An X-ray detection robot for live working of overhead power lines

Abstract

The application provides an X-ray detection robot for live-line work of an overhead power transmission line, and belongs to the technical field of detection robots.The X-ray detection robot comprises an X-ray detection device, a hook claw and an anti-falling-off assembly.The hook claw comprises a bent portion and two connecting portions, one end of the connecting portion is fixedly connected with the bent portion, the other end of the connecting portion is fixedly connected with the top end of the X-ray detection device, the anti-falling-off assembly comprises a steering engine and an anti-falling-off rod, the steering engine is installed on the top end of the X-ray detection device, and the anti-falling-off rod is fixedly connected with the output end of the steering engine.The anti-falling-off assembly is arranged on the robot, the power insulating rope on the unmanned aerial vehicle is hung on the bent portion of the hook claw during use, the steering engine is controlled to rotate counterclockwise, the anti-falling-off rod is driven to rotate, the anti-falling-off rod and the bent portion of the hook claw are reliably overlapped, an effective anti-falling-off structure is formed, the equipment is prevented from being accidentally fallen off from the insulating rope due to shaking, wind force or operation errors during hoisting or hovering, and the whole hoisting process is safer.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of detection robots, and particularly relates to an X-ray detection robot for live working of an overhead power transmission line. BACKGROUND

[0002] With the continuous development of science and technology and the continuous upgrading of new products, people's living environment has changed greatly. Even in the Internet era, we still have an increasing demand for electricity. At present, overhead power transmission lines are the main means of power transmission. Inevitably, overhead power transmission lines are subjected to wind, sun, rain and snow erosion for a long time outdoors, and are prone to line damage and aging. If problems cannot be found in time, it will cause the interruption of power transmission, thereby bringing great inconvenience and loss to the electricity users. Therefore, it is very important to use an X-ray detection robot to regularly patrol and investigate the overhead power transmission line.

[0003] The existing X-ray detection robot is simply connected together with the hook claw on the X-ray detection robot through the power insulating rope, and then the X-ray detection robot is hoisted to the target position by a drone. Because the X-ray detection robot does not need to be mounted with a drone to participate in the operation during the operation process, the power insulating rope also needs to be detached from the hook claw on the X-ray detection robot, and then the drone and the power insulating rope are returned to the ground, so that the X-ray detection robot operates independently. Because there is a lack of anti-skid and anti-detaching device between the power insulating rope and the hook claw, the equipment is easy to accidentally slip off from the insulating rope due to shaking, wind or operation error during hoisting or hovering, resulting in high-altitude falling. The falling equipment not only has a high risk of damage itself, but also may impact the power facilities below, causing short circuit and even explosion, which seriously threatens the safety of ground personnel and the operation of the power grid. SUMMARY

[0004] (1) Technical problem to be solved

[0005] In view of the defects of the prior art, the purpose of the present application is to provide an X-ray detection robot for live working of an overhead power transmission line, so as to solve the problem that the existing X-ray detection robot is simply connected together with the hook claw on the X-ray detection robot through the power insulating rope, and cannot effectively resist external force interference in dynamic working environment, which has serious safety hazards.

[0006] (2) Technical scheme

[0007] In order to solve the above technical problems, the application provides an X-ray detection robot for live working of overhead transmission lines, which comprises an X-ray detection device, a hook claw and an anti-falling assembly; the hook claw comprises a bending part and two connecting parts, one end of the connecting part is fixedly connected with the bending part, and the other end of the connecting part is fixedly connected with the top end of the X-ray detection device; the anti-falling assembly comprises a steering engine and an anti-falling rod, the steering engine is installed at the top end of the X-ray detection device, and the anti-falling rod is fixedly connected with the output end of the steering engine.

[0008] The steering engine is provided with a band brake, which can be automatically clamped after power failure to prevent the steering engine from moving due to external force.

[0009] The control signal of the steering engine is integrated on the remote controller of the X-ray detection robot, so that the opening and closing of the anti-falling assembly can be remotely controlled.

