X-ray detection robot and method for crimping pipe of power transmission line with reinforcing line

Abstract

The invention belongs to the technical field of power robots. The X-ray detection robot comprises an X-ray detection mechanism, a walking mechanism, a walking rack and driving wheels located at the bottom of the walking rack, and the X-ray detection mechanism comprises a first receiving plate supporting beam, a second receiving plate supporting beam, a transmitter and a transmitter supporting beam. The problem that the crimping pipe with the reinforcing wire cannot be comprehensively and accurately detected is solved, walking of the robot in a wire, the reinforcing wire and a fusion scene of the two wires is achieved, it is ensured that the robot can walk to a preset detection point after the unmanned aerial vehicle is hoisted to the wire, interference between a receiving plate and the reinforcing wire after the reinforcing wire is forked upwards or downwards is avoided, and the detection accuracy is improved. The integrated design is achieved, detection of the left wire and the right wire can be completed through one-time wire feeding, the distance between the receiving plate and the crimping pipe can be adjusted, and the X-ray detection precision of the crimping pipe is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of electric robots, and in particular to an X-ray detection robot and method for crimping tubes of power transmission lines with reinforcing wires. Background Art

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

[0003] Currently, there are two main types of X-ray inspection robots on the market. One is an integrated inspection method, in which the receiving board is placed horizontally on the upper or lower side of the two wires, and the transmitter is placed on the upper or lower side of the receiving board. The receiving board moves left and right to complete the inspection of the crimped tube. The other is a split inspection method, in which the receiving board is placed vertically in the middle of the two wires, and another drone carrying the transmitter is used to perform auxiliary inspection of the crimped tube.

[0004] The above existing X-ray inspection robots have the following problems: (1) Unable to walk on the reinforcement wire. Existing X-ray inspection robots can walk on the wire, but the relative position of the reinforcement wire and the wire is uncertain. When the robot walks to the place where the wire and the reinforcement wire fork, it is impossible to determine whether the robot is walking along the wire or the reinforcement wire. (2) The receiving plate will be interfered by the reinforcement wires that fork upwards. In the existing robot design, the receiving plate is placed horizontally, and the reinforcement wires fork upwards and are connected to the adjustment plate. The horizontally placed receiving plate will be interfered by the reinforcement wires that fork upwards or downwards, making it impossible to complete the full-size inspection of the crimping tube. (3) Split-type detection requires additional drones for assistance. The drone needs to fly near the wire to complete the detection of one crimping tube, and then cross the wire to the other side to complete the detection of the other crimping tube, which increases the detection cost and operation difficulty, and the detection efficiency is low. In addition, in order to obtain better imaging detection effects, the drone needs to get close to the crimping tube and the wire, which increases the difficulty and danger of detection. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a robot and method for X-ray inspection of crimped tubes for power transmission lines with reinforcing wires, which solves the problem that crimped tubes with reinforcing wires cannot be fully and accurately inspected, and enables the robot to walk in scenarios of conductors, reinforcing wires and the fusion of the two conductors, ensuring that the robot can walk to a preset inspection point after being hoisted online by an unmanned aerial vehicle, avoiding interference between a receiving plate and the reinforcing wire after the reinforcing wire bifurcates upward or downward, and realizing an integrated design. The inspection of the two left and right conductors can be completed at one time, and the distance between the receiving plate and the crimped tube can be adjusted, ensuring the X-ray inspection effect of the crimped tube.

[0006] In order to achieve the above object, the present invention adopts the following technical solution: In a first aspect, the present invention provides an X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires.

[0007] A transmission line crimping tube X-ray inspection robot with reinforcing wire, comprising: an X-ray inspection mechanism and a walking mechanism, wherein the walking mechanism comprises: a walking frame and a driving wheel located at the bottom of the walking frame; The X-ray detection mechanism comprises: a transmitter, wherein the transmitter is fixed to a traveling frame through a transmitter support beam, a first receiving plate and a second receiving plate are arranged opposite to each other on both sides of the traveling frame, and strain gauges are respectively provided on the periphery of the plate surface of the first receiving plate and the periphery of the plate surface of the second receiving plate; The first receiving plate can be driven by a first horizontal driving mechanism on the traveling frame to move horizontally to approach or move away from the crimping tube on one side, and the second receiving plate can be driven by a second horizontal driving mechanism on the traveling frame to move horizontally to approach or move away from the crimping tube on the other side.

