Auxiliary support type vertical dual-split x-ray inspection robot and method

Abstract

The application belongs to the technical field of electric power robots, and proposes an auxiliary support type vertical double-split X-ray detection robot and method, which comprises a robot body, the robot body comprises a rack, and a launching mechanism, an imaging mechanism, an auxiliary support mechanism and a walking mechanism are arranged on the rack; through a telescopic rod in the auxiliary support mechanism, a connecting rod hinged to the rack, and a connecting rod with one end hinged to the telescopic rod and the other end provided with a wire support; in the case that the imaging plate cannot completely cover the crimping pipe of the lower wire, the telescopic rod can drive the connecting rod to act, the wire support can push the lower wire to the direction close to the imaging plate, and the problem that the imaging plate cannot completely cover the crimping pipe of the lower wire is solved.

Description

Technical Field

[0001] This invention belongs to the field of electric robot technology, and particularly relates to an auxiliary support type vertical double-split X-ray inspection robot and method. Background Technology

[0002] Double-split overhead transmission lines, whether inclined or vertical, employ a double-split configuration consisting of an upper conductor and a lower conductor, arranged vertically or obliquely. Because the upper and lower conductors are arranged vertically or obliquely, X-ray inspection of the crimp fittings using a robot requires separate inspection of the crimp fittings on the upper and lower conductors.

[0003] Currently, when performing X-ray inspection on the crimp fittings of double-split overhead transmission lines, the following problems exist: When the conductor has a large inclination and the inclination direction is that the lower conductor is away from the imaging plate, due to the large distance between the imaging plate and the lower conductor, the imaging plate may not be able to completely cover the lower conductor crimp fitting when it deflects. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an auxiliary support type vertical double-split X-ray inspection robot and method. When the imaging plate cannot completely cover the lower conductor pressure pipe, the telescopic rod can drive the connecting rod to move, thereby pushing the lower conductor closer to the imaging plate. This solves the problem of the imaging plate not being able to completely cover the lower conductor pressure pipe.

[0005] To achieve the above objectives, in a first aspect, the present invention provides an auxiliary support type vertical double-split X-ray inspection robot, which adopts the following technical solution: A vertical dual-splitter X-ray inspection robot with auxiliary support includes a robot body, the robot body including a frame, and a emitting mechanism, an imaging mechanism, an auxiliary support mechanism and a walking mechanism disposed on the frame; The walking mechanism is located in the middle of the frame, the launching mechanism and the auxiliary support mechanism are located on one side of the frame, and the imaging mechanism is located on the other side of the frame. The auxiliary support mechanism includes a telescopic rod mounted on the frame and a connecting rod hinged to the frame. One end of the connecting rod is hinged to the telescopic rod, and the other end is provided with a wire support member. When the imaging plate in the imaging mechanism cannot completely cover the crimping tube of the lower wire, the telescopic rod drives the connecting rod to move, causing the wire support member to push the lower wire closer to the imaging plate.

[0006] Furthermore, the robot body includes a hook.

[0007] Furthermore, the hook includes an arc-shaped end with an open end, a diagonal rod connected to the arc-shaped end, a slot disposed at the end of the diagonal rod away from the arc-shaped end, an arc-shaped side portion connected to the slot, and a connecting portion disposed at the end of the arc-shaped side portion away from the slot.

[0008] Furthermore, the frame includes a first connecting component for mounting the imaging mechanism, a second connecting component for mounting the transmitting mechanism, and a third connecting component for mounting the auxiliary support mechanism; the bottom of the first connecting component is provided with a guide beam at an incline.

[0009] Furthermore, the frame is also provided with a slide rail and a slider that slides on the slide rail, and the slider is connected to the transmitter by a clamp.

[0010] Furthermore, the imaging mechanism includes a lifting adjustment assembly disposed on the frame, an angle adjustment assembly disposed on the lifting adjustment assembly, and an imaging plate disposed on the angle adjustment assembly.

