CN115378126A - Nondestructive detection robot for power transmission line - Google Patents
Nondestructive detection robot for power transmission line Download PDFInfo
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- CN115378126A CN115378126A CN202210889337.7A CN202210889337A CN115378126A CN 115378126 A CN115378126 A CN 115378126A CN 202210889337 A CN202210889337 A CN 202210889337A CN 115378126 A CN115378126 A CN 115378126A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
- H02J13/00002—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by monitoring
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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Abstract
The embodiment of the application discloses a nondestructive testing robot for a power transmission line. This transmission line nondestructive test robot includes: the X-ray nondestructive inspection robot comprises a mounting platform, a line climbing mechanism, a line walking mechanism and an X-ray nondestructive inspection mechanism, wherein the line climbing mechanism can lift the power transmission line nondestructive inspection robot to a detection height, the power transmission line nondestructive inspection robot walks on the power transmission line by utilizing the line walking mechanism, and after the power transmission line nondestructive inspection robot reaches a detection position, the X-ray nondestructive inspection mechanism detects the power transmission line. Based on this, transmission line nondestructive test robot that this application provided can automatic climbing walk to detect the position and detect transmission line, need not the manual work and carries the equipment and scramble, simultaneously, also need not to have a power failure for personnel's personal safety and detects, realizes electrified the detection.
Description
Technical Field
The embodiment of the application relates to the technical field of line detection, in particular to a nondestructive testing robot for power transmission lines.
Background
In the long-term operation process of the high-voltage transmission line, due to the influence of external factors such as lightning stroke, icing, windage yaw and the like and the problems of self materials, manufacturing and installation processes, the defects of hardware oxidation corrosion, joint loosening and the like are easy to occur, so that the safe operation of a power transmission system is threatened. For a long time, an effective detection means is lacked for defects of internal materials and mechanical structures of parts such as a power transmission line clamp and the like, and the harmfulness of the parts to the operation of a line is difficult to accurately evaluate.
The X-ray nondestructive detection technology is a novel detection technology capable of imaging in real time, can realize visualization of internal materials and structures of power transmission line parts and rapid diagnosis of running states by means of multidirectional X-ray perspective imaging and matched with a special image processing and recognition technology under the condition of no power failure and no disassembly, and can greatly improve the accuracy of fault location and judgment. However, at present, power failure is generally needed, the equipment is taken to be fixed and detected by manually climbing the tower, the risk of high-altitude operation is not only existed, and the detection cost is also higher.
Disclosure of Invention
The embodiment of the application provides a transmission line nondestructive test robot to avoid having a power failure to detect and artifical carrying device climbs tower and carries equipment to detect.
The embodiment of the application provides a transmission line nondestructive test robot, transmission line nondestructive test robot includes: the device comprises an installation platform, a line climbing mechanism, a line walking mechanism and an X-ray nondestructive inspection detection mechanism;
one end of the line climbing mechanism is fixed on the mounting platform, and the other end of the line climbing mechanism is hooked on the power transmission line;
the line climbing mechanism comprises a telescopic structure, the telescopic structure is connected with one end and the other end of the line climbing mechanism, and when the telescopic structure is shortened, the power transmission line nondestructive testing robot is driven to climb to the target height of the power transmission line;
one end of the line travelling mechanism is fixed on the mounting platform, the travelling end of the line travelling mechanism is fastened on the power transmission line, and the line climbing mechanism, the line travelling mechanism and the X-ray nondestructive inspection detection mechanism which are fixed on the mounting platform are driven to move along the power transmission line when the travelling end travels along the power transmission line;
one end of the X-ray nondestructive inspection detection mechanism is fixed on the mounting platform, and when the nondestructive inspection robot of the power transmission line climbs to the target height of the power transmission line, the X-ray nondestructive inspection detection mechanism X-ray detection end synchronously reaches the detection height and detects the power transmission line in the moving process.
