Multifunctional power transmission line X-ray detection robot

Abstract

The invention belongs to the technical field of power transmission line detection, and relates to a multifunctional power transmission line X-ray detection robot. The multifunctional power transmission line X-ray detection robot comprises a main support, a walking mechanism, an imaging mechanism and a supporting mechanism. Wherein the walking mechanism is connected with the main support, and the walking mechanism can move along the first wire; the imaging mechanism is connected with the main support, the imaging mechanism comprises a first assembly used for generating detection rays and an imaging plate connected with the first assembly, and a partial area between the first assembly and the imaging plate forms a detection area; the supporting mechanism is connected with the main support, the supporting mechanism takes the second wire as a stress supporting position and drives the imaging mechanism to deviate, so that the detection rays generated by the first assembly avoid the second wire, and the height of the first wire is larger than that of the second wire. According to the invention, the blocking of the lower-layer wire can be avoided, the detection process of the upper-layer wire is effectively ensured to be smoothly carried out, and the accuracy of the detection result is ensured.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection technology, and in particular to a multifunctional X-ray inspection robot for power transmission lines. Background Technology

[0002] Overhead transmission lines are the primary carriers of electrical energy transmission, and their health directly affects the reliability and security of the entire power grid. With the rapid construction of ultra-high-voltage (UHV) power grids, transmission lines are constantly extending, covering increasingly wider areas, making line safety extremely critical. In the structural composition of overhead transmission lines, crimp fittings, as key components connecting conductors to towers and conductors to each other, bear the dual functions of mechanical connection and electrical conduction; their integrity has a decisive impact on line safety. Crimping fittings mainly include tension clamps, splicing tubes, and suspension clamps. Tension clamps are used to fix conductors at line terminals and on tension towers, bearing the full tension of the conductors; splicing tubes are used for conductor damage repair and line segment connection; suspension clamps are used to suspend conductors on straight towers, allowing the conductors a certain range of free movement.

[0003] To improve transmission capacity and suppress corona discharge, ultra-high voltage (UHV) transmission lines commonly employ a multi-split conductor design, where each phase conductor consists of multiple sub-conductors arranged in a specific geometric shape. While this structure enhances transmission performance, it also significantly increases the complexity of the line structure.

[0004] The compact arrangement of multiple split conductors makes it difficult for detection equipment to directly access the upper conductor. X-ray inspection requires a strict relative positional relationship between the radiation source, the object being inspected, and the imaging plate; however, achieving this ideal positional relationship is difficult when a lower conductor is present. After penetrating the upper conductor, the radiation may continue to penetrate the lower conductor, causing image overlap between the two conductors and increasing the difficulty of image interpretation. Summary of the Invention

[0005] The purpose of this invention is to provide a multifunctional X-ray inspection robot for power transmission lines, which avoids obstruction by lower conductors, effectively ensures the smooth progress of the inspection process for upper conductors, and ensures the accuracy of the inspection results.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A multifunctional X-ray inspection robot for transmission lines, used for inspecting multi-split conductors, wherein the multi-split conductor includes at least a first conductor and a second conductor, comprising:

[0008] Main support;

[0009] A walking mechanism is connected to the main support, and the walking mechanism can move along the first guide wire;

[0010] An imaging mechanism is connected to the main support. The imaging mechanism includes a first component for generating detection rays and an imaging plate connected to the first component. A portion of the area between the first component and the imaging plate forms a detection zone.

[0011] A support mechanism is connected to the main bracket. The support mechanism uses the second conductor as a force-bearing support position and drives the imaging mechanism to shift so that the detection ray generated by the first component avoids the second conductor. The height of the first conductor is greater than the height of the second conductor.

[0012] As an alternative solution for a multifunctional X-ray inspection robot for power transmission lines, the support mechanism includes a first driving member disposed on the main support and a support member that is pulsatorically connected to the first driving member. The first driving member is used to drive the support member to push the second conductor, so that the entire multifunctional X-ray inspection robot for power transmission lines rotates about the first conductor as an axis.

[0013] As an alternative solution for a multifunctional X-ray inspection robot for power transmission lines, the support mechanism includes a first rod group and a second rod group. One end of the first rod group is hinged to one end of the support member, one end of the second rod group is hinged to another part of the support member, the other end of the first rod group is hinged to the support member, and the other end of the second rod group is hinged to the support member.

