X-ray detection robot for six-split and eight-split conductors and operation method

Abstract

The invention relates to an X-ray detection robot for six-split and eight-split conductors and an operation method. The X-ray detection robot comprises a hoisting mechanism, a walking mechanism, a lifting mechanism and a detection end, the lifting mechanism is located in the space below the walking mechanism. The detection end is driven by the lifting mechanism to ascend and descend in the vertical direction and comprises a rotating mechanism arranged at the tail end of the lifting mechanism, the rotating mechanism is connected with a shell of the ray emitter, the shell of the ray emitter is connected with the fixed end of the push rod, and the movable end of the push rod is connected with the imaging plate; a shell of the ray emitter is provided with a ray emitting end, and the ray emitting end is arranged towards the imaging plate; the rotating mechanism drives the ray emitter, the push rod and the imaging plate to swing around the axial direction of the tested wire, and the push rod drives the imaging plate to change the distance between the ray emitter and the imaging plate. All crimping pipes in the six / eight bundled conductors are covered through swinging motion, and all crimping pipes can be detected through one-time hoisting.

Description

Technical Field

[0001] The present invention relates to the technical field of wire detection, and specifically to an X-ray detection robot and operation method for six-split and eight-split wires. Background Art

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

[0003] Six / eight-split wires are wire arrangement methods used in power engineering. Generally, six / eight sub-wires are symmetrically arranged in a regular polygon (such as a regular hexagon or a regular octagon) to optimize the electric field distribution and reduce energy loss; the sub-wires are fixed by spacer dampers or brackets to maintain a stable spacing and prevent the wires from winding or colliding.

[0004] When performing X-ray detection on the compression sleeves on six / eight-split wires, the prior art can be achieved through a single-wire device or a robot.

[0005] In the single-wire device, the ray transmitter and the imaging plate (detector) are installed on a bracket at a fixed angle. The unmanned aerial vehicle (UAV) places the device from above the wire to the detection position of the compression sleeve through a long insulating rope, and adjusts the attitude of the device on the compression sleeve by lifting the UAV multiple times to obtain the best detection effect.

[0006] On the one hand, since the single-wire device has no power of its own and cannot walk on the wire, it can only use the UAV to place the single-wire device at the compression sleeve corresponding to each sub-wire through the insulating rope for detection, and adjust the attitude of the single-wire device on the compression sleeve by the traction of the UAV. If there are other wires or other obstacles (such as fittings) above the measured sub-wire, the UAV cannot place the single-wire device at the location to be detected.

[0007] On the other hand, the single-wire device can only detect the compression sleeves at the upper or middle layer positions of six / eight-split wires. As Figure 1 shown, because it is lifted by the UAV, the single-wire device can only be placed on the upper-layer compression sleeve without occlusion, or the compression sleeve with sufficiently few occlusions in the upper-middle layer, such as the top layer and the second layer of the eight-split wire.

[0008] In addition, during the detection of the compression sleeve, power fittings such as grading rings on the wire are possible obstacles. When the single-wire device detects the second-layer compression sleeve, its own bracket may be blocked by the grading ring and cannot be placed on the compression sleeve in the correct attitude, thus unable to detect.

[0009] It can be seen that the single-wire device is limited by its own structure and detection method and cannot be applied to the detection scenario of compression sleeves on six / eight-split wires.

[0010] The prior art also uses two-wheel drive robots. The robots are placed on any one of the sub-conductors of a six / eight-split conductor by an unmanned aerial vehicle (UAV). The robots walk to the position for detecting the compression joint and detect the compression joints on the upper and lower two sub-conductors on one side through a lifting motion.

[0011] Since such robots are hoisted onto one sub-conductor by a UAV, they can only detect the sub-conductor where they are located and the compression joints directly below the sub-conductor where they are located. Multiple hoistings are required to complete the detection of all compression joints of the six / eight-split conductor. For example, at least 4 hoistings are required when detecting an eight-split conductor. Multiple hoistings of the robot will increase the risk of the UAV touching the wire, and the safety is relatively poor.

