Oblique double split conductor x-ray rotation detection mechanism, robot, and method

Abstract

The application belongs to the technical field of electric power robots. A diagonal double-split conductor X-ray rotating detection mechanism, a robot and a method are provided. The bottom of a movement platform is opened and forms a first branch structure and a second branch structure. A transmitter assembly is detachably connected with the first branch structure, and the transmitter assembly comprises a rotating transmitter head. A receiving plate assembly comprises a rotating support frame, a rotating mechanism, an extension mechanism and an imaging plate. The rotating support frame is detachably fixed on the other side of the opening of the movement platform. The rotating mechanism is connected with the rotating support frame. The extension mechanism is fixed on the rotating mechanism. The imaging plate is fixed on the extension mechanism. The application expands the range of X-ray detection, realizes X-ray detection of the upper conductor and the lower conductor of the diagonal double-split conductor at one time, improves the detection efficiency, avoids interference of the X-ray detection mechanism when the robot walks, and ensures the safety and stability of the X-ray detection.

Description

Technical Field

[0001] This invention relates to the field of power robot technology, specifically to an X-ray rotation detection mechanism, robot, and method for oblique double-split conductors. Background Technology

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

[0003] Double-split conductors refer to conductors where each phase consists of two conductors with smaller cross-sections, spaced apart (usually 0.2–0.5 meters). This structure effectively increases the conductor diameter, thereby reducing corona loss and improving power transmission capacity. The specific arrangement of oblique double-split conductors involves the two sub-conductors arranged at an angle of 0° to 45° (0° is vertical double-split). This arrangement optimizes the electrical and mechanical properties of the conductors in practical applications. For example, under certain terrain or environmental conditions, oblique arrangement may help reduce mutual interference between conductors, improving line stability and reliability.

[0004] Existing X-ray inspection robots for double-split conductors are not effectively applicable to the inspection of oblique double-split conductors. The main reasons are: existing equipment uses fixed transmitting and receiving components, which cannot meet the requirements for simultaneous inspection of upper and lower layers of special structures such as oblique double-split conductors; moreover, traditional inspection mechanisms are prone to physical collisions with conductors or shunt reinforcement lines when moving between conductors due to the lack of telescopic and rotation adjustment devices. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an X-ray rotation detection mechanism, robot, and method for oblique double-split conductors. It designs a transmitter assembly with a rotating emitter head and a receiver plate assembly capable of free rotation and extension, expanding the range of X-ray detection. This enables the robot to complete X-ray detection of both the upper and lower conductors of the oblique double-split conductor in a single operation, improving detection efficiency, avoiding interference with the conductors and shunt reinforcement lines, and ensuring the safety and stability of X-ray detection.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an oblique double-split conductor X-ray rotation detection mechanism.

[0007] An oblique double-split X-ray rotation detection mechanism includes: a motion platform, a transmitter assembly, and a receiver plate assembly. The bottom of the motion platform is open and forms a first branch structure and a second branch structure. The transmitter assembly is detachably connected to the first branch structure. The transmitter assembly includes a rotating transmitter head. The receiving plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism, and an imaging plate. The rotating support frame is detachably fixed to the second branch structure, the rotating mechanism is connected to the rotating support frame, the telescopic mechanism is fixed to the rotating mechanism, and the imaging plate is fixed to the telescopic mechanism.

[0008] As a further limitation of the first 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 arranged 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.

[0009] As a further limitation of the first aspect of the invention, the transmitter shielding shell is connected to a quick-connect lug for detachable connection with the motion platform.

[0010] As a further limitation of the first aspect of the invention, the motion platform has an inverted funnel-shaped opening, and an upper guide plate and a lower guide plate are arranged on the first branch structure, with the transmitter assembly detachably arranged on the upper guide plate.

[0011] As a further limitation of the first aspect of the invention, the rotating support frame is provided with quick-connect lugs for detachable connection with the motion platform.

[0012] As a further limitation of the first aspect of the present invention, the rotating mechanism includes: a rotating motor, a rotating support plate, a motor output flange, and a supporting rotating 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 equipped with a rotating support bearing seat, and the protrusion on one side of the rotating support plate is connected to the rotating support bearing in the rotating support bearing seat.

[0013] As a further limitation of the first 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. A receiving plate is connected to the lead screw module motor, which is capable of moving along the trapezoidal lead screw. The receiving plate is slidably connected to the vertical guide rail via a guide slider, and is also slidably connected to the auxiliary guide rail via an auxiliary slider. A photoelectric switch is arranged on the auxiliary guide rail. Secondly, the present invention provides a method for operating an oblique double-split conductor X-ray rotation detection mechanism.

