Multi-wheel cooperative inclined double-split X-ray detection method and robot

Abstract

The invention belongs to the technical field of power robots. The multi-wheel cooperative oblique double-split X-ray detection robot comprises a walking mechanism, a transmitter assembly and a receiving plate assembly which are arranged on a robot body; the walking mechanism comprises cross driving wheels, cross auxiliary wheels and supporting auxiliary wheels, the cross driving wheels comprise a first driving wheel and a second driving wheel which are arranged in a cross mode, the cross auxiliary wheels comprise a first auxiliary wheel and a second auxiliary wheel which are arranged in a cross mode, and the cross auxiliary wheels are arranged between the first driving wheel and the second driving wheel; multi-wheel cooperative stable walking control is carried out, and after the robot moves to the position of the crimping hardware fitting, the crimping hardware fitting detection of an upper wire and a lower wire is carried out through the cooperation of the transmitter assembly and the receiving plate assembly; according to the invention, stable walking of the X-ray detection robot on the inclined double-split conductor with the shunting reinforcing wire is realized, and the precision of X-ray detection of the crimping fitting is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of power robots, and particularly to a multi-wheel collaborative oblique double-split X-ray detection method and robot. Background Art

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

[0003] A double-split overhead transmission line refers to a situation where each phase conductor consists of two conductors with smaller cross-sections. These two conductors maintain a certain distance and jointly undertake the power transmission task. This line structure is mainly used for high-capacity and long-distance power transmission. An oblique or vertical double-split overhead transmission line is a specific power transmission structure, characterized in that the conductors of the transmission line adopt a double-split form (including upper conductors and lower conductors) and are arranged obliquely or vertically.

[0004] Currently, there are the following problems in the X-ray detection of the crimping fittings corresponding to the oblique double-split overhead transmission lines: (1) The inclination angle of the oblique double-split conductors in the power scenario is uncertain (generally between 0° and 45°, where 0° is the scenario of vertical double-split and is also an extreme case of oblique double-split), resulting in the inability of existing X-ray detection robots to fully cover the non-destructive detection of the crimping fittings of double-split conductors with different inclination angles, and unable to complete the X-ray detection task of the crimping fittings of the upper and lower sub-conductors in one online operation; (2) Although the existing unmanned aerial vehicle (UAV) hoisting online avoids direct human participation in high-risk operations, the implementation process mostly relies on manual remote control, unable to achieve true automation and intelligence, not only increasing the operation difficulty and labor cost, but also possibly causing collisions or even damage to the UAV and the detection robot due to human errors. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the present invention provides a multi-wheel collaborative oblique double-split X-ray detection method and robot, which realizes the stable walking of the X-ray detection robot on the oblique double-split conductors with shunt reinforcement wires, avoids the rollover of the X-ray detection robot, ensures the accuracy of the X-ray detection of the crimping fittings, and realizes the X-ray detection of the upper and lower conductors of the oblique double-split conductors in one online operation.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a multi-wheel collaborative oblique double-split X-ray detection method.

[0007] A multi-wheel collaborative diagonal double-split X-ray detection method uses an X-ray detection robot including a robot body. On the robot body, there are support auxiliary wheels, a first driving wheel and a second driving wheel arranged crosswise, and a first auxiliary wheel and a second auxiliary wheel arranged crosswise. After the X-ray detection robot is hoisted to the upper part of the diagonal double-split conductor, the first driving wheel and the second driving wheel contact the upper conductor, the support auxiliary wheel contacts the lower conductor, the first auxiliary wheel and the second auxiliary wheel are suspended for standby, and the first driving wheel, the second driving wheel and the support auxiliary wheel form three-point contact. When the X-ray detection robot walks to the position of the lateral shunt reinforcement wire, the first driving wheel and the first auxiliary wheel contact the lateral shunt reinforcement wire corresponding to the upper conductor, the support auxiliary wheel contacts the lateral shunt reinforcement wire corresponding to the lower conductor, and the second driving wheel and the second auxiliary wheel contact the upper conductor or the crimping fitting corresponding to the upper conductor. After the X-ray detection robot moves to the position of the crimping fitting, the detection of the crimping fitting is performed.

[0008] In an implementation manner of the first aspect of the present invention, the online and offline of the X-ray detection robot include: Obtain a three-dimensional model of the area to be detected on the pole tower line; Based on the obtained three-dimensional model, determine the wire-drop position of the X-ray detection robot and the hoisting flight trajectory of the aircraft; After the aircraft is hoisted and connected to the X-ray detection robot, it flies to the safe hovering height at the wire-drop position according to the hoisting flight trajectory, adjusts the pose of the X-ray detection robot and then drops the wire to complete the hoisting online; After the hoisting online is completed, the aircraft returns to the ground along the hoisting flight trajectory, and the X-ray detection robot performs the detection operation; After the detection operation task is completed, the X-ray detection robot returns to the wire-drop position. After the aircraft flies to the safe hovering height at the wire-drop position, it is hoisted and connected to the X-ray detection robot and drives the X-ray detection robot to get off the wire; After the aircraft returns to the ground along the determined flight trajectory and separates from the X-ray detection robot, the hoisting offline is completed.

[0009] As a further limitation of the first aspect of the present invention, based on the obtained three-dimensional model of the area to be detected on the pole tower line; Mark the position of the crimping fitting in the three-dimensional model to determine the crimping fitting to be detected; According to the determined crimping fitting to be detected and the starting position of the X-ray detection robot, use the greedy algorithm and the heuristic A* search algorithm to determine the wire-drop position of the X-ray detection robot and the hoisting flight trajectory of the aircraft.

[0010] As a further limitation of the first aspect of the present invention, after the aircraft-mounted X-ray detection robot flies to the safe hovering height at the wire-drop position, the X-ray detection robot is powered on and operates. Based on the three-dimensional laser point cloud data of the transmission line obtained by the X-ray detection robot, the pose offset between the X-ray detection robot and the transmission line is calculated, and the pose of the X-ray detection robot is adjusted according to the pose offset; The aircraft descends. When the first driving wheel and the second driving wheel of the X-ray detection robot come into contact with the upper conductor, and the supporting auxiliary wheel comes into contact with the lower conductor, the X-ray detection robot successfully drops onto the wire; The aircraft activates the insulating gripper. The insulating gripper separates from the insulating lifting frame of the X-ray detection robot. The aircraft ascends, and the aircraft is completely separated from the X-ray detection robot, completing the hoisting of the X-ray detection robot onto the line.

[0011] In a second aspect, the present invention provides an obliquely double-split X-ray detection robot.

