CN108872275A - Crusing robot - Google Patents
Crusing robot Download PDFInfo
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- CN108872275A CN108872275A CN201810580986.2A CN201810580986A CN108872275A CN 108872275 A CN108872275 A CN 108872275A CN 201810580986 A CN201810580986 A CN 201810580986A CN 108872275 A CN108872275 A CN 108872275A
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- mainframe box
- ray
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The present invention relates to a kind of crusing robots, including：Mainframe box；Flight structure is installed on mainframe box, and flight structure includes flight bracket and rotor, and flight bracket is connected to mainframe box, and rotor is installed on flight bracket；Walking structure, including mobile holder and walking support wheel, mobile holder are connected to mainframe box, and walking support wheel is installed on mobile holder；X-ray detector, is installed on mainframe box, including for ray emission structure and and flat panel detector, detection space is formed between ray emission structure and flat panel detector.Above-mentioned crusing robot, detection structure can be treated by x-ray detector to be detected, the X-ray line of ray emission structure transmitting may pass through geodesic structure to be checked and fall on flat panel detector, can get corresponding image on flat panel detector, to obtain the internal flaw of geodesic structure to be checked according to the image.In this way, the crusing robot can replace manually carrying out X-ray detection to transmission line of electricity, detection efficiency is improved, security risk is eliminated.
Description
Technical field
The present invention relates to ultra-high-tension power transmission line detection device fields, more particularly to a kind of crusing robot.
Background technique
Ultra-high-tension power transmission line is the artery of electric system, since it is directly related to development and the people of national economy
Normal life, therefore attention of the safe operation increasingly by departments at different levels of ultra-high-tension power transmission line.Overhead high voltage power transmission
Route will not only bear the internal pressure of intrinsic mechanical load and electric load, but also also suffer the various outsides of natural environment
Infringement.Wherein, strain clamp is to hang conducting wire to resistance to for fixing conducting wire, bearing wire tension in ultra-high-tension power transmission line
The fitting on string group or shaft tower is opened, therefore can the quality directly image of strain clamp crimp quality be transported safely to transmission line of electricity
Row.
And since crimping belongs to concealed work, the transmission line of electricity x-ray detection of the internal structure of strain clamp can be obtained
Detection becomes a kind of important method for distinguishing the crimp quality quality of strain clamp.Specifically, x-ray detection detection is a kind of benefit
With X-ray and matter interaction rule, the fittings such as strain clamp are formed on film or imaging device and crimp portion structure shadow
Picture, to find the lossless detection method of aluminium hydraulic pressed connecting pipe internal flaw.And currently, x-ray detection detection be completely dependent on manual operation, because
This detection efficiency is low, and on boostrap operation there are larger security risk, for transmission line of electricity operational safety bring it is not small
Obstacle.
Summary of the invention
Based on this, it is necessary to carry out detection efficiently, safe for the strain clamp and aluminium hydraulic pressed connecting pipe being difficult to transmission line of electricity
The problem of, a kind of crusing robot of internal flaw that can efficiently and safely detect strain clamp and aluminium hydraulic pressed connecting pipe is provided.
A kind of crusing robot, the crusing robot include：
Mainframe box；
Flight structure, is installed on the mainframe box, and the flight structure includes flight bracket and rotor, the flight bracket
It is connected to the mainframe box, the rotor is rotatably installed on the flight bracket；
Walking structure, is installed on the mainframe box, and the walking structure includes mobile holder and walking support wheel, the row
It walks bracket and is connected to the mainframe box, the walking support wheel is rotatably installed on the mobile holder；And
X-ray detector is installed on the mainframe box, including for emitting X-ray ray emission structure and with institute
State the flat panel detector of ray emission structure relative spacing setting, shape between the ray emission structure and the flat panel detector
At detection space；
Wherein, when the x-ray detector is in detecting state, the X-ray of the ray emission structure transmitting is worn
The detection space is crossed to fall on the flat panel detector.