[0012] In summary, when performing X-ray detection on a six / eight-split conductor in the prior art, neither the single-conductor device nor the robot can complete the detection through a one-time hoisting. Summary of the Invention

[0013] To solve the technical problems existing in the above-mentioned background art, the present invention innovatively develops an X-ray detection robot for a six / eight-split conductor, solves the problem of relying on multiple UAV hoistings during the detection of compression joints, realizes the swinging motion of the detection part of the robot, ensures that the detection range covers all compression joints in the six / eight-split conductor, avoids multiple repeated hoistings of the robot during the detection, and realizes the detection of all compression joints through one hoisting action of the UAV, improving the detection efficiency of the compression joints and the safety during the detection.

[0014] To achieve the above object, the present invention adopts the following technical solutions:

[0015] The first aspect of the present invention provides an X-ray detection robot for a six-split and eight-split conductor, including: a hoisting mechanism, a traveling mechanism, a lifting mechanism, and a detection end; the lifting mechanism is located in the space below the traveling mechanism;

[0016] The detection end is driven by the lifting mechanism to lift and lower in the vertical direction. The detection end includes a rotating mechanism arranged at the end of the lifting mechanism. The rotating mechanism is connected to the outer shell of the ray emitter. The outer shell of the ray emitter is connected to the fixed end of the push rod. The movable end of the push rod is connected to the imaging plate; a ray emission end is provided on the outer shell of the ray emitter, and the ray emission end is arranged facing the imaging plate; the rotating mechanism drives the ray emitter together with the push rod and the imaging plate to swing around the axial direction of the wire under test, and the push rod drives the imaging plate to change the distance between the ray emitter and the imaging plate.

[0017] As a further limitation of the first aspect of the present invention, the hoisting mechanism includes a hoisting frame connected to the UAV.

[0018] As a further limitation of the first aspect of the present invention, the traveling mechanism includes traveling wheels driven by a driving unit. During detection, the traveling wheels are located on the two sets of sub-conductors at the top layer in a six-split or eight-split conductor.

[0019] As a further limitation of the first aspect of the present invention, the area where the traveling wheel contacts the conductor is V-shaped.

[0020] As a further limitation of the first aspect of the present invention, the lifting mechanism includes at least two sets of lifting rods arranged in parallel and moving synchronously. The ends of the lifting rods are connected to the housing of the ray emitter through corresponding mounting plates, and one set of mounting plates is connected to the rotating mechanism.

[0021] As a further limitation of the first aspect of the present invention, the rotating mechanism includes a worm and worm gear transmission mechanism. The input end of the worm and worm gear transmission mechanism is connected to the driving unit, and the output end of the worm and worm gear transmission mechanism is connected to the housing of the ray emitter.

[0022] As a further limitation of the first aspect of the present invention, the X-rays emitted by the ray emitter pass through the compression joint on the conductor to be measured through the ray emission end and are received by the imaging plate. The imaging plate converts the X-ray intensity distribution into a visible image to realize the detection of the compression joint.

[0023] As a further limitation of the first aspect of the present invention, the push rod includes multiple rod bodies sleeved with each other. When the push rod extends, the multiple rod bodies are connected end to end.

[0024] As a further limitation of the first aspect of the present invention, during detection, when the rotating mechanism is in the initial state, both the push rod and the lifting mechanism are in a vertical state.

[0025] The second aspect of the present invention provides an operation method for an X-ray detection robot for six-split and eight-split conductors, including the following steps:

[0026] The unmanned aerial vehicle uses the hoisting mechanism to hoist the robot onto the two sets of conductors at the topmost position in the six / eight-split conductor, and the traveling mechanism runs along the two sets of conductors at the topmost position to the detection area;

[0027] The lifting mechanism moves up and down in the vertical direction to drive the detection end to reach the height position where the conductor to be measured is located;

[0028] The push rod acts to change the distance between the ray emitter and the imaging plate so that the compression joint on the conductor to be measured is within this distance range;

[0029] The rotating mechanism acts to drive the ray emitter together with the push rod and the imaging plate to swing around the axial direction of the conductor to be measured, so that the compression joint on the conductor to be measured is located between the ray emitter and the imaging plate;

[0030] The X-rays emitted by the ray emitter penetrate the compression joint on the wire under test, and the X-rays irradiate the imaging plate to obtain the detection result of the current compression joint under test.