[0012] An obliquely double-split X-ray detection robot includes: a robot body, a traveling mechanism, and a detection mechanism. The detection mechanism includes a transmitter assembly and a receiving board assembly. The robot body has an open bottom and forms a first branch structure and a second branch structure. The first branch structure is used for detachably fixing the transmitter assembly, and the second branch structure is used for detachably fixing the receiving board assembly; The traveling mechanism includes cross driving wheels, cross auxiliary wheels, and supporting auxiliary wheels. The cross driving wheels and the cross auxiliary wheels are arranged on the top of the robot body to support the upper conductor or the upper shunt reinforcement wire, and the supporting auxiliary wheels are arranged on the first branch structure to support the lower conductor or the lower shunt reinforcement wire.

[0013] In an implementation manner of the second aspect of the present invention, the first branch structure includes: a first guide plate and a second guide plate. The inner sides of the first guide plate and the second guide plate are arc-shaped. The first guide plate is located in the upper part and is used for detachably connecting the transmitter assembly, and the second guide plate is located in the lower part and is used for connecting the supporting auxiliary wheel.

[0014] As a further limitation of the second aspect of the present invention, a hoisting mechanism is connected to the top of the robot body. The hoisting mechanism includes an insulating lifting frame and a connecting seat. The bottom of the insulating lifting frame is connected through an upper hinge hole and a lower hinge hole. The upper hinge hole is a circular hole, and the lower hinge hole is an oblong hole, so that the insulating lifting frame can rotate a set angle with the upper hinge hole as a fulcrum.

[0015] As a further limitation of the second aspect of the present invention, the cross-section of the upper cross beam of the insulating lifting frame is circular or elliptical.

[0016] In an implementation of the second aspect of the present invention, an electric control system is further included. The electric control system is detachably fixed on the first branch structure and is used for controlling the traveling mechanism, the transmitter assembly, and the receiving board assembly.

[0017] In an implementation of the second aspect of the present invention, the central axes of the first driving wheel and the second driving wheel are arranged in a 90° cross pattern, and both the first driving wheel and the second driving wheel are fixed on the robot body through brackets. The first driving wheel and the second driving wheel have the same structure, and both include: a motor fixing seat, a driving motor, a convex rubber wheel, a hub, a column rubber wheel, a motor adapter flange, an inner baffle, and an outer baffle. The motor fixing seat is fixedly connected to the robot body. The driving motor is fixed on the motor fixing seat. The output end of the driving motor is connected to the hub through the motor adapter flange, and the hub can rotate driven by the driving motor. The inner baffle and the outer baffle are respectively connected to both ends of the hub. The convex rubber wheel is sleeved on one side of the hub close to the inner baffle, and the column rubber wheel is sleeved on the position of the hub close to the outer baffle.

[0018] In an implementation of the second aspect of the present invention, the central axes of the first auxiliary wheel and the second auxiliary wheel are arranged in a 90° cross pattern, and both the first auxiliary wheel and the second auxiliary wheel are fixed on the upper part of the robot body through brackets. The first auxiliary wheel and the second auxiliary wheel have the same structure, and both include: a cross roller support, a roller shaft, a nylon roller, and a first ball bearing. The cross roller support is fixedly connected to the robot body. Both ends of the roller shaft are connected to the cross roller support through the first ball bearing. Bearing retaining rings are provided at both ends of the roller shaft, and the nylon roller is sleeved on the outside of the roller shaft.

[0019] In an implementation of the second aspect of the present invention, the supporting auxiliary wheel includes: a driving motor, a rubber wheel, a motor fixing seat, a motor adapter flange, a hub, an axial end baffle, a second ball bearing, a bearing seat, and a rotating support shaft. The driving motor is fixed on the robot body through the motor fixing seat. The output end of the driving motor is connected to the hub through the motor adapter flange. The bearing seat is fixed on the robot body, and the outer ring of the second ball bearing is fixedly connected to the bearing seat. The axial end baffle is connected to the end of the hub, the rotating support shaft is connected to the hub through the axial end baffle, and the rotating support shaft is connected to the inner ring of the second ball bearing.

[0020] In an implementation of the second aspect of the present invention, the transmitter assembly includes a rotating transmitting head; the receiving plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism, and a receiving plate. The rotating support frame is detachably fixed on the second branch structure of the robot body. The rotating mechanism is connected to the rotating support frame. The telescopic mechanism is fixed on the rotating mechanism, and the receiving plate is fixed on the telescopic mechanism.

[0021] As a further limitation of the second aspect of the present invention, the transmitter assembly includes: a transmitter shielding case, a rotating servo, a transmitter body, and a dial. The transmitter body is arranged in the transmitter shielding case. The output end of the rotating servo is connected to the dial, and the dial is connected to the rotating transmitting head of the transmitter body. The rotating transmitting head can rotate driven by the rotating servo.

[0022] As a further limitation of the second aspect of the present invention, the rotating mechanism includes: a rotating motor, a rotating support plate, a motor output flange, and a rotating support bearing seat. The rotating motor is fixed on the rotating support frame, and the output end of the rotating motor is connected to one side of the rotating support plate through the motor output flange; The rotating support frame is provided with a rotating support bearing seat, and the protruding part on the other side of the rotating support plate is connected to the rotating support bearing in the rotating support bearing seat.

[0023] As a further limitation of the second aspect of the present invention, the telescopic mechanism includes: a lead screw module motor, a trapezoidal lead screw, a vertical guide rail, and an auxiliary guide rail. The receiving plate is connected to the lead screw module motor. The lead screw module motor can move along the trapezoidal lead screw. The receiving plate is slidably connected to the vertical guide rail through a guide slider, and the receiving plate is slidably connected to the auxiliary guide rail through an auxiliary slider. An optoelectronic switch is arranged on the auxiliary guide rail.

[0024] In an implementation of the second aspect of the present invention, when detecting the crimping fittings at both ends of a wire, the positions of the transmitter assembly and the receiving plate assembly are swapped front and back.

[0025] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention innovatively designs a multi-wheel collaborative oblique double-split X-ray detection method, develops an oblique double-split X-ray detection robot, and designs a walking mechanism for X-ray detection of oblique double-split conductors, realizing stable walking control of multi-wheel collaboration. Through the combined arrangement of cross drive wheels, cross auxiliary wheels, and support auxiliary wheels, the robot can smoothly pass through the lateral shunt reinforcement wire, expanding the working range of the robot. The walking mechanism always keeps at least three wheels in contact with the conductor or the shunt reinforcement wire, realizing stable multi-wheel cooperation walking of the X-ray detection robot on the oblique double-split conductor with shunt reinforcement wire, avoiding the rollover of the X-ray detection robot, and ensuring the accuracy of X-ray detection of the crimping fittings.

[0026] 2. The present invention innovatively designs a transmitter component with a rotating emission head and a receiving plate component that can freely rotate and extend, expanding the range of X-ray detection, ensuring that the transmitter light source is always perpendicular to the receiving plate, guaranteeing the best imaging effect, realizing X-ray detection of the upper and lower conductors of the oblique double-split conductor in one online operation, improving the detection efficiency, avoiding interference with the X-ray detection mechanism during the robot's walking, and ensuring the safety and stability of X-ray detection; proposes a modular design scheme for the transmitter component, the electric control system, and the receiving plate component, with the ability of quick disassembly and front-back swapping, and can detect the crimping fittings at both ends of a conductor.