[0011] Furthermore, the lifting adjustment assembly includes a connecting plate mounted on the frame, a motor mounted on the connecting plate, a first pulley mounted on the output shaft of the motor, a lead screw rotatably mounted on the connecting plate, a second pulley mounted at one end of the lead screw, a conveyor belt mounted between the first pulley and the second pulley, and a nut mounted on the lead screw via a threaded connection; the lead screw and the nut constitute a lead screw and nut mechanism, and the angle adjustment assembly is mounted on the nut.

[0012] Furthermore, the walking mechanism includes a first drive wheel, a second drive wheel, a first auxiliary wheel, and a second auxiliary wheel mounted on the frame; the first drive wheel and the first auxiliary wheel are mounted at a preset angle at one end of the frame, and the second drive wheel and the second auxiliary wheel are mounted at a preset angle at the other end of the frame; the first drive wheel and the second drive wheel are arranged crosswise, and the first auxiliary wheel and the second auxiliary wheel are arranged crosswise.

[0013] Furthermore, the connecting rod is hinged to the frame via a second hinge, and one end of the connecting rod is hinged to the telescopic rod via a first hinge. The connecting rod is an arc-shaped mechanism.

[0014] To achieve the above objectives, in a second aspect, the present invention also provides an auxiliary-supported vertical double-splitting X-ray detection method, employing the following technical solution: An auxiliary support type vertical double-split X-ray inspection method uses the auxiliary support type vertical double-split X-ray inspection robot as described in the first aspect, including: for a conductor type where the lower conductor is tilted away from the imaging plate, when the imaging plate is deflected, the imaging plate cannot completely cover the lower conductor crimping pipe. Through an auxiliary support mechanism, with the help of a telescopic rod and a connecting rod transmission, the telescopic rod retracts, the connecting rod rotates, and the conductor support component pushes the lower conductor towards the imaging plate, thus completing the inspection of the lower conductor crimping pipe.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention innovatively proposes an auxiliary support type vertical double-split X-ray inspection robot, and designs an auxiliary support mechanism. This mechanism includes a telescopic rod, a connecting rod hinged to the frame, and a connecting rod with one end hinged to the telescopic rod and the other end equipped with a lead wire support. When the imaging plate cannot completely cover the lower lead wire compression pipe, the telescopic rod drives the connecting rod to move, thus pushing the lower lead wire closer to the imaging plate. This solves the problem of the imaging plate not completely covering the lower lead wire compression pipe. Attached Figure Description

[0016] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0017] Figure 1 This is a schematic diagram of the robot structure according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the robot body structure according to Embodiment 1 of the present invention; Figure 3 This is in relation to Embodiment 1 of the present invention. Figure 2 Side view of the robot body; Figure 4 This is in relation to Embodiment 1 of the present invention. Figure 2 Rear view of the robot body; Figure 5 This is a schematic diagram of the hook structure in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the frame structure of Embodiment 1 of the present invention; Figure 7 This is a front view of the launching mechanism according to Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the launching mechanism structure of Embodiment 1 of the present invention; Figure 9 This is a schematic diagram of the imaging mechanism structure of Embodiment 1 of the present invention; Figure 10This is a schematic diagram of the lifting adjustment component structure according to Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of the auxiliary support mechanism structure of Embodiment 1 of the present invention; Figure 12 This is a schematic diagram of the walking mechanism structure of Embodiment 1 of the present invention; Figure 13 This is a schematic diagram of the electrical control box structure according to Embodiment 1 of the present invention; Figure 14 This is the detection state of the upper conductor in Embodiment 1 of the present invention; Figure 15 This is the detection state of the lower conductor in Embodiment 1 of the present invention; Figure 16 This is the state when the auxiliary support mechanism of Embodiment 1 of the present invention is not in operation; Figure 17 This is the state of the auxiliary support mechanism in Embodiment 1 of the present invention during operation; Figure 18 This is a schematic diagram of the center of gravity of Embodiment 1 of the present invention; Among them, 1. Unmanned Aerial Vehicle (UAV); 101. Propeller; 102. Insulated outriggers; 2. Lifting mechanism; 201. Insulating rope; 202. Lifting rod; 3. Robot body; 301. Hook; 3011. Arc-shaped end; 3012. Diagonal bar; 3013. Slot; 3014. Arc-shaped side; 3015. Connecting part; 302. Frame; 3021. First connecting assembly; 30211. Guide beam; 30212. Vertical beam; 3022. Second connecting assembly; 3023. Third connecting assembly; 303. Launching mechanism; 3031. Telescopic component; 3032. Transmitter; 3033. Slide rail; 3034. Slider; 3035. Clamp; 3036. Wireless communication component; 304. Imaging mechanism; 3041. Lifting... 30411, Adjustment assembly; 30412, Connecting plate; 30413, Motor; 30414, First pulley; 30415, Conveyor belt; 30416, Lead screw; 30417, Nut; 3042, Angle adjustment assembly; 3043, Imaging plate; 305, Auxiliary support mechanism; 3051, Telescopic rod; 3052, First hinge; 3053, Connecting rod; 3054, Second hinge; 3055, Wire support; 306, Walking mechanism; 3061, First drive wheel; 3062, Second drive wheel; 3063, First auxiliary wheel; 3064, Second auxiliary wheel; 307, Electrical control box; 3071, Battery pull-out box; 3072, Handle; 4, Upper wire; 5, Lower wire. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. 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 application pertains.