[0008] As a further limitation of the first aspect of the present invention, the X-ray detection mechanism further includes: a first receiving plate support beam and a second receiving plate support beam, the first receiving plate is fixed on the first receiving plate support beam, the second receiving plate is fixed on the second receiving plate support beam, The first receiving plate support beam is located on one side of the forward direction of the walking frame, and the second receiving plate support beam is located on the other side of the forward direction of the walking frame.

[0009] As a further limitation of the first aspect of the present invention, the strain gauges around the plate surface of the first receiving plate are used to detect whether the first receiving plate is in contact with the crimping tube on one side, and when contact is detected, the first receiving plate stops moving; the strain gauges around the plate surface of the second receiving plate are used to detect whether the second receiving plate is in contact with the crimping tube on the other side, and when contact is detected, the second receiving plate stops moving.

[0010] As a further limitation of the first aspect of the present invention, the X-ray emission port of the transmitter is located at the front part of the walking frame, and the X-ray emission port of the transmitter is a rotatable emission port.

[0011] As a further limitation of the first aspect of the present invention, the first receiving plate and the second receiving plate extend forward to the front position of the walking frame, the strain gauges around the plate surface of the first receiving plate protrude a certain distance relative to the plate surface, and the strain gauges around the plate surface of the second receiving plate protrude a certain distance relative to the plate surface.

[0012] As a further limitation of the first aspect of the present invention, the plate surface of the first receiving plate and the plate surface of the second receiving plate are arranged relatively parallel, and the plate surface orientation of the first receiving plate and the plate surface orientation of the second receiving plate are both perpendicular to the forward direction of the walking frame.

[0013] As a further limitation of the first aspect of the present invention, the first horizontal driving mechanism includes: a first motor, a first lead screw and a first lead screw slider, the first motor is fixed to the walking frame, the output shaft of the first motor is connected to the first lead screw, the first lead screw can rotate under the drive of the first motor, the first lead screw slider is threadedly connected to the first lead screw, and the first lead screw slider is fixedly connected to the first receiving plate support beam; The second horizontal driving mechanism includes: a second motor, a second lead screw and a second lead screw slider. The second motor is fixed on the walking frame. The output shaft of the second motor is connected to the second lead screw. The second lead screw can rotate under the drive of the second motor. The second lead screw slider is threadedly connected to the second lead screw. The second lead screw slider is fixedly connected to the second receiving plate support beam.

[0014] As a further limitation of the first aspect of the present invention, it also includes a first guide rail, a second guide rail, a third guide rail and a fourth guide rail fixed on the walking frame, the first receiving plate support beam is slidably connected to the first guide rail through a first sliding member, and is slidably connected to the second guide rail through a second sliding member; the second receiving plate support beam is slidably connected to the third guide rail through a third sliding member, and is slidably connected to the fourth guide rail through a fourth sliding member.

[0015] As a further limitation of the first aspect of the present invention, the first lead screw is located between the first guide rail and the second guide rail, and the second lead screw is located between the third guide rail and the fourth guide rail.

[0016] As a further limitation of the first aspect of the present invention, the driving wheels include a first front driving wheel and a second front driving wheel located at the front of the walking frame and a first rear driving wheel and a second rear driving wheel located at the rear of the walking frame; The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel all adopt a wave-shaped structure, and the wave-shaped structure includes at least two concave parts; The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel have the same structure, and all include: a supporting wheel hub, an inner baffle plate, an outer baffle plate and an outer corrugated rubber layer; One end of the supporting hub is connected to the inner baffle, the other end of the supporting hub is connected to the outer baffle, and the outer side of the supporting hub is sleeved with an outer layer of corrugated rubber.

