Walking mechanism, inclined double-split conductor X-ray detection robot and inclined double-split conductor X-ray detection method

Abstract

The invention belongs to the technical field of power robots. The invention provides a walking mechanism, an inclined double-split conductor X-ray detection robot and a method. The walking mechanism comprises a motion platform, and a cross driving wheel, a cross auxiliary wheel and a supporting auxiliary wheel which are arranged on the motion platform, the cross driving wheel comprises a first driving wheel and a second driving wheel which are arranged in a cross mode, the cross auxiliary wheel comprises a first auxiliary wheel and a second auxiliary wheel which are arranged in a cross mode, and the cross auxiliary wheel is arranged between the first driving wheel and the second driving wheel; the supporting auxiliary wheel is arranged on the lower portion of one side of the motion platform and used for supporting a lower side wire or a lower side shunting reinforcing wire, and the cross auxiliary wheel and the supporting auxiliary wheel are used for supporting an upper side wire or an upper side shunting reinforcing wire. According to the invention, stable walking of the robot on the oblique double-split conductor with the shunting reinforcing wire is realized, and rollover of the robot is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power robots, and in particular to a walking mechanism, an oblique double-split conductor X-ray detection robot and a method. Background Art

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

[0003] A double-split overhead transmission line splits each phase conductor into two sub-conductors, which are maintained at a certain distance by spacers and other devices. While its structure is relatively simple, it effectively improves the line's electrical and mechanical performance. A diagonal (including 0° vertical) double-split overhead transmission line is a specific power transmission structure characterized by a double-split conductor arrangement, arranged diagonally or vertically.

[0004] Currently, inspection robots for oblique double-split overhead transmission lines face the following problems: conventional robot walking mechanisms can mostly only travel on horizontal double-split conductors. Because the inclination angle of oblique double-split conductors is uncertain (generally between 0° and 45°), conventional walking mechanisms cannot guarantee the robot's stability on overhead lines at high altitudes, making it prone to tipping over while traveling and resulting in poor safety. Summary of the Invention

[0005] In order to address the shortcomings of the existing technology, the present invention provides a walking mechanism, an oblique double-split conductor X-ray inspection robot and method, and designs a combined layout strategy of cross-drive wheels, cross-auxiliary wheels and support auxiliary wheels, which enables the robot to walk stably on oblique double-split conductors with shunt reinforcement lines, avoids the robot's rollover, and ensures the accuracy of X-ray inspection of crimped hardware.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a walking mechanism.

[0007] A walking mechanism comprises: a motion platform and cross driving wheels, cross auxiliary wheels and support auxiliary wheels arranged on the motion platform; The cross drive wheel includes a first drive wheel and a second drive wheel arranged in a cross pattern, and the cross auxiliary wheel includes a first auxiliary wheel and a second auxiliary wheel arranged in a cross pattern, wherein the cross auxiliary wheel is arranged between the first drive wheel and the second drive wheel; The supporting auxiliary wheel is arranged at the lower part of one side of the motion platform. The supporting auxiliary wheel is used to support the lower side wire or the lower side shunt reinforcement line. The cross auxiliary wheel and the supporting auxiliary wheel are used to support the upper side wire or the upper side shunt reinforcement line.

[0008] As a further limitation of the first aspect of the present invention, the central axes of the first driving wheel and the second driving wheel are arranged crosswise at 90°, and the first driving wheel and the second driving wheel are both fixed to the upper part of the motion platform through a bracket, and the central axes of the first driving wheel and the second driving wheel are perpendicular to the movement direction of the motion platform.

[0009] As a further limitation of the first aspect of the present invention, the first drive wheel and the second drive wheel have the same structure, and both include: a motor fixing 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; The motor fixing seat is fixedly connected to the motion platform, the drive motor is fixed on the motor fixing seat, and the output end of the drive motor is connected to the wheel hub through the motor adapter flange, so that the wheel hub can rotate under the drive of the drive motor; The two ends of the wheel hub are respectively connected with an inner baffle and an outer baffle. A convex rubber wheel is sleeved on one side of the wheel hub close to the inner baffle, and a column rubber wheel is sleeved on the position of the wheel hub close to the outer baffle.