[0014] A method for operating an oblique double-split conductor X-ray rotation inspection mechanism includes the following steps: In the initial state and after the work is completed, the receiving plate is located in the internal space of the rotating support frame (the rotating support frame has a rectangular frame structure, which ensures that the receiving plate is not bumped or knocked in the initial state and after the work is completed). The process of inspecting the upper wire crimping fitting includes: controlling the start of a rotary motor to rotate the receiving plate counterclockwise by a set angle; controlling the start of a lead screw module motor to perform a telescopic movement of the receiving plate, which, in conjunction with the rotating transmitter head, ensures that the receiving plate completely covers the imaging range of the upper wire crimping fitting; adjusting in real time according to the actual position of the crimping fitting until the imaging plate is as close as possible to the crimping fitting; and after the inspection is completed, controlling the rotary motor and the lead screw module motor to return the receiving plate to its initial position. The process of inspecting the lower wire crimping fitting includes: controlling the start of a rotary motor to rotate the receiving plate adjustment mechanism clockwise by a set angle; controlling the start of a lead screw module motor to cause the receiving plate to perform a telescopic movement, which, in conjunction with the rotating transmitter head, ensures that the receiving plate 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 imaging plate is as close as possible to the crimping fitting; and after the inspection is completed, controlling the rotary motor and the lead screw module motor to return the receiving plate to its initial position.

[0015] Thirdly, the present invention provides an X-ray inspection robot for oblique double-split wires.

[0016] An oblique double-split wire X-ray inspection robot includes a walking mechanism and the oblique double-split wire X-ray rotation inspection mechanism described in the first aspect of the present invention. The walking mechanism includes: a cross drive wheel, a cross auxiliary wheel, and a support auxiliary wheel; Cross drive wheels and cross auxiliary wheels are arranged on the upper part of the motion platform. The cross drive wheels include a first drive wheel and a second drive wheel arranged in a cross manner. The cross auxiliary wheels include a first auxiliary wheel and a second auxiliary wheel arranged in a cross manner. The cross auxiliary wheels are arranged between the first drive wheel and the second drive wheel. The support auxiliary wheel is arranged at the lower part of the first branch structure of the motion platform. The support auxiliary wheel is used to support the lower conductor or the lower shunt reinforcement line. The cross auxiliary wheel and the support auxiliary wheel are used to support the upper conductor or the upper shunt reinforcement line.

[0017] As a further limitation of the third aspect of the present invention, during normal walking, the first drive wheel and the second drive wheel are in contact with the upper guide wire, the support auxiliary wheel is in contact with the lower guide wire, the first auxiliary wheel and the second auxiliary wheel are suspended in the air for standby, and a three-point contact is formed through the first drive wheel, the second drive wheel and the support auxiliary wheel; When traveling on the shunt reinforcement line, the first drive wheel contacts the upper shunt reinforcement line, the support auxiliary wheel contacts the lower shunt reinforcement line, and the second drive wheel contacts the upper conductor or the corresponding crimped pipe. At least three wheels are always in contact with the conductor or shunt reinforcement line.

[0018] Compared with the prior art, the beneficial effects of the present invention are: This invention innovatively develops an X-ray rotating detection mechanism for oblique double-split conductors. It designs a transmitter assembly with a rotating emitter head and a receiver plate assembly capable of free rotation and extension. The receiver plate assembly includes a rotating support frame, a rotating mechanism, a telescopic mechanism, and an imaging plate. The rotating support frame is detachably fixed to the second branch structure. The rotating mechanism is connected to the rotating support frame, the telescopic mechanism is fixed to the rotating mechanism, and the imaging plate is fixed to the telescopic mechanism. This expands the X-ray detection range, enabling the completion of X-ray detection of both the upper and lower conductors of the oblique double-split conductor in a single operation. This improves detection efficiency, avoids interference with the conductors and shunt reinforcement lines, and ensures the safety and stability of X-ray detection.

[0019] 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

[0020] 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.

