Power transmission line crimping tube x-ray detection device, system and method

Abstract

The application discloses a power transmission line crimping pipe X-ray detection device, system and method, which comprises the following steps: driving a detection module to reach a detection position through a lifting mechanism; driving the detection module to cover the crimping pipe detection range on the left and right sides in the same plane through a swing mechanism; or driving a first receiving plate and a second receiving plate to open through an opening and closing mechanism, and making the first receiving plate and the second receiving plate cover the crimping pipe detection range; and adjusting the angle of an emitter through a swing mechanism to make the emitter align with the first receiving plate or the second receiving plate. The detection position can be adaptively adjusted, the comprehensiveness and accuracy of detection are ensured, the traditional artificial tower climbing detection operation is replaced, and the intelligent detection operation level of the power transmission line crimping pipe is improved.

Description

Technical Field

[0001] This invention relates to the field of overhead power transmission line inspection technology, and in particular to an X-ray inspection device, system and method for transmission line bridging pipes. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Overhead transmission lines operate in complex environments, with towers and conductors connected by various fittings. When conductors pass through tension towers, they need to be connected to the conductors on both sides via guide wires. Over time, the crimping joints of these guide wires can change under tension. If the crimping is inadequate or loose, it will seriously affect line safety and people's lives. This problem is a latent defect, as it cannot be detected visually after crimping. Therefore, to reduce line faults caused by crimping joint issues, various research institutions have conducted studies on the internal inspection of crimping joints.

[0004] Currently, X-rays are mainly used for internal flaw detection of crimped pipes. However, due to the complex line environment and the special location of the crimped pipe, which is between the insulator string and the conductor, and there is also an equalizing shielding ring, although there is a solution to use drones to carry detection devices into the line environment for detection operations, the lines at the crimped pipe of the lead wire are crisscrossed, which places very high demands on the operation of drones and limits the applicable locations. Moreover, with the current level of technology, the drone hoisting and inspection operation solution cannot achieve live-line operation.

[0005] Therefore, in actual scenarios, the main method for conducting live-line testing is still to manually carry the testing equipment up the tower. Since X-rays are radioactive, personnel on the tower need to retreat to a safe distance. After the testing is completed, the testing equipment is retrieved again. This process is repeated for each pressure pipe, resulting in a large workload, low testing efficiency, and a high degree of danger. Summary of the Invention

[0006] To address the aforementioned issues, this invention proposes an X-ray inspection device, system, and method for transmission line crimping pipes. By adjusting the distance and angle between the receiving plate and the transmitter, the inspection position can be adaptively adjusted to ensure comprehensiveness and accuracy of the inspection. This replaces traditional manual tower climbing inspection operations and improves the level of intelligent inspection of transmission line crimping pipes.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides an X-ray inspection device for transmission line crimped pipes, comprising: an inspection module, a swing mechanism, and a lifting mechanism;

[0009] The detection module includes a receiver board and a transmitter, which are connected by a retractable connector.

[0010] The detection module is connected to the swing mechanism so that the detection module covers the detection range of the crimping pipe.

[0011] The swing mechanism is connected to the lifting mechanism to move the detection module to the detection position.

[0012] As an alternative implementation, the distance between the receiver and the transmitter can be adjusted by adjusting the length of the connector to accommodate different distances between the upper and lower conductors, as well as the transmitter's transmission distance.

[0013] As an alternative implementation, the lifting mechanism includes a lifting guide rail, a slider disposed on the lifting guide rail, and a lifting motor that drives the slider to move along the lifting guide rail; the swing mechanism is connected to the slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper guide wire to the detection position of the lower guide wire.

[0014] As an alternative implementation, the swing mechanism is used to drive the detection module to cover the detection range of the pressure pipe on the left and right sides of the same plane, respectively.

[0015] In a second aspect, the present invention provides an X-ray inspection device for transmission line crimped pipes, comprising: an inspection module, a lifting mechanism, and a swinging mechanism;

[0016] The detection module is connected to the lifting mechanism to move the detection module to the detection position;

[0017] The detection module includes a first receiving plate, a second receiving plate, and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected by an opening and closing mechanism so that the first receiving plate and the second receiving plate cover the detection range of the crimping tube.