[0014] As an alternative solution for a multifunctional X-ray inspection robot for power transmission lines, the driving end of the first driving member is hinged to the first rod group, and the other end of the driving member relative to the driving end is hinged to the support member, and the first driving member outputs linear motion.

[0015] As an alternative to a multifunctional X-ray inspection robot for power transmission lines, the walking mechanism includes a second component spaced apart along the extension direction of the first conductor, the second component comprising:

[0016] The traveling wheel has a limiting groove for accommodating the first wire;

[0017] The two guard wheels are located at opposite ends of the traveling wheel, and the outer diameter of the two guard wheels gradually increases in the direction away from the traveling wheel.

[0018] As an alternative solution for a multi-functional X-ray inspection robot for power transmission lines, it includes:

[0019] The lifting mechanism includes a sleeve and a slide rod. The sleeve is fixedly connected to one end of the main support at one of the two ends of the walking wheel along the axial direction. One end of the slide rod is rotatably connected to the imaging mechanism, and the slide rod is slidably connected to the sleeve along the axial direction.

[0020] As an alternative to a multifunctional X-ray inspection robot for power transmission lines, the width of the guard wheel closer to the bushing is smaller than the width of the other guard wheel.

[0021] As an optional solution for a multifunctional X-ray inspection robot for power transmission lines, the lifting mechanism further includes a drive wheel and a pulley assembly located within the main support. The pulley assembly includes a fixed pulley located on the main support and a movable pulley located at one end of the slide bar. The drive wheel moves the movable pulley closer to the fixed pulley by winding up the line, and moves the movable pulley away from the fixed pulley by releasing the line.

[0022] As an alternative solution for a multi-functional X-ray inspection robot for power transmission lines, it includes:

[0023] A tilting mechanism is provided at one end of the slide bar near the first component, and the tilting mechanism is used to drive the imaging mechanism to tilt relative to the main support.

[0024] As an alternative solution for a multifunctional X-ray inspection robot for power transmission lines, the yaw mechanism includes a support base and a second drive member disposed on the support base. One end of the second drive member is rotatably connected to the support base, and the other end is fixedly connected to the hinge shaft of the imaging mechanism. The second drive member is used to drive the hinge shaft to rotate, so that the imaging mechanism yaws relative to the support base.

[0025] The beneficial effects of the technical solution in this invention are as follows:

[0026] In this invention, the walking mechanism drives the main support along the first conductor, thereby allowing the imaging mechanism to move to the location of the part or component to be inspected on the first conductor. This enhances the flexibility and adaptability of the multifunctional X-ray inspection robot for power transmission lines, avoids manual repositioning, and reduces labor intensity. Furthermore, a support mechanism is used with the second conductor located below as the supporting point, causing an angular shift in the imaging mechanism and the overall inspection robot. This ensures that the inspection rays emitted by the first component avoid the second conductor, allowing the first conductor to be accurately positioned within the inspection area. This prevents obstruction by the second conductor, effectively guaranteeing the smooth online inspection of the first conductor and ensuring accurate and reliable inspection results. Attached Figure Description

[0027] Figure 1 This is a front view of the multifunctional X-ray inspection robot for power transmission lines provided in an embodiment of the present invention;

[0028] Figure 2 This is a side view of the multifunctional X-ray inspection robot for power transmission lines with its support mechanism not deployed, as provided in an embodiment of the present invention.

[0029] Figure 3 This is a side view of a multifunctional X-ray inspection robot for power transmission lines with a support mechanism deployed according to an embodiment of the present invention.

[0030] Figure 4 This is an isometric view of the multifunctional X-ray inspection robot for power transmission lines with hidden structures provided in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the driving part in the second component provided in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the walking portion in the second component provided in an embodiment of the present invention;

[0033] Figure 7 This is an exploded view of the walking portion in the second component provided in an embodiment of the present invention;

[0034] Figure 8 This is an exploded view of the sleeve and slide bar mating part in the lifting mechanism provided in the embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the cooperation part between the drive wheel and the pulley group in the lifting mechanism provided in the embodiment of the present invention;

[0036] Figure 10 This is a layout diagram of the cooperation between the drive wheel and the pulley block in the lifting mechanism provided in an embodiment of the present invention;

[0037] Figure 11 This is a schematic diagram of the oscillation mechanism in the multifunctional X-ray inspection robot for power transmission lines provided in an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of the support mechanism in the multifunctional X-ray inspection robot for power transmission lines provided in an embodiment of the present invention.