[0010] As a further limitation of the first aspect of the present invention, the central axes of the first auxiliary wheel and the second auxiliary wheel are arranged to intersect at 90 degrees, and the first auxiliary wheel and the second auxiliary wheel are both fixed to the upper part of the motion platform through a bracket.

[0011] As a further limitation of the first aspect of the present invention, the first auxiliary wheel and the second auxiliary wheel have the same structure, and both include: Cross roller support, roller shaft, nylon roller and ball bearing, the cross roller support is fixedly connected to the motion platform, the two ends of the roller shaft are respectively connected to the cross roller support through ball bearings, the two ends of the roller shaft are provided with shaft end retaining rings, and the outer side of the roller shaft is provided with a nylon roller.

[0012] As a further limitation of the first aspect of the present invention, the supporting auxiliary wheel comprises: a driving motor, a rubber wheel, a motor fixing seat, a motor adapter flange, a wheel hub, a shaft end baffle, a ball bearing, a bearing seat and a rotating support shaft; The drive motor is fixed to the motion platform through a motor fixing seat, the output end of the drive motor is connected to the wheel hub through a motor adapter flange, the bearing seat is fixed to the motion platform, and the outer ring of the ball bearing is fixedly connected to the bearing seat; The end of the wheel hub is connected with a shaft end baffle, the rotation support shaft is connected to the wheel hub through the shaft end baffle, and the rotation support shaft is connected to the inner ring of the ball bearing.

[0013] In a second aspect, the present invention provides an operating method of a walking mechanism.

[0014] A method for operating a traveling mechanism, utilizing the traveling mechanism described in the first aspect of the present invention, comprises the following steps: During normal travel, the first and second driving wheels are in contact with the upper conductor, the supporting auxiliary wheels are in contact with the lower conductor, and the first and second auxiliary wheels are suspended in the air for standby, forming a three-point contact through the first driving wheel, the second driving wheel, and the supporting auxiliary wheels; When walking on the diversion reinforcement line, the first driving wheel contacts the upper diversion reinforcement line, the supporting auxiliary wheel contacts the lower diversion reinforcement line, and the second driving wheel contacts the upper conductor or the crimping tube corresponding to the upper conductor, always maintaining at least three wheels in contact with the conductor or the diversion reinforcement line.

[0015] In a third aspect, the present invention provides an oblique double-split conductor X-ray detection robot.

[0016] An oblique double-split conductor X-ray inspection robot comprises the walking mechanism described in the first aspect of the present invention, a transmitter assembly, and an imaging plate assembly, wherein the bottom opening of the motion platform forms a first branch structure and a second branch structure on the left and right sides; The transmitter assembly is detachably fixed on the first branch structure of the motion platform, and the imaging plate assembly is detachably fixed on the second branch structure of the motion platform.

[0017] As a further limitation of the third aspect of the present invention, the transmitter assembly includes a transmitter body, and the X-ray transmitter head of the transmitter body is a rotating transmitter head.