Above-mentioned crusing robot can be flown near transmission line of electricity and falling on the transmission line by flight structure, then be led to
It crosses walking structure to run near geodesic structure to be checked along transmission line of electricity, detection structure can be treated by x-ray detector later
It is detected, the X-ray line of ray emission structure transmitting may pass through geodesic structure to be checked and fall on flat panel detector, on flat panel detector
It can get corresponding image, to obtain the internal flaw of geodesic structure to be checked according to the image.In this way, the crusing robot can replace
X-ray detection manually is carried out to transmission line of electricity, detection efficiency is improved, eliminates security risk.
In one of the embodiments, the ray emission structure and the flat panel detector can the relatively described mainframe box it is same
Step rotation, and the pivot center of the pivot center and the walking support wheel of the ray emission structure and the flat panel detector
In parallel, the ray emission structure is located in the central axial direction of the walking support wheel with the flat panel detector
The two sides of the walking support wheel.
The x-ray detector further includes the mounting structure for being installed on the mainframe box in one of the embodiments,
Ray emission structure and the flat panel detector are respectively arranged in the mounting structure, and the mounting structure can drive the ray
The emitting structural mainframe box opposite with the flat panel detector rotates synchronously.
The mounting structure includes mounting structure main body and driving mechanism, the driving machine in one of the embodiments,
Structure is installed on the mainframe box, and the mounting structure is connected to the driving mechanism and opposite under the driving of the driving mechanism
The mainframe box rotation, the ray emission structure and the flat panel detector are installed on the mounting structure main body to follow
State mounting structure body rotation.
The mounting structure main body includes that spaced first linking arm is connect with second in one of the embodiments,
Arm, first linking arm one end are rotatably installed on the driving mechanism, and the ray emission structure is removably installed
In the other end of first linking arm, second linking arm one end is rotatably installed on the driving mechanism, described flat
Partitioned detector is removably installed in the other end of second linking arm.
The driving mechanism includes the first actuator and the second actuator in one of the embodiments, and described first drives
Moving part is installed on the mainframe box and is connected with first linking arm to drive the opposite mainframe box of first linking arm
Rotation, second actuator are installed on the mainframe box and are connect with second linking arm to drive second linking arm
It is rotated relative to the mainframe box.
First actuator and second actuator are servo motor in one of the embodiments,.
The mobile holder includes cross bar and vertical bar in one of the embodiments, and described vertical bar one end is connected to described
Mainframe box, the other end are connected to the cross bar, and the walking support wheel is set on the cross bar, and in the walking support wheel
The extending direction of mandrel line is vertical with the installation extending direction of vertical bar.
The crusing robot includes multiple flight brackets in one of the embodiments, multiple flight brackets one
End is fixed in the side wall of the mainframe box, and the other end extends to far from the mainframe box direction, and the rotor is rotatably mounted
In the flight bracket far from described mainframe box one end.
The crusing robot further includes control structure in one of the embodiments, and the control structure is located at described
In mainframe box, the control structure and the flight structure, the walking structure and the oblique photograph structure are communicated to connect.
Detailed description of the invention
Fig. 1 is the side view of the crusing robot of an embodiment；
Fig. 2 is the top view of crusing robot shown in FIG. 1.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give presently preferred embodiments of the present invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
As Figure 1-Figure 2, a kind of crusing robot 100 of this better embodiment, crusing robot 100 include host
Case 20 and the flight structure 40, walking structure 60 and x-ray detector 80 for being installed on mainframe box 20, for varying environment
In the strain clamp that is equipped with wait the transmission line of electricity 200 of detection structure 300 to carry out inspection and defect detection.
