Single-wire walking mechanism, X-ray detection robot and method

Abstract

The invention belongs to the technical field of power robots. The invention provides a single-wire walking mechanism, an X-ray detection robot and a method. The single-wire walking mechanism comprises a motion platform, a driving wheel, an outer side auxiliary wheel and an inner side auxiliary wheel, an obliquely downward opening is formed in the motion platform, the driving wheel is arranged on the upper portion of the motion platform, the outer side auxiliary wheel is arranged on the outer side of the driving wheel, and the inner side auxiliary wheel is arranged on the inner side of the driving wheel. The driving wheel is used for making contact with a to-be-detected wire, the outer side auxiliary wheel is used for being matched with the driving wheel to drive the robot to walk when the robot rotates in the posture, and the inner side auxiliary wheel is used for making contact with a lateral shunt reinforcing wire. According to the X-ray detection robot, stable walking of the robot under cooperation of the driving wheel, the outer side auxiliary wheel, the inner side auxiliary wheel, the front end auxiliary wheel and other wheels is achieved, the applicability of X-ray detection with a lateral shunt reinforcement line and an upper shunt reinforcement line is improved, rotation and rollover of the robot during movement are avoided, and the walking stability of the robot on a single wire is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of electric robots, and in particular to a single-conductor walking mechanism, an 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-circuit line refers to a line with two circuits installed on the same tower, each operating at the same voltage and frequency, but not necessarily the same. In circuit systems, such as those used in everyday appliances, double-circuit circuits stabilize voltage, ensuring system safety while also effectively reducing losses during power transmission.

[0004] At present, most people use the "drone + long insulating rope" method to detect single-conductor crimping tubes. However, for the lower phase sub-conductor of a double-circuit line, it is impossible to use a long insulating rope to achieve effective crimping hardware detection due to the obstruction of the upper phase sub-conductor and the middle phase sub-conductor. The walking mechanism of existing X-ray inspection robots can only walk on horizontal double-split conductors, and cannot be stably applied to single-conductor scenarios. It cannot smoothly pass through special operation scenarios such as shunt reinforcement lines, and cannot detect single-conductor crimping hardware with shunt reinforcement lines. Summary of the Invention

[0005] In order to address the shortcomings of the existing technology, the present invention provides a single-wire walking mechanism, an X-ray detection robot and a method, and designs a motion platform with an oblique downward opening, so that the robot can walk stably with the cooperation of multiple wheels such as driving wheels, outer auxiliary wheels and inner auxiliary wheels, avoiding rotation and rollover of the robot during movement, and ensuring the stability of the robot walking on the single wire.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a single-conductor traveling mechanism.

[0008] A single-conductor walking mechanism comprises: a moving platform with an oblique downward opening to form an internal open space, and the walking mechanism comprises a driving wheel, an outer auxiliary wheel set and an inner auxiliary wheel set located in the open space;

[0009] The driving wheel is arranged in the middle position of the motion platform, the outer auxiliary wheel group is arranged on one side of the driving wheel, and the inner auxiliary wheel is arranged on the other side of the driving wheel;

[0010] The driving wheel is used to contact the wire to be tested, the outer auxiliary wheel is used to cooperate with the driving wheel to drive the robot to move when the robot rotates, and the inner auxiliary wheel is used to contact the lateral shunt reinforcement line.

[0011] As a further limitation of the first aspect of the present invention, the drive wheels include a first drive wheel and a second drive wheel arranged sequentially along the forward direction, a first outer auxiliary wheel and a first inner auxiliary wheel are correspondingly arranged on both sides of the first drive wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel are correspondingly arranged on both sides of the second drive wheel.

[0012] As a further limitation of the first aspect of the present invention, the first drive wheel and the second drive wheel are arranged horizontally, the first outer auxiliary wheel forms an angle greater than or equal to 90° with the first drive wheel, and the second outer auxiliary wheel forms an angle greater than or equal to 90° with the second drive wheel.

[0013] As a further limitation of the first aspect of the present invention, the first inner auxiliary wheel and the second inner auxiliary wheel are arranged vertically.

