Multi-round coordinated oblique double-split X-ray detection method and robot

Abstract

This invention belongs to the field of power robot technology. Specifically, it relates to a multi-wheel cooperative oblique double-split X-ray inspection method and robot, including a walking mechanism, a transmitter assembly, and a receiver assembly arranged on the robot body. The walking mechanism includes cross-drive wheels, cross-auxiliary wheels, and support auxiliary wheels. The cross-drive wheels include cross-arranged first and second drive wheels, and the cross-auxiliary wheels include cross-arranged first and second auxiliary wheels, positioned between the first and second drive wheels for stable multi-wheel cooperative walking control. After the robot moves to the position of the crimping fitting, the upper and lower conductor crimping fittings are inspected through the cooperation of the transmitter assembly and the receiver assembly. This invention achieves stable walking of the X-ray inspection robot on an oblique double-split conductor with shunt reinforcement lines, ensuring the accuracy of X-ray inspection of crimping fittings.

Description

Technical Field

[0001] This invention relates to the field of electric robot technology, and in particular to a multi-wheel cooperative oblique double-splitting X-ray detection method and robot. Background Art

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

[0003] A double-split overhead transmission line refers to a transmission line where each phase consists of two conductors with smaller cross-sections. These two conductors are spaced apart and work together to transmit power. This type of line structure is mainly used for high-capacity, long-distance power transmission. A diagonal or vertical double-split overhead transmission line is a specific power transmission structure characterized by its double-split conductors (including an upper conductor and a lower conductor) arranged diagonally or vertically.

[0004] At present, the X-ray inspection of crimp fittings corresponding to oblique double-split overhead transmission lines has the following problems: (1) The tilt angle of the oblique double-split conductor in the power scenario is uncertain (generally between 0° and 45°, 0° is the scenario of vertical double splitting, which is also an extreme case of oblique double splitting), which makes the existing X-ray inspection robot unable to fully cover the non-destructive inspection of crimp fittings of double-split conductors with different tilt angles, and cannot complete the X-ray inspection task of crimp fittings of the upper and lower sub-conductors in one go; (2) Although the existing drone hoisting and online avoids the direct participation of human personnel in high-risk operations, the implementation process mostly relies on manual remote control, which cannot achieve true automation and intelligence. This not only increases the difficulty of operation and labor costs, but may also cause collisions or even damage between drones and inspection robots due to human error. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a multi-round cooperative oblique double-split X-ray inspection method and robot, which enables the X-ray inspection robot to move stably on an oblique double-split conductor with a shunt reinforcement line, avoids the X-ray inspection robot from tipping over, ensures the accuracy of X-ray inspection of crimp fittings, and enables the completion of X-ray inspection of the upper and lower conductors of the oblique double-split conductor in a single online operation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a multi-round cooperative oblique double-splitting X-ray detection method.

[0008] A multi-wheel cooperative oblique double-split X-ray detection method utilizes an X-ray detection robot including a robot body. The robot body is equipped with support auxiliary wheels, cross-arranged first and second drive wheels, and cross-arranged first and second auxiliary wheels.

[0009] After the X-ray inspection robot is hoisted onto the upper part of the inclined double-split guide, the first drive wheel and the second drive wheel contact the upper guide, the support auxiliary wheel contacts the lower guide, the first auxiliary wheel and the second auxiliary wheel are suspended in the air for standby, and the first drive wheel, the second drive wheel and the support auxiliary wheel form a three-point contact.

[0010] When the X-ray inspection robot moves to the position of the lateral shunt reinforcement line, the first drive wheel and the first auxiliary wheel contact the lateral shunt reinforcement line corresponding to the upper guide wire, the support auxiliary wheel contacts the lateral shunt reinforcement line corresponding to the lower guide wire, and the second drive wheel and the second auxiliary wheel contact the upper guide wire or the crimping hardware corresponding to the upper guide wire.

[0011] After the X-ray inspection robot moves to the position of the crimping fitting, it performs the inspection of the crimping fitting.

[0012] In one implementation of the first aspect of the present invention, the online and offline processes of the X-ray inspection robot include:

[0013] Obtain a 3D model of the area to be inspected on the tower line;

[0014] Based on the acquired 3D model, the landing position of the X-ray inspection robot and the hoisting flight trajectory of the aircraft were determined.

[0015] After the aircraft is hoisted and connected to the X-ray inspection robot, it flies along the hoisting flight trajectory to a safe hovering height at the landing position, adjusts the X-ray inspection robot's posture, and then lands on the line, completing the hoisting and mounting process.

[0016] After the hoisting and installation were completed, the aircraft returned to the ground along the hoisting flight path, and the X-ray inspection robot performed the inspection work.

[0017] After completing the inspection task, the X-ray inspection robot returns to the landing position. The aircraft flies to the safe hovering height of the landing position and connects with the X-ray inspection robot, thus detaching the X-ray inspection robot from the landing line.

[0018] After the aircraft returns to the ground along the determined flight path, it separates from the X-ray inspection robot and completes the hoisting and unloading process.

[0019] As a further limitation of the first aspect of the present invention, it is based on the three-dimensional model of the area to be detected of the tower line obtained;

[0020] Mark the location of the crimp fittings in the 3D model to determine the crimp fittings to be inspected;

[0021] Based on the determined pressing fitting to be inspected and the starting position of the X-ray inspection robot, a greedy algorithm and a heuristic A* search algorithm are used to determine the landing position of the X-ray inspection robot and the hoisting flight trajectory of the aircraft.

[0022] As a further limitation of the first aspect of the present invention, after the aircraft hoisting the X-ray inspection robot flies to the safe hovering height of the landing position, the X-ray inspection robot is powered on and runs. Based on the three-dimensional laser point cloud data of the transmission line obtained by the X-ray inspection robot, the pose offset between the X-ray inspection robot and the transmission line is calculated, and the pose of the X-ray inspection robot is adjusted according to the pose offset.

[0023] As the aircraft descends, the X-ray inspection robot successfully lands when its first and second drive wheels contact the upper guide wire and its support auxiliary wheel contacts the lower guide wire.

[0024] The aircraft opens its insulated gripper, which separates from the insulated lifting frame of the X-ray inspection robot. The aircraft then rises, completely separating from the X-ray inspection robot, thus completing the lifting and installation of the X-ray inspection robot.

[0025] Secondly, the present invention provides an oblique double-split X-ray inspection robot.