[0039] In the picture:

[0040] 100. Multi-split conductor; 110. First conductor; 120. Second conductor;

[0041] 1. Main bracket; 11. Lifting ring; 12. Panel; 121. Screen; 122. Switch button; 13. Support plate; 14. Gimbal; 15. Camera;

[0042] 2. Walking mechanism; 21. Second component; 211. Walking wheel; 2111. Limiting groove; 212. Guard wheel; 213. Drive shaft; 214. Third drive component; 215. Gearbox; 22. Cover;

[0043] 3. Imaging mechanism; 31. First component; 32. Imaging plate; 33. Connecting frame; 34. Detection area;

[0044] 4. Lifting mechanism; 40. Connecting line; 41. Sleeve; 42. Slide rod; 43. Drive wheel; 44. Fixed pulley; 45. Moving pulley; 46. Fixed pulley seat; 47. Moving pulley seat; 48. Tensioner; 49. Sliding bearing;

[0045] 5. Oscillating mechanism; 51. Support base; 52. Second driving component; 53. Hinge shaft; 54. First link; 55. Second link;

[0046] 6. Support mechanism; 61. First driving component; 62. Support component; 63. First linkage group; 64. Second linkage group; 65. Housing;

[0047] 7. Bearings. Detailed Implementation

[0048] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0052] This embodiment relates to a multifunctional X-ray inspection robot for transmission lines (hereinafter referred to as the "inspection robot"), which is particularly suitable for online X-ray inspection of multi-split conductors in overhead transmission lines. It can be used to inspect pre-inspection sections of the conductors and various functional components to be inspected on the conductors, such as crimp fittings, including but not limited to tension clamps, splice tubes, and suspension clamps. This embodiment will be described in detail using a two-split conductor as an example, but those skilled in the art will understand that this inspection robot is equally applicable to single-split and four-split conductors. Therefore, based on the premise that a multi-split conductor should include at least a first conductor and a second conductor, and that the first and second conductors are at different heights from the ground, in this embodiment, the height of the first conductor is greater than the height of the second conductor.

[0053] Please see the appendix Figure 1 - Appendix Figure 3 This inspection robot includes a main support 1, a walking mechanism 2, an imaging mechanism 3, and a support mechanism 6. The walking mechanism 2 is connected to the main support 1 and can move along a first guide wire 110. The imaging mechanism 3 is also connected to the main support 1 and includes a first component 31 for generating detection rays and an imaging plate 32 connected to the first component 31. A portion of the area between the first component 31 and the imaging plate 32 forms a detection area 34. The support mechanism 6 is connected to the main support 1 and uses a second guide wire 120 as a support point, causing the imaging mechanism 3 to deflect so that the detection rays generated by the first component 31 avoid the second guide wire 120. The height of the first guide wire 110 is greater than the height of the second guide wire 120.

[0054] Specifically, the main support 1 is a cubic box structure, with a U-shaped hoisting ring 11 on it. The inspection robot is hoisted onto and off the line using a drone connected to the hoisting ring 11. After the drone hoists the inspection robot to any position on the first guide wire 110, it can move to a designated shooting position via the controlled walking mechanism 2. This significantly improves the convenience of the inspection robot, overcomes the need for manual handling or hoisting onto the tower, reduces construction difficulty, and improves work efficiency. It avoids manual climbing operations and enhances operational efficiency.

[0055] The main support 1 can integrate a control system and a power system to power the imaging mechanism 3 and the walking mechanism 2, and to control the imaging and walking functions. Existing technologies can be used for the specific control software and programs, which will not be elaborated upon in this embodiment. Additionally, a panel 12 is integrated on one side of the main support 1. The panel 12 has a start / stop switch 122 and a screen 121 for displaying the robot's status, thereby improving the automation level of this inspection robot.

[0056] The walking mechanism 2 drives the main support 1 to move along the first guide wire 110, thereby enabling the imaging mechanism 3 to move to the location of the part to be inspected or the part to be inspected on the first guide wire 110. This improves the flexibility and adaptability of the entire online inspection robot, avoids manual relocation, and reduces labor intensity.