[0027] 3. The present invention innovatively proposes an X-ray detection robot up-and-down line method based on drone hoisting. Before hoisting connection, takeoff alignment and connection hoisting of the drone and the X-ray detection robot are carried out to ensure the safety and reliability of hoisting flight. Before wire landing, pose adjustment of the X-ray detection robot and contact wire landing judgment are carried out to ensure that the X-ray detection robot accurately and stably lands on the transmission line. When going offline, judge whether the X-ray detection robot lands smoothly to ensure the safe separation of the X-ray detection robot and the drone, solving the problem that the traditional up-and-down line method of the X-ray detection robot cannot meet the precise deployment and efficient detection of complex transmission lines and different weather conditions, reducing the operation difficulty and labor cost, improving the automation level of the up-and-down line operation, effectively adapting to the diverse needs of transmission line detection, and providing an efficient and intelligent detection solution for high-altitude transmission line power inspection.

[0028] Advantages of additional aspects of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The specification drawings constituting 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.

[0030] Figure 1 Schematic diagram of hoisting for the obliquely double-split X-ray detection robot provided in Embodiment 1 of the present invention; Figure 2 Schematic diagrams of the robot postures at different tilting angles provided in Embodiment 1 of the present invention, wherein, Figure 2 (A) is the schematic diagram of the posture when not tilted, Figure 2 (B) is the schematic diagram of the posture when tilted to the left, Figure 2 (C) is the schematic diagram of the posture when tilted to the right; Figure 3 Schematic diagram of the hoisting mechanism provided in Embodiment 1 of the present invention; Figure 4 Schematic diagram of the upper hinge hole and the lower hinge hole provided in Embodiment 1 of the present invention; Figure 5 Schematic diagram of the robot body provided in Embodiment 1 of the present invention; Figure 6 Front view of the traveling mechanism provided in Embodiment 1 of the present invention; Figure 7 Top view of the traveling mechanism provided in Embodiment 1 of the present invention; Figure 8 Schematic diagram of the 0° posture provided in Embodiment 1 of the present invention; Figure 9 Schematic diagram of the 45° posture provided in Embodiment 1 of the present invention; Figure 10 Schematic diagram when passing through the reinforcement wire provided in Embodiment 1 of the present invention Figure 1 ; Figure 11 Schematic diagram when passing through the reinforcement wire provided in Embodiment 1 of the present invention Figure 2 ; Figure 12 Schematic diagram of the cross drive wheel provided in Embodiment 1 of the present invention; Figure 13 Schematic diagram of the cross auxiliary wheel provided in Embodiment 1 of the present invention; Figure 14 Schematic diagram of the support auxiliary wheel provided in Embodiment 1 of the present invention; Figure 15 Schematic diagram of the transmitter assembly provided in Embodiment 1 of the present invention; Figure 16 Structural schematic diagram of the receiving board assembly provided in Embodiment 1 of the present invention; Figure 17 Structural schematic diagram of the rotating mechanism provided in Embodiment 1 of the present invention; Figure 18 Structural schematic diagram of the telescopic mechanism provided in Embodiment 1 of the present invention; Figure 19 Schematic structural diagram of the lead screw module provided in Embodiment 1 of the present invention; Figure 20 Schematic diagram of the initial state provided in Embodiment 2 of the present invention; Figure 21 Schematic diagram of the state when detecting the upper wire crimping fitting provided in Embodiment 2 of the present invention; Figure 22 Schematic diagram of the state when detecting the lower wire crimping fitting provided in Embodiment 2 of the present invention; Figure 23 Front view when detecting the left - right phase exchange provided in Embodiment 2 of the present invention; Figure 24 Top view when detecting the left - right phase exchange provided in Embodiment 2 of the present invention; Figure 25 Schematic diagram of the method for the robot to go on and off line provided in Embodiment 2 of the present invention; Among them, 1. UAV; 2. Insulating gripper; 3. Lifting mechanism; 4. Transmitter assembly; 5. Receiver board assembly; 6. Walking mechanism; 7. Oblique double - split conductor; 8. Electric control system; 9. Cross - driving wheel; 10. Cross - auxiliary wheel; 11. Support auxiliary wheel; 12. First driving wheel; 13. Second driving wheel; 14. First auxiliary wheel; 15. Second auxiliary wheel; 16. Robot body; 17. First guide plate; 18. Second guide plate; 19. Quick - release pin slot; 20. Quick - release hole slot; 21. First motor fixing seat; 22. First driving motor; 23. Convex rubber wheel; 24. First hub; 25. Column rubber wheel; 26. First motor adapter flange; 27. Inner baffle; 28. Outer baffle; 29. Cross - roller support; 30. Roller shaft; 31. Nylon roller; 32. First ball bearing; 33. Bearing retainer; 34. Second driving motor; 35. Rubber wheel; 36. Second motor fixing seat; 37. Second motor adapter flange; 38. Second hub; 39. Shaft end baffle; 40. Second ball bearing; 41. Bearing seat; 42. Rotating support shaft; 43. Transmitter shielding case; 44. Transmitter body; 45. Dial; 46. Servo fixing seat; 47. Rotating servo; 48. Shielding case cover; 49. First quick - connect ear seat; 50. Emission light source; 51. Rotating mechanism; 52. Telescopic mechanism; 53. Rotating support frame; 54. Rotating support plate; 55. Rotating motor; 56. Motor output flange; 57. Second quick - connect ear seat; 58. Rotating support bearing seat; 59. Receiver board; 60. Photoelectric switch; 61. Auxiliary guide rail; 62. Vertical guide rail; 63. Auxiliary slider; 64. Trapezoidal lead screw; 65. Lead screw module motor; 66. Guide slider; 67. Reinforcing plate; 68. Insulating lifting frame; 69. Upper cross beam; 70. Upper hinge hole; 71. Lower hinge hole; 72. Connecting seat. Detailed Implementation Manner

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0032] It should be noted that the following detailed description is exemplary and is intended to provide further illustration 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.

[0033] In this implementation manner, an obliquely double-split X-ray detection robot is proposed. As Figure 1 shown, it includes: a robot body 16, a traveling mechanism 6, and a rotation detection mechanism. The rotation detection mechanism includes a transmitter assembly 4 and a receiving plate assembly 5. The robot body 16 has an open bottom and forms a first branch structure and a second branch structure. The first branch structure is used for detachably fixing the transmitter assembly 4, and the second branch structure is used for detachably fixing the receiving plate assembly 5; The traveling mechanism 6 includes a cross driving wheel 9, a cross auxiliary wheel 10, and a support auxiliary wheel 11. The cross driving wheel 9 and the cross auxiliary wheel 10 are arranged on the top of the robot body 16 to support the upper wire or the upper shunt reinforcement wire, and the support auxiliary wheel 11 is arranged on the first branch structure to support the lower wire or the lower shunt reinforcement wire.