[0018] As a further limitation of the third aspect of the present invention, the imaging plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism and an imaging plate. The rotating support frame is detachably fixed on the moving platform, the rotating mechanism is slidingly connected to the rotating support frame, the telescopic mechanism is fixed on the rotating mechanism, and the imaging plate is fixed on the telescopic mechanism. The rotating mechanism can drive the telescopic mechanism to rotate, thereby driving the imaging plate to rotate.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention innovatively develops a walking mechanism, proposes an operating method of the walking mechanism, and designs a combined arrangement strategy of cross-drive wheels, cross-auxiliary wheels and support auxiliary wheels. The cross-drive wheels include a cross-arranged first drive wheel and a second drive wheel, and the cross-auxiliary wheels include a cross-arranged first auxiliary wheel and a second auxiliary wheel. The cross-auxiliary wheels are arranged between the first drive wheel and the second drive wheel. The support auxiliary wheels are arranged at the lower part of one side of the motion platform. The support auxiliary wheels are used to support the lower side wire or the lower side shunt reinforcement line. The cross-auxiliary wheels and the support auxiliary wheels are used to support the upper side wire or the upper side shunt reinforcement line, allowing the robot to pass through the shunt reinforcement line smoothly, thereby widening the operating range of the robot. The walking mechanism always maintains at least three wheels in contact with the wire or the shunt reinforcement line, thereby realizing the stable walking of the X-ray inspection robot on the oblique double-split wire with the shunt reinforcement line, avoiding the side rollover of the X-ray inspection robot, and ensuring the accuracy of X-ray inspection of crimping hardware.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 A schematic structural diagram of a motion platform provided in Example 1 of the present invention; Figure 2 A front view of the walking mechanism provided in Example 1 of the present invention; Figure 3 A top view of the walking mechanism provided in Example 1 of the present invention; Figure 4 A schematic diagram of the walking mechanism posture corresponding to the vertical double-split conductor provided in Example 1 of the present invention (the two conductors are at 0°, an extreme case of oblique double splitting); Figure 5 A schematic diagram of the walking mechanism posture corresponding to the oblique double-split conductor provided in Example 1 of the present invention (the two conductors are at 45 degrees, which is another extreme case of oblique double-split); Figure 6 A schematic diagram of the first drive wheel or the second drive wheel provided in Example 1 of the present invention; Figure 7 A schematic diagram of the first auxiliary wheel or the second auxiliary wheel provided in Example 1 of the present invention; Figure 8 A schematic diagram of the support auxiliary wheels provided in Example 1 of the present invention; Figure 9Schematic diagram of the flow through the diversion reinforcement line provided in Example 1 of the present invention Figure 1 ; Figure 10 Schematic diagram of the flow through the diversion reinforcement line provided by Example 1 of the present invention Figure 2 ; Among them, 1. Motion platform; 2. First driving wheel; 3. Second driving wheel; 4. First auxiliary wheel; 5. Second auxiliary wheel; 6. Support auxiliary wheel; 7. Upper guide plate; 8. Lower guide plate; 9. Quick release pin slot; 10. Quick release hole slot; 11. Motor fixing seat; 12. Driving motor; 13. Convex rubber wheel; 14. Wheel hub; 15. Column rubber wheel; 16. Motor adapter flange; 17. Inner baffle; 18. Outer baffle; 19. Cross roller support; 20. Roller shaft; 21. Nylon roller; 22. Ball bearing; 23. Bearing retaining ring; 24. Driving motor; 25. Rubber wheel; 26. Motor fixing seat; 27. Motor adapter flange; 28. Wheel hub; 29. ​​Shaft end baffle; 30. Ball bearing; 31. Bearing seat; 32. Rotating support shaft. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0025] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0026] Example 1: In this implementation, if Figure 1 、 Figure 2 and Figure 3 As shown, a walking mechanism is proposed, comprising: a motion platform 1 with an open bottom, cross driving wheels, cross auxiliary wheels and support auxiliary wheels 6; The cross drive wheels and cross auxiliary wheels are arranged on the upper part of the motion platform 1. The cross drive wheels include a first drive wheel 2 and a second drive wheel 3 arranged in a cross pattern. The cross auxiliary wheels include a first auxiliary wheel 4 and a second auxiliary wheel 5 arranged in a cross pattern. The cross auxiliary wheels are arranged between the first drive wheel 2 and the second drive wheel 3. The support auxiliary wheel 6 is arranged at the lower part of one side of the motion platform 1. The support auxiliary wheel 6 is used to support the lower side wire or the lower side shunt reinforcement wire. The cross auxiliary wheel and the support auxiliary wheel 6 are used to support the upper side wire or the upper side shunt reinforcement wire. The X-ray inspection robot corresponding to the above-mentioned walking mechanism can inspect the upper and lower sub-wires (oblique double split or vertical double split) crimping hardware at one time.

[0027] like Figure 4 and Figure 5 As shown, there are schematic diagrams of the walking mechanism posture corresponding to the vertical double-split conductor (the two conductors are at 0°) and the walking mechanism posture corresponding to the oblique double-split conductor (the two conductors are at 45°, and the extreme angle is 45°).

[0028] In this implementation, preferably, an upper guide plate 7 and a lower guide plate 8 are provided on one side of the opening of the motion platform 1, and a quick-release pin slot 9 is provided on the upper guide plate 7. A quick-release hole slot 10 is provided on the other side of the opening of the motion platform 1. The quick-release pin slot 9 of this implementation is used for detachable installation of the transmitter assembly and the corresponding control system box, and the quick-release hole slot 10 of this implementation is used for detachable installation of the receiving plate assembly. The upper guide plate 7 and the lower guide plate 8 are used to quickly allow the upper wire to fall onto the cross drive wheel when the UAV is hoisted.

