CN116930216A - Self-online nondestructive testing robot for electric power fittings - Google Patents

Abstract

The invention discloses a self-online electric power fitting nondestructive testing robot, which comprises a robot module, an unmanned aerial vehicle module and a lifting module, wherein the robot module is provided with two walking modules and is used for driving the testing robot to walk along a conveying line; and an arm module for supporting the X-ray generator for detection and the imaging plate; a frame module; is used for bearing the walking module and the arm module. The walking module is provided with a wheel assembly, a brake assembly, a supporting assembly and a driver, and the arm module is provided with a first arm assembly, a second arm assembly and a tilting driving assembly. The frame module has a case and a cover. The self-feeding device is used for a power fitting nondestructive testing robot, and can enable the testing robot to move along a power transmission line to be tested so as to replace manual inspection of the existing power transmission line.

Description

Self-online nondestructive testing robot for electric power fittings

Technical Field

The invention relates to the technical field of transmission line detection equipment, in particular to a self-online electric power fitting nondestructive detection robot.

Background

Transmission lines are one of the important links of electric power systems, and they are subjected not only to inherent mechanical loads and internal pressures of electric loads, but also to various external attacks of natural environments, such as: corrosion, pollution, lightning strikes, strong winds, floods, landslides, subsidence, earthquake and bird damage, and the like, as well as human damage. Over time, various defects on the line, such as: the contact resistance is increased, the wire is broken, the lightning conductor is broken, the tower is inclined, the insulator flickers, the hardware fitting falls off and the like, and if the contact resistance is not found and eliminated in time, the safe operation of the power grid is seriously affected. In order to ensure the safe operation of the transmission line, careful inspection of the transmission line is required to prevent accidents.

The conventional inspection robot is generally provided with an imaging device, and can evaluate the health condition of the circuit equipment only from the appearance and the side surface, but cannot directly and intuitively display the internal defects. Therefore, the X-ray digital imaging technology is used for detecting the wires and hardware fittings of the power transmission line, which makes it possible to intuitively and efficiently detect the wires. The internal defect damage of the power transmission line hardware fitting is detected in more detail and effectively, and the traditional visual detection is combined, so that the health conditions of the wires and the hardware fitting can be evaluated more quickly and accurately, and the detection structure and failure reasons of the wires and the hardware fitting can be obtained more accurately.

However, the existing transmission line hardware digital imaging technology has certain limitation in the application process, the integration and intelligent degree of the overhead conductor pulse X-ray digital imaging technology equipment is low, manual erection is needed in the detection process, the equipment installation process is time-consuming and labor-consuming, and the erection cannot be completed even when the geographical environment is bad, so that the operation complexity is high and the potential safety hazard is high; meanwhile, the detection work can be carried out only when the line is in power failure, so that the problems of low detection flexibility and efficiency are caused. With the improvement of electric power system reform and the improvement of the electric power operation marketization degree, the development of the transmission line inspection equipment with advanced technology and excellent performance becomes an urgent problem to be solved. Related technical documents of the existing transmission line detection robot are referred to in references 1 and 2:

reference 1: chinese patent document with patent publication No. CN112787265 a.

Reference 1 discloses a transmission line electrified X-ray detection and cleans integrative obstacle crossing robot, including the mounting bracket with can dismantle fixed connection be used for receiving control signal and control robot action's control box in the mounting bracket below, still be provided with on the mounting bracket and be used for the X-ray detection unit of transmission line defect detection and drive the walking unit that the robot removed along the transmission line, the walking unit includes along two walking pulley assemblies of mounting bracket length direction symmetry installation to and with mounting bracket telescopic connection and follow the transmission line outwards extend with the supporting pulley assembly that walking pulley assembly is used for rotating centre gripping transmission line on the same axis. Compared with the traditional inspection robot, the robot can perform visible light detection, can directly perform X-ray detection on the possible abnormal parts, explore the internal states of the transmission line and the hardware fitting, and prevent potential safety hazards caused by the limitation of visible light or infrared inspection.

Reference 2: chinese patent document with patent publication No. CN115378126 a.

Reference 2 discloses a transmission line nondestructive inspection robot. The nondestructive testing robot for the power transmission line comprises: the device comprises a mounting platform, a line climbing mechanism, a line traveling mechanism and an X-ray nondestructive inspection detection mechanism, wherein the line climbing mechanism can lift a nondestructive inspection robot of a power transmission line to an inspection height, the line traveling mechanism is utilized to enable the nondestructive inspection robot of the power transmission line to travel on the power transmission line, and after the nondestructive inspection robot reaches an inspection position, the X-ray nondestructive inspection detection mechanism is used for inspecting the power transmission line. This detection robot can climb the walking automatically to detect the position and detect transmission line, need not artifical carrying equipment and scramble, simultaneously, also need not to carry out the power failure detection for personnel's personal safety, realizes electrified detection.