[0026] An oblique double-split X-ray inspection robot includes: a robot body, a walking mechanism, and an inspection mechanism. The inspection mechanism includes a transmitter assembly and a receiver assembly. The robot body has a bottom opening and forms a first branch structure and a second branch structure. The first branch structure is used to detachably fix the transmitter assembly, and the second branch structure is used to detachably fix the receiver assembly.

[0027] The walking mechanism includes a cross drive wheel, a cross auxiliary wheel, and a support auxiliary wheel. The cross drive wheel and the cross auxiliary wheel are arranged on the top of the robot body to support the upper conductor or the upper shunt reinforcement line, and the support auxiliary wheel is arranged on the first branch structure to support the lower conductor or the lower shunt reinforcement line.

[0028] In one implementation 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 being arc-shaped, the first guide plate being located at the upper part for detachably connecting the transmitter assembly, and the second guide plate being located at the lower part for connecting the support auxiliary wheel.

[0029] 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 hoisting frame and a connecting seat. The bottom of the insulating hoisting frame is connected to a lower hinge hole through an upper hinge hole. The upper hinge hole is a round hole and the lower hinge hole is an oblong hole, so that the insulating hoisting frame can rotate a set angle with the upper hinge hole as the fulcrum.

[0030] As a further limitation of the second aspect of the invention, the cross-section of the upper crossbeam of the insulating hoisting frame is circular or elliptical.

[0031] In one implementation of the second aspect of the invention, an electronic control system is further included, which is detachably fixed to the first branch structure and is used for controlling the walking mechanism, the transmitter assembly, and the receiver assembly.

[0032] In one implementation of the second aspect of the present invention, the central axes of the first drive wheel and the second drive wheel are arranged at a 90° angle, and both the first drive wheel and the second drive wheel are fixed to the robot body by a bracket.

[0033] The first drive wheel and the second drive wheel have the same structure, both including: a motor mounting base, a drive motor, a convex rubber wheel, a hub, a column rubber wheel, a motor adapter flange, an inner baffle and an outer baffle;

[0034] The motor mounting base is fixedly connected to the robot body, the drive motor is fixed on the motor mounting base, and the output end of the drive motor is connected to the wheel hub through the motor adapter flange, and the wheel hub can rotate under the drive of the drive motor;

[0035] The inner baffle and the outer baffle are respectively connected to the two ends of the hub. The convex rubber wheel is fitted on the side of the hub near the inner baffle, and the column rubber wheel is fitted on the hub near the outer baffle.

[0036] In one implementation of the second aspect of the present invention, the central axes of the first auxiliary wheel and the second auxiliary wheel are arranged at a 90° angle, and both the first auxiliary wheel and the second auxiliary wheel are fixed to the upper part of the robot body by a bracket. The first auxiliary wheel and the second auxiliary wheel have the same structure, both including:

[0037] The system comprises 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 via the first ball bearing. Bearing retaining rings are provided at both ends of the roller shaft. The nylon roller is sleeved on the outer side of the roller shaft.

[0038] In one implementation of the second aspect of the present invention, the supporting auxiliary wheel includes: a drive motor, a rubber wheel, a motor mounting base, a motor adapter flange, a wheel hub, a shaft end baffle, a second ball bearing, a bearing housing, and a rotating support shaft.

[0039] The drive motor is fixed to the robot body via the motor mounting bracket. The output end of the drive motor is connected to the wheel hub via the motor adapter flange. The bearing housing is fixed to the robot body. The outer ring of the second ball bearing is fixedly connected to the bearing housing.

[0040] The end of the hub is connected to the shaft end baffle, the rotating support shaft is connected to the hub through the shaft end baffle, and the rotating support shaft is connected to the inner ring of the second ball bearing.

[0041] In one implementation of the second aspect of the present invention, the transmitter assembly includes a rotating transmitter head; the receiver plate assembly includes a rotating support frame, a rotating mechanism, a telescopic mechanism, and a receiver plate, wherein the rotating support frame is detachably fixed to the second branch structure of the robot body, the rotating mechanism is connected to the rotating support frame, the telescopic mechanism is fixed to the rotating mechanism, and the receiver plate is fixed to the telescopic mechanism.

[0042] As a further limitation of the second aspect of the present invention, the transmitter assembly includes: a transmitter shielding shell, a rotary servo, a transmitter body, and a dial. The transmitter body is disposed inside the transmitter shielding shell. The output end of the rotary servo is connected to the dial. The dial is connected to the rotary transmitter head of the transmitter body. The rotary transmitter head is capable of rotating under the drive of the rotary servo.

[0043] 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, wherein 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;

[0044] The rotating support frame is provided with a rotating support bearing seat, and the protrusion on the other side of the rotating support plate is connected to the rotating support bearing in the rotating support bearing seat.

[0045] 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, wherein the receiving plate is connected to the lead screw module motor, the lead screw module motor is movable along the trapezoidal lead screw, the receiving plate is slidably connected to the vertical guide rail via a guide slider, the receiving plate is slidably connected to the auxiliary guide rail via an auxiliary slider, and a photoelectric switch is arranged on the auxiliary guide rail.

[0046] In one implementation of the second aspect of the present invention, when testing the crimp fittings at both ends of a wire, the transmitter assembly and the receiver board assembly are swapped.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. This invention innovatively designs a multi-wheel cooperative oblique double-splitting X-ray inspection method, develops an oblique double-splitting X-ray inspection robot, and designs a walking mechanism for oblique double-splitting conductor X-ray inspection. It achieves stable walking control with multi-wheel cooperative operation. Through the combined arrangement of cross drive wheels, cross auxiliary wheels, and support auxiliary wheels, the robot can smoothly pass through lateral shunt reinforcement lines, expanding the robot's working range. The walking mechanism always maintains at least three wheels in contact with the conductor or shunt reinforcement line, realizing stable multi-wheel cooperative walking of the X-ray inspection robot on oblique double-splitting conductors with shunt reinforcement lines, avoiding the side tipping of the X-ray inspection robot, and ensuring the accuracy of X-ray inspection of crimping fittings.

[0049] 2. This invention innovatively designs a transmitter assembly with a rotating emitter head and a receiver plate assembly that can rotate and extend freely, expanding the range of X-ray detection. It ensures that the transmitter light source is always perpendicular to the receiver plate, guaranteeing optimal imaging results. It enables the completion of X-ray detection of the upper and lower conductors of an obliquely split conductor in a single operation, improving detection efficiency and avoiding interference with the X-ray detection mechanism during robot movement, thus ensuring the safety and stability of X-ray detection. A modular design scheme for the transmitter assembly, electrical control system, and receiver plate assembly is proposed, which has the ability to be quickly disassembled and interchanged, and can detect the crimp fittings at both ends of a conductor.