[0018] The symmetrical connection between the first and second receiving boards and the transmitter is connected by a retractable connector.

[0019] The transmitter is connected to a swing mechanism to align the transmitter with the first or second receiving plate.

[0020] As an alternative implementation, the opening and closing mechanism includes a connecting rod and an opening and closing motor for driving the connecting rod. The first receiving plate and the second receiving plate are symmetrically connected by several connecting rods. The forward and reverse rotation of the opening and closing motor is used to drive the opening and closing of the first receiving plate and the second receiving plate.

[0021] As an alternative implementation, the distance between the first and second receiving boards and the transmitter is adjusted by adjusting the length of the connecting piece to accommodate different distances between the upper and lower conductors, as well as the transmitter's transmission distance.

[0022] As an alternative implementation, the swing mechanism is used to adjust the angle of the transmitter.

[0023] As an alternative implementation, the lifting mechanism includes a lifting guide rail, a slider disposed on the lifting guide rail, and a lifting motor that drives the slider to move along the lifting guide rail; the detection module is connected to the slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper guide wire to the detection position of the lower guide wire.

[0024] Thirdly, the present invention provides an X-ray inspection system for transmission line crimped pipes, comprising: a robot body, and an X-ray inspection device for transmission line crimped pipes connected to the robot body; the X-ray inspection device for transmission line crimped pipes adopts the X-ray inspection device for transmission line crimped pipes described in the first or second aspect.

[0025] As an alternative implementation, the X-ray inspection device for the transmission line crimping pipe is connected to the robot body via a swing arm, so that the X-ray inspection device for the transmission line crimping pipe can perform a semi-circular motion around the robot body.

[0026] As an alternative implementation, the X-ray inspection device for the transmission line crimping pipe is connected to the robot body via a U-shaped guide rail, so that the X-ray inspection device for the transmission line crimping pipe can move in an arc along the U-shaped guide rail.

[0027] As an alternative implementation, one end of the U-shaped guide rail is located on one side of the robot body, and the other end is located on the other side of the robot body. The U-shaped guide rail includes a guide groove and a rack and guide wheel located in the guide groove. The X-ray inspection device for the power transmission line crimping pipe is equipped with a guide rail motor. The end of the guide rail motor is connected to a gear. The gear and the rack form a torque transmission. Under the guidance of the guide wheel, the gear at the end of the guide rail motor moves along the U-shaped guide rail.

[0028] Fourthly, the present invention provides a method for operating a transmission line crimping pipe X-ray inspection system, employing the transmission line crimping pipe X-ray inspection system described in the third aspect, comprising:

[0029] During the hoisting of the upper and lower lines, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the right side of the robot body, and the hanging point of the robot body on the hoisting platform is located in the vertical direction of the center of gravity.

[0030] After going online, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the underside of the robot body, so that the center of gravity of the robot body is kept at the center of robot movement balance.

[0031] After reaching the inspection position, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the left side of the robot body to perform fixed-point inspection.

[0032] The detection module is driven to the detection position by a lifting mechanism;

[0033] The detection module is driven by a swing mechanism to cover the detection range of the crimped tube on the left and right sides of the same plane respectively; or, the first receiving plate and the second receiving plate are driven to open by an opening and closing mechanism, and the first receiving plate and the second receiving plate cover the detection range of the crimped tube. The angle of the transmitter is adjusted by the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] This invention innovatively proposes an X-ray inspection device for transmission line clamping pipes, designing a mobile, multi-degree-of-freedom X-ray inspection system. Addressing the inspection needs of different tension clamp arrangements and the complex environment of overhead lines, it solves the problems of narrow working space and dispersed targets. By rationally arranging the relative distance and angle between the receiver and transmitter, and adaptively adjusting the inspection position, it ensures comprehensive and accurate inspection. It boasts advantages such as high compactness, high automation, high efficiency, and high reliability. Replacing traditional manual tower climbing inspection work, it is not constrained by power outages, protects the safety of operators, and provides visualized inspection results, thus improving the level of intelligent inspection of transmission line clamping pipes.