The robots capable of realizing live detection of the transmission line are described in each of references 1 and 2, however, the configuration capable of realizing the above-described functional robot is not limited to the above two, and based on this, the applicant proposes a detection robot different from the prior art.

Disclosure of Invention

The invention aims to solve the technical problems in the prior art and provides a self-on-line type electric power fitting nondestructive testing robot.

The invention solves the technical problems, and adopts the following technical scheme: a self-threading power fitting nondestructive inspection robot, comprising:

the robot module is hung on the power transmission wire and can move along the wire so as to perform nondestructive detection on electric power fittings on the power transmission wire;

the unmanned aerial vehicle module is used for enabling a lead rope for the lifting robot to pass through a lead; and

the lifting module is used for lifting the robot to the position of the wire to be detected;

the robot module has:

the two walking modules are used for driving the detection robot to walk along the conveying line; and

an arm module for supporting the X-ray generator for detection and the imaging plate; and

a frame module; the arm module is used for bearing the walking module and the arm module; and

the balancer module is used for keeping the posture of the robot module stable;

the walking module has:

the wheel assembly is configured at the upper end of the supporting assembly and matched with the transmission line to be detected so as to realize that the detection robot walks along the transmission line; and

the brake assembly is used for increasing the friction between the wheel assembly and the power transmission line so as to achieve the purpose of braking; and

a support assembly for carrying a wheel assembly and a brake assembly, the brake assembly being disposed at a mid-position of the support assembly; and

a bracket assembly for adjusting an inclination angle of the support assembly; and

a driver for providing a driving force to the wheel assembly;

the driver is provided with a walking driving motor, the output shaft sleeve of the walking driving motor is provided with a driving wheel, and the driving wheel is in transmission connection with a grooved wheel in the wheel assembly through a transmission belt;

the arm module has:

a first arm assembly for supporting the X-ray device and the imaging plate; and

the second arm assembly is used for driving the first arm assembly to rotate; and

the inclination driving assembly is used for driving the second arm assembly to rotate;

the first arm assembly is of a U-shaped structure formed by two vertical parts and a horizontal part, wherein the top end of one vertical part is provided with an X-ray fixing bracket, and the top end of the other vertical part is provided with an imaging plate fixing bracket;

the second arm assembly is of an L-shaped structure formed by a vertical part and a horizontal part, and the top end of the vertical part is connected with the horizontal part of the first arm assembly through a steering gear;

the tilting driving assembly is provided with a driving seat and a rotary driving motor, and an output shaft of the rotary driving motor is in transmission connection with the horizontal part in the second arm assembly;

the frame module has:

the box body is used for bearing the walking module, the arm module and the electric control assembly; and

the cover body is hinged on the box body;

the box body is divided into three side-by-side functional areas through a partition board, each functional area is provided with a cover body, two traveling modules are respectively located in the functional areas at two ends, the cover body is provided with an avoidance hole for the traveling modules to pass through, and the electric control assembly is arranged in the middle functional area;

the arm module is fixed on one side of the box body through a driving seat of the inclined driving assembly;

the balancer module has:

a balance driver arranged on one side of the case opposite to the arm module; and

a load head;

the balance driver is used for adjusting the distance between the load head and the box body;

the unmanned aerial vehicle module has:

unmanned plane; and

a lead wire rope;

the lifting module has:

a hoist; and

a wire hanging device;

the wire hanger has:

the wire hanger body, the wire hanger body includes the horizontal pole and sets up the U type couple at horizontal pole both ends lower edge, the open end of U type couple is down for make the wire hanger body hang to establish on the circuit cable, U type couple below is equipped with the fixed pulley, the fixed pulley is connected with U type couple, all slide on the fixed pulley and be equipped with the haulage rope, the one end of haulage rope is used for being connected with circuit check out test set, the other end of haulage rope supplies the staff pull, when the staff pull haulage rope, the one end that haulage rope and circuit check out test set are connected carries circuit check out test set to pull to rise.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the wheel assembly has:

a sheave disposed at an upper end of the support assembly through the first shaft and the wheel end cap; and

and the synchronizing wheel is arranged at the other end of the first shaft and is rigidly connected with the first shaft through a synchronizing wheel end cover.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the brake assembly has:

a support plate; and

two side plates vertically arranged at two ends of the upper end surface of the support plate; and

the driving rod is arranged on the supporting plate in a penetrating way and is positioned between the two side plates; and

the brake driving motor is arranged on the lower end surface of the supporting plate, an output shaft of the brake driving motor is coaxially connected with the driving rod, and the brake driving motor can drive the driving rod to axially reciprocate; and

the brake cushion block is arranged above the side plate and is fixedly connected with the upper end head of the driving rod; .