[0057] Furthermore, the imaging mechanism 3 can utilize X-ray imaging, that is, by emitting detection rays—X-rays penetrate the workpiece, and the residual rays are excited to generate image information on the imaging plate 32, thereby obtaining an internal image and completing the pre-inspection of the wire located in the inspection area 34 or the photographic inspection of the workpiece. In this embodiment, the first component 31 is an X-ray emitter.

[0058] The support mechanism 6 can be directly or indirectly connected to the main support 1. The connection can take various forms, such as using fasteners for threaded or snap-fit ​​connections, or welding for a fixed connection. The support mechanism 6 can utilize a single drive source to offset the imaging mechanism 3 with the second guide wire 120 as the support point, or it can use a drive source combined with a transmission mechanism to achieve the same action.

[0059] In this embodiment, a support mechanism 6 is used with the second guide wire 120 located below as the force support position. The reaction force causes the imaging mechanism 3 and the overall detection robot to shift at an angle, so that the X-rays emitted by the first component 31 avoid the second guide wire 120. This allows the first guide wire 110 to be accurately placed inside the detection area 34, avoiding the obstruction of the second guide wire 120. This effectively ensures the smooth implementation of the online detection process of the first guide wire 110, while ensuring that the detection results of the first guide wire 110 are accurate and reliable.

[0060] Please see the appendix Figure 4 - Appendix Figure 7 Optionally, the walking mechanism 2 includes a second component 21 spaced apart along the extension direction of the first guide wire 110. The second component 21 includes a walking wheel 211 and a guard wheel 212. The walking wheel 211 has a limiting groove 2111 for accommodating the first guide wire 110. The two guard wheels 212 are located at the two ends of the walking wheel 211, and the outer diameter of the guard wheels 212 gradually increases in the direction away from the walking wheel 211.

[0061] Specifically, the traveling wheel 211 is made of wear-resistant material to reduce wear during long-term rolling contact with the first guide wire 110. Meanwhile, the limiting groove 2111 is V-shaped, effectively limiting the first guide wire 110 and allowing it to travel along its extension direction. Larger outer diameter guard wheels 212 are further provided on both sides of the traveling wheel 211, widening the travel structure and ensuring the guide wire is stably confined within the limiting groove 2111 of the traveling wheel 211. Even when encountering structures such as shock absorbers during travel, it can easily overcome obstacles, improving obstacle-crossing capability.

[0062] In this embodiment, the guard wheel 212 is conical and its diameter gradually increases, thereby ensuring smooth obstacle crossing.

[0063] Furthermore, the walking mechanism 2 also includes a drive shaft 213 and a third drive member 214. The drive shaft 213 passes through a side guard wheel 212, a walking wheel 211 and another side guard wheel 212 in sequence. The third drive member 214 is connected to the main support 1 and is connected to the drive shaft 213 to drive the drive shaft 213 to rotate so that the walking wheel 211 moves along the first guide wire 110. The third drive member 214 is located on one side of the walking wheel 211 along the axial direction.

[0064] Specifically, the main support 1 has two opposing support plates 13 extending outwards. The support plates 13 can be hollow structures. A third drive component 214 is mounted on one of the support plates 13. The third drive component 214 can be a rotary motor equipped with a reduction gearbox 215. The output shaft of the reduction gearbox 215 directly drives the transmission shaft 213, maintaining a transmission connection, thereby rotating the transmission shaft 213. This connection can be achieved using pin connections or sleeve connections. The transmission shaft 213 passes sequentially through one support plate 13, one guard wheel 212, one traveling wheel 211, another guard wheel 212, and another support plate 13. A bearing 7 is installed between the guard wheel 212 and the transmission shaft 213. The transmission shaft 213 is connected to the traveling wheel 211 via a key.

[0065] Please see the appendix Figure 1 A cover 22 is also provided on the outward side of the support plate 13 to cover the third drive component 214 and the gearbox 215, thereby providing dust and water protection.

[0066] In this embodiment, two second components 21 are arranged at the front and rear along the extension direction of the first guide wire 110. The third driving member 214 in the two second components 21 rotates synchronously to achieve synchronous movement of the two second components 21.