[0029] More specifically, Figure 1 As shown, the upper guide plate 7 and the lower guide plate 8 are arranged on one side of the opening of the motion platform 1, and the inner edges of the two gradually shrink inward (and are both made into arc shapes to facilitate sliding when going online and offline), and cooperate with the other side of the opening of the inclined motion platform 1 to form an "inverted funnel-shaped" design (with a large lower opening), ensuring rapid docking and online connection when the drone is hoisted.

[0030] In this implementation, preferably, the motion platform bracket is made of lightweight aluminum alloy material welded together (for example, assembled from carbon fiber square tubes), which is light as a whole and convenient for hoisting the UAV.

[0031] In this implementation, preferably, the central axes of the first driving wheel 2 and the second driving wheel 3 are arranged to cross at 90 degrees, and the first driving wheel 2 and the second driving wheel 3 are both fixed to the upper part of the motion platform 1 through a bracket.

[0032] It is understandable that the angle of the cross arrangement here can also be slightly adjusted. For example, the cross angle can also be 85°, 95°, etc. Under different application conditions, it can also be selected within the range of 60°-120°. I will not go into details here.

[0033] In this implementation, preferably, the first driving wheel 2 and the second driving wheel 3 have the same structure, such as Figure 6 As shown, they all include: a motor fixing base 11, a driving motor 12, a convex rubber wheel 13, a wheel hub 14, a column rubber wheel 15, a motor adapter flange 16, an inner baffle 17 and an outer baffle 18; The motor fixing base 11 is fixedly connected to the motion platform 1, and the drive motor 12 is fixed on the motor fixing base 11. The output end of the drive motor 12 is connected to the wheel hub 14 through the motor adapter flange 16. The wheel hub 14 can rotate under the drive of the drive motor 12; The two ends of the hub 14 are connected to the inner baffle 17 and the outer baffle 18 respectively. The side of the hub 14 close to the inner baffle 17 is provided with a convex rubber wheel 13 , and the position of the hub 14 close to the outer baffle 18 is provided with a column rubber wheel 15 .

[0034] In this implementation, the convex rubber wheel 13 and the column rubber wheel 15 form an inwardly concave boss structure, which facilitates contact with the wire or the shunt reinforcement wire to ensure that the first drive wheel 2 and the second drive wheel 3 will not be separated from the wire, thereby avoiding the idling robot being unable to move due to the first drive wheel 2 and the second drive wheel 3.

[0035] In this implementation, preferably, the central axes of the first auxiliary wheel 4 and the second auxiliary wheel 5 are arranged to intersect at 90 degrees, and the first auxiliary wheel 4 and the second auxiliary wheel 5 are both fixed to the upper part of the motion platform 1 through a bracket.

[0036] In this implementation, preferably, the first auxiliary wheel 4 and the second auxiliary wheel 5 have the same structure, such as Figure 7 As shown, all include: Cross roller support 19, roller shaft 20, nylon roller 21 and ball bearing 22, the cross roller support 19 is fixedly connected to the motion platform 1, the two ends of the roller shaft 20 are respectively connected to the cross roller support 19 through ball bearings 22, the two ends of the roller shaft 20 are provided with shaft end retaining rings, and the outer side of the roller shaft 20 is provided with a nylon roller 21.

[0037] In this implementation, preferably, the auxiliary wheel 6 is supported, such as Figure 8 As shown, it includes: a driving motor 24, a rubber wheel 25, a motor fixing seat 26, a motor adapter flange 27, a wheel hub 28, a shaft end baffle 29, a ball bearing 22, a bearing seat 31 and a rotating support shaft 32; The drive motor 24 is fixed to the motion platform 1 via the motor fixing base 26. The output end of the drive motor 24 is connected to the wheel hub 28 via the motor adapter flange 27. The bearing seat 31 is fixed to the motion platform 1. The outer ring of the ball bearing 22 is fixedly connected to the bearing seat 31. The end of the wheel hub 28 is connected to a shaft end baffle 29 , and the rotation support shaft 32 is connected to the wheel hub 28 through the shaft end baffle 29 . The rotation support shaft 32 is connected to the inner ring of the ball bearing 22 .