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the support assembly has:

the support frame body is of a strip-shaped structure; and

the bearing seat group comprises a first bearing seat and a second bearing seat; and

the two ends of the second shaft penetrate through the first bearing seat and the second bearing seat; and

the first spur gear is fixedly sleeved at one end of the second shaft and is rigidly connected with the support frame body.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the bracket assembly has:

a tilt bracket for supporting other components in the bracket assembly; and

a tilt driving motor; and

and the second spur gear is sleeved at one end of the tilting drive motor and meshed with the first spur gear in the supporting assembly.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the balance driver is an electric push rod, the tail part of the electric push rod extends into the box body, and the head end of the telescopic rod is connected with the load head.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the load head is composed of a concrete inner core and an insulating spherical shell wrapped on the concrete inner core.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the box is divided into three side-by-side functional areas through the partition board, each functional area is provided with a cover body, the two traveling modules are respectively located in the functional areas at two ends, the cover body is provided with an avoidance hole for the traveling modules to pass through, and the electric control assembly is arranged in the middle functional area.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the steering gear comprises a steering base plate, a steering motor and a clamping piece, wherein the steering base plate is fixed at one end of the vertical part of the second arm assembly, the steering motor is fixed at the lower end of the steering base plate, an output shaft of the steering motor penetrates through the steering base plate to be in transmission connection with the rotating seat, and the clamping piece is fixed on the rotating seat.

As a further optimization of the self-online electric power fitting nondestructive testing robot, the invention: the frame module still includes two lifting hooks, and the lifting hook comprises vertical connecting rod and rings, and the bottom of box is provided with the boss, fixedly on the boss be provided with vertical connecting rod, vertical connecting rod top expose the lid and with rings threaded connection.

The invention has the following beneficial effects: the detection robot is used for X-ray detection of the electric power fitting, the automatic wire feeding function of the robot can be realized through the unmanned aerial vehicle and the winch, the detection robot can move along a transmission line to be detected after wire feeding, and the electric power fitting on the transmission line can be automatically detected through adjustment of the first arm assembly and the second arm assembly based on ingenious design of the arm modules.

Drawings

FIG. 1 is a schematic top view of a robot module according to the present invention;

FIG. 2 is a schematic diagram of the overall (perspective) structure of the walking module of the present invention;

FIG. 3 is a schematic view of the overall (front view) structure of the walking module of the present invention;

FIG. 4 is a schematic view of the wheel assembly of the present invention;

FIG. 5 is a schematic view of the overall (perspective) structure of the support bracket assembly of the present invention;

FIG. 6 is a schematic view of the overall (front view) structure of the support bracket assembly of the present invention;

FIG. 7 is a schematic view of the structure of the bracket assembly of the present invention;

FIG. 8 is a schematic illustration of the construction of a brake assembly of the present invention;

FIG. 9 is a schematic diagram of the structure of the actuator of the present invention;

FIG. 10 is a schematic view of the overall (perspective) structure of the arm module of the present invention;

FIG. 11 is a schematic view of the structure of the first arm assembly of the present invention;

FIG. 12 is a schematic view of the construction of a second arm assembly of the present invention;

FIG. 13 is a schematic view of the construction of the tilt drive assembly of the present invention;

FIG. 14 is a schematic view of the overall (perspective) structure of the frame module of the present invention;

FIG. 15 is a schematic view of the internal structure of the frame module of the present invention;

FIG. 16 is a schematic perspective view of a robot module according to the present invention;

FIG. 17 is a schematic diagram I of the structure of the wire hanger of the present invention;

FIG. 18 is a schematic diagram II of a wire hanger according to the present invention;

FIG. 19 is a physical view of the wire hanger of the present invention;

the marks in the figure:

1. a wheel assembly;

101. a sheave;

102. a first shaft;

103. a wheel end cap;

104. a synchronizing wheel;

105. a synchronizing wheel end cover;

2. a brake assembly;

201. a support plate;

202. a side plate;

203. a driving rod;

204. braking the driving motor;

205. a brake pad;

206. a base bracket;

207. guide rod

3. A support assembly;

301. a support frame body;

302. a bearing seat group;

303. a second shaft;

304. a first spur gear;

305. a first bearing seat;

306. a second bearing seat;

4. a bracket assembly;

401. a tilting bracket;

402. a tilt driving motor;

403. a second spur gear;

5. a driver;

501. a walking driving motor;

502. a driving wheel;

503. a drive belt;

504. a motor base;

6. a first arm assembly;

601. an X-ray fixing bracket;

602. an imaging plate fixing bracket;

7. a second arm assembly;

701. a diverter;

7011. turning to a substrate;

7012. a steering motor;

7013. a clip member;

7014. a rotating seat;

8. a tilt drive assembly;

801. a driving seat;

802. a rotary drive motor;

9. a case;

10. a case cover;

11. a lifting hook;

12. a balance driver;

13. a load head;

14. a wire hanging device;

1401. a cross bar;

1402. a limiting block;

1403. a column;

1404. u-shaped hooks;

1405. a limit claw;

1406. a reinforcing rod;

1407. a traction rope;

1408. a fixed pulley;

1409. a roller;

1410. a positioning block;

1411. a transmission block;

1412. a second pin;

1413. a chute;

1414. a first pin;

1415. and (5) connecting a block.