[0031] The rotation mechanism acts in the reverse direction, driving the ray emitter together with the push rod and the imaging plate to swing in the reverse direction, and obtaining the detection results of another set of compression joints on the opposite side of the same height layer as the current compression joint under test.

[0032] The rotation mechanism resets, and the push rod and the lifting mechanism cooperate to act according to the height position of the compression joint of the next set of wires under test, so that the compression joint under test is within the spacing range between the ray emitter and the imaging plate; through the forward and reverse actions of the rotation mechanism, the detection results of the compression joints of the wires under test are obtained.

[0033] And so on, obtaining the detection results of all the compression joints on the wires in the six / eight split conductors, and the UAV hoisting robot returns to the ground.

[0034] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0035] 1. The present invention innovatively developed an X-ray detection robot for six / eight split conductors, solved the problem of relying on multiple UAV hoistings during the inspection of compression joints, realized the swinging motion of the detection part of the robot, ensured that the detection range covered all the compression joints in the six / eight split conductors, avoided the repeated hoisting of the robot during the detection, realized the detection of all the compression joints through one hoisting action of the UAV, and improved the detection efficiency of the compression joints and the safety during the detection.

[0036] 2. The present invention proposed a robot detection method for the compression joints of six / eight split conductors, developed a robot detection structure for the detection of the compression joints of six / eight split conductors, the upper space of the ray emitter is connected to the imaging plate through a push rod, and during the swinging of the ray emitter and the imaging plate driven by the rotation mechanism, the imaging plate always faces the ray emitter, so that the compression joint under test can enter the space between the ray emitter and the imaging plate, realizing the X-ray detection. At the same time, according to the situation of the positions of the wires at different heights in the six / eight split conductors, the action distance of the push rod is determined, so that the detection of all the compression joints changes the spacing between the ray emitter and the imaging plate according to the length change of the push rod, enabling the robot to ensure that the detection range can cover all the compression joints in the six / eight split conductors through the swinging motion, and realizing the detection of all the compression joints of the six / eight split through one hoisting of the UAV, improving the detection efficiency of the robot and the safety during the detection. Description of the Drawings

[0037] The accompanying drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0038] Figure 1 is a schematic diagram of the principle of a single-conductor detection device in the prior art provided by the present invention;

[0039] Figure 2 is a three-dimensional structure diagram of a detection robot provided by one or more embodiments of the present invention;

[0040] Figure 3 is a front view structure diagram of a detection robot provided by one or more embodiments of the present invention;

[0041] Figure 4 is a schematic diagram of a detection environment provided by one or more embodiments of the present invention;

[0042] Figure 5 is a side view state diagram of a detection robot provided by one or more embodiments of the present invention when performing the bottommost layer crimping tube detection;

[0043] Figure 6 is a three-dimensional state diagram of a detection robot provided by one or more embodiments of the present invention when performing the bottommost layer crimping tube detection;

[0044] Figure 7 is a side view state diagram of a detection robot provided by one or more embodiments of the present invention when performing the middle layer lower part crimping tube detection;

[0045] Figure 8 is a three-dimensional state diagram of a detection robot provided by one or more embodiments of the present invention when performing the middle layer lower part crimping tube detection;

[0046] Figure 9 is a side view state diagram of a detection robot provided by one or more embodiments of the present invention when performing the middle layer upper part crimping tube detection;

[0047] Figure 10 is a three-dimensional state diagram of a detection robot provided by one or more embodiments of the present invention when performing the middle layer upper part crimping tube detection;

[0048] Figure 11 is a side view state diagram of a detection robot provided by one or more embodiments of the present invention when performing the topmost layer crimping tube detection;

[0049] Figure 12 is a three-dimensional state diagram of a detection robot provided by one or more embodiments of the present invention when performing the topmost layer crimping tube detection.