[0010] Preferably, the bending part is fixedly connected with a lapping seat, the other end of the lapping seat is provided with a lapping groove, the other end of the anti-falling rod is fixedly connected with a limiting hook, and the steering engine is used to make the limiting hook lapped in the lapping groove.

[0011] Preferably, the X-ray detection device comprises a device body, the front and rear sides of the device body are fixedly connected with mounting rods, two moving wheel sets are slidingly installed at the two ends of the mounting rods, two electric push rods are fixedly connected on the mounting rods, and the telescopic ends of the electric push rods are fixedly connected with the moving wheel sets.

[0012] Preferably, the moving wheel set comprises a sliding frame, a walking wheel and a motor, the cross section of the mounting rod is in a rectangular structure, the sliding frame is sleeved on the outer surface of the mounting rod, the outer surface of the sliding frame is provided with an avoiding hole, a roller is rotatably connected to the outer surface of the sliding frame at the avoiding hole, the outer surface of the roller is in contact with the mounting rod, the walking wheel is rotatably connected to the outer surface of the sliding frame, and the motor is used to drive the walking wheel to rotate.

[0013] Preferably, the walking wheel comprises a mounting frame, a rolling part and two guide parts, the mounting frame is rotatably connected to the middle part of the outer surface of the sliding frame through two bearings, the rolling part is fixedly sleeved on the outer surface of the mounting frame, and the two guide parts are fixedly connected to the two sides of the mounting frame.

[0014] Preferably, the side of the sliding frame close to the device body is fixedly connected with a support, the motor is fixedly connected to the top end of the support, the output end of the motor is fixedly connected with a gear, the side of the guide part close to the device body is fixedly connected with a gear ring, and the gear ring is in meshing connection with the gear.

[0015] Preferably, the end of the sliding frame away from the device body is fixedly connected with a guide rod, and the guide rod is in an inclined structure.

[0016] Preferably, the bottom end of the support is rotatably connected with connecting rods through a pin shaft, and the left and right connecting rods are rotatably connected through a pin shaft.

[0017] Preferably, a U-shaped frame is fixedly connected between the guide rod and the support, and a brush is fixedly connected to the U-shaped frame.

[0018] Preferably, reinforcing plates are fixedly connected to the upper and lower sides of the mounting rod, and the other ends of the reinforcing plates are fixedly connected with the device body.

[0019] Advantages

[0020] Compared with the prior art, the advantages of the present application are that:

[0021] In the above scheme, the power insulating rope on the unmanned aerial vehicle is hung on the bent part of the hook claw during use, the rudder is controlled to rotate counterclockwise, the anti-dropping rod is driven to rotate, the anti-dropping rod and the bent part of the hook claw are reliably lapped, an effective anti-dropping structure is formed, and the device is prevented from accidentally slipping off the insulating rope due to shaking, wind force or operation error during hoisting or hovering, and the whole hoisting process is safer.

[0022] In the above scheme, two moving wheel sets are slidably installed at the two ends of the mounting rod, and during use, the electric push rod can drive the moving wheel sets to slide left and right on the mounting rod, so as to adjust the distance between the left and right moving wheel sets, facilitate moving and inspection on power lines of different widths, and enhance the application range of the X-ray detection robot.

[0023] In the above scheme, the hook claw is made of high-strength alloy material, has excellent mechanical strength and wear resistance, can withstand the weight of the robot itself and various pulling forces and friction forces that may be encountered during transportation, ensures that deformation, damage and other problems do not easily occur during long-term use, thereby prolonging the service life of the anti-dropping assembly. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Schematic diagram of the three-dimensional structure of the X-ray detection robot for live working of overhead transmission lines.

[0025] Figure 2 Schematic diagram of the front view structure of the X-ray detection robot for live working of overhead transmission lines.

[0026] Figure 3 Schematic diagram of the anti-dropping assembly and hook claw lapping structure of the X-ray detection robot for live working of overhead transmission lines.