[0021] Figure 1 This is a schematic diagram of the motion platform provided in Embodiment 1 of the present invention; Figure 2 A schematic diagram of the transmitter assembly provided in Embodiment 1 of the present invention. Figure 1 ; Figure 3 A schematic diagram of the transmitter assembly provided in Embodiment 1 of the present invention. Figure 2 ; Figure 4 This is a schematic diagram of the receiving board assembly provided in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the rotating mechanism provided in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the telescopic mechanism provided in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the lead screw module provided in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the initial state provided in Embodiment 2 of the present invention; Figure 9 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; Figure 10 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; Figure 11 This is a schematic diagram of the walking mechanism provided in Embodiment 3 of the present invention; The components are as follows: 1. Transmitter shielding shell; 2. Transmitter body; 3. Dial; 4. Servo mount; 5. Rotary servo; 6. Shielding shell cover; 7. Quick-connect lug; 8. Transmitting light source; 9. Rotation mechanism; 10. Telescopic mechanism; 11. Rotation support frame; 12. Rotation support plate; 13. Rotary motor; 14. Motor output flange; 15. Quick-connect lug; 16. Supporting rotary bearing seat; 17. Receiver plate; 18. Photoelectric switch; 19. Auxiliary guide rail; 20. Vertical guide rail; 21. Auxiliary slider; 22. Trapezoidal lead screw; 23. Lead screw module motor; 24. Guide slider; 25. Reinforcing plate; 26. Cross drive wheel; 27. Cross auxiliary wheel; 28. Supporting auxiliary wheel; 29. ​​Upper guide plate; 30. Lower guide plate; 31. Transmitter assembly; 32. Receiver plate assembly. Detailed Implementation

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

[0023] 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.

[0024] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0025] Example 1: In this implementation, an oblique double-split conductor X-ray rotation detection mechanism is proposed, including: a motion platform with a bottom opening (“inverted funnel-shaped” design), a transmitter assembly 31 and a receiver plate assembly 32, wherein the transmitter assembly 31 is detachably connected to the opening side (i.e., the first branch structure) of the motion platform, and the transmitter assembly 31 includes a rotating transmitter head; The receiving plate assembly 32 includes: a rotating support frame 11, a rotating mechanism 9, a telescopic mechanism 10, and an imaging plate. The rotating support frame 11 is detachably fixed to the other side of the opening of the motion platform (i.e., the second branch structure). The rotating mechanism 9 is connected to the rotating support frame 11. The telescopic mechanism 10 is fixed to the rotating mechanism 9. The imaging plate is fixed to the telescopic mechanism 10. In this implementation, the first branch structure and the second branch structure are located on both sides of the motion direction of the motion platform.

[0026] In this implementation, the modular design allows both the transmitter assembly 31 and the receiver board assembly 32 to be detachable, enabling rapid installation and disassembly to meet the application requirements of different scenarios.

[0027] In this implementation, preferably, the motion platform has an inverted funnel-shaped opening, and an upper guide plate 29 and a lower guide plate 30 are arranged on one side of the opening of the motion platform. The transmitter assembly is detachably arranged on the upper guide plate 29. The inverted funnel-shaped opening design can effectively facilitate the hoisting and mounting of the robot. At the same time, the upper guide plate 29 and the lower guide plate 30 are gradually tapered from bottom to top, and the edges are arc lines, which can ensure rapid sliding during mounting.

[0028] In this implementation, preferably, the transmitter assembly 31 includes: a transmitter shielding shell 1, a rotary servo motor 5, a transmitter body 2, and a dial 3. The transmitter body 2 is arranged inside the transmitter shielding shell 1. The output end of the rotary servo motor 5 is connected to the dial 3. The rotary servo motor 5 is fixed on the upper guide plate 29 through the servo motor mounting base 4. The dial 3 is connected to the rotating transmitter head of the transmitter body 2. The rotating transmitter head (with built-in emission light source 8) can rotate under the drive of the rotary servo motor 5. The X-rays emitted by the rotating transmitter head are conical, with an effective imaging range of -20° to +20°, which can achieve stable cooperation with the receiver assembly.

[0029] In this implementation, the emitting light source 8 emits vertically, and the rotating servo 5 drives the transmitter head to rotate via the dial 3, thereby changing the angle of the transmitter light source. This ensures that the emission direction of the emitting light source 8 is always perpendicular to the imaging plate, resulting in the best shooting effect at this position.

[0030] In this implementation, preferably, the transmitter shielding shell 1 is connected to a quick-connect lug 7 (with a reserved quick-connect pin hole). The quick-connect lug 7 is used for detachable connection with the motion platform. The transmitter shielding shell 1 is provided with a shielding shell cover 6. Through the detachable design, it is not only convenient to replace parts, but also to realize the detection of both sides of the crimping hardware, and has a strong environmental adaptability.

[0031] In this implementation, preferably, the rotating support frame 11 is provided with a quick-connect lug 15, which is used for detachable connection with the motion platform; the quick-connect lug (7, 15) enables quick assembly and disassembly of the transmitter assembly and receiver assembly, and can be applied to different application scenarios.