In the technical scheme of this application embodiment, transmission line nondestructive test robot includes: the X-ray nondestructive inspection robot comprises a mounting platform, a line climbing mechanism, a line walking mechanism and an X-ray nondestructive inspection mechanism, wherein the line climbing mechanism can lift the power transmission line nondestructive inspection robot to a detection height, the power transmission line nondestructive inspection robot walks on the power transmission line by utilizing the line walking mechanism, and after the power transmission line nondestructive inspection robot reaches a detection position, the X-ray nondestructive inspection mechanism detects the power transmission line. Based on this, transmission line nondestructive test robot that this application provided can automatic climbing walk to detect the position and detect transmission line, need not the manual work and carries the equipment and scramble, simultaneously, also need not to have a power failure for personnel's personal safety and detects, realizes electrified the detection.
Drawings
Fig. 1 is a schematic structural diagram of a nondestructive inspection robot for a power transmission line according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a line climbing mechanism provided in a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a line travelling mechanism provided in the third embodiment of the present application;
fig. 4 is an enlarged schematic front view of a routing wheel and a jacking assembly provided in the third embodiment of the present application;
fig. 5 is an enlarged schematic back view of a routing wheel and a jacking assembly provided in the third embodiment of the present application;
fig. 6 is a schematic structural view of an X-ray nondestructive inspection mechanism in a housed state according to a fourth embodiment of the present application;
FIG. 7 is a schematic structural diagram of an X-ray nondestructive inspection mechanism in an operating state according to a fourth embodiment of the present application;
fig. 8 is a schematic structural diagram of an equipotential structure in an elevated state and an equipotential state according to a fourth embodiment of the present disclosure.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Referring to fig. 1, fig. 1 is a schematic structural diagram of a nondestructive inspection robot for a power transmission line according to a first embodiment of the present application. As shown in fig. 1, the robot for nondestructive inspection of power transmission line includes: the device comprises a mounting platform 101, a line climbing mechanism 102, a line walking mechanism 103 and an X-ray nondestructive inspection detection mechanism 104.
One end of the line climbing mechanism is fixed on the mounting platform, and the other end of the line climbing mechanism is hooked on the power transmission line 105;
including extending structure in the line climbing mechanism, extending structure connects the one end and the other end of line climbing mechanism, when extending structure shortens, drives transmission line nondestructive test robot climbs to transmission line's target height.
The extending structure of the line climbing mechanism is used for extending and shortening the distance between one end and the other end of the line climbing mechanism, one end of the line climbing mechanism is fixed on the mounting platform, and the other end of the line climbing mechanism is hooked on the power transmission line.
Therefore, when the telescopic structure is shortened, the distance between the mounting platform and the power transmission line can be synchronously shortened, and the power transmission line is fixed at a certain fixed height, so that the mounting platform, the line walking mechanism fixed on the mounting platform and the X-ray nondestructive inspection detection mechanism are actually lifted to the target height close to the power transmission line in the shortening process.
In addition, one end of the line travelling mechanism is fixed on the mounting platform, the travelling end of the line travelling mechanism is fastened on the power transmission line, and the travelling end drives the line climbing mechanism, the line travelling mechanism and the X-ray nondestructive inspection detection mechanism which are fixed on the mounting platform to move along the power transmission line when travelling along the power transmission line.
The walking end of the line walking mechanism can walk on the power transmission line, the other end of the line walking mechanism is fixed on the mounting platform, and when the walking end drives the line walking mechanism to walk along the power transmission line, the walking end can drive the line climbing mechanism and the X-ray nondestructive inspection detection mechanism on the mounting platform to move along the power transmission line.
One end of the X-ray nondestructive inspection detection mechanism is fixed on the mounting platform, and when the nondestructive inspection robot of the power transmission line climbs to the target height of the power transmission line, the X-ray nondestructive inspection detection mechanism X-ray detection end synchronously reaches the detection height and detects the power transmission line in the moving process.
In this embodiment, line climbing mechanism can promote transmission line nondestructive test robot to the detection height to utilize circuit running gear to make transmission line nondestructive test robot walk on transmission line, after arriving the detection position, detect transmission line by X ray nondestructive inspection detection mechanism. Based on this, transmission line nondestructive test robot that this application provided can automatic climbing walk to detect the position and detect transmission line, need not the manual work and carries the equipment and scramble, simultaneously, also need not to have a power failure for personnel's personal safety and detects, realizes electrified the detection.