[0027] Figure 4 Schematic diagram of the top view structure of the X-ray detection robot for live working of overhead transmission lines.

[0028] Figure 5 Structure diagram of a moving wheel set of an X-ray detection robot for live working of overhead transmission lines.

[0029] Figure 6 Structure diagram of a sliding frame of an X-ray detection robot for live working of overhead transmission lines.

[0030] Figure 7 Exploded structure diagram of a walking wheel of an X-ray detection robot for live working of overhead transmission lines.

[0031] Figure 8 Structure diagram of a walking wheel of an X-ray detection robot for live working of overhead transmission lines.

[0032] The labels in the drawings are: 1, X-ray detection equipment; 2, hook claw; 3, anti-off component; 4, equipment body; 5, mounting rod; 6, moving wheel set; 201, bending part; 202, connecting part; 203, lapping seat; 204, lapping groove; 301, steering wheel; 302, anti-off rod; 303, limiting hook; 501, reinforcing plate; 502, electric push rod; 601, sliding frame; 602, walking wheel; 603, motor; 604, avoiding hole; 605, roller; 606, support; 607, gear; 608, gear ring; 609, guide rod; 610, connecting rod; 611, U-shaped frame; 612, brush; 6021, mounting frame; 6022, rolling part; 6023, guide part; 6024, bearing. DETAILED DESCRIPTION

[0033] The embodiment of the application provides an X-ray detection robot for live working of overhead transmission lines, which comprises X-ray detection equipment 1, a hook claw 2 and an anti-off component 3; the hook claw 2 is made of high-strength alloy material and has excellent mechanical strength and wear resistance, can bear the weight of the robot itself and various pulling forces and friction forces possibly encountered in the transportation process, ensures that deformation, damage and other problems do not easily occur in a long-time use process, thereby prolonging the service life of the anti-off component 3, reducing maintenance cost and replacement frequency;

[0034] The front of the hook claw 2 is substantially in a 7-shaped structure, the hook claw 2 comprises a bending part 201 and two connecting parts 202, the bending part 201 is in a V-shaped structure, one end of the connecting part 202 is fixedly connected with the bending part 201, the other end of the connecting part 202 is fixedly connected with the top end of the X-ray detection equipment 1, the anti-falling assembly 3 comprises a rudder 301 and an anti-falling rod 302, the rudder 301 is installed on the top end of the X-ray detection equipment 1, the anti-falling rod 302 is fixedly connected with the output end of the rudder 301, wherein the control of the rudder 301 can be directly integrated into the remote controller of the X-ray detection robot, and remote control is performed, so that the locking and unlocking operations of the anti-falling assembly 3 are convenient, do not affect the normal operation process, and the rudder 301 is provided with a holding brake, after power failure, the holding brake is automatically held, so that the rudder 301 is prevented from moving due to external force, the high-precision control characteristics of the rudder 301 can ensure that the opening and closing movements of the anti-falling assembly 3 are accurate and stable, so that the robot can be accurately hooked with the power insulating rope, the situation of online failure or instability caused by the anti-falling assembly 3 not being in place or being excessive is avoided, and the success rate and reliability of online are significantly improved;

[0035] Before the robot is online, the anti-falling rod 302 is unlocked under the driving of the rudder 301, then the power insulating rope on the unmanned aerial vehicle is hung on the bending part 201 of the hook claw 2, the rudder 301 is controlled to rotate counterclockwise, the anti-falling rod 302 is driven to rotate, and the anti-falling rod 302 and the bending part 201 of the hook claw 2 are reliably overlapped, so as to form an effective anti-falling structure, avoid the equipment from accidentally falling off from the insulating rope due to shaking, wind force or operation error during hoisting or hovering, and make the whole hoisting process safer, then the X-ray detection robot is hoisted to a target position by the unmanned aerial vehicle, the moving wheel set 6 is located on the overhead transmission line, then the rudder 301 is controlled to rotate clockwise, the anti-falling rod 302 is driven to rotate, and the anti-falling rod 302 is separated from the bending part of the hook claw 2.