[0014] As a further limitation of the first aspect of the present invention, the present invention further includes a front auxiliary wheel arranged at the front of the motion platform, the front auxiliary wheel being used to contact the upper diverter reinforcement line.

[0015] As a further limitation of the first aspect of the present invention, the driving wheel comprises: a motor fixing base, a driving motor, a motor output flange, an inner baffle, a wheel hub, a rubber wheel and an outer baffle, wherein the driving motor is fixed to the motion platform via the motor fixing base;

[0016] The driving motor is connected to the hub through the electrode output flange. The two ends of the hub are connected with an inner baffle and an outer baffle. The outer sleeve of the hub is provided with a rubber wheel, and a U-shaped groove is provided in the middle of the rubber wheel.

[0017] As a further limitation of the first aspect of the present invention, the inner auxiliary wheel includes: an axis end retaining ring, a roller support, a roller shaft, a nylon roller and a roller bearing, the two ends of the roller shaft are connected to the roller bearings, the outer ring of the roller bearing is connected to the roller support, the two ends of the roller shaft are connected to the axis end retaining ring, and the outer sleeve of the roller shaft is provided with a nylon roller.

[0018] In a second aspect, the present invention provides an operating method of a single-conductor walking mechanism.

[0019] A method for operating a single-conductor traveling mechanism, utilizing the single-conductor traveling mechanism described in the first aspect of the present invention, comprises the following steps:

[0020] When the motion platform passes through a conductor with a side shunt reinforcement wire, the conductor is pulled out of the U-shaped groove of the drive wheel under the force of the side shunt reinforcement wire. The center of gravity of the motion platform deviates from the center of the conductor, causing the motion platform to flip over. The drive wheel and the outer auxiliary wheel form a cross wheel, and the motion platform continues to move in the cross wheel posture.

[0021] When the motion platform passes through the wire with the upper diversion reinforcement line, the front auxiliary wheel first contacts the upper diversion reinforcement line and moves upward along the upper diversion reinforcement line. The front end of the motion platform is raised and the front first drive wheel is in a suspended state. At this time, the front auxiliary wheel and the rear second drive wheel support the motion platform, and the force on the rear second drive wheel increases, the friction force increases, and the motion platform is driven by the second drive wheel.

[0022] In the third aspect, the present invention provides a single-conductor X-ray detection robot, comprising the single-conductor walking mechanism described in the first aspect of the present invention, a transmitter arranged at the bottom of a moving platform, a receiving plate arranged in front of the moving platform, and an electronic control component arranged at the bottom of the moving platform.

[0023] As a further limitation of the third aspect of the present invention, the center of gravity of the robot is located below the drive wheels, and the center of gravity of the robot is located on a straight line below the drive wheels and parallel to a line connecting the midpoints of the first drive wheel and the second drive wheel, so that when the robot normally walks on the wire, the wire is located in the U-shaped groove in the middle of the drive wheels;

[0024] The top of the motion platform is connected to an insulating lifting mechanism, and the center line of the insulating lifting mechanism deviates toward the side of the robot's center of gravity away from the opening, so that when the drone lifts the robot, the robot tends to rotate clockwise under the action of gravity, thereby making the cable inlet tilt downward.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The present invention innovatively develops a single-conductor walking mechanism, designs a motion platform with an oblique downward opening, calibrates the center of gravity of the robot, and uses a driving wheel to contact the conductor to be tested. The outer auxiliary wheel is used to cooperate with the driving wheel to drive the robot to walk when the robot rotates. The inner auxiliary wheel is used to contact the lateral diversion reinforcement line, and the front auxiliary wheel is used to contact the upper diversion reinforcement line. The stable walking of the robot is achieved with the cooperation of multiple wheels such as the driving wheel, the outer auxiliary wheel, the inner auxiliary wheel and the front auxiliary wheel, thereby improving the applicability of X-ray detection with lateral diversion reinforcement lines and upper diversion reinforcements, avoiding rotation and rollover of the robot during movement, and ensuring the stability of the robot walking on a single conductor.

