An ultra-high voltage transmission line multi-bundle transmission line X-ray live detection robot

Abstract

The utility model relates to power transmission line nondestructive testing technical field, specifically disclose a kind of ultrahigh voltage transmission line multi-split transmission line X-ray live-line detection robot, including hoisting platform, hanging bracket, travelling mechanism, flaw detection mechanism and counterweight mechanism. Hanging bracket includes two mutually parallel vertical rods, and cross bar is erected between two vertical rods. Travelling mechanism includes two travelling wheels and the power component of driving travelling wheel. Flaw detection mechanism includes bearing frame, X-ray machine, imaging plate, winch and turnover assembly. Counterweight mechanism is set up on the side opposite to X-ray machine of bearing frame. The utility model can realize the high-efficiency nondestructive flaw detection of six-split electric line hardware, and the gravity center of robot can be adjusted by the setting of counterweight mechanism, so that it can detect the outermost conductor in six-split transmission line.

Description

Technical Field

[0001] This utility model relates to the field of non-destructive testing technology for hardware, specifically to an X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines. Background Technology

[0002] Among the hardware used in transmission lines, splicing tubes and tension clamps require crimping. Conductor crimping is a crucial step in transmission line construction. Tension clamps not only bear all the tension of the conductor during operation but also provide conductivity; therefore, they employ a combination of steel anchors and aluminum tubes. Crimping methods for splicing tubes and crimped tension clamps can be divided into hydraulic and explosive crimping methods. The explosive crimping method is fast and requires no crimping equipment, but the crimping quality is difficult to control and poses safety hazards; it has been largely phased out. In practical engineering, the more reliable crimped tension clamp is more commonly used. Faults in crimping hardware are generally not directly identifiable by appearance (e.g., broken steel cores and missing anti-slip grooves), easily leading to the use of faulty crimping hardware and posing safety hazards to the line. Under extreme conditions, such as icing or galloping caused by precipitation, the stress on crimping hardware increases, greatly increasing the likelihood of faulty crimping hardware failing and threatening the safe and stable operation of the power grid. With the development of technology, X-ray inspection technology has been gradually applied to the quality inspection of crimped fittings. This inspection method can effectively detect the internal condition of the fittings. For example, the inspection device described in Reference 1:

[0003] Reference 1: Chinese patent document with publication number CN 115656229 A

[0004] Reference 1: A tension clamp UAV X-ray inspection device includes a main structure, comprising: two parallel straight rods and a bent rod, the straight rods connecting the bent rods, the top of the bent rods connected to lugs, a first and a second imaging plate connector connecting the straight rods, and an imaging plate protection assembly connecting the imaging plate connectors; the second imaging plate connector is connected to the imaging plate protection assembly via gears, the gears are connected to a transmission mechanism, and the transmission mechanism is connected to the upper crossbeam of the main structure; the imaging plate protection assembly and the first imaging plate connector are connected via rolling bearings, and a torsion spring is provided between the rolling bearings and the first imaging plate connector; a X-ray machine connector is connected to the straight rods, and a pulse X-ray machine is connected to the X-ray machine connector.

[0005] While the testing device in Reference 1 can perform non-destructive testing of the tension clamp crimping quality of multi-split conductors, it lacks a walking mechanism and cannot move independently along the transmission line. Each time the device needs to be moved, it must be lifted by a drone, resulting in low testing efficiency. To address these issues, the applicant developed a first-generation non-destructive testing device for multi-split conductors. This device features self-powered wheels that allow it to crawl along the line, and an X-ray machine that can move up and down. Combined with a flip-up imaging plate, it can efficiently perform flaw detection on multi-split conductors. However, some shortcomings were discovered during operation: when testing six-split conductors, the two outermost conductors could not be tested properly. This is because the device's center of gravity is not centered. When the wheels are attached to the conductor, the entire device tilts, requiring the lower part of the device to rest on the conductor below to maintain a horizontal position. Since there is no conductor below the outermost conductor of a six-split conductor, it cannot be tested properly. Utility Model Content

[0006] The purpose of this invention is to solve the above-mentioned technical problems by providing an X-ray live-line inspection robot for multi-splitter ultra-high voltage transmission lines.