[0050] Figure 2 In: 1 hoisting mechanism, 2 traveling mechanism, 3 lifting mechanism, 4 rotating mechanism, 5 imaging plate, 6 push rod, 7 ray emitter;

[0051] Figures 4 - 12 In: 10 compression joints, 11 compression joint a, 12 compression joint b, 13 compression joint c, 14 compression joint d, 15 compression joint e, 16 compression joint f, 17 compression joint g, 18 compression joint h. Specific embodiments

[0052] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0053] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0054] It should be noted that the terms herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0055] Term explanation:

[0056] Six-split conductor refers to a transmission conductor in which each phase is composed of 6 sub-conductors with a smaller cross-sectional area arranged in a regular hexagon, and the split spacing is generally 400 - 550 mm (such as 550 mm commonly used in ultra-high voltage long-span projects). For example, domestic 750 kV ultra-high voltage lines and some 500 kV lines will adopt a six-split structure.

[0057] Eight-split conductor is composed of 8 sub-conductors arranged in a regular octagon, and the split spacing is usually 400 mm. It is mainly used for ultra-high voltage AC transmission lines of 1000 kV and above. Due to the extremely high voltage, it is necessary to increase the number of splits to reduce the surface electric field strength of the conductor, suppress corona discharge, and improve the transmission capacity at the same time.

[0058] The following embodiments provide an X-ray detection robot and an operation method for six-split and eight-split conductors, which can complete the detection of all compression joints on the conductor in one hoisting.

[0059] Embodiment 1:

[0060] As Figures 2 - 3 shown, an X-ray detection robot for six-split and eight-split conductors includes:

[0061] The hoisting mechanism 1 is used to connect with a drone and hoist the robot body onto the wire to be measured.

[0062] The traveling mechanism 2 is used to drive the robot body to travel along the axial direction of the measured wire to the detection area.

[0063] The lifting mechanism 3 is located in the space below the traveling mechanism 2 and is used to change the height of the detection end so that the detection end reaches the detection position.

[0064] The detection end includes an X-ray emitter 7 connected to the end of the lifting mechanism 3 through a rotating mechanism 4. The X-ray emitter 7 is connected to the fixed end of a push rod 6. The rotating mechanism 4 can drive the X-ray emitter 7 together with the push rod 6 and the imaging plate 5 to rotate around the axial direction of the measured wire. The push rod 6 can drive the imaging plate 5 to change the distance between the X-ray emitter 7 and the imaging plate 5.

[0065] In this embodiment, the drone uses the hoisting mechanism 1 to hoist the robot onto the two topmost wires in a six / eight-split conductor. The traveling mechanism 2 runs along the two topmost wires to the detection area. The lifting mechanism 3 moves up and down in the vertical direction to drive the detection end to reach the height position where the crimping sleeve to be measured is located. By the action of the push rod 6, the distance between the X-ray emitter 7 and the imaging plate 5 is changed so that the measured crimping sleeve is within this distance range. The rotating mechanism 4 at the end of the lifting mechanism 3 drives the X-ray emitter 7 together with the push rod 6 and the imaging plate 5 to rotate around the axis of the wire, so that the measured crimping sleeve is located between the X-ray emitter 7 and the imaging plate 5 and is penetrated by the X-rays emitted by the X-ray emitter 7. The detection result of the measured crimping sleeve is obtained by irradiating the imaging plate 5 with the X-rays.

[0066] This embodiment provides a door-swing type six / eight-split crimping sleeve detection robot. The robot drives the imaging plate to swing between two crimping sleeves at the same height through a simple worm and gear mechanism, and through the cooperation of the up and down telescopic mechanism and the push rod, the imaging plate moves between the crimping sleeves at different upper and lower layers. The two cooperate with each other to cover the detection areas of all the crimping sleeves in the six / eight-split conductor, and can complete the detection of all the crimping sleeves with one hoisting action of the drone.

[0067] As a further implementation, the traveling mechanism 2 has V-shaped wheels driven by a driving unit. The V-shaped wheels can adaptively travel at the center of the wire, and the driving unit can be a motor.