In addition, in order that the detection personnel can know the image information detected by the power transmission line nondestructive testing robot from the ground monitoring terminal, the power transmission line nondestructive testing robot further comprises: an image transmission device; the image transmission equipment is in communication connection with the X-ray nondestructive inspection detection mechanism and is used for sending images detected by the X-ray nondestructive inspection detection mechanism to a ground monitoring end.
Example two
Referring to fig. 2, fig. 2 is a schematic structural diagram of a line climbing mechanism according to a second embodiment of the present application. As shown in fig. 2, the present embodiment is described by taking an example in which the line climbing mechanism has two sets of telescopic structures.
Specifically, the line climbing mechanism that this embodiment provided can include at least two sets of extending structure, wherein, can include in every group extending structure: the climbing belt winding device comprises a wire hanging frame 1021, a climbing belt 1022, two winding devices and two climbing motors 1025, wherein each climbing motor is used for driving one winding device to rotate.
The hanging wire rack can be of a double-layer U-shaped structure, a hollow structure is arranged between the two layers of U-shaped structures, a climbing belt hole is formed, one end of the climbing belt is connected with one belt winder, and the other end of the climbing belt penetrates through the climbing belt hole to be connected with the other belt winder.
It should be noted that the winder can include winding wheel 1023 and winding wheel mounting 1024, wherein, the outer lane of winding wheel sets up to concave shape, and concave shape can help when the roll-up climbing area, for climbing area direction, makes the climbing area roll-up to concave shape's depressed part.
In addition, the shaft of the winding wheel is fixed on the winding wheel fixing piece in a rotatable mode, the winding wheel fixing frame can be triangular iron or a metal plate with any shape, and one end of the winding wheel fixing frame can be fixed on the mounting platform in a welding mode or a screw fastening mode.
The output shaft of climbing motor is connected with the through-drive of winding wheel, and when the output shaft of climbing motor rotated, the axle and the winding wheel that drive the winding wheel rotated, and the climbing area can be rolled up when the winding wheel rotated and is gone into this winding wheel or is released from this winding wheel. Wherein, the rotation direction of climbing motor can correspond take-up pulley roll-up climbing area or release climbing area respectively, for example, climbing motor corotation corresponds take-up pulley roll-up climbing area, and the climbing motor upset corresponds take-up pulley release climbing area.
As shown in fig. 2, in a set of extending structure, two winding winders roll up or release a climbing belt simultaneously, and the climbing belt passes through the climbing belt hole of the hanging wire frame, and the place contacting with the climbing belt hole is under the action of the gravity of the robot, and the place contacting with the climbing belt hole can be in a fixed state by the friction force and the elastic force between the climbing belt and the climbing belt hole.
When the two winding winders simultaneously wind the climbing belt, the climbing belt between the winding winders and the wire hanging frame is shorter and shorter, so that the purpose of shortening the telescopic structure is realized; when the two winding devices release the climbing belt simultaneously, the climbing belt between the winding devices and the wire hanging frame is longer and longer, and therefore the purpose of extending the telescopic structure is achieved.
In addition, the line climbing mechanism can also be provided with a gyroscope and a motor controller; the motor controller is in communication connection with the gyroscope and all climbing motors in the line climbing mechanism respectively and is used for controlling the rotating speed of each climbing motor according to signals of the gyroscope.
It should be noted that the gyroscope is a sensing gyroscope and is used for sensing whether the robot is in a horizontal state, and the motor controller controls the rotating speed of each climbing motor according to a sensing signal of the gyroscope. In a specific example, if the sensing signal of the gyroscope indicates that the robot is in a non-horizontal state, the winding or releasing speed of the winder at the end with the lowest relative position may be increased, so that the whole robot may be maintained in a horizontal state (i.e., the horizontal state of the mounting platform).
In order to guarantee that the line climbing mechanism can climb to the target height, the limiting device is further arranged in the line climbing mechanism and can be an infrared distance measuring instrument which comprises an infrared transmitting end and an infrared receiving end, the transmitting end can be arranged on the mounting platform, and the receiving end can be arranged on the wire hanging frame to measure the distance between the power transmission line and the mounting platform.