[0020] Example 1: like Figure 1 As shown, this embodiment provides an auxiliary support type vertical double-split X-ray inspection robot, including a drone 1, a hoisting mechanism 2, and a robot body 3.

[0021] The drone 1 is used to hoist the robot body 3 onto the vertical double-split power transmission line to be inspected; optionally, the drone 1 includes a propeller 101 and insulated outriggers 102. like Figure 1 As shown, the lifting mechanism 2 is detachably mounted on the drone 1. The lifting mechanism 2 includes an insulating rope 201 detachably connected to the drone 1, and a boom 202 disposed at the end of the insulating rope 201 away from the drone 1. The boom 202 is used to connect to the robot body 3. Of course, in some other embodiments, the boom 202 may also be a hook, a ring, or other lifting component.

[0022] like Figure 2 , Figure 3 and Figure 4 As shown, the robot body 3 includes a hook 301, a frame 302 connected to the hook 301, and a launching mechanism 303, an imaging mechanism 304, an auxiliary support mechanism 305, a walking mechanism 306, and an electrical control box 307, etc., installed on the frame 302.

[0023] The hook 301 is located at the upper middle position of the frame 302 and is used to connect with the hoisting mechanism 2. The emitting mechanism 303 and the auxiliary support mechanism 305 are located on one side of the frame 302. The emitting mechanism 303 is used to emit X-rays, and the auxiliary support mechanism 305 is used to push the lower guide wire 5 towards the imaging mechanism 304 to ensure that the imaging mechanism 304 covers the crimping tube on the lower guide wire 5 and ensures the imaging effect. The imaging mechanism 304 and the electrical control box 307 are located on the other side of the frame 302. The imaging mechanism 304 is used to receive X-rays, and the electrical control box 307 is equipped with a battery to provide power to each mechanism. The walking mechanism 306 is located at the lower middle position of the frame 302 and is used for the entire robot to walk on the power transmission line.

[0024] like Figure 5As shown, the hook 301 includes an arc-shaped end 3011 with an open end, a diagonal rod 3012 connected to the arc-shaped end 3011, a slot 3013 disposed at the end of the diagonal rod 3012 away from the arc-shaped end 3011, an arc-shaped side portion 3014 connected to the slot 3013, and a connecting portion 3015 disposed at the end of the arc-shaped side portion 3014 away from the slot 3013.

[0025] Specifically, the arc-shaped end 3011 facilitates the entry of the lifting rod 202 during hoisting; the inclined rod 3012 can guide the lifting rod 202 into the slot 3013, which ensures the connection stability between the hook 301 and the lifting rod 202; the arc-shaped side 3014 also has the function of guiding the lifting rod 202 into the slot 3013; the connecting part 3015 is used to connect with the frame 302 by bolts or other means.

