X-ray detection robot suitable for power transmission line reinforcing line and walking mechanism

Abstract

The invention belongs to the technical field of power robots. The X-ray detection robot and walking mechanism suitable for the power transmission line reinforcing line comprises a walking rack and driving wheels located at the bottom of the walking rack. The driving wheels comprise a first front driving wheel and a second front driving wheel which are positioned at the front part of the walking rack as well as a first rear driving wheel and a second rear driving wheel which are positioned at the rear part of the walking rack; the first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel are all of a wave-shaped structure, and each wave-shaped structure at least comprises two concave parts. The problem that the robot cannot cross for X-ray detection when the reinforcing line exists is solved, stable walking of the robot on the wire, the reinforcing line and the scene where the two wires are fused is achieved, and it is ensured that the X-ray detection robot suitable for the power transmission line reinforcing line can walk stably after the unmanned aerial vehicle is hoisted to the line; and it is ensured that the X-ray detection robot suitable for the power transmission line reinforcement line can walk to the preset detection position after the unmanned aerial vehicle is hoisted to the line.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to an X-ray detection robot and a walking mechanism suitable for a reinforcement line of a power transmission line. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] On the "three spans" (across the highway, across the railway, and across the important line), the connection of the conductor will be reinforced by adding reinforcing wires. Although the proportion is not high, it is a must-check item. The reinforcing wire begins to wrap a distance before the crimping tube, forks upward at the front end of the crimping tube, and finally hangs on the adjustment plate. The angle of the upward fork varies, about 10 degrees.

[0004] In the above application environment, since the relative position of the reinforcement wire and the conductor is uncertain (there is no unified reinforcement wire construction standard, and construction personnel generally construct according to the on-site conditions, resulting in certain differences in the routing position of the reinforcement wire), the existing X-ray inspection robot suitable for transmission line reinforcement lines can walk along the conductor. When the X-ray inspection robot suitable for transmission line reinforcement lines walks to the place where the conductor and the reinforcement wire fork upwards, it cannot walk along the reinforcement wire, and thus cannot complete effective inspection of the crimping tube with the reinforcement wire. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides an X-ray inspection robot and walking mechanism suitable for transmission line reinforcement lines, which solves the problem that the robot cannot cross over to perform X-ray inspection when there is a reinforcement line, and realizes the stable walking of the robot in scenarios of conductors, reinforcement lines and the fusion of the two conductors, ensuring that the X-ray inspection robot suitable for transmission line reinforcement lines can walk to the preset inspection position after being hoisted online by a drone.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides a walking mechanism of an X-ray inspection robot suitable for a transmission line reinforcement line.

[0007] A walking mechanism of an X-ray inspection robot suitable for a transmission line reinforcement line, comprising: a walking frame and driving wheels located at the bottom of the walking frame, wherein the driving wheels include a first front driving wheel and a second front driving wheel located at the front of the walking frame and a first rear driving wheel and a second rear driving wheel located at the rear of the walking frame; The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel all adopt a wave-shaped structure, and the wave-shaped structure includes at least two concave parts.

[0008] As a further limitation of the first aspect of the present invention, the first front drive wheel, the second front drive wheel, the first rear drive wheel and the second rear drive wheel have the same structure, and all include: a supporting hub, an inner baffle, an outer baffle and an outer corrugated rubber layer; One end of the supporting hub is connected to the inner baffle, the other end of the supporting hub is connected to the outer baffle, and the outer side of the supporting hub is sleeved with an outer layer of corrugated rubber.

[0009] As a further limitation of the first aspect of the present invention, one end of the supporting hub is fixedly connected to the inner baffle by means of screws.

[0010] As a further limitation of the first aspect of the present invention, the other end of the supporting hub is fixedly connected to the outer baffle by screws.

[0011] As a further limitation of the first aspect of the present invention, the wave-shaped structure includes four recesses.

[0012] The outer layer of corrugated rubber and the supporting wheel hub both include mutually matching transmission stoppers, which play the role of transmission and positioning.

[0013] As a further limitation of the first aspect of the present invention, it also includes a first drive motor, a second drive motor, a third drive motor and a fourth drive motor fixed to the walking frame, the output shaft of the first drive motor is detachably fixedly connected to the support hub or the inner baffle of the first front drive wheel, and the output shaft of the second drive motor is detachably fixedly connected to the support hub or the inner baffle of the second front drive wheel; The output shaft of the third drive motor is detachably fixedly connected to the support hub or the inner baffle of the first rear drive wheel, and the output shaft of the fourth drive motor is detachably fixedly connected to the support hub or the inner baffle of the second rear drive wheel.