[0017] In a second aspect, the present invention provides an X-ray detection method for crimped tubes of a power transmission line with reinforcing wires.

[0018] A method for detecting a crimped tube of a power transmission line with a reinforcing wire by X-ray, using the crimped tube detection robot for a power transmission line with a reinforcing wire according to the first aspect of the present invention, comprises the following steps: The X-ray inspection robot is driven by a walking mechanism to move to a crimping tube inspection position; The first horizontal driving mechanism drives the first receiving plate support beam to move inward. When the first receiving plate approaches the first crimping tube, the first motor stops rotating, the X-ray emission port of the transmitter rotates to a position facing the first receiving plate, the transmitter starts, and an X-ray detection image of the first crimping tube is generated on the first receiving plate; The second horizontal driving mechanism drives the second receiving plate support beam to move inward. When the second receiving plate approaches the second crimping tube, the second motor stops rotating, the X-ray emission port of the transmitter rotates to a position facing the second receiving plate, the transmitter starts, and an X-ray detection image of the second crimping tube is generated on the second receiving plate.

[0019] Compared with the prior art, the present invention has the following beneficial effects: The present invention innovatively develops an X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires, which solves the problem that crimped tubes with reinforcing wires cannot be fully and accurately inspected, realizes the movement of the robot in scenarios of conductors, reinforcing wires and the fusion of the two conductors, ensures that the robot can walk to the preset inspection point after being hoisted online by a drone, avoids the interference between the receiving plate and the reinforcing wire after the reinforcing wire is bifurcated upward or downward, realizes an integrated design, and can complete the inspection of the left and right conductors at one time, and the distance between the receiving plate and the crimped tube can be adjusted, ensuring the X-ray inspection accuracy of the crimped tube, and strain gauges are arranged on the receiving plate to ensure the relative position between the receiving plate and the crimped tube, avoids strong collision between the receiving plate and the crimped tube, and improves the accuracy of horizontal movement control of the receiving plate.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 Schematic diagram of the X-ray inspection robot for the crimped pipe of the power transmission line with reinforcing wire provided by the present invention Figure 1 ; Figure 2 Schematic diagram of the X-ray inspection robot for the crimped pipe of the power transmission line with reinforcing wire provided by the present invention Figure 2 ; Figure 3 A top view of the X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires provided by the present invention; Figure 4 A schematic diagram of a receiving plate provided by the present invention; Figure 5 A schematic diagram of an X-ray detection method for a crimped tube of a power transmission line with a reinforcing wire provided by the present invention; Among them, 1. walking frame; 2. transmitter; 3. transmitter support beam; 4. first receiving plate support beam; 5. second receiving plate support beam; 6. first receiving plate; 7. second receiving plate; 8. first front drive wheel; 9. second front drive wheel; 10. first rear drive wheel; 11. second rear drive wheel; 12. lifting frame; 13. control and battery box; 14. first motor; 15. first lead screw; 16. first lead screw slider; 17. second motor; 18. second lead screw; 19. second lead screw slider; 20. first guide rail; 21. second guide rail; 22. third guide rail; 23. fourth guide rail; 24. first crimping tube; 25. second crimping tube; 26. strain gauge. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0025] In this implementation, a transmission line crimping tube X-ray detection robot with reinforcing wire is proposed, comprising: an X-ray detection mechanism and a walking mechanism, the walking mechanism comprising: a walking frame 1 and a driving wheel located at the bottom of the walking frame 1, the X-ray detection mechanism comprising: a first receiving plate support beam 4, a second receiving plate support beam 5, a transmitter 2 and a transmitter support beam 3; The transmitter 2 is fixed to the walking frame 1 through the transmitter support beam 3, the plate surface of the first receiving plate 6 is arranged opposite to the plate surface of the second receiving plate 7, the first receiving plate support beam 4 is located on one side of the forward direction of the walking frame 1, and the first receiving plate support beam 4 is located on the other side of the forward direction of the walking frame 1; The first receiving plate 6 is fixed on the first receiving plate supporting beam 4, and can be horizontally moved to approach or move away from the crimping tube on one side under the drive of the first horizontal driving mechanism located on the walking frame 1. The second receiving plate 7 is fixed on the second receiving plate supporting beam 5, and can be horizontally moved to approach or move away from the crimping tube on the other side under the drive of the second horizontal driving mechanism located on the walking frame 1.