[0026] Optional, such as Figure 2 and Figure 5 As shown, two hooks 301 are symmetrically arranged on the frame 302 at a preset interval. During hoisting, the two ends of the hoisting rod 202 are respectively engaged in the two slots 3013 to ensure hoisting stability.

[0027] like Figure 6 As shown, the frame 302 includes a first connecting component 3021 for mounting the imaging mechanism 304, a second connecting component 3022 for mounting the transmitting mechanism 303, and a third connecting component 3023 for mounting the auxiliary support mechanism 305. The first connecting component 3021, the second connecting component 3022, and the third connecting component 3023 can all be constructed using a steel frame or similar structure.

[0028] The bottom of the first connecting component 3021 is provided with a guide beam 30211 inclined, and a vertical beam 30212 connected to the guide beam 30211; the arrangement of the guide beam 30211 makes the frame 302 have a structure with an open shape at the lower end, which is conducive to the transmission circuit entering the frame 302 and reaching the walking mechanism 306.

[0029] like Figure 7 and Figure 8As shown, the transmitting mechanism 303 includes a telescopic member 3031 mounted on the frame 302 and a transmitter 3032 mounted on the telescopic member 3031. The telescopic member 3031 can be a linear motor, hydraulic telescopic rod, pneumatic telescopic rod, electric telescopic rod, or other telescopic device. The telescopic member 3031 can drive the transmitter 3032 to move up and down. When the upper conductor 4 is being tested, the telescopic member 3031 is in its initial position, and the transmitter 3032 can emit X-rays towards the upper conductor 4. When the lower conductor 5 is being tested, the telescopic member 3031 drives the transmitter 3032 to move downward, and the transmitter 3032 can emit X-rays towards the lower conductor 5, thus meeting the testing requirements for the upper conductor 4 and the lower conductor 5.

[0030] The frame 302 is also equipped with a slide rail 3033 and a slider 3034 that slides on the slide rail 3033. The slider 3034 is connected to the transmitter 3032 by a clamp 3035. When the telescopic member 3031 moves the transmitter 3032 up and down, the slider 3034 moves on the slide rail 3033, improving stability.

[0031] The transmitter 3032 is also provided with a wireless communication component 3036, which is used to receive control signals for controlling the transmitter 3032 and to transmit detection signals outward.

[0032] like Figure 9 and Figure 10 As shown, the imaging mechanism 304 includes a lifting adjustment component 3041 disposed on the frame 302, an angle adjustment component 3042 disposed on the lifting adjustment component 3041, and an imaging plate 3043 disposed on the angle adjustment component 3042.

[0033] The lifting adjustment component 3041 can be a linear motor or a telescopic device, which can drive the angle adjustment component 3042 and the imaging plate 3043 to move up and down to meet the requirements of detecting the upper guide wire 4 and the lower guide wire 5; the angle adjustment component 3042 can be a motor or other components to adjust the angle of the imaging plate 3043 to ensure that X-rays are perpendicularly irradiated onto the imaging plate 3043 when detecting the upper guide wire 4 and the lower guide wire 5.

[0034] Optionally, the lifting adjustment assembly 3041 includes a connecting plate 30411 mounted on the frame 302, a motor 30412 mounted on the connecting plate 30411, a first pulley 30413 mounted on the output shaft of the motor 30412, a lead screw 30416 rotatably mounted on the connecting plate 30411, a second pulley 30415 mounted at one end of the lead screw 30416, a conveyor belt 30414 between the first pulley 30413 and the second pulley 30415, and a nut 30417 threadedly mounted on the lead screw 30416; the lead screw 30416 and the nut 30417 constitute a lead screw and nut mechanism, and the angle adjustment assembly 3042 is mounted on the nut 30417.