[0027] 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

[0028] 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.

[0029] Figure 1 Schematic diagram of the distribution of the wheel group of the walking mechanism provided by the present invention Figure 1 ;

[0030] Figure 2 Schematic diagram of the distribution of the wheel group of the walking mechanism provided by the present invention Figure 2 ;

[0031] Figure 3 A schematic diagram of the wide U-shaped drive wheel provided by the present invention;

[0032] Figure 4 A schematic diagram of the inner auxiliary wheel provided by the present invention;

[0033] Figure 5 A schematic diagram of the outer auxiliary wheel provided by the present invention;

[0034] Figure 6 A schematic diagram of the front auxiliary wheel provided by the present invention;

[0035] Figure 7 This is a schematic diagram of the traveling mechanism provided by the present invention when traveling normally on a conductor;

[0036] Figure 8 A schematic diagram of the walking mechanism provided by the present invention walking on the upper diversion reinforcement line;

[0037] Figure 9 A schematic diagram of the posture and force of the motion platform provided by the present invention after flipping;

[0038] Among them, 1. Wide U-shaped drive wheel; 2. Outer auxiliary wheel; 3. Inner auxiliary wheel; 4. Front auxiliary wheel; 5. Motion platform; 6. Press-fit hardware; 7. Robot center of gravity; 8. Motor fixing seat; 9. Drive motor; 10. Motor output flange; 11. Inner baffle; 12. Outer baffle; 13. Wheel hub; 14. Rubber wheel; 15. U-shaped groove; 16. Roller support; 17. Roller bearing; 18. Roller shaft; 19. Shaft end retaining ring; 20. Nylon roller; 21. Lateral diversion reinforcement line; 22. Upper diversion reinforcement line; 23. Oblique downward opening. DETAILED DESCRIPTION

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0040] 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.

[0041] In this implementation, a single-conductor walking mechanism is proposed, such as Figure 1 and Figure 2As shown, it includes: a motion platform 5, a wide U-shaped drive wheel 1, an outer auxiliary wheel 2, an inner auxiliary wheel 3, and a front auxiliary wheel 4. The motion platform 5 has an oblique downward opening 23. The combined design of "wide U-shaped drive wheel 1 + outer auxiliary wheel 2 + inner auxiliary wheel 3 + front auxiliary wheel 4" improves the robot's adaptability to complex line environments and can detect X-ray inspection of line crimping hardware 6 with lateral and upper drainage lines.

[0042] In this implementation, preferably, the wide U-shaped drive wheel 1 is arranged on the upper part of the motion platform 5, the outer auxiliary wheel 2 is arranged on the outside of the drive wheel, and the inner auxiliary wheel 3 is arranged on the inside of the drive wheel. The wide U-shaped drive wheel 1 is used to contact the wire to be measured, and the outer auxiliary wheel 2 is used to cooperate with the wide U-shaped drive wheel 1 to drive the robot to walk when the robot rotates, and the inner auxiliary wheel 3 is used to contact the lateral diversion reinforcement line 21.

[0043] In this implementation, preferably, the above-mentioned motion platform 5 is hoisted by a drone, the bottom of the drone is connected with insulating legs and insulating claws, and the top of the motion platform 5 is connected with an insulating hoisting mechanism. The hoisting mechanism here is in the form of a hoisting frame. The insulating legs, insulating claws, and insulating hoisting mechanism of the drone are all designed with insulation, and use high-strength, insulating epoxy resin (tubes, plates) materials to ensure absolute insulation between the drone and the robot.

[0044] During the specific lifting process, the drone moves to the lower left (i.e., moves from the upper direction to the lower direction to achieve line drop) until the robot is hung on the wire. The two sides of the wide U-shaped drive wheel 1 are inclined surfaces. Under the action of gravity, the robot slides into the U-shaped wheel groove of the wide U-shaped drive wheel 1.