[0026] In this implementation, preferably, a hoisting frame 12 and a control and battery box 13 are also fixed on the walking frame 1, the hoisting frame 12 is used to realize the hoisting of the UAV, and the control and battery box 13 is used to realize the motion control of the UAV and the power supply of various electrical components.

[0027] In the present implementation, preferably, the above-mentioned X-ray detection robot adopts wavy wheels as the walking mechanism. After field testing, the X-ray detection robot can walk on the reinforcement line; two receiving plates (i.e., the first receiving plate 6 and the second receiving plate 7) are distributed on both sides of the X-ray detection robot, and the receiving plates on both sides can move left and right independently (i.e., along a direction perpendicular to the walking direction of the walking mechanism) through the cooperation of the lead screw, the lead screw slider and the guide rail; the X-ray detection mechanism composed of the transmitter and the receiving plate is forwarded on the front side of the X-ray detection robot, and the full range detection of the crimping tube (i.e., the first crimping tube 24 and the second crimping tube 25) is realized through the movement of the X-ray detection robot, and the detection of the left and right two crimping tubes (i.e., the first crimping tube 24 and the second crimping tube 25) is realized through the rotation of the X-ray emission port of the transmitter; in combination with the above-mentioned test, the skeleton of the X-ray detection robot is composed of carbon fiber square tubes connected, and a frame structure is adopted to ensure the stability of the overall structure.

[0028] In this implementation, preferably, the X-ray emission port of the transmitter 2 is located at the front of the walking frame 1.

[0029] In this implementation, preferably, the X-ray emission port of the transmitter 2 is a rotatable emission port.

[0030] In this implementation, preferably, the first receiving plate 6 and the second receiving plate 7 extend forward to the front position of the walking frame 1 .

[0031] As a further limitation of the first aspect of the present invention, the plate surface of the first receiving plate 6 and the plate surface of the second receiving plate 7 are arranged relatively parallel, and the plate surface orientation of the first receiving plate 6 and the plate surface orientation of the second receiving plate 7 are both perpendicular to the forward direction of the walking frame 1.

[0032] In this implementation, preferably, the first horizontal driving mechanism includes: a first motor 14, a first lead screw 15 and a first lead screw slider 16, the first motor 14 is fixed on the walking frame 1, the output shaft of the first motor 14 is connected to the first lead screw 15, the first lead screw 15 can rotate under the drive of the first motor 14, the first lead screw slider 16 is threadedly connected to the first lead screw 15, and the first lead screw slider 16 is fixedly connected to the first receiving plate support beam 4; The second horizontal driving mechanism includes: a second motor 17, a second lead screw 18 and a second lead screw slider 19. The second motor 17 is fixed on the walking frame 1. The output shaft of the second motor 17 is connected to the second lead screw 18. The second lead screw 18 can rotate under the drive of the second motor 17. The second lead screw slider 19 is threadedly connected to the second lead screw 18. The second lead screw slider 19 is fixedly connected to the second receiving plate support beam 5.

[0033] In the present implementation, preferably, it also includes a first guide rail 20, a second guide rail 21, a third guide rail 22 and a fourth guide rail 23 fixed on the walking frame 1, the first receiving plate support beam 4 is slidably connected to the first guide rail 20 through a first sliding member, and is slidably connected to the second guide rail 21 through a second sliding member; the second receiving plate support beam 5 is slidably connected to the third guide rail 22 through a third sliding member, and is slidably connected to the fourth guide rail 23 through a fourth sliding member.