[0032] In this preferred embodiment, the rotating mechanism 9 includes: a rotating motor 13, a rotating support plate 12, a motor output flange 14, and a supporting rotating bearing seat 16. The rotating motor is fixed on the rotating support frame 11, and the output end of the rotating motor is connected to one side of the rotating support plate 12 through the motor output flange 14. The rotating support frame 11 is provided with a rotating support bearing seat, and the protrusion on one side of the rotating support plate 12 is connected to the rotating support bearing in the rotating support bearing seat.

[0033] In this preferred embodiment, the telescopic mechanism 10 includes: a lead screw module motor 23, a trapezoidal lead screw 22, a vertical guide rail 20, and an auxiliary guide rail 19. The receiving plate 17 is connected to the lead screw module motor 23, which can move along the trapezoidal lead screw 22. The receiving plate 17 is slidably connected to the vertical guide rail 20 via a guide slider 24, and is slidably connected to the auxiliary guide rail 19 via an auxiliary slider 21. A photoelectric switch 18 is arranged on the auxiliary guide rail 19, and a reinforcing plate 25 is provided at the edge of the rotating support plate 12.

[0034] Example 2: This implementation proposes an operation method for an oblique double-split conductor X-ray rotation detection mechanism, employing the oblique double-split conductor X-ray rotation detection mechanism described in Example 1, including the following processes: In the initial state and after the work is completed, the receiving plate 17 is located within the internal space of the rotating support frame 11 (the rotating support frame 11 has a rectangular frame structure, which ensures that the receiving plate 17 is not bumped or knocked during the initial state and after the work is completed). Figure 8 As shown; Inspect the crimping hardware of the upper wire, such as Figure 9 As shown, the process includes: starting the rotary motor 13 to rotate the receiving plate 17 counterclockwise by a set angle; starting the lead screw module motor 23 to make the receiving plate 17 perform a telescopic movement, which, in conjunction with the rotating transmitter head, allows the receiving plate 17 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 imaging plate is as close as possible to the crimping hardware; after the detection is completed, controlling the rotary motor 13 and the lead screw module motor to return the receiving plate 17 to its initial position. Inspect the wire crimping hardware, such as Figure 10 As shown, the process includes: starting the rotary motor 13 to rotate the receiving plate 17 adjustment mechanism clockwise by a set angle; starting the lead screw module motor 23 to make the receiving plate 17 perform a telescopic movement, which, in conjunction with the rotating transmitter head, ensures that the receiving plate 17 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 imaging plate is as close as possible to the crimping fitting; and after the detection is completed, controlling the rotary motor 13 and the lead screw module motor to return the receiving plate 17 to its initial position.

[0035] Example 3: The present invention provides an X-ray inspection robot for oblique double-split wires, including a walking mechanism and the oblique double-split wire X-ray rotation inspection mechanism described in the first aspect of the present invention; The walking mechanism, such as Figure 11 As shown, it includes: cross drive wheel 26, cross auxiliary wheel 27 and support auxiliary wheel 28; Cross drive wheel 26 and cross auxiliary wheel 27 are arranged on the upper part of the motion platform. Cross drive wheel 26 includes a first drive wheel and a second drive wheel arranged in a cross manner. Cross auxiliary wheel 27 includes a first auxiliary wheel and a second auxiliary wheel arranged in a cross manner. Cross auxiliary wheel 27 is arranged between the first drive wheel and the second drive wheel. The support auxiliary wheel 28 is arranged on the lower side of the motion platform. The support auxiliary wheel 28 is used to support the lower conductor or the lower shunt reinforcement line. The cross auxiliary wheel 27 and the support auxiliary wheel 28 are used to support the upper conductor or the upper shunt reinforcement line.

[0036] In this implementation, preferably, during normal walking, the first drive wheel and the second drive wheel are in contact with the upper guide wire, the support auxiliary wheel 28 is in contact with the lower guide wire, and the first auxiliary wheel and the second auxiliary wheel are suspended in the air for standby, forming a three-point contact through the first drive wheel, the second drive wheel and the support auxiliary wheel 28; When walking on the shunt reinforcement line, the first drive wheel contacts the upper shunt reinforcement line, the support auxiliary wheel 28 contacts the lower shunt reinforcement line, and the second drive wheel contacts the upper guide wire or the corresponding crimping pipe. At least three wheels are always in contact with the guide wire or shunt reinforcement line, which can effectively ensure the robot's stable walking.