[0007] To address the shortcomings of the aforementioned technical problems, the present invention adopts the following technical solution: a robot for X-ray live-line inspection of multi-splitter ultra-high voltage transmission lines, comprising:

[0008] The hoisting platform is equipped with hooks on its top for use with drones for hoisting; and

[0009] The gantry includes two parallel vertical rods, the upper ends of which are fixedly connected to a hoisting platform, and a horizontal bar is erected between the lower ends of the two vertical rods; and

[0010] The traveling mechanism includes two traveling wheels and a power assembly for driving the traveling wheels. The two traveling wheels are located on the outer sides of the two vertical rods of the hanger, respectively.

[0011] The flaw detection mechanism includes a support frame, X-ray machine, imaging plate, winch, and tilting assembly; and

[0012] The counterweight mechanism is located on the side of the support frame opposite to the X-ray machine;

[0013] The winch is mounted on the hoisting platform;

[0014] The support frame is slidably mounted on the hanger, and the lifting rope of the winch is connected to the top of the support frame. The support frame can slide along the length of the vertical rod of the hanger via the winch.

[0015] The imaging plate and the X-ray machine are respectively installed at the upper and lower parts of the support frame, and the imaging plate can be flipped on the support frame by a flipping assembly;

[0016] As a further optimization of the X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines of this utility model: the counterweight mechanism includes a main counterweight block and several auxiliary counterweight blocks. The main counterweight block is detachably connected to the hanger, and the auxiliary counterweight blocks are suspended below the main counterweight block by a suspension rope.

[0017] As a further optimization of the X-ray live-line inspection robot for multi-splitter ultra-high voltage transmission lines of this utility model: the hanger is provided with a dovetail guide rail, and the main counterweight is provided with a dovetail groove that cooperates with it.

[0018] As a further optimization of the X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines of this utility model: the main counterweight is provided with a perforated flange, and the hanger is welded to the corresponding connecting ear plate. The main counterweight and the hanger are locked together by anti-loosening bolts passing through the perforated flange and the connecting ear plate.

[0019] As a further optimization of the X-ray live-line inspection robot for multi-splitter ultra-high voltage transmission lines of this utility model: the walking wheels are V-grooved wheels, and the power component is a drive motor.

[0020] As a further optimization of the X-ray live-line inspection robot for multi-splitter ultra-high voltage transmission lines of this utility model: the walking mechanism also includes an anti-derailment rod, which is set at the walking wheel through a drive component. In the initial state, the anti-derailment rod is located away from the walking wheel. In the working state, the anti-derailment rod can be moved to directly under the walking wheel through the drive component.

[0021] As a further optimization of the X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines of this utility model: the support frame includes two side frames and several cross frames erected between the two side frames. The side frames are composed of upper side plates and lower side rods. The outer side of the side plates is provided with two sets of pulleys from top to bottom. Each set of pulleys includes two pulleys arranged opposite each other. A clamping cavity is formed between the two pulleys to clamp the vertical rod of the hanger.

[0022] As a further optimization of the X-ray live inspection robot for multi-splitter ultra-high voltage transmission lines of this utility model: the flipping assembly includes two flipping heads and a drive motor. The two flipping heads are respectively set on two side plates, and the imaging plate is sandwiched between the two flipping heads. One of the flipping heads is connected to the drive motor for transmission.

[0023] As a further optimization of the X-ray live-line inspection robot for multi-splitter ultra-high voltage transmission lines of this utility model: a chassis is also provided outside the hoisting platform, and the side wall of the chassis is provided with weight reduction holes.

[0024] The present invention has the following advantages: The present invention can realize high-efficiency non-destructive testing of all conductor fittings of a six-split transmission line. By setting a counterweight mechanism, the center of gravity of the robot can be adjusted so that it can test the outermost conductor of the six-split transmission line. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the flaw detection robot (the counterweight mechanism is not shown, and the imaging plate is in its initial state).