Wherein, flight structure 40 includes flight bracket 42 and rotor 44, and flight bracket 42 is connected to mainframe box 20, rotor 44
It is rotatably installed on flight bracket 42.Walking structure 60 includes that mobile holder 62 and walking support wheel 64, mobile holder 62 connect
It is connected to mainframe box 20, walking support wheel 64 is rotatably installed on mobile holder 62.X-ray detector 80 includes for emitting
The ray emission structure 82 of X-ray and the flat panel detector 84 being arranged with 82 relative spacing of ray emission structure, ray emission knot
Detection space, when x-ray detector 80 is in detecting state, ray emission knot are formed between structure 82 and flat panel detector 84
The X-ray that structure 82 emits passes through detection space and falls on flat panel detector 84.
Above-mentioned crusing robot 100 can be flown to transmission line of electricity 200 nearby by flight structure 40 and fall in transmission line of electricity
On 200, is then run near geodesic structure 300 to be checked by walking structure 60 along transmission line of electricity, X-ray detection can be passed through later
Device 80 is treated detection structure 300 and is detected, and the X-ray line that ray emission structure 82 emits may pass through geodesic structure 300 to be checked and fall
On flat panel detector 84, corresponding image can get on flat panel detector 84, to obtain geodesic structure 300 to be checked according to the image
Internal flaw.In this way, the crusing robot 100 can replace manually carrying out X-ray detection to transmission line of electricity 200, inspection is improved
Efficiency is surveyed, security risk is eliminated.
Please continue to refer to Fig. 1 and Fig. 2, mainframe box 20 is substantially in cube structure, the pivot center for support wheel 64 of walking with
The width direction of mainframe box 20 is parallel, therefore mainframe box 20 is moved along length direction relative to transmission line of electricity 200, transmission line of electricity
200 extending direction is identical as the length direction of mainframe box 20.
Ray emission structure 82 and flat panel detector 84 can be rotated synchronously with respect to mainframe box 20, and ray emission structure 82 with
The pivot center of flat panel detector 84 is parallel with the walking pivot center of support wheel 64, ray emission structure 82 and flat panel detector
84 are located at the two sides of walking support wheel 64 in the central axial direction of walking support wheel 64.That is, X-ray detection
Device 80 is set to one end on 20 length direction of mainframe box, and ray emission structure 82 and flat panel detector 84 are in mainframe box 20
Setting is spaced in width direction.In this way, the position in the adjustable detection space of x-ray detector 80 so that different location it is to be checked
Geodesic structure 300 can be located to form complete detection image among detection space, and transmission line of electricity 200 is located at ray emission knot
Correspond between ray emission structure 82 and flat panel detector 84 always between structure 82 and the rotational plane of flat panel detector 84
Space exploration, so that the rotation of ray emission structure 82 Yu flat panel detector 84 will not be stopped.
X-ray detector 80 further includes the mounting structure 86 for being rotatably installed on mainframe box 20, ray emission structure
82 and flat panel detector 84 be installed on mounting structure 86 with follow mounting structure 86 relative to mainframe box 20 rotate.Specifically, it installs
Structure 86 includes mounting structure main body 862 and driving mechanism 864, and driving mechanism 864 is installed on mainframe box 20, and mounting structure 86 connects
It is connected to driving mechanism 864 and is rotated under the driving of driving mechanism 864 relative to mainframe box 20, ray emission structure 82 and plate are visited
It surveys device 84 and is installed on mounting structure main body 862 far from 864 one end of driving mechanism.
Specifically in the present embodiment, mounting structure main body 862 includes spaced first linking arm 8622 and second
Linking arm 8624.Wherein, 8622 one end of the first linking arm is rotatably installed on driving mechanism 864, and ray emission structure 82 can
Releasably it is installed on the other end of the first linking arm 8622.Second linking arm 8624 is rotatably installed on driving mechanism 864, puts down
Partitioned detector 84 is removably installed in the other end of the second linking arm 8624.Driving mechanism 864 includes the first actuator 8642
With the second actuator 8644, the first actuator 8642 is installed on mainframe box 20 and connect with the first linking arm 8622 to drive first
Linking arm 8622 is rotated relative to mainframe box 20, and the second actuator 8644 is installed on mainframe box 20 and connect with the second linking arm 8624
To drive the second linking arm 8624 to rotate relative to mainframe box 20.