Detailed Description

For a better understanding of the present invention, the following examples are set forth to illustrate, but are not to be construed as limiting the invention.

As shown in fig. 1: a self-on-line type electric power fitting nondestructive testing robot is mainly divided into three functional units as a whole.

< first functional Unit >

The first functional unit is a robot module, which can be further divided into four functional parts.

The first part is a part for realizing a walking function, and has two walking modules, as shown in fig. 2 and 3, the walking modules have: wheel assembly 1, brake assembly 2, support assembly 3, bracket assembly 4 and driver 5.

As shown in fig. 4, the wheel assembly 1 is configured at the upper end of the supporting assembly 3, and is matched with a transmission line to be detected so as to realize that the detection robot walks along the transmission line.

The wheel assembly 1 has: sheave 101 and synchronizing wheel 104, sheave 101 is the part that contacts with the transmission line, synchronizing wheel 104 provides power for sheave 101's rotation.

Specifically, the sheave 101 is composed of a rigid body and a polyurethane layer provided in a ring groove of the rigid body, which is disposed at an upper end of the support assembly 3 through the first shaft 102 and the wheel end cover 103.

The synchronizing wheel 104 is disposed at the other end of the first shaft 102 and is rigidly connected to the first shaft 102 by a synchronizing wheel end cap 105.

As shown in fig. 8, the brake assembly 2 is used for increasing the friction between the wheel assembly 1 and the transmission line for the purpose of braking.

The brake assembly 2 has: a support plate 201, two side plates 202, a drive rod 203, a brake drive motor 204, a brake pad 205 and a base bracket 206.

Two side plates 202 provided vertically at both ends of the upper end face of the support plate 201.

A driving rod 203 penetrating the supporting plate 201 and located between the two side plates 202.

And a brake driving motor 204 disposed on a lower end surface of the support plate 201, wherein an output shaft of the brake driving motor 204 is coaxially connected with the driving rod 203, and the brake driving motor 204 can drive the driving rod 203 to axially reciprocate.

And a brake pad 205 which is arranged above the side plate 202 and is fixedly connected with the upper end of the driving rod 203.

In order to ensure the stability of the up-and-down movement of the brake pad 205, two guide rods 207 are also provided, which are arranged perpendicularly to the upper end face of the support plate 201 and between the two side plates 202.

The driving motor 204 drives the driving rod 203 to move up and down, when the driving rod 203 moves up, the braking cushion block 205 is driven to move up, an extrusion effect is generated between the braking cushion block 205 and the grooved pulley 101, the friction force between the conducting wire and the braking cushion block 205 and the friction force between the conducting wire and the grooved pulley 101 are increased, a braking effect is achieved, and when the braking is needed to be canceled, the driving motor 204 drives the driving rod 203 to move down.

As shown in fig. 5 and 6, the support assembly 3 is used for carrying the wheel assembly 1 and the brake assembly 2, and the brake assembly 2 is disposed at a middle position of the support assembly 3.

The support assembly 3 has: the support frame body 301, bearing frame group 302, second shaft 303 and first spur gear 304.

The supporting frame body 301 has a strip-shaped structure.

A bearing housing set 302 comprising a first bearing housing 305 and a second bearing housing 306.

The second shaft 303 has both ends penetrating into the first bearing housing 305 and the second bearing housing 306.

The first spur gear 304 is a semicircular gear, and is fixedly sleeved at one end of the second shaft 303, and the first spur gear 304 is rigidly connected with the support frame body 301.

It can be seen that the entire support assembly 3 is capable of rotating about the second shaft 303, with the power of rotation coming from the first spur gear 304.

As shown in fig. 7: and a bracket assembly 4 for adjusting an inclination angle of the support assembly 3.

The bracket assembly 4 has: a tilt bracket 401, a tilt drive motor 402, and a second spur gear 403.

A tilt bracket 401 for supporting other components in the bracket assembly 4.

A second spur gear 403 which is sleeved on one end of the tilt drive motor 402 and is meshed with the first spur gear 304 in the support assembly 3.

The tilt driving motor 402 can drive the second spur gear 403 to rotate, and the second spur gear 403 drives the first spur gear 304 meshed with the second spur gear to rotate, so that the overall tilt angle adjustment of the tilt driving motor 402 to the support assembly 3 is finally realized.

As shown in fig. 9: a driver 5 for providing a driving force to the wheel assembly 1.

The driver 5 has a travel drive motor 501, the output shaft of which is provided with a driving wheel 502, the driving wheel 502 being in driving connection with the sheave 101 in the wheel assembly 1 via a driving belt 503. The support body 301 is further provided with a belt cover, and the driving belt 503 is located in the belt cover. The walking driving motor 501 is fixed to the lower side wall of the supporting frame body 301 through a motor base 504.

The driving motor 501 drives the grooved wheel 101 to rotate through the driving belt 503, so as to provide a power source for the movement of the whole robot on the electric transmission line.