[0036] As shown in Figure 1 and Figure 3 in the embodiment, the bending part 201 is fixedly connected with an overlapping seat 203, the other end of the overlapping seat 203 is provided with an overlapping groove 204, the other end of the anti-falling rod 302 is fixedly connected with a limiting hook 303, and the rudder 301 is used for making the limiting hook 303 overlap in the overlapping groove 204; the rudder 301 is controlled to rotate counterclockwise, the anti-falling rod 302 is driven to rotate, the limiting hook 303 of the anti-falling rod 302 and the overlapping groove 204 of the hook claw 2 are reliably overlapped, and the power insulating rope is better prevented from falling off.

[0037] As shown in Figure 1 and Figure 2As shown in the drawings, in this embodiment, the X-ray detection device 1 comprises a device body 4, an equal potential joint is arranged between the outer cover of the steering wheel 301 and the top shell of the device body 4, which effectively balances the potential between components, eliminates the potential difference between device components, prevents secondary accidents caused by static electricity accumulation or electric leakage during hoisting, and prevents secondary accidents caused by static electricity accumulation or electric leakage during hoisting. The device body 4 is fixedly connected with the mounting rod 5 on the front and rear sides, two movable wheel sets 6 are slidingly installed at the two ends of the mounting rod 5, two electric push rods 502 are fixedly connected to the left and right sides of the lower surface of the mounting rod 5, and the extension end of the electric push rod 502 is fixedly connected with the movable wheel set 6. The movable wheel set 6 can be driven to slide left and right on the mounting rod 5 by the electric push rod 502, so as to adjust the distance between the left and right movable wheel sets 6, facilitate movement and inspection on power lines of different widths, and enhance the application range of the X-ray detection robot.

[0038] As shown in the drawings, Figure 1 and Figure 5 As shown in the drawings, in this embodiment, the movable wheel set 6 comprises a sliding frame 601, a walking wheel 602 and a motor 603, the cross section of the mounting rod 5 is a rectangular structure, the sliding frame 601 is sleeved on the outer surface of the mounting rod 5, the outer surface of the sliding frame 601 is provided with an avoiding hole 604, and the outer surface of the sliding frame 601 is rotatably connected with a roller 605 at the avoiding hole 604. The outer surface of the roller 605 is in contact with the mounting rod 5, the walking wheel 602 is rotatably connected to the outer surface of the sliding frame 601, and the motor 603 is used to drive the walking wheel 602 to rotate; the inner wall of the sliding frame 601 and the outer surface of the mounting rod 5 are left with a gap, and the friction between the sliding frame 601 and the mounting rod 5 is reduced by the roller 605, so that the movable wheel set 6 can better slide left and right on the mounting rod 5.

[0039] As shown in the drawings, Figures 6-8 As shown in the drawings, in this embodiment, the walking wheel 602 comprises a mounting frame 6021, a rolling part 6022 and two guide parts 6023, the mounting frame 6021 is rotatably connected to the middle part of the outer surface of the sliding frame 601 through two bearings 6024, the rolling part 6022 is fixedly sleeved on the outer surface of the mounting frame 6021, and the two guide parts 6023 are fixedly connected to the two sides of the mounting frame 6021; the walking wheel 602 is of an insulating structure, so that the walking wheel 602 is more convenient to install, and the electric wire is always moved on the rolling part 6022 through the guide part 6023, preventing falling off.