[0034] As Figure 2 shown, in this implementation manner, preferably, the X-ray detection robot adopts a center-of-gravity left-offset arrangement method. Heavier components such as the electric control system 8 and the transmitter assembly 4 are arranged on the left side of the robot. When the UAV 1 places the X-ray detection robot on the wire, it first contacts the upper wire, and then according to the inclination angle of the lower wire, the X-ray detection robot rotates with the upper wire as the pivot axis until the support auxiliary wheel 11 contacts the lower wire. At this time, the X-ray detection robot is in a balanced state (three-point support). The X-ray detection robot in this implementation manner can adapt to double-split wires with an inclination angle of 0° to 45°. When it is at the middle position of 22.5°, as Figure 2 shown in (A) therein, the X-ray detection robot is in a horizontal state; when it is at the lower limit position of 0°, the X-ray detection robot rotates counterclockwise and inclines, as Figure 2 shown in (B) therein; when it is at the upper limit position of 45°, the X-ray detection robot rotates clockwise and inclines, as Figure 2 shown in (C) therein.

[0035] In this implementation manner, as Figure 3 and Figure 4As shown, preferably, a hoisting mechanism 3 is connected to the top of the robot body 16. The hoisting mechanism 3 includes an insulating hoisting frame 68, an upper cross beam 69, and a connecting seat 72. The bottom of the insulating hoisting frame 68 is connected to the lower hinge hole 71 through the upper hinge hole 70. The upper hinge hole 70 is a circular hole, and the lower hinge hole 71 is an oblong hole, so that the insulating hoisting frame 68 can rotate a set angle with the upper hinge hole 70 as the fulcrum. The unmanned aerial vehicle hoists by gripping the hoisting mechanism 3 through the insulating gripper 2.

[0036] In this implementation manner, preferably, the cross section of the upper cross beam of the insulating hoisting frame 68 is circular or elliptical.

[0037] In this implementation manner, as Figure 5 As shown, preferably, the first branch structure includes a first guide plate 17 and a second guide plate 18. The inner sides of the first guide plate 17 and the second guide plate 18 are arc-shaped. The first guide plate 17 is located at the upper part and is used for detachably connecting the transmitter assembly 4. The second guide plate 18 is located at the lower part and is used for connecting the support auxiliary wheel 11.

[0038] In this implementation manner, preferably, a quick-release pin slot 19 is provided on the first guide plate 17, and a quick-release hole slot 20 is provided on the other side of the opening of the robot body 16. The quick-release pin slot 19 in this implementation manner is used for detachably installing the transmitter assembly 4, and the quick-release hole slot 20 in this implementation manner is used for detachably installing the receiver board assembly 5. The first guide plate 17 and the second guide plate 18 are used to quickly make the cross drive wheel 9 fall on the upper wire when the unmanned aerial vehicle 1 is hoisted.

[0039] More specifically, the first guide plate 17 and the second guide plate 18 are arranged on one side of the opening of the robot body 16. The inner edges of the two gradually contract inward and cooperate with the other side of the inclined opening of the robot body 16 to form an "inverted funnel shape" design (the lower opening is large), ensuring the quick docking and on-line connection when the unmanned aerial vehicle 1 is hoisted.

[0040] In this implementation manner, preferably, the bracket of the robot body 16 is made of lightweight aluminum alloy materials by welding (carbon fiber square tube assembly), and the whole is relatively light, which is convenient for hoisting the unmanned aerial vehicle 1.

[0041] In this implementation manner, preferably, an electric control system 8 is further included. The electric control system 8 is detachably fixed on the first branch structure, and the electric control system 8 is used for controlling the traveling mechanism 6 and the rotation detection mechanism.

[0042] In this implementation manner, as Figure 6 and Figure 7As shown, preferably, the cross drive wheel 9 includes a first drive wheel 12 and a second drive wheel 13 arranged crosswise, the cross auxiliary wheel 10 includes a first auxiliary wheel 14 and a second auxiliary wheel 15 arranged crosswise, and the cross auxiliary wheel 10 is arranged between the first drive wheel 12 and the second drive wheel 13; the support auxiliary wheel 11 is used to support the lower conductor or the lower shunt reinforcement wire, and the cross auxiliary wheel 10 and the support auxiliary wheel 11 are used to support the upper conductor or the upper shunt reinforcement wire. With the above walking mechanism 6, the X-ray detection robot can detect the crimping fittings of the upper and lower two sub-conductors (oblique double split or vertical double split) in one pass.

[0043] As Figure 8 and Figure 9 shown, the figure is a schematic diagram of the attitude of the walking mechanism 6 corresponding to a vertical double split conductor (the two conductors are at 0°) and a schematic diagram of the attitude of the walking mechanism 6 corresponding to an oblique double split conductor 7 (the two conductors are at 45°, and the limit angle is 45°).

[0044] In this implementation mode, preferably, the central axes of the first drive wheel 12 and the second drive wheel 13 are arranged crosswise at 90°, and both the first drive wheel 12 and the second drive wheel 13 are fixed to the upper part of the robot body 16 through brackets.

[0045] It can be understood that the crosswise arrangement angle here can also be slightly adjusted. For example, the crosswise angle can also be 85°, 95°, etc. In different application conditions, a range between 60° and 120° can also be selected, which will not be elaborated here.

[0046] As Figure 10 and Figure 11 shown, the figure is a schematic diagram of the X-ray detection robot passing through the shunt reinforcement wire. When walking normally, the first drive wheel 12 and the second drive wheel 13 are in contact with the upper conductor, the support auxiliary wheel 11 is in contact with the lower conductor, and the first auxiliary wheel 14 and the second auxiliary wheel 15 are suspended for standby. A triangular contact surface is formed by the first drive wheel 12, the second drive wheel 13 and the support auxiliary wheel 11 to ensure the stability of the robot operation; the cross drive wheel 9 in this implementation mode adopts a wide-width rubber wheel (with large friction), the cross auxiliary wheel 10 adopts a wide-width nylon wheel (wear-resistant), and the support auxiliary wheel 11 adopts a wide-width rubber wheel (with large friction). The crosswise arrangement form of the drive wheels enables the robot to pass through the shunt reinforcement wire smoothly and broadens the working range of the robot; when walking on the shunt reinforcement wire, the first drive wheel 12 is in contact with the upper shunt reinforcement wire (i.e., the lateral shunt reinforcement wire corresponding to the upper conductor), the support auxiliary wheel 11 is in contact with the lower shunt reinforcement wire, and the second drive wheel 13 is in contact with the upper conductor or the crimping fitting corresponding to the upper conductor, that is, the walking mechanism 6 always keeps at least three wheels in contact with the conductor or the diversion wire to ensure the stable walking attitude of the robot.