[0035] Specifically, when the motor 30412 drives the first pulley 30413 to rotate, the conveyor belt 30414 and the second pulley 30415 drive the lead screw 30416 to rotate, thereby driving the nut 30417 to move axially along the lead screw 30416, realizing the up and down movement of the angle adjustment component 3042 and the imaging plate 3043, satisfying the detection of the upper guide wire 4 and the lower guide wire 5.

[0036] like Figure 11 As shown, the auxiliary support mechanism 305 includes a telescopic rod 3051 mounted on the frame 302 and a connecting rod 3053 hinged to the frame 302 via a second hinge 3054. One end of the connecting rod 3053 is hinged to the telescopic rod 3051 via a first hinge 3052, and the other end of the connecting rod 3053 is provided with a wire support member 3055. The connecting rod 3053 is an arc-shaped mechanism to improve the support stability with the lower wire 5. When the imaging plate 3043 cannot completely cover the crimping tube of the lower wire 5, the telescopic rod 3051 drives the connecting rod 3053 to move, causing the wire support member 3055 to push the lower wire 5 closer to the imaging plate 3043. The telescopic rod 3051 can be a telescopic electric cylinder or other telescopic device.

[0037] In some embodiments, during design, such as Figure 18As shown, the robot's center of gravity is slightly shifted towards the imaging plate 3043, causing the imaging plate 3043 to deflect towards the lower wire 5. Since the lower wire 5 has a relatively large inclination and is positioned away from the imaging plate 3043, the distance between the imaging plate 3043 and the lower wire 5 is significant. During deflection, the imaging plate 3043 may not completely cover the lower wire 5 crimping connector. Therefore, an auxiliary support mechanism 305, utilizing the transmission principle of the telescopic rod 3051 and connecting rod 3053, pushes the lower wire 5 closer to the imaging plate 3043 when the telescopic rod 3051 retracts, thereby completing the detection of the lower wire 5 crimping connector.

[0038] like Figure 12 As shown, the walking mechanism 306 includes a first drive wheel 3061, a second drive wheel 3062, a first auxiliary wheel 3063, and a second auxiliary wheel 3064 mounted on a frame 302. The first drive wheel 3061 and the first auxiliary wheel 3063 are positioned at a preset angle at one end of the frame 302, and the second drive wheel 3062 and the second auxiliary wheel 3064 are positioned at a preset angle at the other end of the frame 302. The first drive wheel 3061 and the second drive wheel 3062 are arranged in a cross configuration, as are the first auxiliary wheel 3063 and the second auxiliary wheel 3064. A drive source such as a motor may be mounted on the first drive wheel 3061 and / or the second drive wheel 3062.

[0039] Optionally, the central axes of the first drive wheel 3061 and the second drive wheel 3062 are arranged at a 90° angle, and both the first drive wheel 3061 and the second drive wheel 3062 are fixed to the upper part of the robot body 3 by a bracket. Supporting auxiliary wheels can also be provided at the lower part of the frame 302.

[0040] 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.

[0041] During normal movement, the first drive wheel 3061 and the second drive wheel 3062 are in contact with the upper guide wire, the support auxiliary wheel is in contact with the lower guide wire 5, and the first auxiliary wheel 3063 and the second auxiliary wheel 3064 are suspended and ready for use. A triangular contact surface is formed by the first drive wheel 3061, the second drive wheel 3062, and the support auxiliary wheel to ensure the stability of the robot's operation. In this embodiment, the first drive wheel 3061 and the second drive wheel 3062, which are arranged in a cross configuration, can be wide rubber wheels (high friction), and the first auxiliary wheel 3063 and the second auxiliary wheel 3064, which are arranged in a cross configuration, can be wide nylon wheels (wear-resistant). The support auxiliary wheel... Wide rubber wheels (with high friction) can be used. The cross arrangement of the first drive wheel 3061 and the second drive wheel 3062 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 3061 contacts the upper diversion reinforcement line (i.e., the lateral diversion reinforcement line corresponding to the upper guide wire 4), the support auxiliary wheel contacts the lower diversion reinforcement line, and the second drive wheel 3062 contacts the upper guide wire 4 or the crimping hardware corresponding to the upper guide wire 4. That is, the walking mechanism 306 always maintains at least three wheels in contact with the guide wire or diversion line to ensure the robot's walking posture is stable.

