Hardware fitting detection robot for six-eight split sub-conductors of ultra-high voltage transmission line

Abstract

A six-eight split sub-conductor fitting detection robot for an ultra-high voltage power transmission line belongs to the field of nondestructive detection of power transmission lines and comprises a fixed frame and a movable frame moving up and down relative to the fixed frame, the fixed frame is provided with walking wheels moving along a sub-conductor, and the movable frame is provided with an X-ray machine and an imaging plate. The imaging plate can be overturned between the vertical position and the horizontal position in a reciprocating mode, a hanging frame capable of synchronously ascending and descending along with the movable frame is arranged on the fixed frame in a sliding mode, and a telescopic hanging rod with a hook at the end is hinged to the hanging frame. The suspension bracket which ascends and descends synchronously with the movable frame is arranged above the movable frame, the telescopic hanging rod is arranged on the suspension bracket, and when two sub-wires on the lower layer of the four sub-wires in the middle are detected and the movable frame descends to the middle position, the telescopic hanging rod extends out and hooks the sub-wires on the side edges, so that a triangular support for the whole robot is formed; and the wind resistance stability is improved when the middle lower-layer sub-conductor is detected.

Description

Technical Field

[0001] The present invention relates to the field of fitting detection for extra-high voltage transmission lines, and specifically to a fitting detection robot for six-eight split sub-conductors of extra-high voltage transmission lines. Background Art

[0002] In the prior art, the "drone + ray" non-destructive testing technology is used to detect whether there are failure problems such as cracking, deformation, ablation, and corrosion in the crimping fittings of transmission lines. Compared with manual tower climbing detection, it not only has a higher detection efficiency but also a lower risk;

[0003] For example, the utility model patent with the application number 2020223004582 discloses "an X-ray three-dimensional non-destructive testing device carried by a drone". The connection frame of this patent is a C-shaped fixed frame, which is only applicable to single-split conductors and cannot detect the crimping fittings of the sub-conductors under double-split conductors;

[0004] The utility model patent with the application number 2020221921657 discloses "an X-ray non-destructive testing device carried by a drone". The connection frame of this patent is a three-sided fixed frame, and its length cannot be adjusted. It is also difficult to detect crimping fittings such as strain clamps of sub-conductors under double-split conductors, and it is even impossible to detect the crimping fittings of multi-split conductors;

[0005] However, for extra-high voltage transmission lines, the number of split sub-conductors is relatively large, generally four-split, six-split, and eight-split, and the arrangement shapes are generally square, regular hexagon, and regular octagon. When using the above-mentioned equipment to detect such multi-split sub-conductors, it is necessary to operate the drone to frequently lift the detection device;

[0006] In order to further improve the detection efficiency for multi-split sub-conductors, the invention patent with the application number 2023110838866 discloses "a flaw detection device for transmission lines". This patent utilizes the relative movement of the movable frame and the fixed frame to achieve that one lifting inspection can detect the crimping fittings of the upper and lower two sub-conductors of double-split conductors, and it is more suitable for four-split, that is, rectangular arrangement.

[0007] For four-split conductors, the distance between the upper and lower layers of sub-conductors is not large, which is equal to the distance between two horizontally adjacent sub-conductors. For six-split and eight-split conductors, although there are also upper and lower layers of sub-conductors in a vertical plane, for the four middle sub-conductors, the distance will increase a lot. For example, for the six-split sub-conductors in a regular hexagon, the distance between the upper and lower layers formed by the four middle sub-conductors is about more than 1.7 times the interval between two adjacent sub-conductors. For the eight-split conductors arranged in a regular octagon, the distance reaches about 3.4 times;

[0008] For the ultra-high voltage transmission lines with six splits and eight splits, if the "a transmission line flaw detection device" disclosed in the invention patent with application number 2023110838866 is used for non-destructive testing, although the inspection can be completed by using a drone only four times, the height difference between the four middle sub-conductors of the six splits and eight splits is too large. When inspecting the hardware of the lower sub-conductor, the movable frame descends a long distance, causing the overall center of gravity of the equipment to change; the inspection is fine in windless or breezy weather, but if the weather conditions are high wind speed, it will inevitably cause violent swaying and the inspection of the lower sub-conductor cannot be completed. Summary of the invention

[0009] The purpose of the present invention is to provide a robot for detecting hardware of six or eight split sub-conductors of an ultra-high voltage transmission line. The robot can rely on the fixation of a telescopic hanging rod and a side sub-conductor to complete the side support of the robot and improve its wind resistance stability when detecting the middle and lower sub-conductors.