[0047] More specifically, the structures of the first driving wheel 12 and the second driving wheel 13 are the same. As Figure 12 shown, they both include: a first motor fixing seat 21, a first driving motor 22, a convex rubber wheel 23, a first hub 24, a columnar rubber wheel 25, a first motor adapter flange 26, an inner baffle 27 and an outer baffle 28; The first motor fixing seat 21 is fixedly connected to the robot body 16. The first driving motor 22 is fixed on the first motor fixing seat 21. The output end of the first driving motor 22 is connected to the first hub 24 through the first motor adapter flange 26. The first hub 24 can rotate driven by the first driving motor 22; Inner baffles 27 and outer baffles 28 are respectively connected to both ends of the first hub 24. A convex rubber wheel 23 is sleeved on one side of the first hub 24 close to the inner baffle 27, and a columnar rubber wheel 25 is sleeved on the position of the first hub 24 close to the outer baffle 28.

[0048] In this implementation manner, the convex rubber wheel 23 and the columnar rubber wheel 25 form an inwardly concave convex platform structure, which is convenient for contacting with the wire or the shunt reinforcement wire, so as to ensure that the first driving wheel 12 and the second driving wheel 13 will not separate from the wire and avoid the idling of the first driving wheel 12 and the second driving wheel 13.

[0049] In this implementation manner, preferably, the central axes of the first auxiliary wheel 14 and the second auxiliary wheel 15 are arranged in a 90° cross, and both the first auxiliary wheel 14 and the second auxiliary wheel 15 are fixed to the upper part of the robot body 16 through brackets.

[0050] In this implementation manner, preferably, the structures of the first auxiliary wheel 14 and the second auxiliary wheel 15 are the same. As Figure 13 shown, they both include: a cross roller support 29, a roller shaft 30, a nylon roller 31, a first ball bearing 32 and a bearing retaining ring 33. The cross roller support 29 is fixedly connected to the robot body 16. Both ends of the roller shaft 30 are connected to the cross roller support 29 through the first ball bearings 32. Bearing retaining rings 33 are provided at both ends of the roller shaft 30, and a nylon roller 31 is sleeved on the outside of the roller shaft 30.

[0051] In this implementation manner, preferably, the supporting auxiliary wheel 11, as Figure 14 shown, includes: a second driving motor 34, a rubber wheel 35, a second motor fixing seat 36, a second motor adapter flange 37, a second hub 38, an end baffle 39, a second ball bearing 40, a bearing seat 41 and a rotating support shaft 42; The second driving motor 34 is fixed on the robot body 16 through the second motor fixing seat 36. The output end of the second driving motor 34 is connected to the second hub 38 through the second motor adapter flange 37. The bearing seat 41 is fixed on the robot body 16, and the outer ring of the second ball bearing 40 is fixedly connected to the bearing seat 41; An end plate 39 is connected to the end of the second hub 38. The rotating support shaft 42 is connected to the second hub 38 through the end plate 39, and the rotating support shaft 42 is connected to the inner ring of the second ball bearing 40.

[0052] In this implementation, preferably, the transmitter assembly 4 is detachably connected to the first branch (arranged on the first guide plate 17), and the transmitter assembly 4 includes a rotating transmitting head; the receiving plate assembly 5 is detachably connected to the second branch, as Figure 16 shown, including: a rotating support frame 53, a rotating mechanism 51, a telescopic mechanism 52, and a receiving plate 59. The rotating support frame 53 is detachably fixed on the other side of the opening of the robot body 16. The rotating mechanism 51 is connected to the rotating support frame 53. The telescopic mechanism 52 is fixed on the rotating mechanism 51, and the receiving plate 59 is fixed on the telescopic mechanism 52. Through the modular design of this implementation, both the transmitter assembly 4 and the receiving plate assembly 5 can be detached, achieving rapid installation and rapid disassembly, and meeting the application requirements of different scenarios.

[0053] In this implementation, preferably, the transmitter assembly 4, as Figure 15 shown, includes: a transmitter shielding case 43, a rotating servo 47, a transmitter body 44, and a dial 45. The transmitter body 44 is arranged inside the transmitter shielding case 43. The output end of the rotating servo 47 is connected to the dial 45. The rotating servo 47 is fixed on the first guide plate 17 through the servo fixing seat 46. The dial 45 is connected to the rotating transmitting head of the transmitter body 44. The rotating transmitting head (with a built-in transmitting light source 50) can rotate driven by the rotating servo 47. The X-rays emitted by the rotating transmitting head are conical, and the effective imaging range is ±20.

[0054] In this implementation, the transmitting light source 50 emits vertically. The rotating servo 47 drives the transmitting head to rotate through the dial 45, realizing the change of the angle of the transmitter light source, which can ensure that the emission direction of the transmitting light source 50 is always perpendicular to the receiving plate 59, and the shooting effect at this position is the best.

[0055] In this implementation, preferably, a first quick-connect ear seat 49 (with a quick-connect pin hole reserved) is connected to the transmitter shielding case 43. The first quick-connect ear seat 49 is used for detachably connecting to the robot body 16, and a shielding case cover 48 is provided on the transmitter shielding case 43.

[0056] In this implementation manner, preferably, a second quick-connect ear seat 57 is provided on the rotary support frame 53, and the second quick-connect ear seat 57 is used for detachably connecting with the robot body 16; the quick disassembly and quick removal of the transmitter assembly 4 and the receiving board assembly 5 can be realized through the first quick-connect ear seat 49 and the second quick-connect ear seat 57, and it can be applied to different application scenarios.

[0057] In this implementation manner, preferably, the rotating mechanism 51, as Figure 17 shown, includes: a rotating motor 55, a rotating support plate 54, a motor output flange 56 and a rotating support bearing seat 58. The rotating motor 55 is fixed on the rotary support frame 53, and the output end of the rotating motor 55 is connected with one side of the rotating support plate 54 through the motor output flange 56; A rotating support bearing seat 58 is provided on the rotary support frame 53, and the protruding part on the other side of the rotating support plate 54 is connected with the rotating support bearing in the rotating support bearing seat 58 (specifically, the outer ring of the rotating support bearing is fixed in the rotating support bearing seat 58, and the protruding part on the other side of the rotating support plate 54 is connected with the inner ring of the rotating support bearing).

