 and be coaxial with the cylinder 54, and then the two motors 56 can be started, the two motors 56 rotate and drive the sector gear ring 1 55 to rotate through the two bevel gears 1 57, and the sector gear ring 1 55 drives the cylinder 54 to rotate. During the rotation of the cylinder 54, the multiple bevel gears 2 512 will revolve around the axis of the cylinder 54 as the center of the circle, and during the revolution, the bevel gear 2 512 will rotate on its own as it meshes with the corresponding sector gear ring 2 513;

[0036] The self-rotating bevel gear 2 512 will drive the internal threaded barrel 58 to rotate, and the rotation of the internal threaded barrel 58 will drive the screw 59 to continuously move toward the axis of the barrel 54. Therefore, during the rotation of the barrel 54, the multiple screws 59 will drive the multiple rectangular plates 510 to synchronously move toward the axis of the barrel 54. As the multiple rectangular plates 510 come into contact with the ice on the connecting pipe body 7, the rotating rectangular plates 510 will shave the ice on the connecting pipe body 7 through the edge of the shaving inclined hole 511 during the rotation process. The multiple rectangular plates 510 can continue to get closer when shaving the ice on the connecting pipe body 7, so that pressure can be applied to the ice when shaving the ice.

[0037] After the ice on the connecting pipe body 7 is cleared away, the two motors 56 are controlled to reverse, so that the multiple rectangular plates 510 move away from each other, and then after the through port 1 531 is connected with the through port 2 541, the two telescopic rods 1 24 are controlled to shorten, so that the rotating plate 2 23 drives the ice shaving mechanism 5 to tilt downward and move the connecting pipe body 7 out of the cylinder 54, and then the rotating mechanism 2 is driven to rotate half a circle through the rotating table 3 and the detection mechanism 4 and the ice shaving mechanism 5 are exchanged, and then the two telescopic rods 2 25 are controlled to extend, so that the rotating plate 1 22 is in a horizontal state. At this time, the connecting pipe body 7 is located between the receiving plate 43 and the X-ray emitter 44, and then the connecting pipe body 7 can be detected through the receiving plate 43 and the X-ray emitter 44.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot for X-ray inspection of power transmission fittings, used for inspecting a connecting pipe body (7) installed on a cable body (6), comprising a walking mechanism (1), characterized in that: The walking mechanism (1) is used for walking on the cable body (6); a turning mechanism (2) is provided below the walking mechanism (1); a detection mechanism (4) and an ice-shaving mechanism (5) are installed on the turning mechanism (2); the ice-shaving mechanism (5) is used for shaving ice on the connecting pipe body (7); the detection mechanism (4) is used for performing X-ray detection on the connecting pipe body (7); a same rotating platform (3) is connected between the walking mechanism (1) and the turning mechanism (2); the rotating platform (3) is used for driving the turning mechanism (2) to rotate so that the detection mechanism (4) and the ice-shaving mechanism (5) are exchanged; The ice shaving mechanism (5) comprises a mounting frame (51), two boxes (52) are fixedly mounted on the top of the mounting frame (51), the two boxes (52) are arranged diagonally, and the same annular box (53) is fixedly mounted on the top of the two boxes (52), the two boxes (52) are both connected to the annular box (53), the inner side of the annular box (53) is opened, and a cylinder (54) is rotatably mounted on the inner side of the annular box (53), a plurality of rectangular plates (510) distributed in a circumferential array are mounted in the box (52), and the rectangular plates (510) are provided with inclined shaving holes (511); The annular box (53) is provided with a first through-port (531), the cylinder (54) is provided with a second through-port (541), a sector gear ring (55) is rotatably mounted in the annular box (53), the sector gear ring (55) is fixedly sleeved on the cylinder (54), a motor (56) is fixedly mounted in both boxes (52), a bevel gear (57) is fixedly mounted on the output shafts of both motors (56), and both bevel gears (57) are meshed with the sector gear ring (55); Two screw rods (59) are fixedly mounted on one side of the rectangular plate (510) away from the axis of the cylinder (54), and the two screw rods (59) are both threadedly sleeved with internal threaded cylinders (58), and the two internal threaded cylinders (58) both penetrate the cylinder (54) and are rotatably connected to the cylinder (54), and the two internal threaded cylinders (58) are both fixedly sleeved with bevel gears (512), and sector gear rings (513) are fixedly mounted on both sides of the annular box (53), and the two bevel gears (512) are respectively meshed and connected with the corresponding sector gear rings (513).

2. A robot for X-ray detection of power transmission fittings according to claim 1, characterized in that: The detection mechanism (4) comprises a fixing plate (41), two fixing rods (42) being fixedly mounted on the top of the fixing plate (41), and a receiving plate (43) and an X-ray emitter (44) being fixedly mounted on the tops of the two fixing rods (42), respectively.

3. A robot for X-ray detection of power transmission fittings according to claim 2, characterized in that: The turning mechanism (2) comprises a V-shaped plate (21), and a rotating plate 1 (22) and a rotating plate 2 (23) are rotatably mounted on both sides of the V-shaped plate (21), two telescopic rods 1 (24) are hingedly connected between the V-shaped plate (21) and the rotating plate 2 (23), and two telescopic rods 2 (25) are hingedly connected between the rotating plate 1 (22) and the V-shaped plate (21), the bottom of the mounting frame (51) is fixedly connected to the top of the rotating plate 2 (23), and the bottom of the fixed plate (41) is fixedly connected to the top of the rotating plate 1 (22).

4. The robot for X-ray detection of power transmission fittings according to claim 3, characterized in that: The walking mechanism (1) comprises a column (11), a second cross frame (13) is fixedly mounted on one side of the column (11), a first cross frame (12) is provided on one side of the column (11), two second drive rollers (15) are rotatably mounted on the first cross frame (12), and two first drive rollers (14) are rotatably mounted on the second cross frame (13), the bottom of the rotating platform (3) is fixedly connected to one side of the column (11), and the rotating head of the rotating platform (3) is fixedly connected to the V-shaped plate (21).

5. The robot for X-ray detection of power transmission fittings according to claim 4, characterized in that: A sleeve (16) is slidably sleeved on the column (11), an L-shaped frame (17) is fixedly mounted on one side of the sleeve (16), an end of the L-shaped frame (17) away from the sleeve (16) is fixedly connected to a cross frame (12), a bottom plate (18) is fixedly mounted on the bottom of the column (11), an adjusting bolt (19) is threadedly connected to the bottom plate (18), and the top end of the adjusting bolt (19) abuts against the sleeve (16).

Images