[0045] In this implementation, preferably, the UAV is a heavy-load UAV that can lift the robot, and an optical camera and an insulating claw are installed on its belly. The insulating claw is installed under the belly of the UAV and is an auxiliary connection device for lifting the robot onto the overhead transmission line conductor. This implementation is used in conjunction with an observation wingman, which is a light UAV that can approach the transmission line for observation and provide high-definition images to ground workers throughout the entire robot inspection operation.

[0046] In this implementation, preferably, the installation positions of various components are reasonably configured during design, and the center of gravity of the motion platform 5 (after carrying all components) is located below the wide U-shaped drive wheel 1, and the center of gravity of the motion platform 5 (after carrying all components) is located on a straight line below the drive wheel that is parallel to the line connecting the midpoints of the first drive wheel and the second drive wheel, so that when the motion platform 5 (after carrying all components) is walking normally on the wire, the wire is located in the U-shaped groove 15 in the middle of the wide U-shaped drive wheel 1, so as to ensure that the walking mechanism has a stable posture when walking on the line and will not overturn.

[0047] The center line of the hoisting mechanism is arranged slightly to the left of the robot's center of gravity 7 (i.e., the center line of the insulating hoisting mechanism deviates to the side of the robot's center of gravity 7 away from the opening). When the drone hoists the robot, under the action of gravity, the motion platform 5 will tend to rotate clockwise, such as Figure 6 As shown, the line inlet is now tilted downward, which is convenient for the moving platform 5 to go online and offline.

[0048] In this implementation, preferably, the motion platform 5 bracket is welded with lightweight aluminum alloy material, and a metal shielding space is reserved for placing components that require electrical shielding, such as transmitters, receiving boards, and electronic control elements. More specifically, the front probe of the receiving board (located in the metal shielding space) can detect the tail of the anti-loosening type crimping tube, and the transmitter is also located in the metal shielding space, and metal shielding is used to achieve live detection.

[0049] In this implementation, preferably, the wide U-shaped drive wheel 1 includes a first drive wheel and a second drive wheel arranged in sequence along the forward direction. The first drive wheel and the second drive wheel are both made of silicone rubber with high friction, and serve as the main drive wheel to drive the robot to walk on the line.

[0050] A first outer auxiliary wheel and a first inner auxiliary wheel are arranged on either side of the first drive wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel are arranged on either side of the second drive wheel. The first and second drive wheels are arranged horizontally, with the first outer auxiliary wheel forming an angle greater than or equal to 90° with the first drive wheel, and the second outer auxiliary wheel forming an angle greater than or equal to 90° with the second drive wheel. The first and second inner auxiliary wheels are arranged vertically.

[0051] In this implementation, preferably, the first outer auxiliary wheel is arranged at an angle of 90° to the first driving wheel, and the second outer auxiliary wheel is arranged at an angle of 90° to the second driving wheel, which can ensure stable contact with the wire.

[0052] In some other implementations, the first outer auxiliary wheel is arranged at an angle of 120° to the first drive wheel, and the second outer auxiliary wheel is arranged at an angle of 120° to the second drive wheel. The structures of the first outer auxiliary wheel and the second outer auxiliary wheel are as follows: Figure 5 shown.

[0053] like Figure 3As shown, the wide U-shaped drive wheel 1 includes: a motor fixing seat 8, a drive motor 9, a motor output flange 10, an inner baffle 11, a hub 13, a rubber wheel 14 and an outer baffle 12. The drive motor 9 is fixed to the motion platform 5 through the motor fixing seat 8; the drive motor 9 is connected to the hub 13 through the electrode output flange, and the inner baffle 11 and the outer baffle 12 are connected to the two ends of the hub 13. The outer part of the hub 13 is provided with a rubber wheel 14, and the middle position of the rubber wheel 14 is provided with a U-shaped groove 15.

[0054] In this implementation, preferably, when the robot passes through the wire with the lateral diversion reinforcement line 21, the inner auxiliary wheel 3 and the lateral diversion reinforcement line 21 roll friction to avoid hard friction and improve the robot's passability. Figure 4 As shown, it includes: a shaft end retaining ring 19, a roller support 16, a roller shaft 18, a nylon roller 20 and a roller bearing 17. The roller shaft 18 is connected to the roller bearings 17 at both ends, and the outer ring of the roller bearing 17 is connected to the roller support. The two ends of the roller shaft are connected to the shaft end retaining ring 19, and the outer sleeve of the roller shaft is provided with a nylon roller 20.