[0068] As a further implementation, a clamping module is also provided on the traveling mechanism 2. After the detection starts, the clamping module operates to fix the robot on the wire, preventing the accidental movement of the traveling mechanism 2 along the wire caused by the swinging of the detection end. The clamping module does not limit the specific structural form. For example, it can be two groups of clamping blocks arranged on the traveling mechanism 2. The clamping blocks approach and clamp the wire under the drive of the power unit, and the power unit can be a lead screw slider mechanism driven by a motor.

[0069] As a further implementation, the lifting mechanism 3 can drive the detection end to rise or fall by any power means such as gas, liquid, or electricity. The specific structure of the lifting mechanism 3 is not limited in this embodiment, and a mature existing product can be selected. For example, an electric lifting rod with a large stroke-load ratio can be used. Through material and structure optimization, the lifting mechanism can not only be light in weight but also achieve the set load, such as a maximum of 20 kg.

[0070] As a further implementation, the rotating mechanism 4 uses a drive unit to drive the ray emitter 7 together with the push rod 6 and the imaging plate 5 to rotate through a worm and worm gear transmission mechanism. The drive unit can be a motor. Utilizing the reverse self-locking function of the worm and worm gear, it is ensured that the detection end will not swing randomly when the power is off, causing problems such as the inability to remove the robot.

[0071] As a further implementation, the ray emitter 7 emits X-rays through the ray emission end, and the ray emission end faces the imaging plate 5. The ray emitter 7 can be an X-ray transmitter.

[0072] As a further implementation, the X-rays emitted by the ray emitter 7 pass through the compression joint on the wire to be measured and are received by the imaging plate 5. The imaging plate 5 converts the X-ray intensity distribution into a visible image to achieve the detection of the compression joint.

[0073] As a further implementation, the push rod 6 is selected as a multi-section large-stroke push rod. Together with the lifting mechanism 3, it realizes the coverage of the detection of the compression joints of the conductors from the uppermost layer to the lowermost layer of the six / eight-split conductors.

[0074] As a further implementation, the movable end of the push rod 6 is connected to the imaging plate 5, and the fixed end is connected to the outer shell of the ray emitter 7. In the initial state of the robot, the fixed end of the push rod 6 is connected to the upper surface of the outer shell of the ray emitter 7.

[0075] In this embodiment, the lifting mechanism has two groups of lifting rods that move synchronously. The ends (i.e., the movable ends) of the two groups of lifting rods are connected to the corresponding mounting plates. One group of mounting plates fixes the rotating mechanism. The outer shell of the ray emitter is fixed between the two groups of mounting plates. The outer shell of the ray emitter is connected to the fixed end of the push rod. The movable end of the push rod is connected to the imaging plate. The ray emission end of the ray emitter faces the imaging plate, and the rotating mechanism drives the ray emitter together with the push rod and the imaging plate to rotate.

[0076] In this embodiment, an X-ray detection robot for six / eight bundled conductors is innovatively developed, which solves the problem of relying on multiple drone hoists during the inspection of compression sleeves, realizes the pendulum motion of the detection part of the robot, ensures that the detection range covers all the compression sleeves in the six / eight bundled conductors, avoids the multiple repeated hoisting of the robot during the inspection, and realizes the inspection of all the compression sleeves through one hoisting action of the drone, improving the inspection efficiency of the compression sleeves and the safety during the inspection.

[0077] Embodiment 2:

[0078] An operation method of an X-ray detection robot for six-bundled and eight-bundled conductors includes the following steps:

[0079] The drone uses the hoisting mechanism to hoist the robot onto the two topmost conductors of the six / eight bundled conductors, and the traveling mechanism runs along the two topmost conductors to the detection area;

[0080] The lifting mechanism moves up and down vertically, driving the detection end to reach the height position where the wire to be measured is located;

[0081] The push rod acts to change the distance between the ray emitter and the imaging plate, so that the compression sleeve on the wire to be measured is within this distance range;

[0082] The rotating mechanism acts to drive the ray emitter together with the push rod and the imaging plate to swing around the axial direction of the wire to be measured, so that the compression sleeve on the wire to be measured is between the ray emitter and the imaging plate;

[0083] The X-rays emitted by the ray emitter penetrate the compression sleeve on the wire to be measured, and the X-rays irradiate the imaging plate to obtain the detection result of the currently measured compression sleeve;