[0026] Figure 2 This is a schematic diagram of the flaw detection robot (the counterweight mechanism is not shown, and the imaging plate is in a flipped state).

[0027] Figure 3 This is a schematic diagram of the flaw detection robot (showing the counterweight mechanism and the imaging plate in its initial state).

[0028] Figure 4 This is a structural diagram of the hoisting platform in a flaw detection robot;

[0029] Figure 5 This is a schematic diagram of the structure of the hanger in the flaw detection robot;

[0030] Figure 6 This is a schematic diagram of the roller assembly in a flaw detection robot;

[0031] Figure 7 This is a schematic diagram of the walking mechanism in a flaw detection robot (the anti-derailment rod is in its initial state).

[0032] Figure 8 This is a schematic diagram of the walking mechanism in a flaw detection robot (the anti-derailment rod is in a flipped state).

[0033] Figure 9 This is a schematic diagram of the flaw detection mechanism in a flaw detection robot;

[0034] Figure 10 This is a schematic diagram of the flipping component in a flaw detection robot;

[0035] Figure 11 A schematic diagram showing the operation of a flaw detection robot performing flaw detection on wire #2 of a six-split conductor.

[0036] Figure 12 A schematic diagram showing the operation of a flaw detection robot performing flaw detection on wire #6 of a six-split conductor.

[0037] Marked in the image:

[0038] 1. Lifting platform;

[0039] 2. Hook;

[0040] 3. Hanger;

[0041] 301. Vertical pole;

[0042] 302. Crossbar;

[0043] 4. Walking mechanism;

[0044] 401. Walking wheels;

[0045] 402. Power components;

[0046] 403. Anti-derailment rod;

[0047] 5. Flaw detection agency;

[0048] 501. Support frame;

[0049] 5011, Side panel;

[0050] 5012, Side bar;

[0051] 5013, pulley;

[0052] 502, X-ray machine;

[0053] 503, Imaging plate;

[0054] 504, winch;

[0055] 505. Flip component;

[0056] 5051, Flip head;

[0057] 5052, drive motor;

[0058] 6. Roller assembly;

[0059] 601. Roller;

[0060] 602. Roller frame;

[0061] 6021, back panel;

[0062] 6022, Clamp;

[0063] 603. Assembly head;

[0064] 6031, C-shaped card block;

[0065] 6032. Fastening bolts;

[0066] 7. Counterweight mechanism;

[0067] 701. Main counterweight;

[0068] 702. Secondary counterweight;

[0069] 8. Chassis. Detailed Implementation

[0070] To better understand this utility model, the following embodiments further illustrate the content of this utility model, but the content of this utility model is not limited to the following embodiments.

[0071] As shown in the figure: A live X-ray inspection robot for multi-segment ultra-high voltage transmission lines includes a hoisting platform 1, a hanger 3, a walking mechanism 4, a flaw detection mechanism 5, and a counterweight mechanism 7.

[0072] Lifting Platform

[0073] The hoisting platform 1 is the carrying platform for the entire flaw detection robot. All other components are directly or indirectly set on the hoisting platform 1. The main body of the hoisting platform 1 is a rectangular plate, and the upper surface of the hoisting platform 1 is equipped with hooks 2 for hoisting with the drone.

[0074] There are many structural forms for the hook 2. In this embodiment, the hook 2 includes two straight rods and one V-shaped rod. The two straight rods are vertically fixed side by side on the lifting platform 1. The two ends of the V-shaped rod are connected to the upper ends of the two straight rods respectively, and the connection is an arc-shaped structure. The plane of the V-shaped rod forms an angle of 45-65° with the plane of the two straight rods. This angle facilitates the entry of the drone's boom into the hook 2. When the V-shaped rod is tilted, it forms an enlarged funnel-shaped entrance from the drone's top-down view, which is more conducive to the entry of the boom. Under wind disturbance, the double-rod structure has better anti-sway performance than the single hook. The straight rods and V-shaped rods can be manufactured in sections and then welded together to reduce processing difficulty, or they can be integrally formed.