[0010] The technical solution adopted by the present invention to achieve the above technical purpose is: a UHV transmission line six-eight split sub-conductor hardware detection robot, including a fixed frame and a movable frame that moves up and down relative to the fixed frame, the fixed frame has a walking wheel that moves along the sub-conductor, the movable frame is provided with an X-ray machine and an imaging plate, and the imaging plate can flip back and forth between a vertical position and a horizontal position, the fixed frame is slidably provided with a suspension frame that can be synchronously lifted and lowered with the movable frame, the suspension frame is hinged with a telescopic hanging rod with a hook at the end, the telescopic hanging rod and the suspension frame are located on the side of the imaging plate away from the flipping direction, and when the imaging plate is in the vertical position, the telescopic hanging rod contacts the side of the imaging plate and flips with the imaging plate when it flips; when the telescopic hanging rod is extended to the extreme position, its length is 1.5-2.5 times the spacing between two adjacent split sub-conductors, so that when the telescopic hanging rod is between the upper split sub-conductor and the lower split sub-conductor, the imaging plate pushes the telescopic hanging rod to flip from the horizontal position to the vertical position, so that the hook hooks the middle layer split sub-conductor to form a lateral support for the fixed frame.

[0011] As an optimization solution for the above-mentioned ultra-high voltage transmission line six-eighth split conductor fittings inspection robot, two hollow guide rods are symmetrically arranged on both sides of the fixed frame, an electric push rod is arranged in the hollow guide rod, and the electric push rod is fixed to the movable frame so that the electric push rod drives the movable frame to telescopically slide relative to the fixed frame.

[0012] As another optimization solution for the above-mentioned robot for detecting six or eight split conductor fittings of the ultra-high voltage transmission line, a hanging frame for hoisting a drone is provided on the top of the fixing frame.

[0013] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, a limiting rod for restricting the flipping limit position of the imaging plate is provided on one side of the movable frame.

[0014] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, limiting guide wheels for rolling up and down along the fixed frame are provided on both sides of the movable frame.

[0015] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, the imaging plate is driven by a flipping motor to flip to one side around the flipping axis.

[0016] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, the telescopic hanging rod has a telescopic direction perpendicular to the axial direction of the flipping axis of the imaging plate. The telescopic hanging rod includes an electric telescopic rod body driven by an in-built motor for telescoping, and a clamping sleeve for fixing the electric telescopic rod body is provided at the middle position thereof. The clamping sleeve is hinged to the suspension frame; the hook is provided at the telescopic end of the electric telescopic rod body.

[0017] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, the suspension frame includes two sliding sleeves capable of sliding up and down along the fixed frame. A connecting rod is fixedly provided between the two sliding sleeves. A group of support rods are symmetrically arranged on both sides of the connecting rod. The two groups of support rods extend vertically downward to the back of the imaging plate in the vertical position, and a cross bar is fixedly connected between the two groups of support rods. The middle part of the telescopic hanging rod is hinged to the middle part of the cross bar through the clamping sleeve.

[0018] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, when the sliding sleeve is in the initial position, its bottom contacts the movable frame, so that when the movable frame starts to descend, the sliding sleeve slides down synchronously under the action of gravity.