[0042] like Figure 13 As shown, a battery pull-out box 3071 is provided on the electrical control box 307, and a handle 3072 is provided on the battery pull-out box 3071 for easy battery replacement.

[0043] One working principle or process of this embodiment is as follows: like Figure 14 As shown, the upper guide wire 4 is detected. The transmitter 3032 is in the initial position. Under the action of the lifting adjustment component 3041, the imaging plate 3043 is raised to the position of the upper guide wire 4. Then, the angle of the imaging plate 3043 is adjusted by the angle adjustment component 3042. The imaging plate 3043 receives the X-rays emitted by the transmitter 3032 to detect the upper guide wire 4.

[0044] like Figure 15 As shown, after the upper conductor 4 is inspected, when the lower conductor 5 is inspected, the telescopic member 3031 moves the transmitter 3032 downward; under the action of the lifting adjustment component 3041, the imaging plate 3043 is raised to the position of the lower conductor 5, and then the angle of the imaging plate 3043 is adjusted by the angle adjustment component 3042. The imaging plate 3043 receives the X-rays emitted by the transmitter 3032 to inspect the lower conductor 5.

[0045] like Figure 16As shown, the slope of the lower guide wire 5 is not large, and the distance between the imaging plate 3043 and the lower guide wire 5 is small. When deflected, the imaging plate 3043 can completely cover the pressure pipe of the lower guide wire 5. At this time, the auxiliary support mechanism 305 is not needed.

[0046] like Figure 17 As shown, for the lower conductor 5 with a relatively large inclination and the inclination direction being the side of the lower conductor 5 away from the imaging plate 3043, due to the large distance between the imaging plate 3043 and the lower conductor 5, when deflected, the imaging plate 3043 may not be able to completely cover the lower conductor 5 crimping pipe. Therefore, through the auxiliary support mechanism 305, with the help of the transmission principle of the telescopic rod 3051 and the connecting rod 3053, when the telescopic rod 3051 retracts, the connecting rod 3053 rotates, and the conductor support 3055 can push the lower conductor 5 towards the imaging plate 3043, thereby completing the detection of the lower conductor 5 crimping pipe.

[0047] Example 2: This embodiment provides an assisted-support vertical double-splitting X-ray inspection method, which uses the assisted-support vertical double-splitting X-ray inspection robot as described in Embodiment 1, including: The upper guide wire 4 is inspected. The transmitter 3032 is in the initial position. Under the action of the lifting adjustment component 3041, the imaging plate 3043 is raised to the position of the upper guide wire 4. Then, the angle of the imaging plate 3043 is adjusted by the angle adjustment component 3042. The imaging plate 3043 receives the X-rays emitted by the transmitter 3032 to inspect the upper guide wire 4.

[0048] After the upper conductor 4 is inspected, when the lower conductor 5 is inspected, the telescopic member 3031 moves the transmitter 3032 downward; under the action of the lifting adjustment component 3041, the imaging plate 3043 is raised to the position of the lower conductor 5, and then the angle of the imaging plate 3043 is adjusted by the angle adjustment component 3042. The imaging plate 3043 receives the X-rays emitted by the transmitter 3032 to inspect the lower conductor 5.

[0049] The slope of the lower guide wire 5 is not large, and the distance between the imaging plate 3043 and the lower guide wire 5 is small. When deflected, the imaging plate 3043 can completely cover the pressure pipe of the lower guide wire 5. At this time, the auxiliary support mechanism 305 is not needed.

[0050] For the lower conductor 5 with a relatively large inclination and the inclination direction being the side of the lower conductor 5 away from the imaging plate 3043, due to the large distance between the imaging plate 3043 and the lower conductor 5, the imaging plate 3043 may not be able to completely cover the lower conductor 5 crimping pipe when deflected. Therefore, through the auxiliary support mechanism 305, with the help of the transmission principle of the telescopic rod 3051 and the connecting rod 3053, when the telescopic rod 3051 retracts, the connecting rod 3053 rotates, and the conductor support 3055 can push the lower conductor 5 towards the imaging plate 3043, thereby completing the detection of the lower conductor 5 crimping pipe.