[0014] As a further limitation of the first aspect of the present invention, the support hub is cylindrical.

[0015] As a further limitation of the first aspect of the present invention, the inclination angles on both sides of the bottom of the concave portion of the outer layer of corrugated rubber gradually increase.

[0016] As a further limitation of the first aspect of the present invention, each concave portion of the outer layer of corrugated rubber corresponds to a rubber wheel set, and each outer layer of corrugated rubber is composed of a plurality of rubber wheel sets.

[0017] In a second aspect, the present invention provides an X-ray inspection robot suitable for transmission line reinforcement lines, comprising the walking mechanism of the X-ray inspection robot suitable for transmission line reinforcement lines described in the first aspect of the present invention.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention innovatively proposes a walking mechanism of an X-ray inspection robot suitable for transmission line reinforcement lines, comprising four driving wheels, each of which adopts a wave-shaped structure, and the wave-shaped structure includes at least two recesses, which solves the problem that the robot cannot cross over to perform X-ray inspection when there is a reinforcement line, and realizes the stable walking of the robot in the scenarios of conductors, reinforcement lines and the fusion of the two conductors, ensuring that the X-ray inspection robot suitable for transmission line reinforcement lines can walk to the preset inspection position after being hoisted online by an unmanned aerial vehicle, thereby improving the environmental adaptability of the X-ray inspection robot suitable for transmission line reinforcement lines with a crimping tube.

[0019] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 Schematic diagram of the driving wheel provided in Example 1 of the present invention Figure 1 ; Figure 2 Schematic diagram of the driving wheel provided in Example 1 of the present invention Figure 2 ; Figure 3 A schematic diagram of an X-ray inspection robot with a walking mechanism suitable for a transmission line reinforcement line provided in Example 1 of the present invention; Figure 4 A schematic diagram of a transmission stopper on an outer layer of corrugated rubber provided in Example 1 of the present invention; Figure 5 A schematic diagram of a transmission stopper on a support hub provided in Example 1 of the present invention; Among them, 1. walking frame; 2. first front driving wheel; 3. second front driving wheel; 4. first rear driving wheel; 5. second rear driving wheel; 6. supporting wheel hub; 7. inner baffle plate; 8. outer baffle plate; 9. outer corrugated rubber layer; 10. transmission stopper. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0024] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0025] Embodiment 1: In this implementation, a walking mechanism of an X-ray inspection robot suitable for transmission line reinforcement lines is proposed. Figure 1 , Figure 2 and Figure 3 As shown, it comprises: a walking frame 1 and driving wheels located at the bottom of the walking frame, wherein the driving wheels comprise a first front driving wheel 2 and a second front driving wheel 3 located at the front of the walking frame and a first rear driving wheel 4 and a second rear driving wheel 5 located at the rear of the walking frame; The first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4 and the second rear driving wheel 5 all adopt a wave-shaped structure, and the wave-shaped structure includes at least two concave parts.

[0026] In this implementation, preferably, the first front drive wheel 2, the second front drive wheel 3, the first rear drive wheel 4 and the second rear drive wheel 5 have the same structure, and all include: a supporting hub 6, an inner baffle 7, an outer baffle 8 and an outer corrugated rubber 9; One end of the support hub 6 is connected to the inner baffle 7 , and the other end of the support hub 6 is connected to the outer baffle 8 . The outer side of the support hub 6 is sleeved with an outer layer of corrugated rubber 9 .

[0027] In this implementation, preferably, one end of the support hub 6 is fixedly connected to the inner baffle 7 by screws, and the other end of the support hub 6 is fixedly connected to the outer baffle 8 by screws.

[0028] In this implementation, preferably, the wave-shaped structure includes four recessed portions.

[0029] In this implementation, preferably, it also includes a first drive motor, a second drive motor, a third drive motor and a fourth drive motor fixed on the walking frame, the output shaft of the first drive motor is detachably fixedly connected to the support hub or the inner baffle of the first front drive wheel 2, and the output shaft of the second drive motor is detachably fixedly connected to the support hub or the inner baffle of the second front drive wheel 3; The output shaft of the third drive motor is detachably fixedly connected to the supporting hub or the inner baffle of the first rear drive wheel 4 , and the output shaft of the fourth drive motor is detachably fixedly connected to the supporting hub or the inner baffle of the second rear drive wheel 5 .

[0030] In this implementation, preferably, the supporting hub 6 is cylindrical.