[0036] This invention innovatively proposes an X-ray inspection system for transmission line crimping pipes, designs an overall operation control method for the inspection device, and coordinates with the robot body to change different structural states under different working conditions to achieve balanced and stable operation of the robot in hoisting, walking, and inspection states, ensuring the safety and reliability of high-altitude operations.

[0037] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0039] Figure 1 This is a side view of the X-ray inspection device for transmission line crimping pipes provided in Embodiment 1 of the present invention;

[0040] Figure 2 This is a top view of the X-ray inspection device for transmission line crimping pipes provided in Embodiment 1 of the present invention;

[0041] Figure 3 This is a front view of the X-ray inspection device for transmission line crimping pipes provided in Embodiment 2 of the present invention;

[0042] Figure 4 This is a side view of the X-ray inspection device for transmission line crimping pipes provided in Embodiment 2 of the present invention;

[0043] Figures 5(a)-5(b) This is a schematic front view of the lifting mechanism of the X-ray inspection device for transmission line crimping pipes provided in Embodiment 2 of the present invention;

[0044] Figure 6 This is a schematic diagram of the X-ray inspection system for transmission line crimping pipes provided in Embodiment 3 of the present invention;

[0045] Figures 7(a)-7(c) This is a schematic diagram showing the location of the detection device provided in Embodiment 3 of the present invention;

[0046] Figures 8(a)-8(c) This is a schematic diagram of the location of the detection device provided in Embodiment 4 of the present invention;

[0047] Among them, 01, upper guide wire; 02, lower guide wire; 03, receiving plate; 03-1, first receiving plate; 03-3, second receiving plate; 04, connector; 05, slider; 06, lifting mechanism; 06-1, lifting motor; 06-2, lifting limiter; 06-3, lifting guide rail; 07, swing mechanism; 07-1, swing limiter; 07-2, swing motor; 08, transmitter; 09, right guide wire; 10, left guide wire; 11, opening and closing mechanism; 11-1, opening and closing limiter; 11-2, opening and closing motor; 12, connecting rod; 13, swing arm; 13-1, swing arm motor; 13-2, swing arm limiter; 14, U-shaped guide rail; 15, guide rail motor; 16, guide wheel; 17, hoisting platform; 18, robot body; 19, quick-release structure. Detailed Implementation

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0049] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0050] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. Furthermore, it should be understood that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] Example 1

[0053] like Figure 1 As shown, this embodiment provides an X-ray inspection device for transmission line crimping pipes, including: an inspection module, a swing mechanism, and a lifting mechanism;

[0054] The detection module includes a receiver board and a transmitter, which are connected by a retractable connector.

[0055] The detection module is connected to the swing mechanism so that the detection module covers the detection range of the crimping pipe.

[0056] The swing mechanism is connected to the lifting mechanism to move the detection module to the detection position.

[0057] In this embodiment, the distance between the receiver plate 03 and the transmitter 08 is adjusted by adjusting the length of the connector 04 to accommodate the upper conductor 01 and lower conductor 02 at different distances, as well as the transmission distance of the transmitter 08.

[0058] The detection module is connected to the swing mechanism 07 via connector 04. Driven by the swing mechanism 07, the detection module rotates and swings, thereby allowing the receiving plate 03 to cover the detection range of the left conductor 10, right conductor 9, and crimping pipe. Figure 2 As shown.

[0059] As an alternative implementation, the swing mechanism 07 is provided with a swing limiter 07-1 to prevent the movement from exceeding the limit.

[0060] As an alternative implementation, the swing mechanism 07 adopts a swing motor 07-2.

[0061] In this embodiment, the lifting mechanism 6 includes a lifting guide rail 06-3, a slider 05 disposed on the lifting guide rail 06-3, and a lifting motor 06-1 that drives the slider 05 to move along the lifting guide rail 06-3;

[0062] The swing mechanism 07 is connected to the slider 05. Driven by the lifting motor 06-1, it causes the detection module to move up and down, moving the detection module from the detection position of the upper guide wire 1 to the detection position of the lower guide wire 2. Figure 1 As shown.