[0067] Furthermore, two gimbals 14 are symmetrically arranged at the front and rear ends of the main support 1 along the travel direction, and two cameras 15 are respectively mounted on the gimbals 14. During the entire movement of the inspection robot, the two cameras 15 can capture and monitor in real time, allowing timely observation of the front and rear sides of the inspection robot to avoid missing the pre-inspection parts or the parts to be inspected on the first guide wire 110, thereby improving the overall positioning accuracy of the inspection robot. The camera 15 can be remotely controlled to adjust its pitch field of view, thereby improving the accuracy of capturing the surrounding environment.

[0068] Please see the appendix Figure 8 - Appendix Figure 10 Optionally, the detection robot also includes a lifting mechanism 4, which includes a sleeve 41 and a slide rod 42. The sleeve 41 is fixedly connected to one end of the main support 1 at one of the two ends of the walking wheel 211. One end of the slide rod 42 is rotatably connected to the imaging mechanism 3, and the slide rod 42 is slidably connected to the sleeve 41 along the axial direction.

[0069] The imaging mechanism 3 includes a connecting frame 33, one end of which is connected to the imaging plate 32, and the other end is connected to the first component 31. One end of the slide rod 42 is rotatably connected to the connecting frame 33. The lifting mechanism 4 includes two sleeves 41, which are located on the left and right sides of the connecting frame 33, respectively. At the same time, the two slide rods 42 are synchronously slidably connected along the corresponding sleeves 41, thereby realizing the position adjustment of the entire imaging mechanism 3 in the height direction.

[0070] In this embodiment, by adjusting the height of the imaging mechanism 3 through the lifting mechanism 4, the height position of the detection area 34 of the imaging mechanism 3 relative to the first guide wire 110 can be effectively adjusted, thereby improving the accuracy of online detection.

[0071] Furthermore, the lifting mechanism 4 also includes a drive wheel 43 and a pulley block located in the main support 1. The pulley block includes a fixed pulley 44 located in the main support 1 and a movable pulley 45 located at one end of the slide rod 42. The drive wheel 43 moves the movable pulley 45 closer to the fixed pulley 44 by winding up the line, and moves the movable pulley 45 away from the fixed pulley 44 by releasing the line.

[0072] In this embodiment, a drive wheel 43 is provided inside the main support 1, and the drive wheel 43 is driven to rotate by a motor. A fixed pulley seat 46 is provided on the main support 1, and a fixed pulley 44 is mounted on the fixed pulley seat 46. The fixed pulley 44 and the fixed pulley seat 46 are rotatably connected by a bearing 7. One end of the slide rod 42 forms a movable pulley seat 47, and a movable pulley 45 is mounted on the movable pulley seat 47. The movable pulley 45 and the movable pulley seat 47 are rotatably connected by a bearing 7. One end of the connecting line 40 is fixed to the fixed pulley seat 46 and extends downwards, passes around the movable pulley 45 and extends upwards, passes around the fixed pulley 44, continues to extend towards the drive wheel 43 and passes around the drive wheel 43. The connecting line 40 is wound around the drive wheel 43, either in multiple turns or in a circumferentially fixed connection between the connecting line 40 and the drive wheel 43, so that the forward and reverse rotation of the drive wheel 43 can be used to achieve line feeding and reeling. In this embodiment, based on two symmetrically arranged sliding rods 42, the pulley group is also symmetrically arranged. Therefore, after the connecting line 40 passes around the driving wheel 43, it continues to extend to the fixed pulley 44 on the other side, and extends downwards around the fixed pulley 44 to the moving pulley 45. After passing around the moving pulley 45, it extends upwards to the fixed pulley seat 46 on the other side and is fixed on the fixed pulley seat 46.

[0073] In this embodiment, a tensioning wheel 48 is also provided between the drive wheel 43 and the fixed pulley 44, and the connecting line 40 is tensioned after passing around the tensioning wheel 48. At the same time, a plurality of sliding bearings 49 are provided between the sleeve 41 and the slide rod 42 along the axial direction.

[0074] In this embodiment, a single-drive method is adopted, and a pulley system is used to achieve synchronous transmission on both sides, which is compact in structure and has high transmission efficiency.

[0075] Please continue to refer to the appendix. Figure 2 , attached Figure 5 - Appendix Figure 7 Optionally, the width of the guard wheel 212 on the side closer to the sleeve 41 is smaller than the width of the other guard wheel 212.