[0019] As another optimization solution for the above-mentioned six-eight split sub-conductor fitting detection robot of the UHV transmission line, the cross bar and the connecting rod are parallel to each other and are both parallel to the flipping axis of the imaging plate. A blocking rod is provided between the cross bar and the connecting rod, and the telescopic hanging rod is located between the blocking rod and the imaging plate.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The fixing frame of the present invention travels on the sub-conductors. The movable frame is equipped with an X-ray machine and a supporting imaging plate, and slides relative to the fixing frame, thus realizing the detection of the fittings of two sub-conductors at different heights in the same vertical plane by lifting the unmanned aerial vehicle once. Since the height difference between the upper and lower of the four middle sub-conductors in the six-eight split is relatively large, the stroke of the movable frame relative to the fixing frame is large. When operating in windy weather, the shaking amplitude is very large, affecting the detection. To solve this problem, the present invention sets a suspension frame above the movable frame that rises and falls synchronously with it. The suspension frame is equipped with a telescopic hanging rod. When detecting the lower two of the four middle sub-conductors, when the movable frame descends to the middle position, the telescopic hanging rod extends and hooks the side sub-conductor, forming a triangular support for the entire robot, improving its wind resistance stability when detecting the lower middle sub-conductor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 is a schematic diagram of the back structure of the present invention;

[0024] Figure 3 is a schematic diagram of the structure of the movable frame;

[0025] Figure 4 is a schematic diagram of the structure of the fixing frame;

[0026] Figure 5 is a schematic diagram of the structure of the telescopic hanging rod and the suspension frame;

[0027] Figure 6 is a schematic diagram of the structure of the telescopic hanging rod;

[0028] Figure 7 is a schematic diagram of the initial position of the present invention when detecting the fittings of the upper sub-conductor (only the imaging plate and the telescopic hanging rod are shown);

[0029] Figure 8 is a schematic diagram of the present invention when detecting the fittings of the upper sub-conductor (taken when the imaging plate is flipped to the horizontal for detection);

[0030] Figure 9 is a schematic diagram of the movement of the imaging plate and the telescopic hanging rod during the process of the movable frame descending to detect the lower sub-conductor;

[0031] Figure 10 is a schematic diagram of the movable frame descending to the middle position and the imaging plate driving the telescopic hanging rod to flip to the horizontal state;

[0032] Figure 11 is a schematic diagram of the telescopic hanging rod extending to the limit position;

[0033] Figure 12Schematic diagram of the imaging plate driving the telescopic hanging rod to turn back until the telescopic hanging rod touches the side sub-conductor;

[0034] Figure 13 Schematic diagram of the telescopic hanging rod hooking the side sub-conductor;

[0035] Figure 14 Schematic diagram of the movable frame driving the imaging plate to move down to above the lower-layer sub-conductor;

[0036] Figure 15 Schematic diagram of the imaging plate turning to the horizontal position to detect the fittings of the lower-layer sub-conductor;

[0037] Figure 16 Schematic diagram of the movable frame driving the imaging plate to rise until it touches the telescopic hanging rod;

[0038] Figure 17 Schematic diagram of the telescopic hanging rod extending to the limit position;

[0039] Figure 18 Schematic diagram of the telescopic hanging rod turning to the back of the imaging plate under the action of gravity after detaching from the side sub-conductor;

[0040] Figure 19 Schematic diagram of the telescopic hanging rod contracting to the limit position;

[0041] Figure 20 Schematic diagram of the imaging plate driving the telescopic hanging rod to turn back to the initial position;

[0042] Figure 21 Schematic diagram of the movable frame driving the imaging plate and the telescopic hanging rod to rise to the initial position;

[0043] Reference numerals: 1, fixed frame; 101, hanging frame; 102, walking wheel; 103, hollow guide rod; 104, electric push rod; 2, movable frame; 201, X-ray machine; 202, imaging plate; 203, limit guide wheel; 204, limit rod; 205, turning motor; 206, turning shaft; 3, suspension frame; 301, sliding sleeve; 302, connecting rod; 303, support rod; 304, cross bar; 305, clamping sleeve; 306, stop bar; 4, telescopic hanging rod; 401, electric telescopic rod body; 402, hook; 5, eight-split middle upper-layer sub-conductor; 6, eight-split side upper-layer sub-conductor; 7, eight-split side lower-layer sub-conductor; 8, eight-split middle lower-layer sub-conductor. Detailed implementation manners

[0044] The technical solution of the present invention will be further elaborated in detail below in conjunction with specific embodiments. For parts not clarified in the following embodiments of the present invention, such as the specific structure of the electric push rod, how to drive the lifting of the movable frame, the specific structure of the telescopic hanging rod, the flipping motor controls the flipping shaft to drive the imaging plate to flip, and the specific structure and detection principle of the imaging plate and the X-ray machine, etc., are all regarded as the prior art known or should be known to those skilled in the art.