It is connect in this way, the first actuator 8642 can respectively drive the first linking arm 8622 with the second actuator 8644 with second
Arm 8624 adjusts the position of ray emission structure 82 and flat panel detector 84 with respect to transmission line of electricity 200 respectively, thus accurately right
Structure 300 to be detected is detected.It is appreciated that in some embodiments, the first linking arm 8622 and the second linking arm 8624
It is scalable to adjust length, to improve the scope of application of the crusing robot 100.In further embodiments, it drives
Motivation structure 864 only includes the actuator for driving the first linking arm 8622 and the second linking arm 8624 simultaneously, to make first
Linking arm 8622 rotates synchronously always with the second linking arm 8624, it will be understood that in other embodiments, the first linking arm 8622
Ray emission structure 82 and flat panel detector 84 can also be driven to rotate synchronously in being wholely set with the second linking arm 8624.
Specifically in the present embodiment, the first actuator 8642 and the second actuator 8644 are servo motor, including are watched
It takes motor body and is installed on the output shaft of servo motor main body, output shaft is for output torque to drive the first linking arm 8622
It is rotated with the second linking arm 8624.It is appreciated that the specific configuration of the first actuator 8642 and the second actuator 8644 is not limited to
This, can select a variety of driving methods such as hydraulic-driven as needed.
Mobile holder 62 includes cross bar 624 and two vertical bars 622, and two 622 parallel intervals of vertical bar are arranged and vertical bar 622 1
End is connected to mainframe box 20, and the other end is connected to the both ends of cross bar 624.Two walking support wheels 64 are set to the length of cross bar 624
Both ends on direction, and the extending direction of the central axis for support wheel 64 of walking is vertical with the installation extending direction of vertical bar 622.Such as
This, which is moved by rolling of the walking support wheel 64 on transmission line of electricity 200 along transmission line of electricity 200.It can
To understand, the quantity of the structure of mobile holder 62 and support wheel 64 of walking is without being limited thereto, can be set as needed.
Crusing robot 100 includes multiple flight brackets 42, and multiple 42 one end of flight bracket are fixed in the side of mainframe box 20
Wall, the other end extend to far from 20 direction of mainframe box, and rotor is rotatably installed on flight bracket 42 far from 20 one end of mainframe box.
Specifically in one embodiment, flight bracket 42 is four, and four flight brackets 42 are around the surrounding for being fixed in mainframe box 20, rotor
Relative flight bracket 42 quickly rotates and crusing robot 100 is driven to fly.It is appreciated that the quantity and installation of flight bracket 42
Position is unlimited, can need to be arranged according to different.
Crusing robot 100 further includes control structure (not shown), and control structure is located in mainframe box 20, control structure with
Flight structure 40, walking structure 60 and x-ray detector 80 communicate to connect, to control flight structure 40, walking structure 60
And the working condition of x-ray detector 80.In this way, flight structure 40, walking structure 60 and the collaboration of x-ray detector 80 are made
Industry makes crusing robot 100 complete flight, online, walking and detection operations.
Above-mentioned crusing robot 100 is fallen on transmission line of electricity 200, X-ray inspection after can flying to 200 top of transmission line of electricity
Surveying device 80 can wait detection structure 300 to be detected the strain clamp on transmission line of electricity 200 and generate detection image, thus
It was found that the internal flaw of strain clamp, operates on boostrap without relying on, avoids while greatly referring to working efficiency
Security risk is made that contribution for the operational safety of transmission line of electricity 200.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of crusing robot, which is characterized in that the crusing robot includes：
Mainframe box；
Flight structure, is installed on the mainframe box, and the flight structure includes flight bracket and rotor, the flight bracket connection
In the mainframe box, the rotor is rotatably installed on the flight bracket；
Walking structure, is installed on the mainframe box, and the walking structure includes mobile holder and walking support wheel, the walking branch
Frame is connected to the mainframe box, and the walking support wheel is rotatably installed on the mobile holder；And
X-ray detector is installed on the mainframe box, penetrates including the ray emission structure for emitting X-ray and with described
The flat panel detector of line emitting structural relative spacing setting, forms inspection between the ray emission structure and the flat panel detector
Survey space；
Wherein, when the x-ray detector is in detecting state, the X-ray of the ray emission structure transmitting passes through institute
Detection space is stated to fall on the flat panel detector.