[0050] 3. This invention innovatively proposes a method for loading and unloading X-ray inspection robots based on UAV hoisting. Before hoisting and connection, the UAV and X-ray inspection robot are aligned and connected for takeoff, ensuring the safety and reliability of the hoisting flight. Before landing, the X-ray inspection robot's posture is adjusted and contact with the line is judged, ensuring that the X-ray inspection robot lands accurately and stably on the power transmission line. During unloading, the stability of the X-ray inspection robot's landing is judged to ensure the safe separation of the X-ray inspection robot from the UAV. This solves the problem that traditional methods of loading and unloading X-ray inspection robots cannot meet the requirements of accurate deployment and efficient inspection of complex power transmission lines and different weather conditions. It reduces the difficulty of operation and labor costs, improves the automation level of loading and unloading operations, effectively adapts to the diversified needs of power transmission line inspection, and provides an efficient and intelligent inspection solution for high-altitude power transmission line inspection.

[0051] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0052] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0053] Figure 1 This is a schematic diagram of the hoisting of the oblique double-split X-ray inspection robot provided in Embodiment 1 of the present invention;

[0054] Figure 2 This is a schematic diagram of the robot's posture at different tilt angles provided in Embodiment 1 of the present invention, wherein, Figure 2 (A) is a schematic diagram of the posture when not tilted. Figure 2 (B) is a schematic diagram of the posture when tilted to the left. Figure 2 (C) is a schematic diagram of the posture when tilted to the right;

[0055] Figure 3 This is a schematic diagram of the hoisting mechanism provided in Embodiment 1 of the present invention;

[0056] Figure 4 This is a schematic diagram of the upper hinge hole and the lower hinge hole provided in Embodiment 1 of the present invention;

[0057] Figure 5 A schematic diagram of the robot body provided in Embodiment 1 of the present invention;

[0058] Figure 6 This is a front view of the walking mechanism provided in Embodiment 1 of the present invention;

[0059] Figure 7 This is a top view of the walking mechanism provided in Embodiment 1 of the present invention;

[0060] Figure 8 This is a schematic diagram of the 0° attitude provided in Embodiment 1 of the present invention;

[0061] Figure 9 This is a schematic diagram of a 45° posture provided in Embodiment 1 of the present invention;

[0062] Figure 10 This is a schematic diagram of the process when passing through the reinforcement line as provided in Embodiment 1 of the present invention. Figure 1 ;

[0063] Figure 11 This is a schematic diagram of the process when passing through the reinforcement line as provided in Embodiment 1 of the present invention. Figure 2 ;

[0064] Figure 12This is a schematic diagram of the cross-drive wheels provided in Embodiment 1 of the present invention;

[0065] Figure 13 A schematic diagram of the cross auxiliary wheel provided in Embodiment 1 of the present invention;

[0066] Figure 14 This is a schematic diagram of the support auxiliary wheel provided in Embodiment 1 of the present invention;

[0067] Figure 15 This is a schematic diagram of the transmitter assembly provided in Embodiment 1 of the present invention;

[0068] Figure 16 This is a schematic diagram of the receiving board assembly provided in Embodiment 1 of the present invention;

[0069] Figure 17 This is a schematic diagram of the rotating mechanism provided in Embodiment 1 of the present invention;

[0070] Figure 18 This is a schematic diagram of the telescopic mechanism provided in Embodiment 1 of the present invention;

[0071] Figure 19 This is a schematic diagram of the lead screw module provided in Embodiment 1 of the present invention;

[0072] Figure 20 This is a schematic diagram of the initial state provided in Embodiment 2 of the present invention;

[0073] Figure 21 This is a schematic diagram of the state when testing the crimping fitting of the upper conductor provided in Embodiment 2 of the present invention;

[0074] Figure 22 This is a schematic diagram of the state when testing the crimping fitting of the lower conductor provided in Embodiment 2 of the present invention;

[0075] Figure 23 This is a front view of the left-phase and right-phase exchange detection provided in Embodiment 2 of the present invention;

[0076] Figure 24 This is a top view of the detection of left and right phase exchange provided in Embodiment 2 of the present invention;

[0077] Figure 25 This is a schematic diagram of the robot loading / unloading method provided in Embodiment 2 of the present invention;

[0078] The components include: 1. Unmanned Aerial Vehicle (UAV); 2. Insulated gripper; 3. Lifting mechanism; 4. Transmitter assembly; 5. Receiver assembly; 6. Walking mechanism; 7. Diagonally bisected wire; 8. Electrical control system; 9. Cross drive wheel; 10. Cross auxiliary wheel; 11. Support auxiliary wheel; 12. First drive wheel; 13. Second drive wheel; 14. First auxiliary wheel; 15. Second auxiliary wheel; 16. Robot body; 17. First guide plate; 18. Second guide plate; 19. 20. Quick-release pin slot; 21. Quick-release hole slot; 22. First motor mounting bracket; 23. First drive motor; 24. Convex rubber wheel; 25. First wheel hub; 26. Column rubber wheel; 27. First motor adapter flange; 28. Inner baffle; 29. ​​Outer baffle; 30. Cross roller support; 31. Roller shaft; 32. Nylon roller; 33. First ball bearing; 34. Bearing retaining ring; 35. Second drive motor; 36. Rubber wheel; 37. Second motor mounting bracket 37. Second motor adapter flange; 38. Second hub; 39. Shaft end baffle; 40. Second ball bearing; 41. Bearing housing; 42. Rotary support shaft; 43. Transmitter shielding shell; 44. Transmitter body; 45. Dial; 46. Servo mount; 47. Rotary servo; 48. Shielding shell cover; 49. First quick-connect lug; 50. Transmitting light source; 51. Rotating mechanism; 52. Telescopic mechanism; 53. Rotating support frame; 54. Rotation 55. Support plate; 56. Rotary motor; 57. Motor output flange; 58. Second quick-connect lug; 59. Rotary support bearing seat; 60. Receiving plate; 61. Photoelectric switch; 62. Auxiliary guide rail; 63. Vertical guide rail; 64. Auxiliary slider; 65. Trapezoidal lead screw; 66. Lead screw module motor; 67. Guide slider; 68. Reinforcing plate; 69. Insulating hoisting frame; 70. Upper crossbeam; 71. Upper hinge hole; 72. Lower hinge hole; 73. Connecting seat. Detailed Implementation

[0079] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0080] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0081] In this implementation, an oblique double-split X-ray inspection robot is proposed, such as... Figure 1 As shown, it includes: robot body 16, walking mechanism 6 and rotation detection mechanism. The rotation detection mechanism includes transmitter assembly 4 and receiver plate assembly 5. The robot body 16 is open at the bottom and forms a first branch structure and a second branch structure. The first branch structure is used to detachably fix the transmitter assembly 4 and the second branch structure is used to detachably fix the receiver plate assembly 5.