[0063] As an alternative implementation, the lifting mechanism 6 is equipped with a lifting limiter 06-2 to prevent movement from exceeding the limit.

[0064] Understandably, the transmission methods of the swing mechanism and the lifting mechanism are not specifically described. They are basically conventional gear transmission, screw transmission or linkage transmission. The transmission method can be reasonably selected according to the allowable size and space, and no restrictions are imposed here.

[0065] In this embodiment, after the receiver plate and transmitter are fixedly connected, they are then connected to the swing mechanism, which in turn is connected to the lifting mechanism. The detection module reaches the detection position of the upper conductor via the lifting mechanism and completes the detection of the tension clamps on both sides of the conductor by swinging left and right. Similarly, it descends to the detection position of the lower conductor via the lifting mechanism and completes the detection of the tension clamps on both sides of the lower conductor by swinging left and right. This allows the detection module to move up and down to complete the detection of the tension clamps on both the upper and lower conductors, and to complete the detection of the tension clamps on both sides of the same plane by swinging. The receiver plate is a single plate with fewer accessories and a lighter overall weight. It only requires two actions: swinging and lifting, making control relatively simple. Furthermore, to prevent damage to the receiver plate, it can be folded inwards during normal storage, transportation, and loading / unloading. The distance between the transmitter and the receiver plate is adjustable.

[0066] When inspecting wires or crimped pipes, the receiver plate is in the inspection position. The transmitter emits continuous X-ray pulses towards the receiver plate. The X-rays pass through the target object and form an image on the receiver plate. The receiver plate wirelessly transmits the image data to a ground display device. By analyzing the image data, the internal condition of the target can be determined. This is understandable, as most inspection instruments on the market currently operate on this principle, and will not be elaborated further.

[0067] Example 2

[0068] like Figures 3-4 As shown, this embodiment provides an X-ray inspection device for transmission line crimping pipes, including: an inspection module, a lifting mechanism, and a swinging mechanism;

[0069] The detection module is connected to the lifting mechanism to move the detection module to the detection position;

[0070] The detection module includes a first receiving plate, a second receiving plate, and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected by an opening and closing mechanism so that the first receiving plate and the second receiving plate cover the detection range of the crimping tube.

[0071] The symmetrical connection between the first and second receiving boards and the transmitter is connected by a retractable connector.

[0072] The transmitter is connected to a swing mechanism to align the transmitter with the first or second receiving plate.

[0073] In this embodiment, the opening and closing mechanism 11 includes a connecting rod 12 and an opening and closing motor 11-2 for driving the connecting rod 12 to move; the first receiving plate 03-1 and the second receiving plate 03-2 are symmetrically connected by a plurality of connecting rods 12, and the opening and closing actions of the first receiving plate 03-1 and the second receiving plate 03-2 are realized by the forward and reverse rotation of the opening and closing motor 11-2.

[0074] As an alternative implementation, the opening and closing mechanism 11 is provided with an opening and closing limiter 11-1 to prevent the movement from exceeding the limit.

[0075] In this embodiment, the distance between the two receiver boards and the transmitter is adjusted by adjusting the length of the connector to accommodate upper and lower wires of different distances, as well as the transmitter's transmission distance.

[0076] In this embodiment, the transmitter 08 is connected to the swing mechanism 07. Under the driving action of the swing mechanism 07, the angle of the transmitter 08 is adjusted so that the transmitter 08 is aligned with the first receiving plate 03-1 or the second receiving plate 03-2 on the left and right sides respectively, so as to realize the detection of the wires and crimping pipes on the left and right sides.

[0077] As an alternative implementation, the swing mechanism 07 is provided with a swing limiter 07-1 to prevent the movement from exceeding the limit.

[0078] As an alternative implementation, the swing mechanism 07 adopts a swing motor 07-2.