[0058] In this implementation manner, preferably, as Figure 18 and Figure 19 shown, the telescopic mechanism 52 includes: a lead screw module motor 65, a trapezoidal lead screw 64, a vertical guide rail 62 and an auxiliary guide rail 61. The receiving board 59 is connected with the lead screw module motor 65, the lead screw module motor 65 can move along the trapezoidal lead screw 64, the receiving board 59 is slidably connected with the vertical guide rail 62 through a guide slider 66, the receiving board 59 is slidably connected with the auxiliary guide rail 61 through an auxiliary slider 63, a photoelectric switch 60 is arranged on the auxiliary guide rail 61, and a reinforcing plate 67 is arranged at the edge position of the rotating support plate 54.

[0059] This implementation manner also proposes a multi-wheel cooperative and oblique double-split X-ray detection method, which uses the above-mentioned oblique double-split X-ray detection robot and includes the following processes: Lift and install the robot (i.e., the X-ray detection robot) above the oblique double-split conductor 7 so that both the upper conductor and the lower conductor fall into the space between the first branch structure and the second branch structure; The cross driving wheel 9 contacts with the upper conductor, the supporting auxiliary wheel 11 contacts with the lower conductor, the cross auxiliary wheel 10 is suspended for standby, and a triangular contact surface is formed through the cross driving wheel 9 and the supporting auxiliary wheel 11; When walking on the shunt reinforcement line, the first driving wheel 12 in the cross driving wheel 9 contacts with the upper shunt reinforcement line, the supporting auxiliary wheel 11 contacts with the lower shunt reinforcement line, and the second driving wheel 13 in the cross driving wheel 9 contacts with the upper conductor or the crimping fitting corresponding to the upper conductor, and at least three wheels are always kept in contact with the conductor or the shunt reinforcement line; After the robot moves to the position of the crimping fitting, control the X-ray emission angle of the transmitter assembly 4, as well as the rotation angle and the telescopic amount of the receiving plate assembly 5, and sequentially detect the crimping fittings on the two wires.

[0060] In this implementation, when detecting the crimping fittings on the two wires, more specifically, it includes: In the initial state and after the work is completed, the receiving plate 59 is located inside the internal space of the rotating support frame 53, as Figure 20 shown; Detect the crimping fitting on the upper wire, as Figure 21 shown, including: controlling the rotation motor 55 to start, so that the adjustment mechanism of the receiving plate 59 rotates counterclockwise by a set angle, controlling the lead screw module motor 65 to start, so that the receiving plate 59 performs a telescopic movement, cooperating with the rotating emission head, so that the receiving plate 59 completely covers the imaging range of the crimping fitting on the upper wire, and making real-time adjustments according to the actual position of the crimping fitting until the receiving plate 59 is as close as possible to the crimping fitting. After the detection is completed, control the rotation motor 55 and the lead screw module motor 65 to make the receiving plate 59 return to the initial position; Detect the crimping fitting on the lower wire, as Figure 22 shown, including: controlling the rotation motor 55 to start, so that the adjustment mechanism of the receiving plate 59 rotates clockwise by a set angle, controlling the lead screw module motor 65 to start, so that the receiving plate 59 performs a telescopic movement, cooperating with the rotating emission head, so that the receiving plate 59 completely covers the imaging range of the crimping fitting on the lower wire, and making real-time adjustments according to the actual position of the crimping fitting until the receiving plate 59 is as close as possible to the crimping fitting. After the detection is completed, control the rotation motor 55 and the lead screw module motor 65 to make the receiving plate 59 return to the initial position.

[0061] During operation, since the receiving plate 59 needs to move, in order to avoid interference with the diversion line, etc., the receiving plate assembly 5 is placed on the relatively clean side, and the transmitter assembly 4 is placed on the side of the diversion line outlet direction, that is, the direction away from the tower. The crimping fittings at both ends of one wire need to be detected. To ensure that the crimping fittings at both ends can be detected, the transmitter assembly 4 and the receiving plate assembly 5 need to be able to swap positions front and back. The transmitter assembly 4, the receiving plate assembly 5, and the electric control system 8 adopt a modular design and can be quickly disassembled and assembled with the robot body 16 through quick-release pins, and can be quickly swapped front and back, as Figure 23 and Figure 24 shown.

[0062] In this implementation manner, preferably, a method for the online and offline operation of an X-ray detection robot hoisted by a drone 1 is also proposed. Taking the hoisting of the drone as an example (other aircraft can also be used, such as manned aircraft, airships, etc.), it integrates three-dimensional modeling, navigation control, and autonomous recognition to achieve the autonomous online operation, precise line landing, and autonomous offline operation of the X-ray detection robot hoisted by the drone 1 on the transmission line. While improving the automation level of the online and offline operation of the X-ray detection robot, it also improves the safety of the X-ray detection robot in complex environments, effectively adapting to the diverse requirements of the detection of compression fittings on transmission lines. More specifically, as Figure 25 shown, it includes: S1: Obtain the three-dimensional model of the area to be detected on the pole tower line; S2: Based on the obtained three-dimensional model, determine the line landing position of the X-ray detection robot and the hoisting flight trajectory of the drone 1; S3: After the drone 1 is hoisted and connected to the X-ray detection robot, it flies to the safe hovering height at the line landing position according to the determined flight trajectory. After the X-ray detection robot adjusts its pose, it lands on the line to complete the hoisting and online operation; S4: After landing on the line, the drone 1 returns to the ground along the flight trajectory, and the X-ray detection robot performs the detection operation; S5: The X-ray detection robot returns to the line landing position. After the drone 1 flies to the safe hovering height at the line landing position and is hoisted and connected to the X-ray detection robot, the X-ray detection robot disconnects from the line; S6: After the drone 1 returns to the ground along the determined flight trajectory and separates from the X-ray detection robot, the hoisting and offline operation is completed.

[0063] In this implementation manner, preferably, based on the obtained three-dimensional model of the area to be detected on the pole tower line, judge the split type of the transmission line to be detected on the pole tower line, the transmission line spacing, the inclination condition of the transmission line, and the obstacle condition of the transmission line, and determine the type and model of the drone 1 and the X-ray detection robot; mark the position of the compression fittings on the transmission line in the area to be detected on the current pole tower line in the obtained three-dimensional model to determine the compression fittings to be detected; according to the determined compression fittings to be detected and the position of the compression fittings in the three-dimensional model, use the greedy algorithm and the heuristic A* search algorithm to determine the line landing position of the X-ray detection robot and the hoisting flight trajectory of the drone 1.

[0064] In this implementation mode, preferably, before the UAV 1 is hoisted and connected to the X-ray detection robot, the UAV 1 takes off to the ground safety hover height, that is, the safety height difference between the UAV 1 and the X-ray detection robot, and performs take-off alignment of the UAV 1 and the X-ray detection robot. The deflection angle of the UAV 1 and the angle of the hoisting gripper of the UAV 1 are adjusted. The hoisting gripper of the UAV 1 is opened, and the hoisting claws are located on both sides of the sling ring of the X-ray detection robot. The UAV 1 vertically descends from the ground safety hover height. When the UAV 1 descends to the preset hoisting height of the X-ray detection robot, the hoisting gripper of the UAV 1 closes, and the hoisting claws are claw-connected to the sling ring of the X-ray detection robot. After it is determined that the UAV 1 and the X-ray detection robot are firmly connected, the UAV 1 hoists the X-ray detection robot and takes off, and flies to the safety hover height at the wire dropping position according to the determined flight trajectory.