The second part is a part for supporting the X-ray generator and the imaging plate for detection, and besides a simple supporting function, more importantly, the positions of the X-ray generator and the imaging plate are adjusted so that the robot can detect the adjacent multiple split wires under the condition of no movement.

As shown in fig. 10, the arm module has: a first arm assembly 6, a second arm assembly 7 and a tilt drive assembly 8.

A first arm assembly 6 for supporting the X-ray device and the imaging plate; and

the second arm assembly 7 is used for driving the first arm assembly 6 to rotate; and

and the tilting driving assembly 8 is used for driving the second arm assembly 7 to rotate.

As shown in fig. 11, the first arm assembly 6 is formed in a U-shaped structure by two vertical portions and one horizontal portion, wherein the top end of one vertical portion is provided with an X-ray fixing bracket 601, and the top end of the other vertical portion is provided with an imaging plate fixing bracket 602.

As shown in fig. 12, the second arm assembly 7 is an L-shaped structure composed of a vertical portion and a horizontal portion, and the top end of the vertical portion is connected to the horizontal portion of the first arm assembly 6 through a deflector 701;

the steering device 701 comprises a steering base plate 7011, a steering motor 7012 and a clamping member 7013, wherein the steering base plate 7011 is fixed at one end of the vertical part of the second arm assembly 7, the steering motor 7012 is fixed at the lower end of the steering base plate 7011, an output shaft of the steering motor 7012 penetrates through the steering base plate 7011 to be in transmission connection with a rotating seat 7014, and the clamping member 7013 is fixed on the rotating seat 7014.

As shown in fig. 13, the tilt drive assembly 8 has a drive base 801 and a rotary drive motor 802, the output shaft of the rotary drive motor 802 being drivingly connected to the horizontal portion of the second arm assembly 7.

As is apparent from the above structure, the first arm assembly 6 can rotate under the action of the steering gear 701, the first arm assembly 6 can turn over under the action of the second arm assembly 7, and under the superposition of the two movement modes of rotation and turning over, the various changes of the positions of the X-ray device and the imaging plate can be realized.

The third part is a frame module for bearing the walking module and the arm module.

As shown in fig. 14 and 15, the frame module has: a case 9 and a cover 10.

The box body 9 is used for bearing the walking module, the arm module and the electric control assembly; and

a cover 10 hinged to the case 9.

The inside of the box body 9 is divided into three side-by-side functional areas through a partition board, each functional area is provided with a cover body 10, two traveling modules are respectively positioned in the functional areas at two ends, the cover body 10 is provided with an avoidance hole for the traveling modules to pass through, and the electric control assembly is arranged in the middle functional area;

the arm module is fixed to one side of the case 9 through a driving seat 801 of the tilt driving assembly 8.

The electric control assembly is mainly used for controlling all driving motors in the robot, and the electric control assembly also comprises a control terminal which is remotely controlled, and an operator realizes the control of the electric control assembly at the control terminal and sends out various instructions. This part is not an innovation of the robot of the present invention, and suitable components and control logic can be selected according to the actual requirements of the robot of the present invention.

The frame module still includes two lifting hooks 11, and lifting hook 11 comprises vertical connecting rod and rings, and the bottom of box 9 is provided with the boss, fixedly on the boss be provided with vertical connecting rod, vertical connecting rod top exposes lid 10 and with rings threaded connection.

The two hooks 11 are mainly used for hoisting the robot to the power transmission line to be detected.

The fourth part is a functional part for maintaining stable posture of the robot module, and the balancer module has: a balance actuator 12 and a load head 13, which are disposed on the opposite side of the housing 9 to the arm module.

The balance driver 12 is an electric push rod, the tail part of the electric push rod stretches into the box body 9, and the head end of the telescopic rod is connected with the load head 13. The loading head 13 is composed of a concrete core and an insulating spherical shell wrapped on the concrete core.

In the detection process, because the position of the robot is detected on the power transmission wire, the electric power fitting is positioned at one end of the power transmission wire, when the electric power fitting is detected, the arm module of the robot can outwards extend, and because the arm module is written with the X-ray machine and the imaging plate, the weight is large, and the robot module can incline after extending. To solve this problem, a balancer module is provided in the inspection robot, and the distance between the load head 13 and the case 9 is controlled to improve the balance state of the robot module.

< second functional Unit >

The second functional unit is an unmanned aerial vehicle module, and the unmanned aerial vehicle module has: unmanned aerial vehicle and wire rope for pass the wire rope that lifting robot used through the wire. The function of the lead wire rope is to wind the upper machine belt of the lifting module on the transmission wire to be detected.

< third functional Unit >

The third functional unit is a lifting module, and the lifting module is provided with: the winding engine and the wire hanger are used for lifting the robot to the position of the wire to be detected. The detection robot and the winch are connected through the upper belt so as to lift the detection robot to the target electric transmission line.