2. crusing robot according to claim 1, which is characterized in that the ray emission structure and plate detection
Device the mainframe box can rotate synchronously relatively, and the pivot center of the ray emission structure and the flat panel detector with it is described
The pivot center of walking support wheel is parallel, and the ray emission structure and the flat panel detector are in the walking support wheel
The two sides of the walking support wheel are located on heart axis direction.
3. crusing robot according to claim 2, which is characterized in that the x-ray detector further includes being installed on
The mounting structure of the mainframe box, ray emission structure and the flat panel detector are respectively arranged in the mounting structure, described
Mounting structure can drive the ray emission structure mainframe box opposite with the flat panel detector to rotate synchronously.
4. crusing robot according to claim 3, which is characterized in that the mounting structure include mounting structure main body and
Driving mechanism, the driving mechanism are installed on the mainframe box, and the mounting structure is connected to the driving mechanism and described
It is rotated under the driving of driving mechanism relative to the mainframe box, the ray emission structure and the flat panel detector are installed on described
Mounting structure main body is to follow the mounting structure body rotation.
5. crusing robot according to claim 4, which is characterized in that the mounting structure main body includes spaced
First linking arm and the second linking arm, first linking arm one end are rotatably installed on the driving mechanism, the ray
Emitting structural is removably installed in the other end of first linking arm, and second linking arm one end is rotatably installed on
The driving mechanism, the flat panel detector are removably installed in the other end of second linking arm.
6. crusing robot according to claim 5, which is characterized in that the driving mechanism includes the first actuator and the
Two actuators, first actuator are installed on the mainframe box and connect with first linking arm to drive described first to connect
Arm is connect to rotate relative to the mainframe box, second actuator be installed on the mainframe box and connect with second linking arm with
Second linking arm is driven to rotate relative to the mainframe box.
7. crusing robot according to claim 6, which is characterized in that first actuator and second actuator
It is servo motor.
8. crusing robot according to claim 1, which is characterized in that the mobile holder includes cross bar and vertical bar, institute
It states vertical bar one end and is connected to the mainframe box, the other end is connected to the cross bar, and the walking support wheel is set on the cross bar,
And the extending direction of the central axis of the walking support wheel is vertical with the installation extending direction of vertical bar.
9. crusing robot according to claim 1, which is characterized in that the crusing robot includes multiple flight branch
Frame, multiple flight bracket one end are fixed in the side wall of the mainframe box, and the other end extends to far from the mainframe box direction,
The rotor is rotatably installed on the flight bracket far from described mainframe box one end.
10. crusing robot according to claim 1, which is characterized in that the crusing robot further includes control structure,
The control structure is located in the mainframe box, the control structure and the flight structure, the walking structure and described inclines
Tiltedly photography structure communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580986.2A CN108872275A (en) | 2018-06-07 | 2018-06-07 | Crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810580986.2A CN108872275A (en) | 2018-06-07 | 2018-06-07 | Crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108872275A true CN108872275A (en) | 2018-11-23 |
Family
ID=64337254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810580986.2A Pending CN108872275A (en) | 2018-06-07 | 2018-06-07 | Crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108872275A (en) |
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| CN111966107A (en) * | 2020-08-28 | 2020-11-20 | 云南电网有限责任公司电力科学研究院 | Control method and system for inspection robot |
| CN113866190A (en) * | 2021-08-30 | 2021-12-31 | 广西电网有限责任公司百色供电局 | Ray detection device for crimping quality inside circuit |
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