[0051] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. An auxiliary-support type vertical double-split X-ray inspection robot, characterized in that, The robot body includes a frame, and a launching mechanism, an imaging mechanism, an auxiliary support mechanism, and a walking mechanism mounted on the frame. The walking mechanism is located in the middle of the frame, the launching mechanism and the auxiliary support mechanism are located on one side of the frame, and the imaging mechanism is located on the other side of the frame. The auxiliary support mechanism includes a telescopic rod mounted on the frame and a connecting rod hinged to the frame. One end of the connecting rod is hinged to the telescopic rod, and the other end is provided with a wire support member. The connecting rod is hinged to the frame via a second hinge member, and one end of the connecting rod is hinged to the telescopic rod via a first hinge member. The connecting rod is an arc-shaped mechanism. The robot's center of gravity is biased towards the imaging plate. When the imaging plate in the imaging mechanism cannot completely cover the lower wire crimping pipe, the telescopic rod drives the connecting rod to move, causing the wire support member to push the lower wire closer to the imaging plate.

2. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 1, characterized in that, The robot body includes a hook.

3. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 2, characterized in that, The hook includes an arc-shaped end with an open end, a diagonal rod connected to the arc-shaped end, a slot disposed at the end of the diagonal rod away from the arc-shaped end, an arc-shaped side portion connected to the slot, and a connecting portion disposed at the end of the arc-shaped side portion away from the slot.

4. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 1, characterized in that, The frame includes a first connecting component for mounting the imaging mechanism, a second connecting component for mounting the transmitting mechanism, and a third connecting component for mounting the auxiliary support mechanism; a guide beam is inclinedly provided at the bottom of the first connecting component.

5. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 4, characterized in that, The frame is also equipped with a slide rail and a slider that slides on the slide rail. The slider is connected to the transmitter by a clamp.

6. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 1, characterized in that, The imaging mechanism includes a lifting adjustment assembly mounted on the frame, an angle adjustment assembly mounted on the lifting adjustment assembly, and an imaging plate mounted on the angle adjustment assembly.

7. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 6, characterized in that, The lifting adjustment assembly includes a connecting plate mounted on the frame, a motor mounted on the connecting plate, a first pulley mounted on the output shaft of the motor, a lead screw rotatably mounted on the connecting plate, a second pulley mounted at one end of the lead screw, a conveyor belt mounted between the first pulley and the second pulley, and a nut mounted on the lead screw via a threaded connection; the lead screw and the nut constitute a lead screw and nut mechanism, and the angle adjustment assembly is mounted on the nut.

8. The auxiliary support type vertical double-split X-ray inspection robot as described in claim 1, characterized in that, The walking mechanism includes a first drive wheel, a second drive wheel, a first auxiliary wheel, and a second auxiliary wheel mounted on the frame; the first drive wheel and the first auxiliary wheel are mounted at a preset angle at one end of the frame, and the second drive wheel and the second auxiliary wheel are mounted at a preset angle at the other end of the frame; the first drive wheel and the second drive wheel are arranged crosswise, and the first auxiliary wheel and the second auxiliary wheel are arranged crosswise.

9. An auxiliary-supported vertical double-splitting X-ray detection method, characterized in that, The auxiliary support type vertical double-split X-ray inspection robot as described in any one of claims 1-8 is used, including: for a lower conductor tilted in the direction away from the imaging plate, when the imaging plate is deflected, the imaging plate cannot completely cover the lower conductor crimping pipe. Through the auxiliary support mechanism, with the help of the telescopic rod and the connecting rod transmission, the telescopic rod retracts, the connecting rod rotates, and the conductor support pushes the lower conductor towards the imaging plate, thereby completing the inspection of the lower conductor crimping pipe.

Images