[0075] An enclosure 8 is also installed outside the hoisting platform 1, and the side wall of the enclosure 8 has weight reduction holes. The function of the enclosure 8 is to protect other components (including some electrical components) integrated on the hoisting platform 1.

[0076] <Hanging>

[0077] The hanger 3 includes two parallel vertical rods 301. The upper ends of the two vertical rods 301 are fixedly connected to the hoisting platform 1, and a horizontal rod 302 is erected between the lower ends of the two vertical rods 301.

[0078] At least one roller assembly 6 is provided on the crossbar 302, and the roller assembly 6 is located on the side opposite to the X-ray machine 502. In this embodiment, two roller assemblies 6 are provided on the crossbar 302. The roller assembly 6 includes a roller 601, a roller frame 602, and an assembly head 603. The roller frame 602 consists of a back plate 6021 and clamps 6022 located at the upper and lower ends on the same side of the back plate 6021. A rotating shaft is provided between the two clamps 6022 and is fixedly located between the two clamps 6022. The roller 601 is movably sleeved on the rotating shaft. The assembly head 603 is located on the side of the back plate 6021 opposite to the roller 601.

[0079] The assembly head 603 includes a C-shaped locking block 6031 and a fastening bolt 6032. The C-shaped locking block 6031 can be locked onto the crossbar 302 of the hanger 3. Both the C-shaped locking block 6031 and the crossbar 302 are provided with through holes. The fastening bolt 6032 passes through the through holes on the C-shaped locking block 6031 and the crossbar 302 and is then locked together by a locking nut. After the roller assembly 6 is assembled, the axis of rotation of the roller 601 forms an angle of 30-45° with the plane of the hanger 3. The roller arrangement avoids interference between the X-ray machine and the bolts and nuts on the tension clamps or splicing pipes, ensuring that the robot can move smoothly along the power transmission line.

[0080] <Walking Mechanism>

[0081] The walking mechanism 4 enables the entire flaw detection robot to move along the power transmission line. This embodiment adopts a self-propelled structure design. The walking mechanism 4 includes two walking wheels 401 and a power assembly 402 that drives the walking wheels 401. The two walking wheels 401 are located on the outside of the two vertical rods 301 of the hanger 3, respectively.

[0082] The traveling wheels 401 are V-grooved wheels, and the power unit 402 is a drive motor 5052. The drive motor 5052 (a DC brushed or brushless motor) starts rotating upon receiving a control signal. The output shaft of the motor 5052 is connected to a reducer via a small coupling. The reducer lowers the motor's high speed to the low speed required by the traveling wheels, while simultaneously amplifying the motor's low torque to the high torque required to propel the entire device along the conductor, climb slopes, and overcome friction. The reducer's output shaft directly drives the drive shaft via a rigid connection. The two ends of the drive shaft are ultimately connected to the axles of the two traveling wheels 401, either via couplings or bearing housings. When the drive shaft rotates, it drives the two V-grooved traveling wheels 401 to rotate synchronously. The rotating V-grooved traveling wheels 401, relying on the friction between their grooves and the power transmission conductor, propel the entire inspection device forward or backward along the conductor.

[0083] The walking mechanism 4 also includes an anti-derailment rod 403, which is installed at the walking wheel 401 via a drive assembly.

[0084] Initial state: The anti-derailment rod 403 is folded down to the side of the traveling wheel 401, avoiding the wire path, ensuring that the traveling wheel 401 can be smoothly hung on the wire.

[0085] Operating state: The drive assembly (motor) rotates the anti-derailment rod 403 to directly below the traveling wheel, forming a physical barrier under the conductor. The V-groove of the traveling wheel 401 presses down on the top of the conductor; the anti-derailment rod 403 supports the bottom of the conductor, forming a closed restraint channel.

[0086] When the flaw detection robot accidentally overturns, the anti-derailment rod 403 will lock the bottom of the wire, preventing the walking wheels from detaching from the wire (similar to "bottom-line" protection). A physical interception net is formed below the wire by a movable rigid rod, locking the wire between the walking wheel groove and the anti-derailment rod, thus achieving the anti-derailment function.