[0076] In this embodiment, since the sleeve 41 and the main support 1 are fixedly connected to one of the two ends of the axial direction of the traveling wheel 211, the weight of the main support 1 in the width direction is not symmetrically distributed. Therefore, the main support 1 on the side connected to the sleeve 41 (the weight of the imaging mechanism 3 also acts on this side of the main support 1) is relatively heavy. As a result, the position of the main support 1 on this side is lower than that on the other side, and the axial direction of the entire traveling wheel 211 will be offset by a certain angle, that is, the axial direction of the traveling wheel 211 is tilted relative to the horizontal direction.

[0077] In this embodiment, by increasing the width of the guard wheel 212 on the side furthest from the sleeve 41, the two sides of the walking wheel 211 adopt an asymmetrical structure with one narrow and one wide side. That is, the guard wheel 212 on the side closer to the sleeve 41 is narrow, and the guard wheel 212 on the other side is wide. When the inspection robot is attached to the first guide wire 110, it can effectively adapt to the asymmetry of the weight distribution of the entire inspection robot. Even if it deviates from a certain angle, the wider guard wheel 212 can be used to make the inspection robot stable during the wire-laying process. Even if the first guide wire 110 becomes unstable and swaying, the entire inspection robot will not derail, thus improving the safety of the inspection robot's wire-laying.

[0078] Please see the appendix Figure 11 Optionally, the inspection robot includes a tilting mechanism 5, which is located at one end of the slide bar 42 near the first component 31. The tilting mechanism 5 is used to tilt the imaging mechanism 3 relative to the main support 1. The tilting mechanism 5 includes a support base 51 and a second driving member 52 located on the support base 51. One end of the second driving member 52 is rotatably connected to the support base 51, and the other end is fixedly connected to the hinge shaft 53 of the imaging mechanism 3. The second driving member 52 is used to drive the hinge shaft 53 to rotate, so that the imaging mechanism 3 tilts relative to the support base 51.

[0079] Specifically, the second driving member 52 is a linear cylinder or a linear motor. One end of the second driving member 52 is hinged to the first rod 54, and the other end of the second driving member 52 is hinged to the second rod 55. One end of the support base 51 is connected to the end of the second rod 55 that is away from the second driving member 52, and the other end of the support base 51 is connected to the end of the guide rod. A hinge shaft 53 is fixed on the connecting frame 33. The hinge shaft 53 is rotatably connected to the support base 51. Therefore, by extending and shortening the driving end of the second driving member 52, the hinge shaft 53 can be controlled to reciprocate relative to the support base 51 within a certain angle range (exemplarily, the angle range is 0~60°), thereby causing the entire connecting frame 33 and the entire imaging mechanism 3 to wobble.

[0080] In this embodiment, the second drive unit 52 adopts a cylinder or motor with linear output motion, and uses a rod group to realize the tilting of the imaging mechanism 3, which can achieve a larger torque output. This avoids the situation where a single rotary motor is used, which requires a motor with a large power output. The larger the output function of the motor, the larger the size of the motor. Therefore, the tilting mechanism 5 is more compact in its overall configuration.

[0081] In this embodiment, for the two-split wire, after the first wire 110 completes detection, since the first wire 110 is located in the detection area 34 between the imaging plate 32 and the first component 31, when the imaging mechanism 3 moves downward, the imaging plate 32 will interfere with the first wire 110. Therefore, the imaging mechanism 3 cannot be directly moved downward by the lifting mechanism 4. The above problem can be effectively solved by the tilting mechanism 5. That is, after the first wire 110 completes detection, the tilting mechanism 5 tilts the imaging mechanism 3 to one side relative to the first wire 110 by a certain angle, and then the lifting mechanism 4 moves the imaging mechanism 3 downward, thereby avoiding interference between the imaging plate 32 and the first wire 110. After the imaging plate 32 passes the first wire 110, the tilting mechanism 5 is used to tilt the imaging mechanism 3 in the opposite direction by the above angle, so that the second wire 120 is accurately placed in the detection area 34, further realizing the online detection of the second wire 120.

[0082] The entire process can be completed by the inspection robot itself, improving the flexibility and efficiency of the inspection.

[0083] Furthermore, the outer side of the yaw mechanism 5 is covered with a split-type housing. The two parts of the housing are fastened together to house the aforementioned second drive member 52, first rod 54, second rod 55, support base 51, and other parts, thereby protecting the actuating mechanism.