Including the line frame body that can temporarily articulate with unmanned aerial vehicle, the line frame body includes horizontal pole and sets up the U type couple 1404 at horizontal pole both ends lower edge, and the open end of U type couple 1404 is down for make the line frame body hang and establish on the circuit cable, through unmanned aerial vehicle carrying line frame body to rise to the top of cable, through making the open end of U type couple 1404 correspond behind the cable, control unmanned aerial vehicle descends, thereby make U type couple 1404 sit on the circuit cable, make line frame body hang and establish on the circuit cable.

In this embodiment, a fixed pulley 1408 is disposed below the U-shaped hook 1404, the fixed pulley 1408 is connected with the U-shaped hook 1404, traction ropes 1407 are slidably disposed on the fixed pulley 1408, one end of each traction rope 1407 is connected with a circuit detection device, the other end of each traction rope 1407 is pulled by a worker, and when the worker pulls the traction rope 1407, one end of each traction rope 1407 connected with the circuit detection device is pulled by the circuit detection device. Through the line frame body of this device of ordinary unmanned aerial vehicle carrying, make it hang and establish the circuit cable, then through being connected haulage rope 1407's one end and circuit check out test set on fixed pulley 1408, the other end of rethread staff pull haulage rope 1407, thereby make haulage rope 1407 take circuit check out test set to connect to rise to the assigned position, make the walking wheel of circuit check out test set self hang and establish on the circuit cable, thereby realize that circuit check out test set hangs establishes, this string of devices compares in expensive unmanned aerial vehicle, the cost is cheap, the operation of being convenient for, the cost of circuit check out is effectually reduced.

In a further optimization of this embodiment, the U-shaped hook 1404 is detachably connected with the fixed pulley 1408, a connection block 1415 is provided at the lower edge of the opening of the U-shaped hook 1404, the connection block 1415 and the fixed pulley 1408 are provided with connection holes for the bolts 17 to pass through, and the bolts 17 pass through the connection holes of the connection block 1415 and the fixed pulley 1408 in sequence to be screwed with the nuts 18. The fixed pulley 1408 is fixed on the connecting block 1415 through the cooperation of the bolt 17 and the nut 18, so that the fixed pulley 1408 is detached from the U-shaped hook 1404, and the fixed pulley 1408 can be conveniently maintained at a later stage.

In a further refinement of this embodiment, fixed pulley 1408 corresponds perpendicularly to the projection of U-shaped hook 1404. Because the fixed pulley 1408 is concentrated on the fixed pulley 1408 entirely by the weight of the circuit detecting device when the circuit detecting device is pulled up, if the fixed pulley 1408 and the U-shaped hook 1404 are not on a vertical horizontal plane, the gravity concentrated on the fixed pulley 1408 can easily rotate with the U-shaped hook 1404, so that the U-shaped hook 1404 can easily fall off from the circuit cable.

In a further optimization of this embodiment, the inside of the U-shaped hook 1404 is provided with a roller 1409 that reduces friction between the U-shaped hook 1404 and the cable. Because the circuit check out test set is walking by oneself along the circuit cable through the walking wheel that self had in the in-process of detecting, at the in-process that circuit check out test set walked, can bring the line frame body to remove, and gyro wheel 1409 can reduce the line frame body and remove in-process, the friction of U type couple 1404 and circuit cable reduces the wearing and tearing loss that U type couple 1404 and circuit cable friction produced.

In a further optimization of this embodiment, since the space between the two connection blocks 1415 is too long, in order to reinforce the connection of the connection blocks 1415, the stability of the wire frame body is improved, and the reinforcement rod 1406 for reinforcing the wire frame body is provided between the two connection blocks 1415.

In this embodiment, a clamping piece connected with the unmanned aerial vehicle is arranged on the cross bar, and the clamping piece is connected with the limiting block 1402 through the upright 1403. Through set up the string on unmanned aerial vehicle, set up the couple on the string, make the couple alternate and slide on stand 1403, at unmanned aerial vehicle ascending in-process, the couple upwards slides to stopper 1402, couple and stopper 1402 make couple timing card on the fastener, make unmanned aerial vehicle take the line frame body to rise.

In a further optimization of this embodiment, a positioning block 1410 is disposed on a side of the U-shaped hook 1404 facing away from the opening end, the positioning block 1410 is hinged to a positioning claw 1405 through a first pin 1414, an opening is disposed at an end of the positioning claw 1405 away from the positioning block 1410, the opening end of the U-shaped hook 1404 is located on a rotation path of the opening of the positioning claw 1405, along with rotation of the positioning claw 1405, the opening end of the U-shaped hook 1404 can enter the opening of the positioning claw 1405, so that a locking space for preventing the U-shaped hook 1404 from being separated from a circuit cable is formed between the U-shaped hook 1404 and the positioning claw 1405, a transmission block 1411 is disposed at a lower edge of the cross bar, the transmission block 1411 is hinged to the positioning claw 1405 through a second pin 1412, and the transmission block 1411 is used for rotating along a hinge point of the positioning claw 1405 and the positioning block 1410 through the second pin 1412 in a process of lifting along with a transverse bar stress.