[0045] Embodiment 1

[0046] A detection robot for six-eight split sub-conductor fittings of extra-high voltage transmission lines, as Figure 1 and Figure 2 shown, includes a fixed frame 1 and a movable frame 2 that moves up and down relative to the fixed frame 1. As Figure 4 shown, a hanging frame 101 for lifting by a drone is provided at the top of the fixed frame 1. Two hollow guide rods 103 are symmetrically arranged on both sides of the fixed frame 1. An electric push rod 104 is arranged inside the hollow guide rod 103. The end of the telescopic end of the electric push rod 104 is inside the hollow guide rod 103. The motor and auxiliary structures are at the bottom, and a box body is arranged on the outside. The box body is fixed to the movable frame 2 so that the electric push rod 104 drives the movable frame 2 to telescopically slide relative to the fixed frame 1; The fixed frame 1 is provided with traveling wheels 102 that move along the sub-conductor and a motor that drives the traveling wheels 102 to move. The traveling wheels 102 have two functions. One is to be stuck on the sub-conductor, and the other is to move along the sub-conductor to cross the fitting to realize the detection of the fitting; As Figure 3 shown, an X-ray machine 201 and an imaging plate 202 are arranged on the movable frame 2, and the imaging plate 202 can reciprocally flip between a vertical position and a horizontal position. The X-ray machine 201 is in the lower position, and the imaging plate 202 is in the upper position. A detection space is formed between the two. The initial position of the imaging plate 202 is the vertical position. When the imaging plate 202 flips to the horizontal position, the X-ray machine 201 is started for detection. The imaging plate 202 is driven by a flipping motor 205 to flip from the vertical position around the flipping shaft 206 to one side to the horizontal position, so that its front side faces down. The vertical position is the initial position of the imaging plate 202 for easy movement, and the horizontal position is the detection position for facilitating imaging in cooperation with the X-ray machine 201; The flipping motor 205 is a forward and reverse motor, which is installed on the back of the imaging plate 202 and drives the flipping shaft 206 through gears to drive the imaging plate 202 to reciprocally flip; In order to limit the imaging plate 202 to accurately flip to the horizontal position, a limiting rod 204 for limiting the flipping limit position of the imaging plate 202 is arranged on one side of the movable frame 2; On both sides of the movable frame 2, there are limiting guide wheels 203 that roll up and down along the fixed frame 1, so as to ensure the stability of the movable frame 2 when moving up and down;

[0047] As Figure 2 、 Figure 4 and Figure 5As shown, a hanging frame 3 is slidably provided on the fixed frame 1 and can be raised and lowered synchronously with the movable frame 2. The descent of the hanging frame 3 is based on the descent of its own gravity. The hanging frame 3 is located above the movable frame 2 and supported by the movable frame 2. When the movable frame 2 is driven by the electric push rod 104 to descend, the supporting force of the movable frame 2 on the hanging frame 3 disappears, and the hanging frame 3 slides downward under its own gravity; when the movable frame 2 rises, it contacts the hanging frame 3, which will push the hanging frame 3 to rise as well; a telescopic hanging rod 4 with a hook 402 at the end is hinged on the hanging frame 3, and the telescopic hanging rod 4 and the hanging frame 3 are located on the side of the imaging plate 202 away from the flipping direction, and when the imaging plate 202 is in the vertical initial position, the telescopic hanging rod 4 and the imaging plate The side of the telescopic hanging rod 4 is in contact with the imaging plate 202, and turns with it when the imaging plate 202 turns over; when the telescopic hanging rod 4 is extended to the extreme position, its length is 1.5-2.5 times the spacing between two adjacent split sub-conductors, so that when the telescopic hanging rod 4 is between the upper split sub-conductors and the lower split sub-conductors, the imaging plate 202 pushes the telescopic hanging rod 4 to turn from the horizontal position to the vertical position, so that the hook 402 hooks the middle layer of split sub-conductors to form a lateral support for the fixing frame 1, and the hook 402 has a larger opening, so that during the contraction of the telescopic hanging rod 4, the split sub-conductors can enter the inside of the hook 402 through the opening, and the inside of the hook 402 has a larger space, so that it can move synchronously with the movement of the fixing frame 1 on the split sub-conductors.