[0038] Example 2: This implementation provides an operating method for a walking mechanism, using the walking mechanism described in Example 1 of the present invention, and includes the following steps: During normal walking, the first driving wheel 2 and the second driving wheel 3 are in contact with the upper wire, the supporting auxiliary wheel 6 is in contact with the lower wire, and the first auxiliary wheel 4 and the second auxiliary wheel 5 are suspended in the air for standby. The three-point contact formed by the first driving wheel 2, the second driving wheel 3 and the supporting auxiliary wheel 6 ensures the stability of the robot's operation; The cross drive wheels of this implementation adopt wide rubber wheels (high friction), the cross auxiliary wheels adopt wide nylon wheels (wear-resistant), and the support auxiliary wheels 6 adopt wide rubber wheels (high friction). The cross arrangement of the walking wheels allows the robot to pass through the diversion reinforcement line smoothly, thus widening the robot's operating range. like Figure 9 and Figure 10 As shown, when walking on the diversion reinforcement line, the first drive wheel 2 contacts the upper diversion reinforcement line, the support auxiliary wheel 6 contacts the lower diversion reinforcement line, and the second drive wheel 3 contacts the upper wire or the crimping tube corresponding to the upper wire, that is, the walking mechanism always maintains at least three wheels in contact with the wire or drainage line to ensure that the robot walks smoothly.

[0039] Example 3: This implementation provides an oblique double-split conductor X-ray inspection robot, comprising the walking mechanism, transmitter assembly, imaging plate assembly, and control system box described in Example 1 of the present invention; The transmitter assembly and the control system box are detachably fixed on one side of the opening of the motion platform 1 , and the imaging board assembly is detachably fixed on the other side of the opening of the motion platform 1 .

[0040] In this implementation, preferably, the X-ray detection robot adopts a left-biased center of gravity arrangement, and heavier components such as the control system box and transmitter are arranged on the left side of the robot. When the drone places the robot on the wire, it first contacts the upper wire, and then according to the inclination angle of the wire, the X-ray detection robot rotates with the upper wire as the fulcrum axis until the supporting auxiliary wheel 6 contacts the lower wire. At this time, the X-ray detection robot is in a balanced state (three-point support). The X-ray detection robot of this implementation can adapt to double-split wires with an inclination angle of 0°~45°. When it is in the middle position of 22.5°, the X-ray detection robot is in a horizontal state. When the lower limit position is 0°, the X-ray detection robot rotates counterclockwise and tilts. When the upper limit position is 45°, the X-ray detection robot rotates clockwise and tilts.

[0041] In this implementation, preferably, the transmitter assembly includes a transmitter body, and the X-ray transmitter head of the transmitter body is a rotating transmitter head.

[0042] In this implementation, preferably, the imaging plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism and an imaging plate. The rotating support frame is detachably fixed on the motion platform 1, the rotating mechanism is slidingly connected to the rotating support frame, the telescopic mechanism is fixed on the rotating mechanism, and the imaging plate is fixed on the telescopic mechanism. The rotating mechanism can drive the telescopic mechanism to rotate, thereby driving the imaging plate to rotate.

[0043] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A walking mechanism, characterized in that: include: A motion platform and cross-drive wheels, cross-auxiliary wheels and support auxiliary wheels arranged on the motion platform; The cross drive wheel includes a first drive wheel and a second drive wheel arranged in a cross pattern, and the cross auxiliary wheel includes a first auxiliary wheel and a second auxiliary wheel arranged in a cross pattern, wherein the cross auxiliary wheel is arranged between the first drive wheel and the second drive wheel; The supporting auxiliary wheel is arranged at the lower part of one side of the motion platform. The supporting auxiliary wheel is used to support the lower side wire or the lower side shunt reinforcement line. The cross auxiliary wheel and the supporting auxiliary wheel are used to support the upper side wire or the upper side shunt reinforcement line.

2. The walking mechanism according to claim 1, wherein: The central axes of the first driving wheel and the second driving wheel are arranged at 90 degrees to each other, and the first driving wheel and the second driving wheel are fixed to the upper part of the motion platform through a bracket, and the central axes of the first driving wheel and the second driving wheel are perpendicular to the motion direction of the motion platform.