[0084] The rotating mechanism acts in the reverse direction, driving the ray emitter together with the push rod and the imaging plate to swing in the reverse direction to obtain the detection result of another set of compression sleeves on the opposite side of the same height layer as the currently measured compression sleeve;

[0085] The rotating mechanism resets, and the push rod and the lifting mechanism act according to the height position of the compression sleeve of the next wire to be measured, so that the compression sleeve to be measured is within the distance range between the ray emitter and the imaging plate; through the forward and reverse actions of the rotating mechanism, the detection result of the compression sleeve of the wire to be measured is obtained;

[0086] By analogy, the detection results of the compression sleeves on all the wires in the six / eight bundled conductors are obtained, and the drone hoists the robot back to the ground.

[0087] This embodiment proposes a robot detection method for six / eight-split conductor compression sleeves. By using a drone for a single hoisting operation, the detection of all compression sleeves in six / eight-split conductors can be completed, breaking through the problem that traditional robots cannot detect all compression sleeves in six / eight-split conductors, and improving the efficiency of robot detection and the safety during detection.

[0088] This embodiment takes Figure 4 the eight-split conductor shown as an example to introduce the detection environment of the robot. In this detection environment, the positions of the compression sleeves 10 are arranged in a stepped manner from bottom to top. The end of the compression sleeve is connected to the bypass wire, which is divided into two types: lateral and downward according to the bypass wire direction. According to relevant statistics, the proportion of downward bypass wires is the largest, exceeding 90%.

[0089] In this embodiment, there is one measured compression sleeve 10 on each of the 8 sub-conductors in the eight-split conductor. Every two are grouped together, and the two compression sleeves in each group are located at the same height position. There are a total of four groups of compression sleeves with different heights from top to bottom. As Figure 5 shown, they are respectively:

[0090] the compression sleeve a11 and the compression sleeve b12 at the top layer;

[0091] the compression sleeve c13 and the compression sleeve d14 in the upper middle layer;

[0092] the compression sleeve e15 and the compression sleeve f16 in the lower middle layer;

[0093] the compression sleeve g17 and the compression sleeve h18 at the bottom layer.

[0094] During the detection, the drone hoists the robot and places it in a place where there is no obstruction at the front end of the compression sleeve. The walking mechanism 2 of the robot walks along the two sub-conductors at the top layer. When walking to the positions corresponding to the compression sleeve g17 and the compression sleeve h18 at the bottom layer, the telescopic mechanism 3 drives the detection end to descend to the space below the compression sleeve g17 and the compression sleeve h18, and then through the actions of the push rod and the rotating mechanism, X-ray detection is performed on each layer of compression sleeve in turn.

[0095] As a further implementation method, X-ray detection is performed on the compression sleeve g17 and the compression sleeve h18 at the bottom layer. As Figures 5 - 6 shown, specifically:

[0096] The push rod 6 acts to drive the imaging plate 5 to move to the space above the compression sleeve g17 and the compression sleeve h18, so that the measured compression sleeve g17 and the compression sleeve h18 are located within the spacing range between the ray emitter 7 and the imaging plate 5;

[0097] The rotating mechanism 4 operates to drive the ray emitter 7, together with the push rod 6 and the imaging plate 5, to rotate to the upper oblique side direction of the measured crimping tube g17 or the crimping tube h18. In this embodiment, taking the detection of the crimping tube g17 as an example, the imaging plate 5 rotates to the upper oblique side direction of the measured crimping tube g17. The ray emitter 7 emits X-rays, and the X-rays pass through the measured crimping tube g17 and are received by the imaging plate 5 to obtain the corresponding detection image, completing the detection of the crimping tube g17 located at the bottom layer.

[0098] The rotating mechanism rotates in the reverse direction to detect the opposite-side crimping tube, that is, to detect the crimping tube h18 also located at the bottom layer.