[0048] In this embodiment, the telescopic hanging rod 4 is telescopically perpendicular to the axial direction of the flip axis 206 of the imaging plate 202. The telescopic hanging rod 4 includes an electric telescopic rod body 401 driven by a built-in motor, and a clamping sleeve 305 is provided in the middle position to fix the electric telescopic rod body 401. The clamping sleeve 305 is hinged to the suspension frame 3; the hook 402 is arranged at the telescopic end of the electric telescopic rod body 401. The structure and principle of the telescopic hanging rod 4 are the same as those of a multi-section electric telescopic photography rod disclosed in the publication number CN210034987U, except that the materials of the two are different. The present application is made of high-strength insulating material.

[0049] Example 2

[0050] This embodiment is an improved solution based on the embodiment 1. Its main structure is the same as that of the embodiment 1. The improvement is as follows: Figure 5As shown, the suspension bracket 3 includes two sliding sleeves 301 that can slide up and down along the fixed bracket 1. The sliding sleeves 301 are sleeved on the hollow guide rod 103, and their inner diameter is larger than the outer diameter of the hollow guide rod 103, so that they can slide freely. A connecting rod 302 is fixedly arranged between the two sliding sleeves 301. A group of support rods 303 are symmetrically arranged on both sides of the connecting rod 302. The two groups of support rods 303 extend vertically downward to the back of the imaging plate 202 in the vertical position, and a cross bar 304 is fixedly connected between the two groups of support rods 303. The middle part of the telescopic hanging rod 4 is hinged to the middle part of the cross bar 304 through a clamping sleeve 305;

[0051] In this embodiment, the support rod 303 is actually a rod group composed of multiple rod-shaped members, including two inclined rods. These two inclined rods are spliced with the connecting rod 302 and the cross bar 304 to form an isosceles trapezoid, so as to improve stability. Two vertical rods are further arranged inside the isosceles trapezoid. These two vertical rods are on both sides of the telescopic hanging rod 4, and their two ends are directly connected to the connecting rod 302 and the cross bar 304;

[0052] In this embodiment, when the sliding sleeve 301 is in the initial position, its bottom contacts the movable bracket 2, so that when the movable bracket 2 starts to descend, the sliding sleeve 301 slides down synchronously under the action of gravity;

[0053] In this embodiment, the cross bar 304 and the connecting rod 302 are parallel to each other and are both parallel to the rotation axis 206 of the imaging plate 202. A stop rod 306 is arranged between the cross bar 304 and the connecting rod 302, and the telescopic hanging rod 4 is located between the stop rod 306 and the imaging plate 202.

[0054] As Figures 7 - 21 shown, taking the eight-split sub-conductor as an example, the process of the present invention for detecting the upper and lower layers of sub-conductors of the middle four sub-conductors is demonstrated. For the convenience of intuitively showing the whole process, Figures 7 - 21 the related components such as the fixed bracket 1, the movable bracket 2, the suspension bracket 3 and the X-ray machine 201 are omitted, and only the imaging plate 202 and the telescopic hanging rod 4 are retained to show the position change of the detection process:

[0055] 1) Use a drone to lift the present invention onto the middle upper layer sub-conductor 5, and start the walking wheel 102 to make it move and cross the fitting of the middle upper layer sub-conductor 5. At this time, as Figure 7 shown, both the imaging plate 202 and the telescopic hanging rod 4 are in the initial state in the vertical position;