[0055] When the walking mechanism passes through the conductor with the lateral lead wire, Figure 1 and Figure 2 As shown, under the action of the lateral drainage line, the walking mechanism will deviate from the main line, that is, the main line will deviate from the U-shaped groove 15 of the wide U-shaped drive wheel 1 of the walking mechanism. At this time, the center of gravity of the motion platform 5 (after carrying all components) deviates from the center of the wire. As the deviation increases, the motion platform 5 (after carrying all components) will flip over, and the wide U-shaped drive wheel 1 and the corresponding outer auxiliary wheel 2 will form a cross wheel form, and the walking mechanism will continue to move in this posture.

[0056] According to the principles of mechanics, the center of gravity of the motion platform 5 (after all components are loaded) is below the wire. Under the action of its own gravity G and the wind force F, the resultant force on the robot is F1 on the lower left or F2 on the lower right. Since the robot is not subject to upward force and has no upward movement tendency, the motion platform 5 (after all components are loaded) will not fall over the wire. Figure 9 shown.

[0057] In this implementation, the travel mechanism preferably further includes front auxiliary wheels 4 disposed at the front of the motion platform 5, and the front auxiliary wheels 4 are configured to contact the upper diversion reinforcement wire 22. Specifically, when the conductor has a large slope or an upper diversion wire exists, the front of the motion platform 5 (after all components are loaded) may first contact the conductor. To prevent hard friction between the motion platform 5 (after all components are loaded) and the conductor, the front auxiliary wheels 4 are installed at the front of the motion platform 5. When the travel mechanism travels on a horizontal conductor, the front auxiliary wheels 4 do not contact the conductor.

[0058] like Figure 7 and Figure 8 As shown, when the robot passes through the wire with the upper shunt reinforcement line 22, the front auxiliary wheel 4 first contacts the upper shunt reinforcement line 22 and moves upward along the upper shunt reinforcement line 22. The front end of the motion platform 5 is raised, and the first drive wheel is in a suspended state. At this time, the front auxiliary wheel 4 and the second drive wheel support the motion platform 5, and the force on the second drive wheel increases, the friction force increases, and the motion platform 5 is driven by the second drive wheel.

[0059] This implementation method also proposes a single-conductor X-ray detection robot, including the above-mentioned single-conductor walking mechanism, a transmitter arranged at the bottom of the motion platform 5, a receiving plate arranged in front of the motion platform 5, and an electronic control component arranged at the bottom of the motion platform 5; the center of gravity of the robot is located below the driving wheel, and the center of gravity of the robot is located on a straight line below the driving wheel parallel to the line connecting the midpoints of the first driving wheel and the second driving wheel, so that when the robot walks normally on the wire, the wire is located in the U-shaped groove 15 in the middle of the driving wheel; the top of the motion platform 5 is connected to an insulating lifting mechanism, and the center line of the insulating lifting mechanism deviates to the side of the robot's center of gravity 7 away from the opening, so that when the drone lifts the robot, the robot tends to rotate clockwise under the action of gravity, thereby making the wire inlet tilt downward.

[0060] 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 single-conductor walking mechanism, characterized in that: include: The motion platform has an oblique downward opening to form an internal open space, and the walking mechanism includes a driving wheel, an outer auxiliary wheel group and an inner auxiliary wheel group located in the open space; The driving wheel is arranged in the middle position of the motion platform, the outer auxiliary wheel group is arranged on one side of the driving wheel, and the inner auxiliary wheel is arranged on the other side of the driving wheel; The driving wheel is used to contact the wire to be tested, the outer auxiliary wheel is used to cooperate with the driving wheel to drive the robot to move when the robot rotates, and the inner auxiliary wheel is used to contact the lateral shunt reinforcement line.