[0037] 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 rotating X-ray inspection mechanism for obliquely split double-wire conductors, Its features are, include: The motion platform, transmitter assembly, and receiver assembly are provided. The bottom of the motion platform is open and forms a first branch structure and a second branch structure. The transmitter assembly is detachably connected to the first branch structure. The transmitter assembly includes a rotating transmitter head. The receiving plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism, and an imaging plate. The rotating support frame is detachably fixed to the other side of the opening of the motion platform. The rotating mechanism is connected to the rotating support frame. The telescopic mechanism is fixed to the rotating mechanism. The imaging plate is fixed to the telescopic mechanism. The rotating mechanism includes: a rotary motor, a rotating support plate, a motor output flange, and a supporting rotary 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 one side of the rotating support plate is connected to the rotating support bearing in the rotating support bearing seat. The telescopic mechanism includes: a lead screw module motor, a trapezoidal lead screw, a vertical guide rail, and an auxiliary guide rail. A receiving plate is connected to the lead screw module motor, which 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.

2. The oblique double-split conductor X-ray rotation detection mechanism as described in claim 1, characterized in that, The transmitter assembly includes: a transmitter shielding shell, a rotary servo, a transmitter body, and a dial. The transmitter body is arranged 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.

3. The oblique double-split conductor X-ray rotation detection mechanism as described in claim 2, characterized in that, The transmitter shield is equipped with quick-connect lugs, which are used for detachable connection with the motion platform.

4. The oblique double-split conductor X-ray rotation detection mechanism as described in claim 1, characterized in that, The motion platform has an inverted funnel-shaped opening, and an upper guide plate and a lower guide plate are arranged on the first branch structure. The transmitter assembly is detachably arranged on the upper guide plate.

5. The oblique double-split conductor X-ray rotation detection mechanism as described in claim 1, characterized in that, The rotating support frame is equipped with quick-connect lugs, which are used for detachable connection with the motion platform.

6. A method for operating an oblique double-split conductor X-ray rotation detection mechanism, characterized in that, The oblique double-split conductor X-ray rotation detection mechanism as described in any one of claims 1-5 includes: In the initial state and after the work is completed, the receiving plate is located inside the rotating support frame; The process of inspecting the upper wire crimping fitting includes: controlling the start of a rotary motor to rotate the receiving plate counterclockwise by a set angle; controlling the start of a lead screw module motor to perform a telescopic movement of the receiving plate, which, in conjunction with the rotating transmitter head, ensures that the receiving plate completely covers the imaging range of the upper wire crimping fitting; adjusting in real time according to the actual position of the crimping fitting until the imaging plate is as close as possible to the crimping fitting; and after the inspection is completed, controlling the rotary motor and the lead screw module motor to return the receiving plate to its initial position. The process of inspecting the lower wire crimping fitting includes: controlling the start of a rotary motor to rotate the receiving plate adjustment mechanism clockwise by a set angle; controlling the start of a lead screw module motor to cause the receiving plate to perform a telescopic movement, which, in conjunction with the rotating transmitter head, ensures that the receiving plate 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 imaging plate is as close as possible to the crimping fitting; and after the inspection is completed, controlling the rotary motor and the lead screw module motor to return the receiving plate to its initial position.

7. A robot for inspecting oblique double-split wires using X-rays, characterized in that, Includes a walking mechanism and the oblique double-split conductor X-ray rotation detection mechanism as described in any one of claims 1-5; The walking mechanism includes: a cross drive wheel, a cross auxiliary wheel, and a support auxiliary wheel; Cross drive wheels and cross auxiliary wheels are arranged on the upper part of the motion platform. The cross drive wheels include a first drive wheel and a second drive wheel arranged in a cross manner. The cross auxiliary wheels include a first auxiliary wheel and a second auxiliary wheel arranged in a cross manner. The cross auxiliary wheels are arranged between the first drive wheel and the second drive wheel. The support auxiliary wheel is arranged at the lower part of the first branch structure of the motion platform. The support auxiliary wheel is used to support the lower conductor or the lower shunt reinforcement line. The cross auxiliary wheel and the support auxiliary wheel are used to support the upper conductor or the upper shunt reinforcement line.

8. The oblique double-split conductor X-ray inspection robot as described in claim 7, characterized in that, During normal walking, the first drive wheel and the second drive wheel are in contact with the upper guide wire, the support auxiliary wheel is in contact with the lower guide wire, and the first and second auxiliary wheels are suspended in the air for standby. Three-point contact is formed through the first drive wheel, the second drive wheel and the support auxiliary wheel. When traveling on the shunt reinforcement line, the first drive wheel contacts the upper shunt reinforcement line, the support auxiliary wheel contacts the lower shunt reinforcement line, and the second drive wheel contacts the upper conductor or the corresponding crimped pipe. At least three wheels are always in contact with the conductor or shunt reinforcement line.

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