[0056] 2) Start the flipping motor 205 to flip the imaging plate 202 to the horizontal position and be on the upper side of the fitting. At this time, due to the lack of support of the imaging plate 202, the telescopic hanging rod 4 also flips to the horizontal synchronously, as Figure 8As shown, start the X-ray machine to take a fluoroscopic photo of the fitting; after the photo is taken, start the flipping motor 205 again to flip the imaging plate 202 and the telescopic hanging rod 4 synchronously back to the initial position, and then start the traveling wheels 102 to cross over the fitting and return to the middle upper sub-conductor 5;

[0057] 3) Start the electric push rod 104 to lower the movable frame 2. During this process, the X-ray machine 201 and the imaging plate 202 descend with the movable frame 2. Due to the lack of support from the movable frame 2, the suspension frame 3 also descends synchronously under its own gravity, and the telescopic hanging rod 4 connected to it descends accordingly, as Figure 9 shown;

[0058] 4) When the imaging plate 202 descends to the middle position between the middle upper sub-conductor 5 and the middle lower sub-conductor 8, stop the electric push rod 104, and start the flipping motor 205 to flip the imaging plate 202 to the horizontal position, and the telescopic hanging rod 4 also flips to the horizontal synchronously, as Figure 10 shown. Keep it in the horizontal state, and the telescopic hanging rod 4 extends to the limit position, as Figure 11 shown;

[0059] 5) Start the flipping motor 205 again to flip the imaging plate 202 upward until the telescopic hanging rod 4 touches the side upper sub-conductor 6, as Figure 12 shown; make the telescopic hanging rod 4 contract until the hook 402 at the end hooks the side upper sub-conductor 6, as Figure 13 shown. At this time, since the imaging plate 202 is in an upward inclined state and is far away from the middle lower sub-conductor 8, the movable frame 2 can be directly lowered while maintaining this inclined state, as Figure 14 shown, or the imaging plate 202 can be further flipped back to the initial position and then the movable frame 2 can be lowered;

[0060] 6) Start the electric push rod 104 again to lower the movable frame 2 until the imaging plate 202 is above the middle lower sub-conductor 8. During this process, since the telescopic hanging rod 4 hooks the side upper sub-conductor 6, the suspension part 3 remains in place, forming a side support for the upper middle part of the entire device, as Figure 14 shown;

[0061] 7) Start the traveling wheels 102 to move and cross over the fitting on the middle upper sub-conductor 5 again. At this time, the fixed frame 1, the suspension frame 3, and the telescopic hanging rod 4 move synchronously, and the hook 402 moves along the side upper sub-conductor 6 synchronously. Correspondingly, the movable frame 2 and the imaging plate 202 and the X-ray machine 201 on it also move to the upper and lower positions of the fitting on the middle lower sub-conductor 8. Start the flipping motor 205 again to flip the imaging plate 202 to the horizontal, as Figure 15As shown, start the X-ray machine to take a fluoroscopic photo of the fitting; after the photo is taken, start the flipping motor 205 again to flip the imaging plate 202 back to the initial position, and then start the walking wheels 102 to move over the fitting and return to the middle upper sub-conductor 5. Correspondingly, the fixing frame 1, the suspension frame 3, the telescopic hanging rod 4, the movable frame 2, the imaging plate 202 and the X-ray machine 201 also move synchronously;

[0062] 8) Start the flipping motor 205 to flip the imaging plate 202 to the horizontal position, and then start the electric push rod 104 to raise the movable frame 2 until the back of the imaging plate 202 starts to contact the telescopic hanging rod 4, and then stop the electric push rod 104, as Figure 16 shown;

[0063] 9) Extend the telescopic hanging rod 4 to the limit position. At this time, since the hook 402 is disengaged from the side upper sub-conductor 6, as Figure 17 shown, under the action of gravity, the telescopic hanging rod 4 will deflect downward and be blocked by the back of the imaging plate 202, as Figure 18 shown, and then retract the telescopic hanging rod 4 to the limit position, as Figure 19 shown;

[0064] 10) Start the flipping motor 205 to flip the imaging plate 202 together with the telescopic hanging rod 4 back to the initial position, as Figure 20 shown; then start the electric push rod 104 to raise the movable frame 2, the suspension frame 3 and the telescopic hanging rod 4 back to their original positions, as Figure 21 shown, and then the UAV lifts off the middle upper sub-conductor 5, completing the non-destructive testing of two of the four middle sub-conductors. Repeat steps 1)-10) to complete the non-destructive testing of the other two of the four middle sub-conductors.