[0079] In this embodiment, the lifting mechanism 06 includes a lifting guide rail 06-3, a slider 05 disposed on the lifting guide rail 06-3, and a lifting motor 06-1 that drives the slider 05 to move along the lifting guide rail 06-3.

[0080] The detection module is connected to the slider. Driven by the lifting motor, the detection module moves up and down along the lifting guide rail, moving from the detection position of the upper guide wire to the detection position of the lower guide wire. Figures 5(a)-5(b) As shown.

[0081] As an alternative implementation, the lifting mechanism is equipped with a lifting limiter 06-2 to prevent movement from exceeding the limit.

[0082] Understandably, the transmission methods of the swing mechanism, opening and closing mechanism and lifting mechanism are not specifically described. They are basically conventional gear transmission, screw transmission or linkage transmission. The transmission method can be reasonably selected according to the allowable size and space, and no restrictions are made here.

[0083] In this embodiment, two receiving plates are used and can be opened and closed. They can be folded up when not in use to reduce space occupation and make the overall structure more compact, avoiding damage during the online process. When in use, they are opened, with the receiving plates on both sides corresponding to the left and right tension clamps of the conductors respectively. The left and right tension clamps are detected by the swing transmitter. At the same time, the detection module is driven to the detection position of the upper and lower tension clamps by the lifting mechanism.

[0084] The X-ray inspection device for transmission line crimping pipes proposed in Embodiments 1 and 2 above can be used for the inspection of 500kV four-split conductors and 220kV horizontal double-split conductors; among them, the spacing of 500kV four-split conductors is 450*450mm and 500*500mm, and the spacing of 220kV horizontal double-split conductors is 400mm, 500mm and 600mm.

[0085] Example 3

[0086] This embodiment provides an X-ray inspection system for transmission line crimped pipes, including a robot body and an X-ray inspection device for transmission line crimped pipes as described in Embodiment 1 or Embodiment 2, connected to the robot body; the inspection device is connected to the robot body via a swing arm, allowing the inspection device to perform a semi-circular motion around the robot body. Figure 6 The diagram shows a detection system in which the detection device of Embodiment 2 is connected to the robot body.

[0087] During the hoisting process, the detection device rotates to the right side of the robot body 18 via the swing arm 13. The hanging point of the robot body on the hoisting platform 17 is located in the vertical direction of the center of gravity. At this time, the detection device acts as a counterweight, as shown in Figure 7(c).

[0088] After going online, the detection device rotates to the lower side of the robot body 18 via the swing arm 13, so that the center of gravity of the robot body is kept at the robot's movement balance center, as shown in Figure 7(b).

[0089] After reaching the detection position, the detection device rotates to the left side of the robot body 18 via the swing arm 13 to perform fixed-point position detection, as shown in Figure 7(a).

[0090] As an alternative implementation, the swing arm 13 is driven by the swing arm motor 13-1, which can be driven by a worm gear, and is also equipped with a swing arm limiter 13-2 to prevent the movement from exceeding the limit.

[0091] In this embodiment, a quick-release structure 19 is designed at the end of the detection device. This serves two purposes: first, to avoid the robot's overall structure from being too large or having an irregular shape, thus facilitating its transportation; and second, to allow the detection device to be used as a separate module, which can be assembled and applied with other robot bodies, thereby enhancing the practicality of the detection device.

[0092] Example 4

[0093] This embodiment provides an X-ray inspection system for transmission line crimped pipes, including a robot body and an X-ray inspection device for transmission line crimped pipes as described in Embodiment 1 or Embodiment 2, which is connected to the robot body; the inspection device is connected to the robot body via a U-shaped guide rail, so that the inspection device can move in an arc along the U-shaped guide rail.

[0094] In this embodiment, one end of the U-shaped guide rail 14 is located on one side of the robot body 18, and the other end is located on the other side of the robot body 18, so that the U-shaped guide rail 14 covers the front and rear sides of the robot body 18.

[0095] In this embodiment, the U-shaped guide rail 14 includes a guide groove and a rack and guide wheel 16 disposed in the guide groove;

[0096] The detection device is equipped with a guide rail motor 15, and a gear is connected to the end of the guide rail motor 15. The gear and the rack form a torque transmission. Under the guidance of the guide wheel 16, the gear at the end of the guide rail motor 15 moves along the U-shaped guide rail 14.