[0082] The walking mechanism 6 includes a cross drive wheel 9, a cross auxiliary wheel 10, and a support auxiliary wheel 11. The cross drive wheel 9 and the cross auxiliary wheel 10 are arranged on the top of the robot body 16 to support the upper conductor or the upper shunt reinforcement line, and the support auxiliary wheel 11 is arranged on the first branch structure to support the lower conductor or the lower shunt reinforcement line.

[0083] like Figure 2 As shown, in this implementation, preferably, the X-ray inspection robot adopts a left-leaning center-of-gravity arrangement. Heavier components such as the electronic control system 8 and transmitter assembly 4 are located on the left side of the robot. When the UAV 1 places the X-ray inspection robot on the guide wire, it first contacts the upper guide wire. Then, based on the tilt angle of the lower guide wire, the X-ray inspection robot rotates around the upper guide wire as its fulcrum until the support auxiliary wheel 11 contacts the lower guide wire. At this point, the X-ray inspection robot is in a balanced state (three-point support). This implementation of the X-ray inspection robot can adapt to double-split guide wires with tilt angles of 0° to 45°. At the intermediate position of 22.5°, such as... Figure 2 As shown in (A), the X-ray inspection robot is positioned horizontally; at the lower limit position of 0°, the X-ray inspection robot rotates counterclockwise and tilts, as shown in (A). Figure 2 As shown in (B); at the upper limit position of 45°, the X-ray inspection robot rotates and tilts clockwise, as shown in (B). Figure 2 As shown in (C) in the diagram.

[0084] In this implementation, such as Figure 3 and Figure 4 As shown, preferably, the top of the robot body 16 is connected to a hoisting mechanism 3. The hoisting mechanism 3 includes an insulating hoisting frame 68, an upper crossbeam 69, and a connecting seat 72. The bottom of the insulating hoisting frame 68 is connected to the lower hinge hole 71 through an upper hinge hole 70. The upper hinge hole 70 is a round hole, and the lower hinge hole 71 is an oblong hole, so that the insulating hoisting frame 68 can rotate to a set angle with the upper hinge hole 70 as the fulcrum. The drone is hoisted by gripping the hoisting mechanism 3 with the insulating claw 2.

[0085] In this implementation, preferably, the cross-section of the upper crossbeam of the insulating hoisting frame 68 is circular or elliptical.

[0086] In this implementation, such as Figure 5 As shown, the preferred 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.

[0087] In this implementation, preferably, the first guide plate 17 is provided with a quick-release pin groove 19, and the other side of the opening of the robot body 16 is provided with a quick-release hole groove 20. The quick-release pin groove 19 in this implementation is used for the detachable installation of the transmitter assembly 4, and the quick-release hole groove 20 in this implementation is used for the detachable installation of the receiver plate assembly 5. The first guide plate 17 and the second guide plate 18 are used to quickly place the cross drive wheel 9 onto the upper guide wire when the UAV 1 is hoisted.

[0088] 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 taper inward, and together with the other side of the opening of the inclined robot body 16, they form an "inverted funnel" design (large lower opening), which ensures rapid docking and online installation of the UAV 1 during hoisting.

[0089] In this implementation, preferably, the robot body 16 support is made of lightweight aluminum alloy material welded together (assembled from carbon fiber square tubes), which makes it lighter overall and easier for the drone 1 to be hoisted.

[0090] In this preferred embodiment, an electronic control system 8 is further included. The electronic control system 8 is detachably fixed to the first branch structure and is used for controlling the walking mechanism 6 and the rotation detection mechanism.

[0091] In this implementation, such as Figure 6 and Figure 7 As shown, preferably, the cross drive wheel 9 includes a first drive wheel 12 and a second drive wheel 13 arranged in a cross configuration, and the cross auxiliary wheel 10 includes a first auxiliary wheel 14 and a second auxiliary wheel 15 arranged in a cross configuration. 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 line. The cross auxiliary wheel 10 and the support auxiliary wheel 11 are used to support the upper conductor or the upper shunt reinforcement line. The X-ray inspection robot corresponding to the above-mentioned walking mechanism 6 can inspect the crimping fittings of the upper and lower sub-conductors (oblique double split or vertical double split) in one go.

[0092] like Figure 8 and Figure 9 The diagram shows the posture of the walking mechanism 6 corresponding to a vertical double-split conductor (the two conductors are at 0°) and the posture of the walking mechanism 6 corresponding to an oblique double-split conductor 7 (the two conductors are at 45°, with a limit angle of 45°).

[0093] In this implementation, preferably, the central axes of the first drive wheel 12 and the second drive wheel 13 are arranged at a 90° angle, and both the first drive wheel 12 and the second drive wheel 13 are fixed to the upper part of the robot body 16 by a bracket.

[0094] Understandably, the angle of the cross arrangement can be finely adjusted. For example, the cross angle can be 85°, 95°, etc. In different application conditions, it can also be selected within the range of 60°-120°, which will not be elaborated here.

[0095] like Figure 10 and Figure 11 The diagram shows the X-ray inspection robot passing through the shunt reinforcement line. During normal movement, the first drive wheel 12 and the second drive wheel 13 are in contact with the upper guide wire, the support auxiliary wheel 11 is in contact with the lower guide wire, and the first auxiliary wheel 14 and the second auxiliary wheel 15 are suspended and ready for use. The first drive wheel 12, the second drive wheel 13, and the support auxiliary wheel 11 form a triangular contact surface to ensure the stability of the robot's operation. In this implementation, the cross drive wheel 9 is a wide rubber wheel (high friction), the cross auxiliary wheel 10 is a wide nylon wheel (wear-resistant), and the support auxiliary wheel... The use of wide rubber wheels (with high friction) and the cross arrangement of the drive wheels allows the robot to pass smoothly through the diversion reinforcement line, thus expanding the robot's working range. When walking on the diversion reinforcement line, the first drive wheel 12 contacts the upper diversion reinforcement line (i.e., the lateral diversion reinforcement line corresponding to the upper guide line), the support auxiliary wheel 11 contacts the lower diversion reinforcement line, and the second drive wheel 13 contacts the upper guide line or the crimping hardware corresponding to the upper guide line. That is, the walking mechanism 6 always maintains at least three wheels in contact with the guide line or diversion line to ensure the robot's walking posture is stable.