[0065] When it is necessary to detect the fittings of the side upper sub-conductor 6 and the side lower sub-conductor 7, since the distance between them is short, the telescopic hanging rod 4 is not needed. During the detection process, it is only necessary to ensure that the telescopic hanging rod 4 remains in the retracted state throughout. At this time, whether the imaging plate 202 is lifted or flipped, it will cause the telescopic hanging rod 4 to move synchronously with it. The specific detection process is described as follows:

[0066] a) Use the UAV to lift the present invention onto the side upper sub-conductor 6, and start the walking wheels 102 to move it over the fitting of the side upper sub-conductor 6. At this time, the imaging plate 202 and the telescopic hanging rod 4 are both in the initial state of the vertical position;

[0067] b) Start the flipping motor 205 to flip the imaging plate 202 to the horizontal position and place it on the upper side of the fitting. At this time, due to the lack of support from the imaging plate 202, the telescopic hanging rod 4 also flips to the horizontal synchronously. Start the X-ray machine to perform fluoroscopic photography on the fitting; after the photography is completed, start the flipping motor 205 again to flip the imaging plate 202 and the telescopic hanging rod 4 back to the initial position, and then start the walking wheels 102 to cross over the fitting and return to the upper side sub-conductor 6 on the side;

[0068] c) Start the electric push rod 104 to lower the movable frame 2. During this process, the X-ray machine 201 and the imaging plate 202 descend with the movable frame 2. Due to the lack of support from the movable frame 2, the suspension frame 3 also descends synchronously under its own gravity until the imaging plate 202 is above the lower side sub-conductor 7 on the side;

[0069] d) Start the walking wheels 102 to move and cross over the fitting on the upper side sub-conductor 6 on the side again. At this time, the fixed frame 1, the suspension frame 3, and the telescopic hanging rod 4 move synchronously. Correspondingly, the movable frame 2 and the imaging plate 202 and the X-ray machine 201 on it also move to the upper and lower positions of the fitting on the lower side sub-conductor 7 on the side. Start the flipping motor 205 again to flip the imaging plate 202 together with the telescopic hanging rod 4 to the horizontal position, and start the X-ray machine to perform fluoroscopic photography on the fitting; after the photography is completed, start the flipping motor 205 again to flip the imaging plate 202 and the telescopic hanging rod 4 back to the initial position, and then start the walking wheels 102 to cross over the fitting and return to the upper side sub-conductor 6 on the side. Correspondingly, the fixed frame 1, the suspension frame 3, the telescopic hanging rod 4, the movable frame 2, the imaging plate 202, and the X-ray machine 201 also move synchronously;

[0070] e) Start the electric push rod 104 to raise the movable frame 2, the suspension frame 3, and the telescopic hanging rod 4 back to their original positions, and then lift them off the upper side sub-conductor 6 on the side by the unmanned aerial vehicle, completing the non-destructive testing of the upper side sub-conductor 6 on the side and the lower side sub-conductor 7 on the side.

[0071] Since the similarities between the six-conductor sub-conductor and the eight-conductor sub-conductor are that the middle four sub-conductors are both divided into upper and lower side sub-conductors, for the six-conductor sub-conductor, the detection method for the middle four sub-conductors is the same as that for the eight-conductor sub-conductor, that is, the detection method in steps 1)-10) is used for detection;

[0072] The difference is that the six-conductor sub-conductor has only one side sub-conductor. At this time, only step 1) of the eight-conductor sub-conductor needs to be executed to complete the detection.