[0084] Please see the appendix Figure 2 Appendix Figure 3 and attached Figure 12 Optionally, the support mechanism 6 includes a first drive member 61 disposed on the main support 1 and a support member 62 that is connected to the first drive member 61 in a transmission manner. The first drive member 61 is used to drive the support member 62 to push the second wire 120 so that the overall inspection robot rotates about the first wire 110 as an axis.

[0085] Specifically, one end of the first driving member 61 can be connected to the main support 1 or to the sleeve 41. In this embodiment, it is sleeved on the outer wall of the sleeve 41 through a sleeve and is stably fixed on the sleeve 41 by fasteners. The first driving member 61 directly or indirectly drives the support member 62, thereby pushing the support member 62 to push the second wire 120. The second wire 120 is used as the force point, so that the whole detection robot rotates around the first wire 110.

[0086] In this embodiment, the support mechanism 6 is provided in two sets and is respectively connected to the two sleeves 41, thereby maintaining the symmetry of the force application position and ensuring the stability of the support.

[0087] Furthermore, the support mechanism 6 includes a first rod group 63 and a second rod group 64. One end of the first rod group 63 is hinged to one end of the support member 62, and one end of the second rod group 64 is hinged to other parts of the support member 62. The other end of the first rod group 63 and the other end of the second rod group 64 are both hinged to the support member 62. Further, the driving end of the first driving member 61 is hinged to the first rod group 63, and the other end of the first driving member 61 relative to its driving end is hinged to the support member 62. The first driving member 61 outputs linear motion.

[0088] Specifically, the first driving member 61 can be a cylinder or a linear motor. The first rod group 63 and the second rod group 64 are both parallel double-rod structures. Adaptively, the support member 62 is also a parallel double-rod structure. In this embodiment, the first rod group 63, the second rod group 64, the first driving member 61 and the support member 62 form a hinged four-bar structure. The first rod group 63 and the second rod group 64 are parallel and of equal length. The driving end of the first driving member 61 is hinged to the first rod group 63 near the middle. Therefore, by extending and retracting the driving end of the first driving member 61, the support member 62 can be moved along a direction perpendicular to the axis of the sleeve 41, thereby ensuring a stable interaction with the second guide wire 120 during the pushing process.

[0089] In this embodiment, the support member 62 is covered by a housing 65, which is detachably connected to the support member 62. The housing 65 directly contacts the second wire 120. The housing 65 can be made of wear-resistant material, while the support member 62 is only used to have sufficient rigidity and strength. When the housing 65 is worn, it can be replaced without disassembling and replacing the support member 62, thus improving the replaceability of the parts.

[0090] Example 2

[0091] In this embodiment, the inspection robot is applied to the inspection of a single wire.

[0092] In this embodiment, the single conductor is exemplified by the first conductor 110. The walking mechanism 2 drives the main support 1 to move along the first conductor 110, thereby allowing the imaging mechanism 3 to move to the location of the first conductor 110 to be inspected or to the position of the workpiece to be inspected. This improves the flexibility and adaptability of the entire online inspection robot, avoids manual repositioning, and reduces labor intensity. Furthermore, the imaging mechanism 3 can utilize X-ray imaging, i.e., by emitting inspection rays—X-rays penetrate the workpiece, and the remaining rays are excited and then generate image information on the imaging plate 32, thereby obtaining an internal image and completing the pre-inspection of the conductor located in the inspection area or the photographic inspection of the workpiece. Since the single conductor does not involve obstruction issues, the support mechanism 6 does not operate during the movement of this inspection robot.

[0093] Example 3

[0094] In this embodiment, the inspection robot is used for the inspection of four-split wires.

[0095] It is understood that a four-split wire can be viewed as two sets of two-split wires, such as the first wire 110 and the second wire 120 arranged vertically forming one set, and the third wire and the fourth wire arranged vertically forming another set. Therefore, when using this inspection robot, it can first be attached to the first wire 110 via a drone, thereby completing the inspection process of the first wire 110 and the second wire 120 based on Embodiment 1; then, the inspection robot can be attached to the third wire via a drone, and the inspection process of the third wire and the fourth wire can be completed based on Embodiment 1.