[0097] During the hoisting process, the detection device rotates along the U-shaped guide rail to the right side of the robot body. The hanging point of the robot body on the hoisting platform 17 is located in the vertical direction of the center of gravity. At this time, the detection device acts as a counterweight, as shown in Figure 8(c).

[0098] After going online, the detection device rotates along the U-shaped guide rail to the underside of the robot body, so that the center of gravity of the robot body is kept at the center of robot movement balance, as shown in Figure 8(b).

[0099] After reaching the detection position, the detection device rotates along the U-shaped guide rail to the left side of the robot body to perform fixed-point position detection, as shown in Figure 8(a).

[0100] Similarly, to ensure the stability of the robot during hoisting, moving, and inspection, the inspection device needs to complete a rotation within one cycle via a U-shaped guide rail.

[0101] In this embodiment, a quick-release structure 19 is designed at the end of the detection device. This serves two purposes: first, to avoid the robot's overall structure from being too large or having an irregular shape, thus facilitating its transportation; and second, to allow the detection device to be used as a separate module, which can be assembled and applied with other robot bodies, thereby enhancing the practicality of the detection device.

[0102] Example 5

[0103] This embodiment provides a method for operating the above-mentioned X-ray inspection system for transmission line crimped pipes, including:

[0104] During the hoisting of the upper and lower lines, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the right side of the robot body, and the hanging point of the robot body on the hoisting platform is located in the vertical direction of the center of gravity.

[0105] After going online, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the underside of the robot body, so that the center of gravity of the robot body is kept at the center of robot movement balance.

[0106] After reaching the inspection position, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the left side of the robot body to perform fixed-point inspection.

[0107] The detection module is driven to the detection position by a lifting mechanism;

[0108] The detection module is driven by a swing mechanism to cover the detection range of the crimped tube on the left and right sides of the same plane respectively; or, the first receiving plate and the second receiving plate are driven to open by an opening and closing mechanism, and the first receiving plate and the second receiving plate cover the detection range of the crimped tube. The angle of the transmitter is adjusted by the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate.

[0109] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. An X-ray inspection device for transmission line crimped pipes, characterized in that, include: Detection module, swing mechanism and lifting mechanism; The detection module includes a receiver board and a transmitter, which are connected by a retractable connector. The detection module is connected to the swing mechanism. Under the driving action of the swing mechanism, the detection module rotates and swings so that the detection module covers the detection range of the left wire, the right wire and the cover pressure pipe. The swing mechanism is used to drive the detection module to cover the detection range of the pressure pipe on the left and right sides of the same plane respectively. The swing mechanism is connected to the lifting mechanism to move the detection module to the detection position; wherein, under the driving action of the lifting mechanism, the detection module moves up and down, realizing the movement of the detection module from the detection position of the upper guide wire to the detection position of the lower guide wire.

2. The X-ray inspection device for transmission line crimping pipes as described in claim 1, characterized in that, The distance between the receiver and the transmitter is adjusted by adjusting the length of the connector to accommodate different distances between the upper and lower conductors, as well as the transmitter's transmission distance.

3. The X-ray inspection device for transmission line crimping pipes as described in claim 1, characterized in that, The lifting mechanism includes a lifting guide rail, a slider mounted on the lifting guide rail, and a lifting motor that drives the slider to move along the lifting guide rail; the swing mechanism is connected to the slider.

4. An X-ray inspection device for transmission line crimping pipes, characterized in that, include: Detection module, lifting mechanism, and swing mechanism; The detection module is connected to the lifting mechanism to move the detection module to the detection position; wherein, under the driving action of the lifting mechanism, the detection module moves up and down along the lifting guide rail, realizing the movement of the detection module from the detection position of the upper guide wire to the detection position of the lower guide wire. The detection module includes a first receiving plate, a second receiving plate, and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected by an opening and closing mechanism so that the first receiving plate and the second receiving plate cover the detection range of the crimping tube. The symmetrical connection between the first and second receiving boards and the transmitter is connected by a retractable connector. The transmitter is connected to the swing mechanism. Under the driving action of the swing mechanism, the angle of the transmitter is adjusted so that the transmitter is aligned with the first receiving plate or the second receiving plate on the left and right sides respectively, so as to realize the detection of the wires and crimping pipes on the left and right sides.