Because the robot is when measuring, often fixed apart from transmission line's distance, consequently, can carry on spacingly through this mode, infrared distance meter is connected with machine controller, in case infrared distance meter measuring distance is less than or equal to when predetermineeing the distance threshold value, machine controller alright with control each climbing motor stop work.
In addition, in another embodiment, a limiting inductor can be further arranged on each winding wheel, and the distance from the robot to the power transmission line is fixed during measurement, so that the thickness of the climbing belt wound on the winding wheels is fixed, and limitation can be realized by measuring whether the thickness of the climbing belt reaches a preset thickness.
Specifically, the infrared emitter and the infrared receiver can be arranged at the position of the winding wheel with a fixed thickness away from the recess, when the thickness of the wound climbing belt is higher than the position with the fixed thickness, the climbing belt can prevent the infrared rays emitted by the infrared emitter from reaching the infrared receiver, infrared receiver by receiving infrared conversion when unable received infrared ray, will send signal to motor controller, after motor controller received this signal, alright in order to control each climbing motor stop work.
It should be noted that, because each reel is provided with a limit sensor, and because of the existence of an error, the limit triggering time of each reel may not be the same, because in this embodiment, two sets of telescopic structures are respectively arranged on both sides of the mounting platform, for any telescopic structure, when the limit sensor of one reel is triggered, the shortening of the telescopic structure may be stopped, but the other telescopic structure needs to be continuously shortened until the limit sensor of the reel is triggered.
EXAMPLE III
Referring to fig. 3, 4 and 5, fig. 3 is a schematic structural diagram of a line travelling mechanism provided in a third embodiment of the present application, fig. 4 is an enlarged schematic front view of a routing wheel and a jacking assembly provided in the third embodiment of the present application, and fig. 5 is an enlarged schematic back view of the routing wheel and the jacking assembly provided in the third embodiment of the present application. As shown in fig. 3, 4 and 5, the line travelling mechanism provided by the present embodiment may include: a wire arm 1031, a wire wheel 1032, a walking motor 1033 and an electric push rod 1034.
The wire-passing wheel is rotatably fixed on the wire-passing arm through a rotating shaft, and the rotating end of the traveling motor is in transmission connection with the rotating shaft, so that the rotating shaft and the wire-passing wheel are driven to synchronously rotate when the rotating end of the traveling motor rotates;
the wire feeding device is characterized in that one end of the wire feeding arm, which is not fixed with the wire feeding wheel, is rotatably fixed on the mounting platform, one end of the electric push rod is fixed at one end of the wire feeding arm, which is fixed with the wire feeding wheel, and the other end of the electric push rod is fixed on the mounting platform, so that the electric push rod drives the wire feeding arm to rotate along one end of the wire feeding arm, which is fixed on the mounting platform.
It should be noted that, when the nondestructive inspection robot of the power transmission line climbs to the target height of the power transmission line, the electric push rod pushes one end of the routing arm, where the routing wheel is installed, above the power transmission line, and at this time, the motor controller in the second embodiment controls the telescopic structure to extend for a distance, so that the routing wheel is clamped into the power transmission line, and thus the force for fixing the robot on the power transmission line is converted from the line climbing mechanism to the routing wheel, that is, the robot is suspended on the power transmission line through the routing wheel.
In addition, the line travelling mechanism also comprises a jacking wheel assembly; the jacking wheel assembly comprises a jacking structure 1035 and jacking wheels 1036, one end of the jacking structure is fixed on the mounting platform, and the other end of the jacking structure is fixed with the jacking wheels; and when the jacking mechanism jacks, the jacking wheel is driven to jack, and the transmission line nondestructive testing robot is fastened on the transmission line by matching with the routing wheel.
Further, the line travelling mechanism further comprises a steering engine 1037 and a swing rod 1038; one end of the swing rod is connected to the steering engine, and the other end of the swing rod is in contact with a wire hanging frame of the line climbing mechanism; when the steering engine works, the swing rod is driven to rotate, so that the swing rod lifts a wire hanging frame of the line climbing mechanism, and the wire hanging price is separated from the power transmission line.
Example four
Referring to fig. 6 and 7, fig. 6 is a schematic structural view of an X-ray nondestructive inspection mechanism in a storage state according to a fourth embodiment of the present application, and fig. 7 is a schematic structural view of an X-ray nondestructive inspection mechanism in an operating state according to the fourth embodiment of the present application.