[0096] More specifically, the first drive wheel 12 and the second drive wheel 13 have the same structure, such as... Figure 12 As shown, each includes: a first motor mounting base 21, a first drive motor 22, a convex rubber wheel 23, a first wheel hub 24, a column rubber wheel 25, a first motor adapter flange 26, an inner baffle 27, and an outer baffle 28;

[0097] The first motor mounting base 21 is fixedly connected to the robot body 16. The first drive motor 22 is fixed on the first motor mounting base 21. The output end of the first drive motor 22 is connected to the first wheel hub 24 through the first motor adapter flange 26. The first wheel hub 24 can rotate under the drive of the first drive motor 22.

[0098] The first hub 24 is connected to an inner baffle 27 and an outer baffle 28 at its two ends respectively. A convex rubber wheel 23 is fitted on the side of the first hub 24 near the inner baffle 27, and a column rubber wheel 25 is fitted on the first hub 24 near the outer baffle 28.

[0099] In this implementation, the convex rubber wheel 23 and the cylindrical rubber wheel 25 form a concave boss structure, which facilitates contact with the conductor or the shunt reinforcement line, so as to ensure that the first drive wheel 12 and the second drive wheel 13 will not detach from the conductor and avoid the first drive wheel 12 and the second drive wheel 13 from spinning idly.

[0100] In this implementation, preferably, the central axes of the first auxiliary wheel 14 and the second auxiliary wheel 15 are arranged at a 90° angle, and both the first auxiliary wheel 14 and the second auxiliary wheel 15 are fixed to the upper part of the robot body 16 by a bracket.

[0101] In this implementation, preferably, the first auxiliary wheel 14 and the second auxiliary wheel 15 have the same structure, such as... Figure 13 As shown, all include:

[0102] The system includes 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. The two ends of the roller shaft 30 are connected to the cross roller support 29 through the first ball bearing 32. The two ends of the roller shaft 30 are provided with bearing retaining rings 33. The outer side of the roller shaft 30 is fitted with a nylon roller 31.

[0103] In this implementation, preferably, the support auxiliary wheel 11, such as... Figure 14 As shown, it includes: a second drive motor 34, a rubber wheel 35, a second motor mounting base 36, a second motor adapter flange 37, a second wheel hub 38, a shaft end baffle 39, a second ball bearing 40, a bearing housing 41, and a rotating support shaft 42.

[0104] The second drive motor 34 is fixed to the robot body 16 through the second motor mounting base 36. The output end of the second drive motor 34 is connected to the second wheel hub 38 through the second motor adapter flange 37. The bearing seat 41 is fixed to the robot body 16. The outer ring of the second ball bearing 40 is fixedly connected to the bearing seat 41.

[0105] The end of the second hub 38 is connected to a shaft end baffle 39. The rotating support shaft 42 is connected to the second hub 38 through the shaft end baffle 39 and is connected to the inner ring of the second ball bearing 40.

[0106] In this implementation, preferably, the transmitter assembly 4 is detachably connected to the first branch mechanism (arranged on the first guide plate 17), and the transmitter assembly 4 includes a rotating transmitter head; the receiver plate assembly 5 is detachably connected to the second branch mechanism, such as... Figure 16 As shown, the assembly includes: 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 to 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 to the rotating mechanism 51, and the receiving plate 59 is fixed to the telescopic mechanism 52. This implementation, through modular design, allows both the transmitter assembly 4 and the receiver assembly 5 to be detachable, achieving rapid installation and disassembly to meet the application needs of different scenarios.

[0107] In this implementation, preferably, the transmitter component 4, such as Figure 15 As shown, it includes: a transmitter shielding shell 43, a rotary servo motor 47, a transmitter body 44, and a dial 45. The transmitter body 44 is arranged inside the transmitter shielding shell 43. The output end of the rotary servo motor 47 is connected to the dial 45. The rotary servo motor 47 is fixed on the first guide plate 17 through a servo motor mounting base 46. The dial 45 is connected to the rotary transmitter head of the transmitter body 44. The rotary transmitter head (with built-in emission light source 50) can rotate under the drive of the rotary servo motor 47. The X-rays emitted by the rotary transmitter head are conical, and the effective imaging range is ±20.

[0108] In this implementation, the transmitting light source 50 emits vertically, and the rotating servo 47 drives the transmitter head to rotate via the dial 45, thereby changing the angle of the transmitter light source. This ensures that the emission direction of the transmitting light source 50 is always perpendicular to the receiving plate 59, resulting in the best shooting effect from this position.

[0109] In this implementation, preferably, a first quick-connect lug 49 (with a reserved quick-connect pin hole) is connected to the transmitter shielding shell 43. The first quick-connect lug 49 is used for detachable connection with the robot body 16. The transmitter shielding shell 43 is provided with a shielding shell cover 48.

[0110] In this implementation, preferably, the rotating support frame 53 is provided with a second quick-connect lug 57, which is used for detachable connection with the robot body 16; the first quick-connect lug 49 and the second quick-connect lug 57 can realize quick assembly and disassembly of the transmitter assembly 4 and the receiver board assembly 5, which can be applied to different application scenarios.

[0111] In this implementation, preferably, the rotating mechanism 51, such as Figure 17 As shown, it includes: a rotary motor 55, a rotary support plate 54, a motor output flange 56, and a rotary support bearing seat 58. The rotary motor 55 is fixed on the rotary support frame 53, and the output end of the rotary motor 55 is connected to one side of the rotary support plate 54 through the motor output flange 56.

[0112] The rotating support frame 53 is provided with a rotating support bearing seat 58, and the protrusion on the other side of the rotating support plate 54 is connected to 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 protrusion on the other side of the rotating support plate 54 is connected to the inner ring of the rotating support bearing).

[0113] In this implementation, the preferred method is as follows: Figure 18 and Figure 19As 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 plate 59 is connected to the lead screw module motor 65, which can move along the trapezoidal lead screw 64. The receiving plate 59 is slidably connected to the vertical guide rail 62 through a guide slider 66, and is slidably connected to 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 provided at the edge of the rotating support plate 54.