[0040] As shown in the drawings, Figure 6 and Figure 7As shown in the drawings, in this embodiment, the sliding frame 601 is fixedly connected with a support 606 on one side close to the equipment body 4, the motor 603 is fixedly connected at the top end of the support 606, the output end of the motor 603 is fixedly connected with a gear 607, the guide part 6023 is fixedly connected with a gear ring 608 on one side close to the equipment body 4, and the gear ring 608 is in meshing connection with the gear 607; after the unmanned aerial vehicle hoists the X-ray detection robot to the target position and the moving wheel set 6 is located on the overhead transmission line, the motor 603 is controlled to drive the gear 607 to rotate, and the gear 607 can drive the walking wheel 602 to move along the wire in cooperation with the gear ring 608 in the rotating process, so that the X-ray detection equipment 1 moves and detects the overhead transmission line.

[0041] As shown in the drawings, Figure 1 and Figure 5 As shown in the drawings, in this embodiment, the sliding frame 601 is fixedly connected with a guide rod 609 at the end away from the equipment body 4, and the guide rod 609 is of an inclined structure; when the unmanned aerial vehicle hoists the X-ray detection robot to the target position, the guide rod 609 can guide the wire into the walking wheel 602, so that the X-ray detection robot accurately falls on the overhead transmission line.

[0042] As shown in the drawings, Figure 1 and Figure 2 As shown in the drawings, in this embodiment, the bottom end of the support 606 is rotatably connected with a connecting rod 610 through a pin shaft, and the left and right two connecting rods 610 are rotatably connected through pin shafts; in this way, the left and right two walking wheels 602 can move synchronously, so that the equipment body 4 is always located in the middle part, avoiding the center of gravity from deviating.

[0043] As shown in the drawings, Figure 1 and Figure 4 As shown in the drawings, in this embodiment, a U-shaped frame 611 is fixedly connected between the guide rod 609 and the support 606, and a brush 612 is fixedly connected to the lower surface of the U-shaped frame 611; in this way, during the movement of the X-ray detection robot along the overhead transmission line, the dust and sundries can be swept away by the brush 612, avoiding the walking wheel 602 from being separated from the wire.

[0044] As shown in the drawings, Figure 1 and Figure 2 As shown in the drawings, in this embodiment, the upper and lower sides of the mounting rod 5 are fixedly connected with reinforcing plates 501, and the other end of the reinforcing plate 501 is fixedly connected with the equipment body 4; the fixing strength between the mounting rod 5 and the equipment body 4 is increased through the reinforcing plate 501, and the moving wheel set 6 is better installed.

[0045] Working principle: before the robot is online, the anti-falling rod 302 is unlocked under the driving of the steering wheel 301, then the power insulating rope on the unmanned aerial vehicle is hung on the bending part 201 of the hook claw 2, then the steering wheel 301 is controlled to rotate counterclockwise, the anti-falling rod 302 is driven to rotate, the anti-falling rod 302 and the bending part of the hook claw 2 are reliably overlapped, thereby forming an effective anti-falling structure, then the X-ray detection robot is hoisted to the target position by the unmanned aerial vehicle, the moving wheel group 6 is located on the overhead transmission line, then the steering wheel 301 is controlled to rotate clockwise, the anti-falling rod 302 is driven to rotate, the anti-falling rod 302 is separated from the bending part of the hook claw 2, then the power insulating rope is separated from the bending part 201 of the hook claw 2, then the motor 603 drives the gear 607 to rotate, the gear 607 cooperates with the gear ring 608 in the rotating process, and the walking wheel 602 can be driven to move along the wire, so that the X-ray detection equipment 1 moves and detects the overhead transmission line.

[0046] All the technical features in the embodiment can be freely combined according to actual needs.

[0047] The above embodiment is a preferred implementation scheme of the present application, in addition to this, the present application can also be implemented in other ways, any obvious replacement without departing from the technical scheme concept is within the protection scope of the present application.