[0099] As a further implementation method, X-ray detection is performed on the crimping tubes e15 and f16 located in the middle and lower layers. As Figures 7 - 8 shown, specifically:

[0100] The lifting mechanism maintains the existing state, and the rotating mechanism drives the ray emitter 7, together with the push rod 6 and the imaging plate 5, back to the initial neutral position;

[0101] The push rod 6 operates to drive the imaging plate 5 to move to the space above the crimping tubes e15 and f16, so that the measured crimping tubes e15 and f16 are within the spacing range between the ray emitter 7 and the imaging plate 5;

[0102] The rotating mechanism 4 operates to drive the ray emitter 7, together with the push rod 6 and the imaging plate 5, to rotate to the upper oblique side direction of the measured crimping tube e15 or the crimping tube f16. Taking the detection of the crimping tube e15 as an example, the imaging plate 5 rotates to the upper oblique side direction of the measured crimping tube e15. The ray emitter 7 emits X-rays, and the X-rays pass through the measured crimping tube e15 and are received by the imaging plate 5 to obtain the corresponding detection image, completing the detection of the crimping tube e15 located in the middle and lower layers.

[0103] The rotating mechanism rotates in the reverse direction to detect the opposite-side crimping tube, that is, to detect the crimping tube f16 also located in the middle and lower layers.

[0104] As a further implementation method, X-ray detection is performed on the crimping tubes c13 and d14 located in the middle and upper layers. As Figures 9 - 10 shown, specifically:

[0105] The lifting mechanism maintains the existing state, and the rotating mechanism drives the ray emitter 7, together with the push rod 6 and the imaging plate 5, back to the initial neutral position;

[0106] The push rod 6 operates to drive the imaging plate 5 to move to the space above the crimping tubes c13 and d14, so that the measured crimping tubes c13 and d14 are within the spacing range between the ray emitter 7 and the imaging plate 5;

[0107] The rotating mechanism 4 operates to drive the ray emitter 7 together with the push rod 6 and the imaging plate 5 to rotate to the upper oblique side direction of the measured crimping tube c13 and the crimping tube d14. Taking the detection of the crimping tube c13 as an example, the imaging plate 5 rotates to the upper oblique side direction of the measured crimping tube c13. The ray emitter 7 emits X-rays, and the X-rays pass through the measured crimping tube c13 and are received by the imaging plate 5 to obtain the corresponding detection image, completing the detection of the crimping tube c13 located in the middle upper layer.

[0108] The rotating mechanism rotates in the reverse direction to detect the opposite-side crimping tube, that is, to detect the crimping tube d14 which is also located in the middle upper layer.

[0109] As a further implementation manner, X-ray detection is performed on the crimping tubes a11 and b12 located at the top layer. As Figures 11 - 12 shown, specifically:

[0110] The lifting mechanism maintains the existing state, and the rotating mechanism drives the ray emitter 7 together with the push rod 6 and the imaging plate 5 back to the initial neutral position;

[0111] The push rod 6 operates to drive the imaging plate 5 to move to the space above the crimping tubes a11 and b12, so that the measured crimping tube a11 or b12 is within the spacing range between the ray emitter 7 and the imaging plate 5;

[0112] The rotating mechanism 4 operates to drive the ray emitter 7 together with the push rod 6 and the imaging plate 5 to rotate to the upper oblique side direction of the measured crimping tube a11 or b12. Taking the detection of the crimping tube a11 as an example, the imaging plate 5 rotates to the upper oblique side direction of the measured crimping tube a11. The ray emitter 7 emits X-rays, and the X-rays pass through the measured crimping tube a11 and are received by the imaging plate 5 to obtain the corresponding detection image, completing the detection of the crimping tube a11 located at the top layer.

[0113] The rotating mechanism rotates in the reverse direction to detect the opposite-side crimping tube, that is, to detect the crimping tube b12 which is also located at the top layer.

[0114] As a further implementation manner, after all the crimping tubes are detected, the robot returns to the initial state, and the traveling mechanism moves to the UAV hoisting position and returns to the ground through the UAV offline.