[0087] Flaw Detection Agency

[0088] The flaw detection mechanism 5 is the core component of the flaw detection robot. The flaw detection mechanism 5 includes a support frame 501, an X-ray machine 502, an imaging plate 503, a winch 504, and a flipping assembly 505.

[0089] The winch 504 is mounted on the hoisting platform 1; the hanger 3 is suspended below the hoisting platform 1. The support frame 501 is slidably mounted on the hanger 3, and the lifting rope of the winch 504 is connected to the top of the support frame 501. The support frame 501 can slide along the length of the vertical rod 301 of the hanger 3 via the winch 504.

[0090] The motor of winch 504 drives the drum to rotate, winding or releasing a high-strength lifting rope (steel wire rope / synthetic fiber rope). The end of the lifting rope is fixed to the top of the support frame 501. When the drum winds up the rope, the lifting rope pulls the support frame upward along the vertical guide rail. When the drum unwinds the rope, the support frame slides down under gravity, and the winch controls the unwinding speed to achieve a uniform descent. The winch mechanism forms a vertical elevator system, controlling the lifting and positioning of the support frame on the suspension rail (with an accuracy typically ±1mm) through rope winding and unwinding, providing height-adjustable functionality for the flaw detection equipment.

[0091] Imaging plate 503 and X-ray machine 502 are respectively installed on the upper and lower parts of the support frame 501, and imaging plate 503 can be flipped on the support frame 501 by flipping component 505.

[0092] The support frame 501 includes two side frames and several cross frames erected between the two side frames. The side frame consists of an upper side plate 5011 and a lower side rod 5012. The outer side of the side plate 5011 is provided with two sets of pulleys from top to bottom. Each set of pulleys includes two oppositely arranged pulleys 5013. A clamping cavity is formed between the two pulleys 5013, which can clamp the vertical rod 301 of the hanger 3.

[0093] Each side frame is equipped with two sets of pulleys (four sets in total). Each pulley set contains two V-grooved pulleys 5013, arranged opposite each other to form a clamping cavity. The vertical rod 301 of the hanger is embedded in the clamping cavity, and the four sets of pulleys grip the vertical rod from four directions. When the winch 504 pulls, all pulleys 5013 roll synchronously along the surface of the vertical rod 301. The V-groove design converts sliding friction into rolling friction, and the spacing between the two sets of pulleys provides an anti-overturning moment to prevent the support frame from swaying. Through the multi-point constrained rolling clamping mechanism, the hard contact between the support frame and the vertical rod is transformed into efficient rolling, achieving stable and controllable vertical lifting.

[0094] The flipping assembly 505 includes two flipping heads 5051 and a drive motor 5052. The two flipping heads 5051 are respectively disposed on two side plates 5011, and the imaging plate 503 is sandwiched between the two flipping heads 5051. One of the flipping heads 5051 is connected to the drive motor 5052 for transmission.

[0095] When not in operation, the drive motor 5052 is de-energized and self-locked, and the imaging plate 503 remains in a vertical position (the imaging plate 503 retracts into the support frame to avoid collisions during movement).

[0096] During operation, the drive motor 5052 starts, driving the active tilting head 5051 to rotate via a coupling / gear. The active tilting head 5051 drives one end of the imaging plate 503 to rotate, while the driven tilting head 5051 passively rotates synchronously under the push of the other end of the imaging plate 503. The two tilting heads form a stable rotation axis, ensuring that the imaging plate tilts without deviation. The single motor drives the dual-axis synchronous rotation mechanism, converting the motor torque into precise angle changes of the imaging plate, enabling rapid switching between vertical storage and horizontal operation.

[0097] <Counterweight Mechanism>

[0098] The counterweight mechanism 7 is located on the side of the support frame 501 opposite to the X-ray machine 502. The counterweight mechanism 7 includes a main counterweight 701 and several secondary counterweights 702. The main counterweight 701 is detachably connected to the hanger 3, and the secondary counterweights 702 are suspended below the main counterweight 701 by ropes.