[0031] In this implementation, preferably, the inclination angles of both sides of the bottom of the concave portion of the outer layer corrugated rubber 9 gradually increase.

[0032] In this implementation, preferably, each concave portion of the outer layer corrugated rubber 9 corresponds to a rubber wheel set, and each outer layer corrugated rubber 9 is composed of a plurality of rubber wheel sets.

[0033] When the X-ray inspection robot for transmission line reinforcement wires moves on the conductor and its posture deviates, the concave part of the wave-shaped structure will firstly catch the conductor, forcing the robot to return to the conductor path; When the robot moves further out of the wire, the wire will quickly snap into the recess of the adjacent wave-shaped structure, thereby structurally adjusting the robot's posture.

[0034] In addition, in the present implementation, by scanning the conductor path through the binoculars carried on the main body of the X-ray inspection robot suitable for the transmission line reinforcement line, the current posture of the X-ray inspection robot suitable for the transmission line reinforcement line can be further determined. When the posture of the X-ray inspection robot suitable for the transmission line reinforcement line deviates from the center of the conductor, the X-ray inspection robot suitable for the transmission line reinforcement line automatically rotates each driving wheel (i.e., the first front driving wheel 2, the second front driving wheel 3, the first rear driving wheel 4, and the second rear driving wheel 5) in reverse, and adjusts the posture so that the X-ray inspection robot suitable for the transmission line reinforcement line returns to the center position of the conductor.

[0035] like Figure 4 and Figure 5 As shown, the outer layer of corrugated rubber 9 and the supporting hub 6 both include mutually matching transmission stoppers 10 to achieve transmission and positioning effects.

[0036] Embodiment 2: The present invention provides an X-ray inspection robot suitable for transmission line reinforcement lines, including the walking mechanism of the X-ray inspection robot suitable for transmission line reinforcement lines described in Example 1 of the present invention, and the upper part of the walking mechanism is connected to a mechanism for X-ray detection, and the existing X-ray detection structure or implementation can be adopted here, which will not be repeated here.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A walking mechanism of an X-ray inspection robot suitable for a transmission line reinforcement line, characterized in that: include: A walking frame and driving wheels at the bottom of the walking frame, wherein the driving wheels include a first front driving wheel and a second front driving wheel at the front of the walking frame and a first rear driving wheel and a second rear driving wheel at the rear of the walking frame; The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel all adopt a wave-shaped structure, and the wave-shaped structure includes at least two concave parts.

2. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to claim 1, characterized in that: The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel have the same structure, and all include: a supporting wheel hub, an inner baffle plate, an outer baffle plate and an outer corrugated rubber layer; One end of the supporting hub is connected to the inner baffle, the other end of the supporting hub is connected to the outer baffle, and the outer side of the supporting hub is sleeved with an outer layer of corrugated rubber.

3. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to claim 2, characterized in that: One end of the supporting hub is fixedly connected to the inner baffle plate by means of screws, and the other end of the supporting hub is fixedly connected to the outer baffle plate by means of screws.

4. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to claim 2, characterized in that: The outer layer of corrugated rubber and the supporting wheel hub both include mutually matching transmission stoppers.

5. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to any one of claims 1 to 3, characterized in that: The wave-shaped structure includes four concave portions.

6. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to claim 2 or 3, characterized in that: It also includes a first drive motor, a second drive motor, a third drive motor and a fourth drive motor fixed to the walking frame, the output shaft of the first drive motor is detachably fixedly connected to the support hub or the inner baffle of the first front drive wheel, and the output shaft of the second drive motor is detachably fixedly connected to the support hub or the inner baffle of the second front drive wheel; The output shaft of the third drive motor is detachably fixedly connected to the support hub or the inner baffle of the first rear drive wheel, and the output shaft of the fourth drive motor is detachably fixedly connected to the support hub or the inner baffle of the second rear drive wheel.

7. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to claim 2 or 3, characterized in that: The supporting hub is cylindrical.

8. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wires according to claim 2 or 3, characterized in that: The inclination angles of both sides of the bottom of the concave portion of the outer layer of corrugated rubber gradually increase.

9. The X-ray inspection robot walking mechanism suitable for power transmission line reinforcement wire according to claim 2 or 3, characterized in that: Each concave portion of the outer layer of corrugated rubber corresponds to a rubber wheel set, and each outer layer of corrugated rubber is formed by combining a plurality of rubber wheel sets.

10. An X-ray inspection robot suitable for transmission line reinforcement wires, characterized in that: It comprises the walking mechanism of an X-ray inspection robot suitable for transmission line reinforcement lines as described in any one of claims 1 to 9.

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