When the unmanned aerial vehicle is temporarily matched with the clamping piece and ascends along the wire frame body, upward pulling force is applied to the cross rod, the cross rod is hinged with the limit claw 1405 through the second pin 1412, and the limit claw 1405 is hinged with the positioning block 1410 through the first pin 1414, so that the limit claw 1405 is driven by the second pin 1412 to rotate along the hinge point of the limit claw 1405 and the positioning block 1410 in the process of ascending along with the stress of the cross rod, and the locking fit of the U-shaped hook 1404 and the limit claw 1405 is released. When the U-shaped hook 1404 sits on the circuit cable, the unmanned aerial vehicle and the clamping piece are in clearance fit, the upward pulling force applied to the cross rod disappears, and the limit claw 1405 is influenced by gravity to rotate downwards, so that the limit claw 1405 rotates towards the U-shaped hook 1404, the opening end of the U-shaped hook 1404 can reenter the opening of the limit claw 1405, and the U-shaped hook 1404 is prevented from falling off the circuit cable through the limit claw 1405.

In a further optimization of this embodiment, in order to make the rotation track radian of the limit claw 1405 larger, a slide groove 1413 for sliding the second pin 1412 is provided on the limit claw 1405. In the process of lifting the transverse rod under stress, the pulling force on the transverse rod drives the second pin 1412 to slide towards one end of the sliding groove 1413 far away from the positioning block 1410, so that the stress point driving the limit claw 1405 is changed, the farther the stress point of the limit claw 1405 is from the positioning block 1410, the larger the radian of the rotation track of the limit claw 1405 is, so that the opening and closing distance between the U-shaped hook 1404 and the limit claw 1405 is increased, and a circuit cable can conveniently enter or move out of the U-shaped hook 1404.

To ensure that when the upward pulling force applied to the crossbar is removed, the stop tab 1405 rotates downward to return, a spring 16 is provided between the second pin 1412 and the first pin 1414 to return the second pin 1412. The limit claw 1405 is rotated downward by the elastic force of the contraction of the spring 16 to return.

The flow of the detection operation performed by the robot of the present invention is as follows:

s1, selecting an optimal on-line position of the detection equipment, opening an equipment box to assemble the split equipment parts together according to an assembly drawing, and particularly paying attention to the circuit connection of each component part during the process, wherein the process needs to carry out secondary inspection to confirm that no error exists;

s2, placing the robot on a cable to be detected through the unmanned aerial vehicle component and the wire hanger, and testing whether the robot can smoothly walk along the wire;

s3, transmitting panel information through the panoramic camera, adjusting the optimal shooting positions of the imaging plate and the X-ray device, opening an imaging plate operation panel after the optimal shooting positions are reached, performing flaw detection shooting after accurate information is displayed according to the imaging panel, judging the effectiveness of a picture according to the display information (secondary shooting can be performed according to judgment, forward shooting), repeatedly adopting other wire radiographic shooting for the actions, and closing an imaging system after each group of detection is completed;

s4, taking the robot off the power transmission wire through a lifting winch.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.

Claims (10)

1. The utility model provides a from online electric power fitting nondestructive test robot which characterized in that, it has:

the robot module is hung on the power transmission wire and can move along the wire so as to perform nondestructive detection on electric power fittings on the power transmission wire;

the unmanned aerial vehicle module is used for enabling a lead rope for the lifting robot to pass through a lead; and

the lifting module is used for lifting the robot to the position of the wire to be detected;

the robot module has:

the two walking modules are used for driving the detection robot to walk along the conveying line; and

an arm module for supporting the X-ray generator and the imaging plate for detection; and

the frame module is used for bearing the walking module and the arm module; and

the balancer module is used for keeping the posture of the robot module stable;

the walking module has:

the wheel assembly (1) is arranged at the upper end of the supporting assembly (3) and matched with the transmission line to be detected so as to realize that the detection robot walks along the transmission line; and

the brake assembly (2) is used for increasing the friction between the wheel assembly (1) and the power transmission line so as to achieve the purpose of braking; and

a support assembly (3) for carrying the wheel assembly (1) and the brake assembly (2), the brake assembly (2) being disposed in a middle position of the support assembly (3); and

a bracket assembly (4) for adjusting the inclination angle of the support assembly (3); and

a driver (5) for providing a driving force to the wheel assembly (1);

the driver (5) is provided with a traveling driving motor (501), a driving wheel (502) is arranged on an output shaft sleeve of the traveling driving motor (501), and the driving wheel (502) is in transmission connection with a grooved wheel (101) in the wheel assembly (1) through a transmission belt (503);

the arm module has:

a first arm assembly (6) for supporting the X-ray device and the imaging plate; and

the second arm assembly (7) is used for driving the first arm assembly (6) to rotate; and

the tilting driving assembly (8) is used for driving the second arm assembly (7) to rotate;