3. The walking mechanism according to claim 2, characterized in that: The first driving wheel and the second driving wheel have the same structure, both comprising: a motor fixing seat, a driving motor, a convex rubber wheel, a wheel hub, a column rubber wheel, a motor adapter flange, an inner baffle and an outer baffle; The motor fixing seat is fixedly connected to the motion platform, the drive motor is fixed on the motor fixing seat, and the output end of the drive motor is connected to the wheel hub through the motor adapter flange, so that the wheel hub can rotate under the drive of the drive motor; The two ends of the wheel hub are respectively connected with an inner baffle and an outer baffle. A convex rubber wheel is sleeved on one side of the wheel hub close to the inner baffle, and a column rubber wheel is sleeved on the position of the wheel hub close to the outer baffle.

4. The walking mechanism according to any one of claims 1 to 3, characterized in that: The central axes of the first auxiliary wheel and the second auxiliary wheel are arranged to intersect at 90 degrees, and the first auxiliary wheel and the second auxiliary wheel are both fixed to the upper part of the motion platform through a bracket.

5. The walking mechanism according to claim 4, characterized in that: The first training wheel and the second training wheel have the same structure, both including: Cross roller support, roller shaft, nylon roller and ball bearing, the cross roller support is fixedly connected to the motion platform, the two ends of the roller shaft are respectively connected to the cross roller support through ball bearings, the two ends of the roller shaft are provided with shaft end retaining rings, and the outer side of the roller shaft is provided with a nylon roller.

6. The walking mechanism according to any one of claims 1 to 3, characterized in that: Support auxiliary wheel, including: driving motor, rubber wheel, motor fixing seat, motor adapter flange, wheel hub, shaft end baffle, ball bearing, bearing seat and rotating support shaft; The drive motor is fixed to the motion platform through a motor fixing seat, the output end of the drive motor is connected to the wheel hub through a motor adapter flange, the bearing seat is fixed to the motion platform, and the outer ring of the ball bearing is fixedly connected to the bearing seat; The end of the wheel hub is connected with a shaft end baffle, the rotation support shaft is connected to the wheel hub through the shaft end baffle, and the rotation support shaft is connected to the inner ring of the ball bearing.

7. A method for operating a walking mechanism, characterized in that: Utilizing the walking mechanism according to any one of claims 1 to 6, comprising the following process: During normal travel, the first and second driving wheels are in contact with the upper conductor, the supporting auxiliary wheels are in contact with the lower conductor, and the first and second auxiliary wheels are suspended in the air for standby, forming a three-point contact through the first driving wheel, the second driving wheel, and the supporting auxiliary wheels; When walking on the diversion reinforcement line, the first driving wheel contacts the upper diversion reinforcement line, the supporting auxiliary wheel contacts the lower diversion reinforcement line, and the second driving wheel contacts the upper conductor or the crimping tube corresponding to the upper conductor, always maintaining at least three wheels in contact with the conductor or the diversion reinforcement line.

8. An oblique double-split conductor X-ray inspection robot, characterized in that: The moving platform comprises the walking mechanism, the transmitter assembly and the imaging plate assembly according to any one of claims 1 to 6, wherein the bottom opening of the moving platform forms a first branch structure and a second branch structure on the left and right sides; The transmitter assembly is detachably fixed on the first branch structure of the motion platform, and the imaging plate assembly is detachably fixed on the second branch structure of the motion platform.

9. The oblique double-split conductor X-ray inspection robot according to claim 8, characterized in that: The transmitter assembly includes a transmitter body, and the X-ray transmitting head of the transmitter body is a rotating transmitting head.

10. The oblique double-split conductor X-ray inspection robot according to claim 8 or 9, characterized in that: The imaging plate assembly includes: a rotating support frame, a rotating mechanism, a telescopic mechanism and an imaging plate. The rotating support frame is detachably fixed on a motion platform. The rotating mechanism is movably connected to the rotating support frame. The telescopic mechanism is fixed on the rotating mechanism. The imaging plate is fixed on the telescopic mechanism. The rotating mechanism can drive the telescopic mechanism to rotate, thereby driving the imaging plate to rotate.

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