5. The X-ray inspection device for transmission line crimping pipes as described in claim 4, characterized in that, The opening and closing mechanism includes a connecting rod and an opening and closing motor for driving the connecting rod. The first receiving plate and the second receiving plate are symmetrically connected by several connecting rods. The forward and reverse rotation of the opening and closing motor is used to drive the opening and closing of the first receiving plate and the second receiving plate.

6. The X-ray inspection device for transmission line crimping pipes as described in claim 4, characterized in that, The distance between the first and second receiving boards and the transmitter is adjusted by adjusting the length of the connecting piece to accommodate different distances between the upper and lower conductors, as well as the transmitter's transmission distance.

7. The X-ray inspection device for transmission line crimping pipes as described in claim 4, characterized in that, The lifting mechanism includes a lifting guide rail, a slider mounted on the lifting guide rail, and a lifting motor that drives the slider to move along the lifting guide rail; the detection module is connected to the slider, and under the driving action of the lifting motor, the detection module moves from the detection position of the upper guide wire to the detection position of the lower guide wire.

8. An X-ray inspection system for transmission line crimped pipes, characterized in that, include: The robot body, and the X-ray inspection device for the crimped pipe of the power transmission line connected to the robot body; the X-ray inspection device for the crimped pipe of the power transmission line is the X-ray inspection device for the crimped pipe of the power transmission line as described in any one of claims 1-3 or 4-7.

9. The X-ray inspection system for transmission line crimping pipes as described in claim 8, characterized in that, The X-ray inspection device for the crimped pipe of the power transmission line is connected to the robot body through a swing arm, so that the X-ray inspection device for the crimped pipe of the power transmission line can make a semi-circular motion around the robot body.

10. The X-ray inspection system for transmission line crimping pipes as described in claim 8, characterized in that, The X-ray inspection device for the crimped pipe of the power transmission line is connected to the robot body via a U-shaped guide rail, so that the X-ray inspection device for the crimped pipe of the power transmission line can move in an arc along the U-shaped guide rail.

11. The X-ray inspection system for transmission line crimping pipes as described in claim 10, characterized in that, One end of the U-shaped guide rail is located on one side of the robot body, and the other end is located on the other side of the robot body. The U-shaped guide rail includes a guide groove and a rack and guide wheel located in the guide groove. The X-ray inspection device for the power transmission line crimping pipe is equipped with a guide rail motor. The end of the guide rail motor is connected to a gear. The gear and the rack form a torque transmission. Under the guidance of the guide wheel, the gear at the end of the guide rail motor moves along the U-shaped guide rail.

12. A method for operating a transmission line crimping pipe X-ray inspection system, characterized in that, The X-ray inspection system for transmission line crimping pipes according to any one of claims 8-11 includes: During the hoisting of the upper and lower lines, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the right side of the robot body, and the hanging point of the robot body on the hoisting platform is located in the vertical direction of the center of gravity. After going online, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the underside of the robot body, so that the center of gravity of the robot body is kept at the center of robot movement balance. After reaching the inspection position, the X-ray inspection device for the transmission line crimping pipe rotates along the swing arm or U-shaped guide rail to the left side of the robot body to perform fixed-point inspection. The detection module is driven to the detection position by a lifting mechanism; The detection module is driven by a swing mechanism to cover the detection range of the crimped tube on the left and right sides of the same plane respectively; or, the first receiving plate and the second receiving plate are driven to open by an opening and closing mechanism, and the first receiving plate and the second receiving plate cover the detection range of the crimped tube. The angle of the transmitter is adjusted by the swing mechanism so that the transmitter is aligned with the first receiving plate or the second receiving plate.

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