[0114] This implementation also proposes a multi-round cooperative oblique double-splitting X-ray detection method, utilizing the aforementioned oblique double-splitting X-ray detection robot, including the following process:

[0115] The robot (i.e., the X-ray inspection robot) is hoisted onto the upper part of the inclined double-split conductor 7, so that both the upper and lower conductors fall into the space between the first branch structure and the second branch structure.

[0116] The cross drive wheel 9 is in contact with the upper guide wire, the support auxiliary wheel 11 is in contact with the lower guide wire, and the cross auxiliary wheel 10 is suspended and ready for use. A triangular contact surface is formed by the cross drive wheel 9 and the support auxiliary wheel 11.

[0117] When traveling on the diversion reinforcement line, the first drive wheel 12 in the cross drive wheel 9 contacts the upper diversion reinforcement line, the support auxiliary wheel 11 contacts the lower diversion reinforcement line, and the second drive wheel 13 in the cross drive wheel 9 contacts the upper conductor or the crimping hardware corresponding to the upper conductor, so that at least three wheels are always in contact with the conductor or diversion reinforcement line.

[0118] After the robot moves to the position of the crimping fitting, the X-ray emission angle of the transmitter assembly 4 and the rotation angle and extension of the receiver assembly 5 are controlled to sequentially inspect the crimping fittings on the two wires.

[0119] In this implementation, the crimping fittings on the two conductors are tested; more specifically, this includes:

[0120] In the initial state and after the operation is completed, the receiving plate 59 is located inside the rotating support frame 53, as follows: Figure 20 As shown;

[0121] Inspect the crimping hardware of the upper wire, such as Figure 21As shown, the process includes: starting the rotary motor 55 to rotate the receiving plate 59 adjustment mechanism counterclockwise by a set angle; starting the lead screw module motor 65 to make the receiving plate 59 perform a telescopic movement, which, in conjunction with the rotating transmitter head, allows the receiving plate 59 to completely cover the imaging range of the upper wire crimping hardware; adjusting in real time according to the actual position of the crimping hardware until the receiving plate 59 is as close as possible to the crimping hardware; after the detection is completed, controlling the rotary motor 55 and the lead screw module motor 65 to make the receiving plate 59 return to its initial position.

[0122] Inspect the wire crimping hardware, such as Figure 22 As shown, the process includes: starting the rotary motor 55 to rotate the receiving plate 59 adjustment mechanism clockwise by a set angle; starting the lead screw module motor 65 to make the receiving plate 59 perform a telescopic movement, which, in conjunction with the rotating transmitter head, ensures that the receiving plate 59 completely covers the imaging range of the lower wire crimping fitting; adjusting in real time 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, controlling the rotary motor 55 and the lead screw module motor 65 to return the receiving plate 59 to its initial position.

[0123] During operation, since the receiver plate 59 needs to be moved, to avoid interference with the lead wire, the receiver plate assembly 5 is placed on a relatively clean side, and the transmitter assembly 4 is placed on the side facing the lead wire exit direction, i.e., away from the tower. Both ends of the crimp fittings on a single conductor need to be inspected. To ensure that both ends of the crimp fittings can be inspected, the transmitter assembly 4 and receiver plate assembly 5 need to be able to be swapped. The transmitter assembly 4, receiver plate assembly 5, and electrical control system 8 adopt a modular design, allowing for quick assembly and disassembly from the robot body 16 via quick-release pins, enabling rapid swapping. Figure 23 and Figure 24 As shown.

[0124] In this implementation, a preferred method is proposed for the loading and unloading of an X-ray inspection robot based on a UAV 1. Taking UAV loading as an example (other aircraft, such as manned aircraft or airships, can also be used), this method integrates 3D modeling, navigation control, and autonomous recognition to achieve autonomous loading, precise unloading, and autonomous unloading of the X-ray inspection robot loaded by the UAV 1 on power transmission lines. This improves the automation level of the X-ray inspection robot's loading and unloading operations while enhancing its safety in complex environments, effectively adapting to the diverse needs of power transmission line crimping fitting inspection. More specifically, such as... Figure 25 As shown, it includes:

[0125] S1: Obtain a 3D model of the area to be inspected on the tower line;

[0126] S2: Based on the acquired 3D model, determine the landing position of the X-ray inspection robot and the hoisting flight trajectory of UAV 1;

[0127] S3: After the UAV1 is hoisted and connected to the X-ray inspection robot, it flies to the safe hovering height of the landing position according to the determined flight trajectory. The X-ray inspection robot adjusts its posture and lands on the line, completing the hoisting and mounting process.

[0128] S4: After landing, UAV 1 returns to the ground along its flight path, and the X-ray inspection robot performs the inspection operation;

[0129] S5: The X-ray inspection robot returns to the landing position. After the drone 1 flies to the landing position and hovers at a safe height, it is hoisted and connected to the X-ray inspection robot. The X-ray inspection robot is then disconnected from the line.

[0130] S6: After returning to the ground along the determined flight path, UAV 1 separates from the X-ray inspection robot and completes the hoisting and unloading process.

[0131] In this preferred implementation, based on the acquired 3D model of the area to be inspected for the power transmission line, the type of power transmission line split, the spacing between power transmission lines, the tilt of the power transmission lines, and the condition of obstacles on the power transmission lines are determined, thereby identifying the type and model of UAV 1 and the X-ray inspection robot. The positions of the power transmission line crimping fittings in the current area to be inspected for the power transmission line are marked in the acquired 3D model to determine the crimping fittings to be inspected. Based on the determined crimping fittings to be inspected and the positions of the crimping fittings in the 3D model, a greedy algorithm and a heuristic A* search algorithm are used to determine the landing position of the X-ray inspection robot and the hoisting flight trajectory of UAV 1.

[0132] In this preferred embodiment, before the UAV 1 is hoisted and connected to the X-ray inspection robot, the UAV 1 takes off to a safe hovering height on the ground, i.e., the safe height difference between the UAV 1 and the X-ray inspection robot, and aligns the UAV 1 with the X-ray inspection robot. The deflection angle of the UAV 1 and the hoisting claw angle of the UAV 1 are adjusted. The hoisting claw of the UAV 1 opens, and the hoisting jaws are located on both sides of the lifting ring of the X-ray inspection robot. The UAV 1 descends vertically from the safe hovering height on the ground. When the UAV 1 descends to the preset lifting height of the X-ray inspection robot, the hoisting claw of the UAV 1 closes, and the hoisting jaws engage with the lifting ring of the X-ray inspection robot. After it is determined that the UAV 1 and the X-ray inspection robot are securely connected, the UAV 1 hoists the X-ray inspection robot and takes off, flying to the safe hovering height of the landing position according to the determined flight trajectory.