Wherein, X ray nondestructive test detection mechanism includes: the system comprises front-end detection equipment and an image processing platform;
the front-end detection device comprises a ray machine 1041 and a digital flat panel imager 1042, the ray machine and the digital flat panel imager are arranged oppositely, and rays emitted by the ray machine are received and imaged by the digital flat panel imager after passing through the power transmission line;
and the digital flat panel imager receives the imaging and then sends the imaging signal to the image processing platform for image processing to obtain a detection image of the power transmission line.
Furthermore, the ray machine and the digital flat panel imager are coaxially and rotatably fixed at one end of the detection bracket through a connecting shaft;
the other end of the detection bracket is fixed on the mounting platform;
the X-ray nondestructive inspection detection mechanism further comprises a rotating motor, wherein the rotating motor is in transmission connection with the connecting shaft and is used for transmission of the connecting shaft so as to drive the ray machine and the digital flat panel imager to synchronously rotate to a working state from a storage state or synchronously rotate to the storage state from the working state.
The X-ray machine adopts a pulse machine and a portable design, so that the X-ray emission dose is effectively reduced, the remote safety control is realized, and an alternating current/battery double power supply mode is adopted, so that the requirements of various working environments are met; maximum voltage of 270kV of the ray tube, penetrable steel thickness: 1 "(25.4 mm).
Digital flat panel imagers absorb X-rays and convert them to light, which is then converted to electrical charges. During the X-ray exposure, the charge accumulates continuously, is read out by the integrated circuit, and completes the analog-to-digital conversion, producing a digital image.
In addition, in order to realize various mechanical controls such as translation, lifting and rotating of the front-end detection equipment, the embodiment can also be provided with a detection tool, and the positioning of the front-end detection equipment can be rapidly completed according to requirements.
It should be noted that the distance between the ray machine and the digital flat panel imager is 30cm (less than 40cm between adjacent wires and less than 60cm between the wires and the grading ring). And the weight of the whole device can not exceed 2 kilograms, thereby being convenient for reasonable deployment of high-altitude hoisting work.
In addition, for the implementation of all the embodiments, electromagnetic shielding may be considered in the present application, specifically, since the robot works in a high-voltage live environment, in order to prevent the interference of the electromagnetic field around the wire to the robot hardware control system, electromagnetic interference protection measures are adopted in the design of the robot control hardware circuit board, the assembly of the control hardware and the structure, so as to reduce the electromagnetic interference strength to the greatest extent.
In one embodiment, a strong Ground (GNDP) and a weak Ground (GNDD) may be isolated, which may reduce interference of fluctuations of a strong electrical signal with a weak electrical signal.
In addition, in mechanical mechanisms, in order to reduce the point discharge of the robot in a strong electromagnetic field, chamfering treatment is carried out on the position of the point in the machining process, meanwhile, welding points and branch points are reduced, and the position which has to be welded or divided in inches has to be protected by strengthening the insulation performance.
In the integrated assembly process of the hardware control system, the surface of the motor, transmission cables of the motor and the sensor and the like are wrapped by the metal aluminum shell with good electric conductivity, static potential difference of the cable and the periphery of the circuit board is eliminated, and the possibility that an external metal body discharges electric wires and the circuit board is reduced.
Further, the nondestructive testing robot for the power transmission line further comprises an equipotential structure. Specifically, referring to fig. 8, fig. 8 is a schematic structural diagram of an equipotential structure in an elevated state and an equipotential state according to a fourth embodiment of the present disclosure.
Specifically, the equipotential structure includes an electromagnet 1061, an equipotential rod 1062, and an elastic element 1063;
one end of the equipotential rod is rotatably fixed on the nondestructive testing robot of the power transmission line, and the other end of the equipotential rod is fixedly connected with one end of the elastic piece;
the other end of the elastic piece is fixed on the nondestructive testing robot for the power transmission line, when the electromagnet is powered on, the other end of the equipotential rod is adsorbed on the electromagnet, and the elastic piece is in a compression state under the extrusion of the equipotential rod and the position of the nondestructive testing robot for the power transmission line for fixing the elastic piece, namely in a lifting state indicated in the figure 8;
when the electromagnet is powered off, the other end of the equipotential rod is released by the electromagnet, and the elastic force of the elastic piece in the process of changing the compression state into the extension state pushes the power transmission line, so that the equipotential state shown in fig. 8 is realized.