[0096] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A multifunctional X-ray inspection robot for transmission lines, used for inspecting multi-split conductors (100), said multi-split conductors (100) comprising at least a first conductor (110) and a second conductor (120), characterized in that, include: Main support (1); The walking mechanism (2) is connected to the main support (1) and can move along the first guide wire (110); An imaging mechanism (3) is connected to the main support (1). The imaging mechanism (3) includes a first component (31) for generating detection rays and an imaging plate (32) connected to the first component (31). A portion of the area between the first component (31) and the imaging plate (32) forms a detection area (34). The support mechanism (6) is connected to the main support (1). The support mechanism (6) uses the second conductor (120) as the force support position and drives the imaging mechanism (3) to shift so that the detection ray generated by the first component (31) avoids the second conductor (120). The height of the first conductor (110) is greater than the height of the second conductor (120).

2. The multifunctional X-ray inspection robot for power transmission lines according to claim 1, characterized in that, The support mechanism (6) includes a first drive member (61) disposed on the main support (1) and a support member (62) that is connected to the first drive member (61) in a transmission manner. The first drive member (61) is used to drive the support member (62) to push the second conductor (120) so that the entire multifunctional transmission line X-ray inspection robot rotates about the first conductor (110) as an axis.

3. The multifunctional X-ray inspection robot for power transmission lines according to claim 2, characterized in that, The support mechanism (6) includes a first rod group (63) and a second rod group (64). One end of the first rod group (63) is hinged to one end of the support member (62), and one end of the second rod group (64) is hinged to other parts of the support member (62). The other end of the first rod group (63) is hinged to the support member (62), and the other end of the second rod group (64) is hinged to the support member (62).

4. The multifunctional X-ray inspection robot for power transmission lines according to claim 3, characterized in that, The driving end of the first driving member (61) is hinged to the first rod group (63), and the other end of the driving member relative to the driving end is hinged to the support member (62). The first driving member (61) outputs linear motion to the outside.

5. The multifunctional X-ray inspection robot for power transmission lines according to claim 1, characterized in that, The walking mechanism (2) includes a second component (21) spaced apart along the extension direction of the first guide wire (110), the second component (21) including: The walking wheel (211) has a limiting groove (2111) for accommodating the first wire (110). The two guard wheels (212) are located at the two ends of the traveling wheel (211), and the outer diameter of the two guard wheels (212) gradually increases in the direction away from the traveling wheel (211).

6. The multifunctional X-ray inspection robot for power transmission lines according to claim 5, characterized in that, include: The lifting mechanism (4) includes a sleeve (41) and a slide rod (42). The sleeve (41) is fixedly connected to one end of the main support (1) at one end of the axial direction of the walking wheel (211). One end of the slide rod (42) is rotatably connected to the imaging mechanism (3). The slide rod (42) is slidably connected to the sleeve (41) along the axial direction.

7. The multifunctional X-ray inspection robot for power transmission lines according to claim 6, characterized in that, The width of the guard wheel (212) on the side closer to the sleeve (41) is smaller than the width of the other guard wheel (212).

8. The multifunctional X-ray inspection robot for power transmission lines according to claim 6, characterized in that, The lifting mechanism (4) also includes a drive wheel (43) and a pulley group disposed in the main support (1). The pulley group includes a fixed pulley (44) disposed in the main support (1) and a movable pulley (45) disposed at one end of the slide rod (42). The drive wheel (43) moves the movable pulley (45) closer to the fixed pulley (44) by winding up the line, and the drive wheel (43) moves the movable pulley (45) away from the fixed pulley (44) by releasing the line.

9. The multifunctional X-ray inspection robot for power transmission lines according to claim 6, characterized in that, include: A sway mechanism (5) is provided at one end of the slide bar (42) near the first component (31). The sway mechanism (5) is used to drive the imaging mechanism (3) to sway relative to the main support (1).

10. The multifunctional X-ray inspection robot for power transmission lines according to claim 9, characterized in that, The sway mechanism (5) includes a support base (51) and a second drive member (52) disposed on the support base (51). One end of the second drive member (52) is rotatably connected to the support base (51), and the other end is fixedly connected to the hinge shaft (53) of the imaging mechanism (3). The second drive member (52) is used to drive the hinge shaft (53) to rotate so that the imaging mechanism (3) sways relative to the support base (51).

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