[0133] In this preferred implementation, after the UAV 1 lifts the X-ray inspection robot and flies to a safe hovering height at the landing position, the X-ray inspection robot is powered on and starts operating. Based on the three-dimensional laser point cloud data of the power transmission line acquired by the X-ray inspection robot, the pose offset between the X-ray inspection robot and the power transmission line is calculated. The pose of the X-ray inspection robot is adjusted according to the pose offset, and the UAV 1 descends. When all the drive wheels of the X-ray inspection robot are in safe contact with the power transmission line, the X-ray inspection robot is successfully landed. The UAV 1 opens the lifting claw, the lifting claw separates from the lifting ring of the X-ray inspection robot, the UAV 1 rises, and the UAV 1 and the X-ray inspection robot are completely separated, completing the lifting and mounting of the X-ray inspection robot.

[0134] In this implementation, preferably, the pose offset includes angular deviation, positional deviation, and height deviation; the angular deviation is the angular difference between the centerline of the power transmission line and the central axis of the X-ray inspection robot; the positional deviation is the positional difference between the power transmission line and the V-shaped groove of the front drive wheel of the X-ray inspection robot; and the height deviation is the height difference between the upper end of the power transmission line and the three-dimensional lidar of the X-ray inspection robot.

[0135] In this implementation, preferably, when the angular deviation, positional deviation, and height deviation between the X-ray inspection robot and the power transmission line are all within the preset deviation range, all drive wheels of the X-ray inspection robot are in safe contact with the power transmission line.

[0136] In this preferred implementation, after the X-ray inspection robot completes the inspection work, it returns to the landing position on the hoisting line. The X-ray inspection robot is powered off and shut down. UAV 1 flies to a safe hovering height at the landing position based on the hoisting flight trajectory. UAV 1 then aligns itself with the X-ray inspection robot for takeoff. Based on the horizontal position and angle of the X-ray inspection robot's lifting ring identified by UAV 1, UAV 1 flies horizontally to the center of the horizontal position of the X-ray inspection robot's lifting ring and adjusts its deflection angle. UAV 1 opens its hoisting claws, which are located on both sides of the X-ray inspection robot's lifting ring. UAV 1 descends vertically from the safe hovering height at the landing position. When UAV 1 descends to the preset lifting height of the X-ray inspection robot, the hoisting claws close, and the lifting claws engage with the X-ray inspection robot's lifting ring. After confirming a stable connection between UAV 1 and the X-ray inspection robot, UAV 1 lifts the X-ray inspection robot and takes off. The X-ray inspection robot separates from the power line, and UAV 1 flies to a safe hovering height on the ground according to the determined flight trajectory.

[0137] In this implementation, preferably, after the UAV 1 flies to a safe hovering height on the ground, it descends vertically until the UAV 1 descends to a preset lifting height. Based on the UAV 1, it is determined whether the X-ray inspection robot has landed smoothly. If it has landed smoothly, the UAV 1 opens the lifting claw, the lifting claw separates from the lifting ring of the X-ray inspection robot, the UAV 1 rises, and the UAV 1 and the X-ray inspection robot are completely separated, completing the lifting and unloading of the X-ray inspection robot.

[0138] In this implementation, preferably, three-dimensional laser point cloud data and transmission line image data of the area to be inspected on the tower are acquired, and the acquired data are modeled using an iterative nearest point algorithm to obtain a three-dimensional model of the area to be inspected on the tower and line.

[0139] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-round cooperative oblique double-splitting X-ray detection method, utilizing an X-ray detection robot including a robot body, characterized in that, The robot body is equipped with a detection mechanism, support auxiliary wheels, a first drive wheel and a second drive wheel arranged in a cross arrangement, and a first auxiliary wheel and a second auxiliary wheel arranged in a cross arrangement. The first auxiliary wheel and the second auxiliary wheel are arranged between the first drive wheel and the second drive wheel. The detection mechanism includes a transmitter assembly and a receiver plate assembly. After the X-ray inspection robot is hoisted onto the upper part of the inclined double-split guide, the first drive wheel and the second drive wheel contact the upper guide, the support auxiliary wheel contacts the lower guide, the first auxiliary wheel and the second auxiliary wheel are suspended in the air for standby, and the first drive wheel, the second drive wheel and the support auxiliary wheel form a three-point contact. When the X-ray inspection robot moves to the position of the lateral shunt reinforcement line, the first drive wheel and the first auxiliary wheel contact the lateral shunt reinforcement line corresponding to the upper guide wire, the support auxiliary wheel contacts the lateral shunt reinforcement line corresponding to the lower guide wire, and the second drive wheel and the second auxiliary wheel contact the upper guide wire or the crimping hardware corresponding to the upper guide wire. After the X-ray inspection robot moves to the position of the crimping fitting, it performs the inspection of the crimping fitting through the transmitter assembly and receiver assembly.

2. The multi-round cooperative oblique double-splitting X-ray detection method as described in claim 1, characterized in that, The deployment and decommissioning of X-ray inspection robots include: Obtain a 3D model of the area to be inspected on the tower line; Based on the acquired 3D model, the landing position of the X-ray inspection robot and the hoisting flight trajectory of the aircraft were determined. After the aircraft is hoisted and connected to the X-ray inspection robot, it flies along the hoisting flight trajectory to a safe hovering height at the landing position, adjusts the X-ray inspection robot's posture, and then lands on the line, completing the hoisting and mounting process. After the hoisting and installation were completed, the aircraft returned to the ground along the hoisting flight path, and the X-ray inspection robot performed the inspection work. After completing the inspection task, the X-ray inspection robot returns to the landing position. The aircraft flies to the safe hovering height of the landing position and connects with the X-ray inspection robot, thus detaching the X-ray inspection robot from the landing line. After the aircraft returns to the ground along the determined flight path, it separates from the X-ray inspection robot and completes the hoisting and unloading process.

3. The multi-round cooperative oblique double-splitting X-ray detection method as described in claim 2, characterized in that, Based on the obtained 3D model of the area to be inspected for the tower line; Mark the location of the crimp fittings in the 3D model to determine the crimp fittings to be inspected; Based on the determined pressing fitting to be inspected and the starting position of the X-ray inspection robot, a greedy algorithm and a heuristic A* search algorithm are used to determine the landing position of the X-ray inspection robot and the hoisting flight trajectory of the aircraft.