It is to be noted that the foregoing is only illustrative of the presently preferred embodiments and application of the principles of the present invention. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments illustrated herein, and that various obvious changes, rearrangements and substitutions may be made therein by those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a transmission line nondestructive test robot which characterized in that, transmission line nondestructive test robot includes: the device comprises an installation platform, a line climbing mechanism, a line walking mechanism and an X-ray nondestructive inspection detection mechanism;
one end of the line climbing mechanism is fixed on the mounting platform, and the other end of the line climbing mechanism is hooked on the power transmission line;
the line climbing mechanism comprises a telescopic structure, the telescopic structure is connected with one end and the other end of the line climbing mechanism, and when the telescopic structure is shortened, the power transmission line nondestructive testing robot is driven to climb to the target height of the power transmission line;
one end of the line travelling mechanism is fixed on the mounting platform, the travelling end of the line travelling mechanism is fastened on the power transmission line, and the line climbing mechanism, the line travelling mechanism and the X-ray nondestructive inspection detection mechanism which are fixed on the mounting platform are driven to move along the power transmission line when the travelling end travels along the power transmission line;
one end of the X-ray nondestructive inspection detection mechanism is fixed on the mounting platform, and when the nondestructive inspection robot of the power transmission line climbs to the target height of the power transmission line, the X-ray nondestructive inspection detection mechanism X-ray detection end synchronously reaches the detection height and detects the power transmission line in the moving process.
2. The electric transmission line nondestructive inspection robot of claim 1, characterized in that the electric transmission line nondestructive inspection robot further comprises: an image transmission device;
the image transmission equipment is in communication connection with the X-ray nondestructive inspection detection mechanism and is used for sending images detected by the X-ray nondestructive inspection detection mechanism to a ground monitoring end.
3. The nondestructive inspection robot for power transmission lines of claim 1, wherein the line climbing mechanism comprises at least two sets of telescoping structures;
each of the telescopic structures includes: the device comprises a wire hanging frame, a climbing belt, two wire winders and two climbing motors, wherein each climbing motor is used for driving one wire winder to rotate;
in each telescopic structure, the wire hanging frame is hung on the power transmission line and is provided with a climbing belt hole, one end of the climbing belt is connected with one belt winder, and the other end of the climbing belt penetrates through the climbing belt hole to be connected with the other belt winder.
4. The nondestructive inspection robot for power transmission lines according to claim 3, wherein the line climbing mechanism is provided with a gyroscope and a motor controller;
the motor controller is in communication connection with the gyroscope and all climbing motors in the line climbing mechanism respectively and is used for controlling the rotating speed of each climbing motor according to signals of the gyroscope.
5. The electric transmission line nondestructive inspection robot of claim 1, wherein the line traveling mechanism includes: the walking mechanism comprises a walking arm, a walking wheel, a walking motor and an electric push rod;
the wire-passing wheel is rotatably fixed on the wire-passing arm through a rotating shaft, and the rotating end of the walking motor is in transmission connection with the rotating shaft, so that the rotating shaft and the wire-passing wheel are driven to synchronously rotate when the rotating end of the walking motor rotates;
the wire feeding device is characterized in that one end of the wire feeding arm, which is not fixed with the wire feeding wheel, is rotatably fixed on the mounting platform, one end of the electric push rod is fixed at one end of the wire feeding arm, which is fixed with the wire feeding wheel, and the other end of the electric push rod is fixed on the mounting platform, so that the electric push rod drives the wire feeding arm to rotate along one end of the wire feeding arm, which is fixed on the mounting platform.
6. The nondestructive inspection robot for electric transmission lines according to claim 5, wherein the line traveling mechanism further includes a jacking wheel assembly;
the jacking wheel assembly comprises a jacking structure and jacking wheels, one end of the jacking structure is fixed on the mounting platform, and the other end of the jacking structure is fixed with the jacking wheels;
when the jacking mechanism jacks, the jacking wheels are driven to jack, and the transmission line nondestructive testing robot is fastened on the transmission line by matching with the routing wheels.