Claims

1. An X-ray inspection robot for live working on an overhead power line, characterized in that, The utility model provides an X ray detection equipment, hook claw and anti -drop subassembly, and the X ray detection equipment is connected with the hook claw through the anti -drop subassembly, and the hook claw is connected with the anti -drop subassembly through the anti -drop subassembly. The hook claw (2) comprises a bending part (201) and two connecting parts (202), one end of the connecting part (202) is fixedly connected with the bending part (201), the other end of the connecting part (202) is fixedly connected with the top end of the X ray detection equipment (1), the anti -drop subassembly (3) comprises a rudder (301) and an anti -drop rod (302), the rudder (301) is installed on the top end of the X ray detection equipment (1), and the anti -drop rod (302) is fixedly connected on the output end of the rudder (301). The rudder (301) is provided with a brake band, after power failure, the brake band is automatically held, and the rudder (301) is prevented from moving due to external force; The control signal of the rudder (301) is integrated on the remote controller of the X ray detection robot, and the opening and closing of the anti -drop subassembly (3) are realized remotely. The X ray detection equipment (1) comprises a device body (4), the front and rear sides of the device body (4) are fixedly connected with mounting rods (5), two movable wheel groups (6) are slidably installed at the two ends of the mounting rod (5), two electric push rods (502) are fixedly connected on the mounting rod (5), and the telescopic ends of the electric push rods (502) are fixedly connected with the movable wheel groups (6). The movable wheel group (6) comprises a sliding frame (601), a walking wheel (602) and a motor (603), the cross section of the mounting rod (5) is of rectangular structure, the sliding frame (601) is sleeved on the outer surface of the mounting rod (5), the outer surface of the sliding frame (601) is provided with an avoiding hole (604), a roller (605) is rotatably connected to the outer surface of the sliding frame (601) at the avoiding hole (604), the outer surface of the roller (605) is in contact with the mounting rod (5), the walking wheel (602) is rotatably connected to the outer surface of the sliding frame (601), and the motor (603) is used to drive the walking wheel (602) to rotate.

2. The live working X-ray inspection robot for overhead power lines according to claim 1, characterized in that, The bending part (201) is fixedly connected with a lap joint seat (203), the other end of the lap joint seat (203) is provided with a lap joint groove (204), the other end of the anti -drop rod (302) is fixedly connected with a limiting hook (303), and the rudder (301) is used for making the limiting hook (303) lap in the lap joint groove (204).

3. The live working X-ray inspection robot for overhead transmission lines according to claim 1, characterized in that, The walking wheel (602) comprises a mounting frame (6021), a rolling part (6022) and two guide parts (6023), the mounting frame (6021) is rotatably connected to the middle part of the outer surface of the sliding frame (601) through two bearings (6024), the rolling part (6022) is fixedly sleeved on the outer surface of the mounting frame (6021), and the two guide parts (6023) are fixedly connected on the two sides of the mounting frame (6021).

4. The live working X-ray inspection robot for overhead power lines according to claim 3, characterized in that, The sliding frame (601) is fixedly connected with a support (606) near one side of the equipment body (4), the motor (603) is fixedly connected at the top end of the support (606), the output end of the motor (603) is fixedly connected with a gear (607), the guide part (6023) is fixedly connected with a gear ring (608) near one side of the equipment body (4), and the gear ring (608) is meshed with the gear (607).

5. The live working X-ray inspection robot for overhead power lines according to claim 4, characterized in that, The sliding frame (601) is fixedly connected with a guide rod (609) away from one end of the equipment body (4), and the guide rod (609) is of an inclined structure.

6. The live working X-ray inspection robot for overhead power lines according to claim 5, characterized in that, The bottom end of the support (606) is rotatably connected with a connecting rod (610) through a pin shaft, and the left and right two connecting rods (610) are rotatably connected through pin shafts.

7. The live working X-ray inspection robot for overhead power lines according to claim 6, characterized in that, A U-shaped frame (611) is fixedly connected between the guide rod (609) and the support (606), and a brush (612) is fixedly connected on the U-shaped frame (611).

8. The live working X-ray inspection robot for overhead transmission lines according to claim 1, characterized in that, The mounting rod (5) is fixedly connected with a reinforcing plate (501) on the upper and lower sides, and the other end of the reinforcing plate (501) is fixedly connected with the equipment body (4).

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