4. The multi-round cooperative oblique double-splitting X-ray detection method as described in claim 2 or 3, characterized in that, After the aircraft hoisted the X-ray inspection robot to a safe hovering height at the landing position, the X-ray inspection robot was powered on and started operating. Based on the three-dimensional laser point cloud data of the transmission line obtained by the X-ray inspection robot, the pose offset between the X-ray inspection robot and the transmission line was calculated, and the pose of the X-ray inspection robot was adjusted according to the pose offset. As the aircraft descends, the X-ray inspection robot successfully lands when its first and second drive wheels contact the upper guide wire and its support auxiliary wheel contacts the lower guide wire. The aircraft opens its insulated gripper, which separates from the insulated lifting frame of the X-ray inspection robot. The aircraft then rises, completely separating from the X-ray inspection robot, thus completing the lifting and installation of the X-ray inspection robot.

5. An oblique double-split X-ray inspection robot, characterized in that, include: The robot body, walking mechanism, and detection mechanism are provided. The detection mechanism includes a transmitter assembly and a receiver 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 to detachably fix the transmitter assembly, and the second branch structure is used to detachably fix the receiver assembly. The walking mechanism includes a cross drive wheel, a cross auxiliary wheel, and a support auxiliary wheel. The cross drive wheel includes a first drive wheel and a second drive wheel arranged in a cross configuration. The cross auxiliary wheel includes a first auxiliary wheel and a second auxiliary wheel arranged in a cross configuration. The cross auxiliary wheel is arranged between the first drive wheel and the second drive wheel. Cross drive wheels and cross auxiliary wheels are arranged on the top of the robot body to support the upper conductor or the upper shunt reinforcement line, and the support auxiliary wheels are arranged on the first branch structure to support the lower conductor or the lower shunt reinforcement line.

6. The oblique double-split X-ray inspection robot as described in 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 for detachably connecting the transmitter assembly, and the second guide plate is located at the lower part for connecting the support auxiliary wheel.

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

8. The oblique double-split X-ray inspection robot as described in claim 7, characterized in that, The cross-section of the upper crossbeam of the insulated hoisting frame is circular or elliptical.

9. The oblique double-split X-ray inspection robot as described in claim 5, characterized in that, It also includes an electronic control system, which is detachably fixed to the first branch structure and is used to control the walking mechanism, transmitter assembly, and receiver assembly.

10. The oblique double-split X-ray inspection robot as described in claim 5, characterized in that, The central axes of the first drive wheel and the second drive wheel are arranged at a 90° angle, and both the first drive wheel and the second drive wheel are fixed to the robot body by a bracket; The first drive wheel and the second drive wheel have the same structure, both including: a first motor mounting base, a first drive motor, a convex rubber wheel, a first wheel hub, a column rubber wheel, a first motor adapter flange, an inner baffle and an outer baffle; The first motor mounting base is fixedly connected to the robot body, the first drive motor is fixed on the first motor mounting base, and the output end of the first drive motor is connected to the first wheel hub through the first motor adapter flange. The first wheel hub can rotate under the drive of the first drive motor. The first hub is connected to the inner baffle and the outer baffle at both ends respectively. The convex rubber wheel is fitted on the side of the first hub near the inner baffle, and the column rubber wheel is fitted on the first hub near the outer baffle.

11. The oblique double-split X-ray inspection robot as described in claim 5, characterized in that, The central axes of the first auxiliary wheel and the second auxiliary wheel are arranged at a 90° angle, and both the first auxiliary wheel and the second auxiliary wheel are fixed to the upper part of the robot body by a bracket. The first auxiliary wheel and the second auxiliary wheel have the same structure, both including: The system comprises 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 via the first ball bearing. Bearing retaining rings are provided at both ends of the roller shaft. The nylon roller is sleeved on the outer side of the roller shaft.

12. The oblique double-split X-ray inspection robot as described in claim 5, characterized in that, The support auxiliary wheel includes: a second drive motor, a rubber wheel, a second motor mounting base, a second motor adapter flange, a second wheel hub, a shaft end baffle, a second ball bearing, a bearing housing, and a rotating support shaft; The second drive motor is fixed to the robot body via the second motor mounting bracket. The output end of the second drive motor is connected to the second wheel hub via the second motor adapter flange. The bearing housing is fixed to the robot body. The outer ring of the second ball bearing is fixedly connected to the bearing housing. The end of the second hub is connected to the shaft end baffle, the rotating support shaft is connected to the second hub through the shaft end baffle, and the rotating support shaft is connected to the inner ring of the second ball bearing.

13. The oblique double-split X-ray inspection robot as described in any one of claims 5-12, characterized in that, The transmitter assembly includes a rotating transmitter head; the receiver assembly includes a rotating support frame, a rotating mechanism, a telescopic mechanism, and a receiver plate. The rotating support frame is detachably fixed to the second branch structure of the robot body. The rotating mechanism is connected to the rotating support frame. The telescopic mechanism is fixed to the rotating mechanism. The receiver plate is fixed to the telescopic mechanism.

14. The oblique double-split X-ray inspection robot as described in claim 13, characterized in that, The transmitter assembly includes: a transmitter shielding shell, a rotary servo, a transmitter body, and a dial. The transmitter body is disposed inside the transmitter shielding shell. The output end of the rotary servo is connected to the dial. The dial is connected to the rotary transmitter head of the transmitter body. The rotary transmitter head can rotate under the drive of the rotary servo.

15. The oblique double-split X-ray inspection robot as described in claim 13, characterized in that, The rotating mechanism includes: a rotary motor, a rotating support plate, a motor output flange, and a rotating support bearing seat. The rotary motor is fixed on the rotating support frame, and the output end of the rotary 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 protrusion 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 inspection robot as described in claim 13, characterized in that, 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, and the lead screw module motor can move along the trapezoidal lead screw. The receiving plate is slidably connected to the vertical guide rail via a guide slider, and the receiving plate is slidably connected to the auxiliary guide rail via an auxiliary slider. A photoelectric switch is arranged on the auxiliary guide rail.

17. The oblique double-split X-ray inspection robot as described in claim 5, characterized in that, When testing the crimp fittings at both ends of a conductor, the transmitter assembly and receiver board assembly are swapped.

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