7. The nondestructive inspection robot for the power transmission line according to claim 5, wherein the line walking mechanism further comprises a steering engine and a swing rod;
one end of the swing rod is connected to the steering engine, and the other end of the swing rod is in contact with a wire hanging frame of the line climbing mechanism;
when the steering engine works, the swing rod is driven to rotate, so that the swing rod lifts a wire hanging frame of the line climbing mechanism, and the wire hanging price is separated from the power transmission line.
8. The electric transmission line nondestructive inspection robot of claim 1, wherein the X-ray nondestructive inspection detection mechanism includes: the system comprises front-end detection equipment and an image processing platform;
the front-end detection equipment comprises a ray machine and a digital flat panel imager, the ray machine and the digital flat panel imager are oppositely arranged, and rays emitted by the ray machine are received and imaged by the digital flat panel imager after passing through the power transmission line;
and the digital flat panel imager receives the imaging and then sends the imaging signal to the image processing platform for image processing to obtain a detection image of the power transmission line.
9. The transmission line nondestructive testing robot of claim 8, wherein the ray machine and the digital flat panel imager are coaxially and rotatably fixed at one end of the detection bracket through a connecting shaft;
the other end of the detection bracket is fixed on the mounting platform;
the X-ray nondestructive inspection detection mechanism further comprises a rotating motor, wherein the rotating motor is in transmission connection with the connecting shaft and is used for transmission of the connecting shaft so as to drive the ray machine and the digital flat panel imager to synchronously rotate to a working state from a storage state or synchronously rotate to the storage state from the working state.
10. The electric transmission line nondestructive inspection robot of claim 1, wherein the electric transmission line nondestructive inspection robot further comprises an equipotential structure;
the equipotential structure comprises an electromagnet, an equipotential rod and an elastic piece;
one end of the equipotential rod is rotatably fixed on the nondestructive testing robot for the power transmission line, and the other end of the equipotential rod is fixedly connected with one end of the elastic piece;
the other end of the elastic piece is fixed on the nondestructive testing robot for the power transmission line, when the electromagnet is electrified, the other end of the equipotential rod is adsorbed on the electromagnet, and the elastic piece is in a compression state under the extrusion of the equipotential rod and the position of the nondestructive testing robot for the power transmission line for fixing the elastic piece;
when the electromagnet is powered off, the other end of the equipotential rod is released by the electromagnet, and the elastic force pushes and presses the power transmission line when the elastic piece is changed from the compression state to the extension state.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210889337.7A CN115378126A (en) | 2022-07-27 | 2022-07-27 | Nondestructive detection robot for power transmission line |
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| CN202210889337.7A CN115378126A (en) | 2022-07-27 | 2022-07-27 | Nondestructive detection robot for power transmission line |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116482224A (en) * | 2023-04-25 | 2023-07-25 | 江苏联能电力科学研究院有限公司 | Nondestructive inspection system and method based on ultrasonic guided wave nondestructive inspection |
| CN117169326A (en) * | 2023-11-02 | 2023-12-05 | 国网甘肃省电力公司电力科学研究院 | Robot for detecting quality of steel core inside ultra-high voltage line voltage jointing clamp and application method |
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2022
- 2022-07-27 CN CN202210889337.7A patent/CN115378126A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116482224A (en) * | 2023-04-25 | 2023-07-25 | 江苏联能电力科学研究院有限公司 | Nondestructive inspection system and method based on ultrasonic guided wave nondestructive inspection |
| CN116482224B (en) * | 2023-04-25 | 2024-02-09 | 江苏联能电力科学研究院有限公司 | Nondestructive inspection system and method based on ultrasonic guided wave nondestructive inspection |
| CN117169326A (en) * | 2023-11-02 | 2023-12-05 | 国网甘肃省电力公司电力科学研究院 | Robot for detecting quality of steel core inside ultra-high voltage line voltage jointing clamp and application method |
| CN117169326B (en) * | 2023-11-02 | 2024-01-02 | 国网甘肃省电力公司电力科学研究院 | Robot for detecting quality of steel core inside ultra-high voltage line voltage jointing clamp and application method |
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