[0115] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An X-ray detection robot for six-split and eight-split conductors, characterized in that, It includes a hoisting mechanism, a traveling mechanism, a lifting mechanism and a detection end; the lifting mechanism is located in the space below the traveling mechanism; The detection end is driven by the lifting mechanism to lift in the vertical direction. The detection end includes a rotating mechanism arranged at the end of the lifting mechanism. The rotating mechanism is connected to the housing of the ray emitter. The housing of the ray emitter is connected to the fixed end of the push rod. The movable end of the push rod is connected to the imaging plate; a ray emitting end is provided on the housing of the ray emitter, and the ray emitting end is arranged facing the imaging plate; the rotating mechanism drives the ray emitter together with the push rod and the imaging plate to swing around the axial direction of the wire under test, and the push rod drives the imaging plate to change the distance between the ray emitter and the imaging plate.

2. The X-ray detection robot for six-split and eight-split conductors according to claim 1, characterized in that, The hoisting mechanism includes a hoisting frame connected to the unmanned aerial vehicle.

3. The X-ray detection robot for six-split and eight-split conductors according to claim 1, wherein The traveling mechanism includes traveling wheels driven by a driving unit. During detection, the traveling wheels are located on the two groups of sub-conductors at the top layer in a six-split or eight-split conductor.

4. The X-ray detection robot for six-split and eight-split conductors according to claim 3, characterized in that The area where the traveling wheel contacts the wire is V-shaped.

5. The X-ray detection robot for six-split and eight-split conductors according to claim 1, wherein, The lifting mechanism includes at least two groups of lifting rods arranged in parallel and moving synchronously. The ends of the lifting rods are connected to the housing of the ray emitter through corresponding mounting plates, and one group of mounting plates is connected to the rotating mechanism.

6. The X-ray detection robot for six-split and eight-split conductors according to claim 1, characterized in that, The rotating mechanism includes a worm and worm gear transmission mechanism. The input end of the worm and worm gear transmission mechanism is connected to a driving unit, and the output end of the worm and worm gear transmission mechanism is connected to the housing of the ray emitter.

7. The X-ray detection robot for six-split and eight-split conductors according to claim 1, characterized in that, The X-rays emitted by the ray emitter pass through the compression sleeve on the wire under test through the ray emitting end and are received by the imaging plate. The imaging plate converts the X-ray intensity distribution into a visible image to realize the detection of the compression sleeve.

8. The X-ray detection robot for six-split and eight-split conductors according to claim 1, characterized in that, The push rod includes a plurality of nested rod bodies. When the push rod extends, the plurality of rod bodies are connected end to end.

9. The X-ray detection robot for six-split and eight-split conductors according to claim 1, characterized in that, During detection, when the rotating mechanism is in the initial state, both the push rod and the lifting mechanism are in a vertical state.

10. An operation method for realizing X-ray detection of six-split and eight-split wires based on the robot according to any one of claims 1-9, characterized in that, It includes the following steps: The unmanned aerial vehicle uses the hoisting mechanism to hoist the robot onto the two groups of conductors at the topmost part in the six / eight-split conductor, and the traveling mechanism runs along the two groups of topmost conductors to the detection area; The lifting mechanism lifts and lowers in the vertical direction, driving the detection end to reach the height position where the wire under test is located; The push rod and the lifting mechanism cooperate to change the distance between the ray emitter and the imaging plate, so that the compression sleeve on the wire under test is within this distance range; The rotating mechanism acts to drive the ray emitter together with the push rod and the imaging plate to swing around the axial direction of the wire under test, so that the compression sleeve on the wire under test is located between the ray emitter and the imaging plate; The X-rays emitted by the ray emitter penetrate the compression sleeve on the wire under test, and the X-rays irradiate the imaging plate to obtain the detection result of the current compression sleeve under test; The rotating mechanism acts in the reverse direction to drive the ray emitter together with the push rod and the imaging plate to swing in the reverse direction to obtain the detection result of another group of compression sleeves on the opposite side of the same height layer as the current compression sleeve under test; The rotating mechanism resets, and the push rod acts according to the height position of the compression sleeve of the next group of wires under test, so that the compression sleeve under test is within the distance range between the ray emitter and the imaging plate; through the forward and reverse actions of the rotating mechanism, the detection result of the compression sleeve of the wire under test is obtained; By analogy, the detection results of the compression sleeves on all the wires in the six / eight-split conductor are obtained, and the unmanned aerial vehicle hoists the robot back to the ground.

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