[0065] In this implementation mode, preferably, after the UAV 1 hoists the X-ray detection robot and flies to the safety hover height at the wire dropping position, the X-ray detection robot is powered on and operates. Based on the X-ray detection robot, three-dimensional laser point cloud data of the transmission line is obtained, and the pose offset between the X-ray detection robot and the transmission line is calculated. According to the pose offset, the pose of the X-ray detection robot is adjusted. The UAV 1 descends. When all the drive wheels of the X-ray detection robot are in safe contact with the transmission wire, the X-ray detection robot successfully drops onto the wire; the UAV 1 opens the hoisting gripper, the hoisting claws are separated from the sling ring of the X-ray detection robot, the UAV 1 ascends, and the UAV 1 is completely separated from the X-ray detection robot, completing the hoisting and online installation of the sling ring claw connection of the X-ray detection robot.

[0066] In this implementation mode, preferably, the pose offset includes an angle deviation, a position deviation, and a height deviation; the angle deviation is the angle difference between the center line of the transmission line and the central axis of the X-ray detection robot; the position deviation is the position difference between the transmission line and the V-shaped groove of the front drive wheel of the X-ray detection robot; the height deviation is the height difference between the upper end of the transmission line and the three-dimensional lidar of the X-ray detection robot.

[0067] In this implementation mode, preferably, when the angle deviation, position deviation, and height deviation between the X-ray detection robot and the transmission line are all within the preset deviation range, all the drive wheels of the X-ray detection robot are in safe contact with the transmission wire.

[0068] In this implementation mode, preferably, after the X-ray detection robot completes the detection operation, it returns to the wire-drop position where it was hoisted onto the line. The X-ray detection robot powers off and stops. The unmanned aerial vehicle 1 flies to the safe hovering height at the wire-drop position based on the hoisting flight trajectory and then aligns for takeoff with the X-ray detection robot. Based on the unmanned aerial vehicle 1, the horizontal position and angle of the lifting ring of the X-ray detection robot are identified. The unmanned aerial vehicle 1 horizontally flies to the center position of the horizontal position of the lifting ring of the X-ray detection robot and then adjusts the deflection angle of the unmanned aerial vehicle 1. The unmanned aerial vehicle 1 activates the hoisting gripper. The hoisting grippers are located on both sides of the lifting ring of the X-ray detection robot. The unmanned aerial vehicle 1 vertically descends from the safe hovering height at the wire-drop position. When the unmanned aerial vehicle 1 descends to the preset hoisting height of the X-ray detection robot, the hoisting gripper of the unmanned aerial vehicle 1 closes, and the hoisting grippers are claw-connected to the lifting ring of the X-ray detection robot. After it is determined that the unmanned aerial vehicle 1 is firmly connected to the X-ray detection robot, the unmanned aerial vehicle 1 hoists the X-ray detection robot to take off, and the X-ray detection robot is separated from the transmission line. The unmanned aerial vehicle 1 flies to the safe hovering height on the ground according to the determined flight trajectory.

[0069] In this implementation mode, preferably, after the unmanned aerial vehicle 1 flies to the safe hovering height on the ground, it vertically descends until it descends to the preset hoisting height. Based on the unmanned aerial vehicle 1, it is determined whether the X-ray detection robot lands stably. If it lands stably, the unmanned aerial vehicle 1 activates the hoisting gripper, and the hoisting grippers are separated from the lifting ring of the X-ray detection robot. The unmanned aerial vehicle 1 ascends, and the unmanned aerial vehicle 1 is completely separated from the X-ray detection robot, completing the hoisting and offline of the X-ray detection robot.

[0070] In this implementation mode, preferably, the three-dimensional laser point cloud data and the transmission line image data of the area to be detected on the pole tower are obtained, and the obtained data is modeled using the iterative closest point algorithm to obtain the three-dimensional model of the area to be detected on the pole tower line.

[0071] 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. A multi-wheel collaborative diagonal double-split X-ray detection method, using an X-ray detection robot including a robot body, characterized in that, The robot body is provided with support auxiliary wheels, a first drive wheel and a second drive wheel arranged crosswise, and a first auxiliary wheel and a second auxiliary wheel arranged crosswise; After the X-ray detection robot is hoisted to the upper part of the obliquely double-split conductor, the first drive wheel and the second drive wheel contact the upper conductor, the support auxiliary wheel contacts the lower conductor, the first auxiliary wheel and the second auxiliary wheel are suspended for standby, and the first drive wheel, the second drive wheel and the support auxiliary wheel form three-point contact; When the X-ray detection robot walks to the position of the lateral shunt reinforcement wire, the first drive wheel and the first auxiliary wheel contact the lateral shunt reinforcement wire corresponding to the upper conductor, the support auxiliary wheel contacts the lateral shunt reinforcement wire corresponding to the lower conductor, and the second drive wheel and the second auxiliary wheel contact the upper conductor or the crimping fitting corresponding to the upper conductor; After the X-ray detection robot moves to the position of the crimping fitting, the detection of the crimping fitting is performed.

2. The multi-wheel cooperative oblique double-split X-ray detection method according to claim 1, characterized in that The online and offline of the X-ray detection robot include: Obtaining a three-dimensional model of the area to be detected on the pole tower line; Based on the obtained three-dimensional model, determining the wire-drop position of the X-ray detection robot and the hoisting flight trajectory of the aircraft; After the aircraft is hoist-connected to the X-ray detection robot, it flies to the safe hovering height at the wire-drop position according to the hoisting flight trajectory, adjusts the pose of the X-ray detection robot and then drops the wire to complete the hoisting online; After the hoisting online is completed, the aircraft returns to the ground along the hoisting flight trajectory, and the X-ray detection robot performs the detection operation; After the detection operation task is completed, the X-ray detection robot returns to the wire-drop position. After the aircraft flies to the safe hovering height at the wire-drop position, it is hoist-connected to the X-ray detection robot and drives the X-ray detection robot to get off the wire; After the aircraft returns to the ground along the determined flight trajectory and separates from the X-ray detection robot, the hoisting offline is completed.

3. The multi-wheel cooperative oblique double-split X-ray detection method according to claim 2, characterized in that Based on the obtained three-dimensional model of the area to be detected on the pole tower line; Mark the position of the crimping fitting in the three-dimensional model to determine the crimping fitting to be detected; According to the determined crimping fitting to be detected and the starting position of the X-ray detection robot, the greedy algorithm and the heuristic A* search algorithm are used to determine the wire-drop position of the X-ray detection robot and the hoisting flight trajectory of the aircraft.