Claims

1. A robot for detecting hardware of six-eighth split sub-conductors of an ultra-high voltage transmission line, comprising a fixed frame (1) and a movable frame (2) movable up and down relative to the fixed frame (1), wherein the fixed frame (1) is provided with a running wheel (102) movable along the sub-conductors, and the movable frame (2) is provided with an X-ray machine (201) and an imaging plate (202), and the imaging plate (202) is capable of flipping back and forth between a vertical position and a horizontal position, characterized in that: The fixed frame (1) is slidably provided with a suspension frame (3) capable of synchronously rising and falling with the movable frame (2); a telescopic hanging rod (4) having a hook (402) at an end thereof is hingedly connected to the suspension frame (3); the telescopic hanging rod (4) and the suspension frame (3) are located on a side of the imaging plate (202) that is away from the flipping direction; and when the imaging plate (202) is in a vertical position, the telescopic hanging rod (4) contacts the side of the imaging plate (202) and flips with the imaging plate (202) when the imaging plate (202) flips; when the telescopic hanging rod (4) is extended to an extreme position, its length is 1.5-2.5 times the spacing between two adjacent split sub-conductors, so that when the telescopic hanging rod (4) is located between the upper split sub-conductor and the lower split sub-conductor, the hook (402) hooks the middle split sub-conductor during the process of the imaging plate (202) pushing the telescopic hanging rod (4) to flip from a horizontal position to a vertical position, thereby forming a lateral support for the fixed frame (1).

2. According to claim 1, a robot for detecting six or eight split conductor fittings of a UHV transmission line is characterized in that: Two hollow guide rods (103) are symmetrically arranged on both sides of the fixed frame (1), and an electric push rod (104) is arranged inside the hollow guide rod (103). The electric push rod (104) is fixed to the movable frame (2) so that the electric push rod (104) drives the movable frame (2) to telescopically slide relative to the fixed frame (1).

3. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 1 is characterized in that: A hanging frame (101) for hanging a drone is arranged on the top of the fixing frame (1).

4. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 1 is characterized in that: A limiting rod (204) for limiting the imaging plate (202) to flip to an extreme position is provided on one side of the movable frame (2).

5. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 1 is characterized in that: Both sides of the movable frame (2) are provided with limiting guide wheels (203) which roll up and down along the fixed frame (1).

6. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 1 is characterized in that: The imaging plate (202) is driven by a flip motor (205) to flip to one side around a flip axis (206).

7. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 1 is characterized in that: The telescopic hanging rod (4) has a telescopic direction that is perpendicular to the axial direction of the flip axis (206) of the imaging plate (202). The telescopic hanging rod (4) comprises an electric telescopic rod body (401) driven to telescope by a built-in motor, and a clamping sleeve (305) for fixing the electric telescopic rod body (401) is provided at the middle position thereof, and the clamping sleeve (305) is hingedly connected to the hanging frame (3); the hook (402) is arranged at the telescopic end of the electric telescopic rod body (401).

8. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 1 is characterized in that: The hanging frame (3) comprises two sliding sleeves (301) capable of sliding up and down along the fixing frame (1); a connecting rod (302) is fixedly arranged between the two sliding sleeves (301); a group of supporting rods (303) are symmetrically arranged on both sides of the connecting rod (302); the two groups of supporting rods (303) extend vertically downward to the back side of the vertical position of the imaging plate (202); and a cross bar (304) is fixedly connected between the two groups of supporting rods (303); and the middle part of the telescopic hanging rod (4) is hinged to the middle part of the cross bar (304) through a clamping sleeve (305).

9. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 8, characterized in that: When the sliding sleeve (301) is in the initial position, its bottom is in contact with the movable frame (2), so that when the movable frame (2) starts to descend, the sliding sleeve (301) slides down synchronously under the action of gravity.

10. The robot for detecting six or eight split conductor fittings of a UHV transmission line according to claim 8, characterized in that: The crossbar (304) and the connecting rod (302) are parallel to each other and are parallel to the flip axis (206) of the imaging plate (202); a blocking rod (306) is provided between the crossbar (304) and the connecting rod (302); and the telescopic hanging rod (4) is located between the blocking rod (306) and the imaging plate (202).

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