the first arm assembly (6) is of a U-shaped structure formed by two vertical parts and a horizontal part, wherein the top end of one vertical part is provided with an X-ray fixing bracket (601), and the top end of the other vertical part is provided with an imaging plate fixing bracket (602);

the second arm assembly (7) is of an L-shaped structure formed by a vertical part and a horizontal part, and the top end of the vertical part is connected with the horizontal part of the first arm assembly (6) through a steering gear (701);

a tilt drive assembly (8) having a drive socket (801) and a rotary drive motor (802), the output shaft of the rotary drive motor (802) being in driving connection with a horizontal part in the second arm assembly (7);

the frame module has:

the box body (9) is used for bearing the walking module, the arm module and the electric control assembly; and

a cover (10) hinged to the case (9);

the arm module is fixed on one side of the box body (9) through a driving seat (801) of the inclined driving assembly (8);

the balancer module has:

a balance driver (12) arranged on the opposite side of the case (9) to the arm module; and

a load head (13);

the balance driver (12) is used for adjusting the distance between the load head (13) and the box body (9);

the unmanned aerial vehicle module has:

unmanned plane; and

a lead wire rope;

the lifting module has:

a hoist; and

a wire hanging device;

the wire hanger has:

the wire hanger body, the wire hanger body includes the horizontal pole and sets up the U type couple at horizontal pole both ends lower edge, the open end of U type couple is down for make the wire hanger body hang to establish on the circuit cable, U type couple below is equipped with the fixed pulley, the fixed pulley is connected with U type couple, all slide on the fixed pulley and be equipped with the haulage rope, the one end of haulage rope is used for being connected with circuit check out test set, the other end of haulage rope supplies the staff pull, when the staff pull haulage rope, the one end that haulage rope and circuit check out test set are connected carries circuit check out test set to pull to rise.

2. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: the wheel assembly (1) has:

a sheave (101) disposed at an upper end of the support assembly (3) through a first shaft (102) and a wheel end cover (103); and

and a synchronizing wheel (104) which is disposed at the other end of the first shaft (102) and is rigidly connected to the first shaft (102) through a synchronizing wheel end cover (105).

3. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: the brake assembly (2) has:

a support plate (201); and

two side plates (202) which are vertically provided at both ends of the upper end surface of the support plate (201); and

a driving rod (203) which is arranged on the supporting plate (201) in a penetrating way and is positioned between the two side plates (202); and

the brake driving motor (204) is arranged on the lower end surface of the supporting plate (201), an output shaft of the brake driving motor (204) is coaxially connected with the driving rod (203), and the brake driving motor (204) can drive the driving rod (203) to axially reciprocate; and

and the brake cushion block (205) is arranged above the side plate (202) and is fixedly connected with the upper end of the driving rod (203).

4. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: the support assembly (3) has:

a support frame body (301) having a long-strip-shaped structure; and

a bearing housing set (302) comprising a first bearing housing (305) and a second bearing housing (306); and

a second shaft (303) with both ends penetrating the first bearing seat (305) and the second bearing seat (306); and

and the first spur gear (304) is fixedly sleeved at one end of the second shaft (303), and the first spur gear (304) is rigidly connected with the support frame body (301).

5. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: the bracket assembly (4) has:

a tilt bracket (401) for supporting other components in the bracket assembly (4); and

a tilt drive motor (402); and

and a second spur gear (403) sleeved on one end of the tilt drive motor (402) and meshed with the first spur gear (304) in the support assembly (3).

6. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: three functional areas are separated into side by side through the baffle in box (9), and every functional area all disposes lid (10), and two walking modules are located the functional area at both ends respectively, and lid (10) are provided with the hole of dodging that supplies the walking module to pass, and automatically controlled subassembly sets up in the functional area in the centre.

7. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: the balance driver (12) is an electric push rod, the tail part of the electric push rod extends into the box body (9), and the head end of the telescopic rod is connected with the load head (13).

8. The self-threading power fitting nondestructive testing robot as set forth in claim 7, wherein: the load head (13) is composed of a concrete inner core and an insulating spherical shell wrapped on the concrete inner core.

9. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: steering gear (701) is including turning to base plate (7011), turning to motor (7012) and clamp spare (7013), turns to base plate (7011) and fixes in the vertical portion one end of second arm subassembly (7), turns to motor (7012) and fixes in the lower extreme that turns to base plate (7011), and its output shaft passes to turn to base plate (7011) and be connected with rotation seat (7014) transmission, and clamp spare (7013) are fixed on rotation seat (7014).

10. The self-threading power fitting nondestructive testing robot as claimed in claim 1, wherein: the frame module further comprises two lifting hooks (11), wherein the lifting hooks (11) are composed of vertical connecting rods and lifting rings, a boss is arranged at the bottom of the box body (9), the vertical connecting rods are fixedly arranged on the boss, and the top ends of the vertical connecting rods are exposed out of the cover body (10) and are in threaded connection with the lifting rings.