2. The single-conductor traveling mechanism according to claim 1, characterized in that: The driving wheels include a first driving wheel and a second driving wheel arranged in sequence along the forward direction, a first outer auxiliary wheel and a first inner auxiliary wheel are arranged on both sides of the first driving wheel, and a second outer auxiliary wheel and a second inner auxiliary wheel are arranged on both sides of the second driving wheel.

3. The single-conductor traveling mechanism according to claim 2, characterized in that: The first drive wheel and the second drive wheel are arranged horizontally, the first outer auxiliary wheel forms an angle greater than or equal to 90° with the first drive wheel, and the second outer auxiliary wheel forms an angle greater than or equal to 90° with the second drive wheel.

4. The single-conductor traveling mechanism according to any one of claims 1 to 3, characterized in that: The first inner auxiliary wheel and the second inner auxiliary wheel are arranged vertically.

5. The single-conductor traveling mechanism according to any one of claims 1 to 3, characterized in that: It also includes a front auxiliary wheel arranged at the front part of the motion platform, and the front auxiliary wheel is used to contact the upper diversion reinforcement line.

6. The single-conductor traveling mechanism according to any one of claims 1 to 3, characterized in that: The driving wheel comprises: a motor fixing base, a driving motor, a motor output flange, an inner baffle, a wheel hub, a rubber wheel and an outer baffle, wherein the driving motor is fixed to the motion platform through the motor fixing base; The driving motor is connected to the hub through the electrode output flange. The two ends of the hub are connected with an inner baffle and an outer baffle. The outer sleeve of the hub is provided with a rubber wheel, and a U-shaped groove is provided in the middle of the rubber wheel.

7. The single-conductor traveling mechanism according to any one of claims 1 to 3, characterized in that: The inner auxiliary wheel includes: an axis end retaining ring, a roller support, a roller shaft, a nylon roller and a roller bearing. The two ends of the roller shaft are connected to the roller bearings, the outer ring of the roller bearing is connected to the roller support, the two ends of the roller shaft are connected to the axis end retaining ring, and the outer sleeve of the roller shaft is provided with a nylon roller.

8. A method for operating a single-conductor walking mechanism, characterized in that: Utilizing the single-conductor traveling mechanism according to any one of claims 1 to 7, The following processes are included: When the motion platform passes through a conductor with a side shunt reinforcement wire, the conductor is pulled out of the U-shaped groove of the drive wheel under the force of the side shunt reinforcement wire. The center of gravity of the motion platform deviates from the center of the conductor, causing the motion platform to flip over. The drive wheel and the outer auxiliary wheel form a cross wheel, and the motion platform continues to move in the cross wheel posture. When the motion platform passes through the wire with the upper diversion reinforcement line, the front auxiliary wheel first contacts the upper diversion reinforcement line and moves upward along the upper diversion reinforcement line. The front end of the motion platform is raised and the front first drive wheel is in a suspended state. At this time, the front auxiliary wheel and the rear second drive wheel support the motion platform, and the force on the rear second drive wheel increases, the friction force increases, and the motion platform is driven by the second drive wheel.

9. A single-wire X-ray inspection robot, characterized in that: The invention comprises the single-conductor walking mechanism according to any one of claims 1 to 7, a transmitter arranged at the bottom of a moving platform, a receiving plate arranged in front of the moving platform, and an electric control element arranged at the bottom of the moving platform.

10. The single-wire X-ray inspection robot according to claim 9, characterized in that: The center of gravity of the robot is located below the drive wheels. The center of gravity of the robot is located on a straight line below the drive wheels and parallel to the line connecting the midpoints of the first drive wheel and the second drive wheel, so that when the robot walks normally on the wire, the wire is located in the U-shaped groove in the middle of the drive wheels. The top of the motion platform is connected to an insulating lifting mechanism, and the center line of the insulating lifting mechanism deviates toward the side of the robot's center of gravity away from the opening, so that when the drone lifts the robot, the robot tends to rotate clockwise under the action of gravity, thereby making the cable inlet tilt downward.

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