4. The multi-wheel cooperative oblique double-split X-ray detection method according to claim 2 or 3, characterized in that After the aircraft hoists the X-ray detection robot to the safe hovering height at the wire-drop position, the X-ray detection robot is powered on and runs. Based on the X-ray detection robot, the three-dimensional laser point cloud data of the transmission line is obtained, the pose offset between the X-ray detection robot and the transmission line is calculated, and the pose of the X-ray detection robot is adjusted according to the pose offset; The aircraft descends. When the first drive wheel and the second drive wheel of the X-ray detection robot contact the upper conductor and the support auxiliary wheel contacts the lower conductor, the X-ray detection robot successfully drops the wire; The aircraft activates the insulating gripper, the insulating gripper separates from the insulating lifting frame of the X-ray inspection robot, the aircraft ascends, and the aircraft is completely separated from the X-ray inspection robot, completing the hoisting and online installation of the X-ray inspection robot.

5. An obliquely double-split X-ray inspection robot, characterized in that it includes: a robot body, a traveling mechanism, and an inspection mechanism. The inspection mechanism includes a transmitter assembly and a receiving plate assembly. The robot body is open at the bottom and forms a first branch structure and a second branch structure. The first branch structure is used for detachably fixing the transmitter assembly, and the second branch structure is used for detachably fixing the receiving plate assembly; The traveling mechanism includes cross driving wheels, cross auxiliary wheels, and support auxiliary wheels. The cross driving wheels and the cross auxiliary wheels are arranged at the top of the robot body to support the upper side conductors or upper side shunt reinforcement wires, and the support auxiliary wheels are arranged on the first branch structure to support the lower side conductors or lower side shunt reinforcement wires.

6. The obliquely double-split X-ray inspection robot according to claim 5, characterized in that the first branch structure includes a first guide plate and a second guide plate. The inner sides of the first guide plate and the second guide plate are arc-shaped. The first guide plate is located at the upper part and is used for detachably connecting the transmitter assembly, and the second guide plate is located at the lower part and is used for connecting the support auxiliary wheels.

7. The obliquely double-split X-ray inspection robot according to claim 5, characterized in that a hoisting mechanism is connected to the top of the robot body. The hoisting mechanism includes an insulating lifting frame and a connecting seat. The bottom of the insulating lifting frame is connected through an upper hinge hole and a lower hinge hole. The upper hinge hole is a round hole, and the lower hinge hole is an oblong hole, so that the insulating lifting frame can rotate a set angle with the upper hinge hole as a fulcrum.

8. The obliquely double-split X-ray inspection robot according to claim 7, characterized in that the cross-section of the upper cross beam of the insulating lifting frame is circular or elliptical.

9. The obliquely double-split X-ray inspection robot according to claim 5, characterized in that it further includes an electric control system. The electric control system is detachably fixed on the first branch structure and is used for controlling the traveling mechanism, the transmitter assembly, and the receiving plate assembly.

10. The obliquely double-split X-ray inspection robot according to claim 5, characterized in that the central axes of the first driving wheel and the second driving wheel are arranged in a 90° cross, and both the first driving wheel and the second driving wheel are fixed on the robot body through brackets; the first driving wheel and the second driving wheel have the same structure and both include: a first motor fixing seat, a first driving motor, a convex rubber wheel, a first hub, a column rubber wheel, a first motor adapter flange, an inner baffle, and an outer baffle; the first motor fixing seat is fixedly connected to the robot body, the first driving motor is fixed on the first motor fixing seat, the output end of the first driving motor is connected to the first hub through the first motor adapter flange, and the first hub can rotate driven by the first driving motor; Both ends of the first hub are respectively connected with the inner baffle and the outer baffle. A convex rubber wheel is sleeved on one side of the first hub close to the inner baffle, and a column rubber wheel is sleeved at a position on the first hub close to the outer baffle.

11. The oblique double-split X-ray detection robot according to claim 5, wherein The central axes of the first auxiliary wheel and the second auxiliary wheel are arranged in a 90° cross, and both the first auxiliary wheel and the second auxiliary wheel are fixed to the upper part of the robot body through brackets. The first auxiliary wheel and the second auxiliary wheel have the same structure, and both include: A cross roller support, a roller shaft, a nylon roller and a first ball bearing. The cross roller support is fixedly connected with the robot body. Both ends of the roller shaft are respectively connected with the cross roller support through the first ball bearing. Bearing retaining rings are arranged at both ends of the roller shaft, and the nylon roller is sleeved on the outer side of the roller shaft.

12. The oblique double-split X-ray detection robot according to claim 5, wherein The support auxiliary wheel includes: a second drive motor, a rubber wheel, a second motor fixing seat, a second motor adapter flange, a second hub, an end baffle, a second ball bearing, a bearing seat and a rotating support shaft; The second drive motor is fixed to the robot body through the second motor fixing seat. The output end of the second drive motor is connected with the second hub through the second motor adapter flange. The bearing seat is fixed to the robot body, and the outer ring of the second ball bearing is fixedly connected with the bearing seat; An end baffle is connected to the end of the second hub, the rotating support shaft is connected with the second hub through the end baffle, and the rotating support shaft is connected with the inner ring of the second ball bearing.

13. The oblique double-split X-ray detection robot according to any one of claims 5-12, wherein The transmitter assembly includes a rotating transmitting head; the receiving plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism and a receiving plate. The rotating support frame is detachably fixed on the second branch structure of the robot body. The rotating mechanism is connected with the rotating support frame, the telescopic mechanism is fixed on the rotating mechanism, and the receiving plate is fixed on the telescopic mechanism.

14. The oblique double-split X-ray detection robot according to claim 13, wherein [[ID= ​ The rotating mechanism includes a rotating motor, a rotating support plate, a motor output flange, and a rotating support bearing seat. The rotating motor is fixed on the rotating support frame, and the output end of the rotating motor is connected to one side of the rotating support plate through the motor output flange; A rotating support bearing seat is provided on the rotating support frame, and the protruding part on the other side of the rotating support plate is connected to the rotating support bearing in the rotating support bearing seat.

16. The oblique double-split X-ray detection robot according to claim 13, wherein The telescopic mechanism includes a lead screw module motor, a trapezoidal lead screw, a vertical guide rail, and an auxiliary guide rail. The receiving plate is connected to the lead screw module motor, the lead screw module motor can move along the trapezoidal lead screw, the receiving plate is slidably connected to the vertical guide rail through a guiding slider, the receiving plate is slidably connected to the auxiliary guide rail through an auxiliary slider, and a photoelectric switch is arranged on the auxiliary guide rail.

17. The oblique double-split X-ray detection robot according to claim 5, wherein When detecting the crimping fittings at both ends of a wire, the positions of the transmitter assembly and the receiving plate assembly are swapped front and back.

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