[0099] The detachable connection can take at least the following two structural forms:

[0100] Type 1: The hanger 3 is equipped with a dovetail guide rail, and the main counterweight 701 is equipped with a dovetail groove that matches it. After being pushed in laterally, the self-locking pin automatically engages with the positioning hole (to prevent detachment).

[0101] The second type: The main counterweight 701 is equipped with a perforated flange, and the hanger 3 is welded to the connecting ear plate. The main counterweight 701 and the hanger 3 are locked together by anti-loosening bolts passing through the perforated flange and the connecting ear plate.

[0102] The counterweight mechanism 7 dynamically adjusts the center of gravity through the lever balance principle to achieve self-balancing of the device. On the X-ray machine 502 side: the weight of the equipment causes the center of gravity to shift towards the inside of the conductor. On the counterweight side: the main counterweight 701 and the auxiliary counterweight 702 generate a counter-torque. Fixed to the hanger, it provides basic counterweight. The auxiliary counterweights are suspended below the main counterweight by ropes; increasing the number of auxiliary counterweights increases the counterweight torque.

[0103] Reducing the number of secondary counterweights decreases the counterweight torque. When the device is suspended on the outer conductor, without the support of the lower conductor, the device naturally tilts inward. The main counterweight 701 and secondary counterweight 702 pull the device's center of gravity back to directly above the conductor. The suspended design of the secondary counterweights ensures that the direction of gravity is always vertically downward, automatically adapting to the tilt angle.

[0104] By using a suspended system with adjustable counterweights, the lever arm can be extended to amplify the counterweight effect. A large range of center of gravity adjustments can be achieved with a small increase in weight, allowing the device to remain stable and level even without the support of the lower wire.

[0105] <Detection Method for Six-Split Conductors>

[0106] Following a counter-clockwise order, the six split wires are named wire #1, wire #2, wire #3, wire #4, wire #5, and wire #6.

[0107] First, the #1 conductor is inspected. A drone lifts the flaw detection robot above the #1 conductor, then lowers it so that its wheels rest on the conductor. Once the wheels are in place, the anti-derailment rod rotates to lock the #1 conductor between the wheel grooves and the anti-derailment rod, preventing it from detaching. At this point, the rollers on the bottom of the flaw detection robot rest on the #5 conductor. The imaging plate is then flipped until it reaches a horizontal position, placing the #1 conductor between the X-ray machine and the imaging plate, allowing for flaw detection of the #1 conductor.

[0108] After the flaw detection of conductor #1 is completed, the imaging plate is flipped back to its initial vertical position. The winch is then used to release the rope, and the support frame slides down under gravity. The winch controls the rope release speed to achieve a uniform descent. Once the conductor has descended to a suitable height, the imaging plate is flipped again until it reaches a horizontal position, placing conductor #5 between the X-ray machine and the imaging plate, at which point flaw detection of conductor #5 can be performed.

[0109] After completing the flaw detection of conductor #5, the imaging plate is flipped back to its initial vertical position. The winch is then used to wind up the rope, pulling the support frame up the vertical guide rail to its initial position.

[0110] Control the anti-derailment pole to rotate back to its initial state, use the drone to lift the flaw detection robot again, flip it over and set it on the No. 2 conductor, and complete the flaw detection work on the No. 2 and No. 4 conductors in sequence according to the above operation.

[0111] After the flaw detection operations on conductors #2 and #4 are completed, the flaw detection robot is hoisted to the ground, and the pre-designed counterweight mechanism is installed on it. Once the counterweight is installed, the flaw detection robot is hoisted again above conductor #6, with its wheels resting on the conductor. After the wheels are on the conductor, the anti-derailment rod is rotated to lock conductor #6 between the wheel grooves and the anti-derailment rod, preventing detachment. At this point, due to the counterweight, the flaw detection robot maintains its balance, and the imaging plate is flipped until it reaches a horizontal position, placing conductor #6 between the X-ray machine and the imaging plate, ready for flaw detection. After completing the flaw detection on conductor #6, the imaging plate is flipped back to its initial vertical position. The anti-derailment rod is then rotated back to its initial position, and the flaw detection robot is hoisted again using a drone, flipped, and placed on conductor #3. The flaw detection operation on conductor #3 is then completed following the same procedure.

[0112] After completing the flaw detection of conductor #5, the anti-derailment rod was rotated back to its initial state, and the flaw detection robot was lifted to the ground using a drone, thus completing the non-destructive testing of the six-split conductor.

[0113] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A live-line X-ray inspection robot for multi-splitter ultra-high voltage transmission lines, characterized in that, include: The hoisting platform (1) is equipped with hooks (2) on its top for hoisting with drones; and The gantry (3) includes two parallel vertical rods (301), the upper ends of which are fixedly connected to the hoisting platform (1), and a horizontal bar (302) is erected between the lower ends of the two vertical rods (301); and The traveling mechanism (4) includes two traveling wheels (401) and a power assembly (402) for driving the traveling wheels (401). The two traveling wheels (401) are located on the outside of the two vertical rods (301) of the hanger (3); and The flaw detection mechanism (5) includes a support frame (501), an X-ray machine (502), an imaging plate (503), a winch (504), and a tilting assembly (505); and The counterweight mechanism (7) is set on the side of the support frame (501) opposite to the X-ray machine (502); The winch (504) is mounted on the hoisting platform (1); The support frame (501) is slidably mounted on the hanger (3), and the lifting rope of the winch (504) is connected to the top of the support frame (501). The support frame (501) can slide along the length of the vertical rod (301) of the hanger (3) through the winch (504). The imaging plate (503) and the X-ray machine (502) are respectively disposed on the upper and lower parts of the support frame (501), and the imaging plate (503) can be flipped on the support frame (501) by means of the flipping assembly (505).

2. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 1, characterized in that: The counterweight mechanism (7) includes a main counterweight (701) and several secondary counterweights (702). The main counterweight (701) is detachably connected to the hanger (3), and the secondary counterweights (702) are suspended below the main counterweight (701) by a rope.

3. The X-ray live-line inspection robot for multi-splitter ultra-high voltage transmission lines as described in claim 2, characterized in that: The hanger (3) is provided with a dovetail guide rail, and the main counterweight (701) is provided with a dovetail groove that cooperates with it.

4. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 3, characterized in that: The main counterweight (701) is provided with a perforated flange, and the hanger (3) is welded to the connecting ear plate. The main counterweight (701) and the hanger (3) are locked together by anti-loosening bolts passing through the perforated flange and the connecting ear plate.

5. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 1, characterized in that: The walking wheel (401) is a V-grooved wheel, and the power unit (402) is a drive motor (5052).

6. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 1, characterized in that: The walking mechanism (4) also includes an anti-derailment rod (403). The anti-derailment rod (403) is set at the walking wheel (401) by a drive component. In the initial state, the anti-derailment rod (403) is located away from the walking wheel (401). In the working state, the anti-derailment rod (403) can be moved to directly below the walking wheel (401) by a drive component.

7. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 1, characterized in that: The support frame (501) includes two side frames and several cross frames erected between the two side frames. The side frame consists of an upper side plate (5011) and a lower side rod (5012). The outer side of the side plate (5011) is provided with two sets of pulleys from top to bottom. Each set of pulleys includes two oppositely arranged pulleys (5013). A clamping cavity is formed between the two pulleys (5013) that can clamp the vertical rod (301) of the hanger (3).

8. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 1, characterized in that: The flipping assembly (505) includes two flipping heads (5051) and a drive motor (5052). The two flipping heads (5051) are respectively disposed on two side plates (5011), and the imaging plate (503) is sandwiched between the two flipping heads (5051). One of the flipping heads (5051) is connected to the drive motor (5052) for transmission.

9. The X-ray live-line inspection robot for multi-split ultra-high voltage transmission lines as described in claim 1, characterized in that: The hoisting platform (1) is also equipped with a chassis (8), and the side wall of the chassis (8) is provided with weight reduction holes.

Images