[0034] In this implementation, the first lead screw 15 is located between the first guide rail 20 and the second guide rail 21 (i.e., the first guide rail 20 is located at the front side of the first lead screw 15, and the second guide rail 21 is located at the rear side of the first lead screw 15), and the second lead screw 18 is located between the third guide rail 22 and the fourth guide rail 23 (i.e., the third guide rail 22 is located at the front side of the second lead screw 18, and the fourth guide rail 23 is located at the rear side of the second rod), to prevent the lead screw from getting stuck due to inaccurate positioning, and each guide rail plays a supporting and guiding role. The two ends of the first lead screw 15 and the second lead screw 18 are respectively connected by bearing seats and play a role of mechanical limiters. The left and right moving strokes of the first receiving plate 6 and the second receiving plate 7 are both 0-100mm.

[0035] In this implementation, preferably, the walking mechanism of this implementation is a four-wheel drive structure, and the driving wheels include a first front driving wheel 8 and a second front driving wheel 9 located at the front of the walking frame 1 and a first rear driving wheel 10 and a second rear driving wheel 11 located at the rear of the walking frame 1; The first front drive wheel 8, the second front drive wheel 9, the first rear drive wheel 10 and the second rear drive wheel 11 all adopt a wavy structure, and the wavy structure includes at least two recesses (preferably four recesses can be selected). This structure can adapt to the detection of all upper and lower line crimping tubes, including "three span" and other lines with reinforcement lines; the first front drive wheel 8, the second front drive wheel 9, the first rear drive wheel 10 and the second rear drive wheel 11 have the same structure, and all include: a supporting hub, an inner baffle, an outer baffle and an outer layer of wavy rubber; one end of the supporting hub is connected to the inner baffle, and the other end of the supporting hub is connected to the outer baffle, and the outer side of the supporting hub is provided with an outer layer of wavy rubber.

[0036] In the present implementation, the first front drive wheel 8, the second front drive wheel 9, the first rear drive wheel 10 and the second rear drive wheel 11 are all designed with transmission stoppers on the supporting wheel hubs, and the first front drive wheel 8, the second front drive wheel 9, the first rear drive wheel 10 and the second rear drive wheel 11 are also assembled in a split manner to facilitate later debugging and replacement.

[0037] In this implementation, in order to facilitate posture adjustment, the wavy recessed portions of the first front drive wheel 8, the second front drive wheel 9, the first rear drive wheel 10 and the second rear drive wheel 11 are designed in the middle of the wire, playing a role similar to that of a V-shaped wheel guide. At the same time, when the left and right wires are tilted, the V-shaped outer contour also serves to prevent the robot from sliding sideways.

[0038] like Figure 4 As shown, in the present implementation, strain gauges 26 are provided at the periphery of the plate surface of the first receiving plate 6 and the periphery of the plate surface of the second receiving plate 7, respectively. The strain gauges at the periphery of the plate surface of the first receiving plate 6 are used to detect whether the first receiving plate 6 is in contact with the crimping tube on one side. When contact is detected, the first receiving plate 6 stops moving; the strain gauges at the periphery of the plate surface of the second receiving plate 7 are used to detect whether the second receiving plate 7 is in contact with the crimping tube on the other side. When contact is detected, the second receiving plate 7 stops moving.

[0039] In some other implementations, the strain gauges 26 around the plate surface of the first receiving plate 6 protrude a certain distance relative to the plate surface, and the strain gauges 26 around the plate surface of the second receiving plate 7 protrude a certain distance relative to the plate surface.

[0040] In this implementation, preferably, a method for X-ray detection of a crimped tube of a power transmission line with a reinforcing wire is provided, such as Figure 5 As shown, the above-mentioned transmission line crimping tube X-ray inspection robot with reinforcing wire includes the following process: The X-ray inspection robot is driven by a walking mechanism to move to a crimping tube inspection position; The first motor 14 is started, the first lead screw 15 drives the first lead screw slider 16 to move inward, and the first lead screw slider 16 drives the first receiving plate support beam 4 to move inward. When the first receiving plate approaches the first crimping tube 24, the first motor 14 stops rotating, the X-ray emission port of the transmitter rotates to a position facing the first receiving plate, the transmitter is started, and an X-ray detection image of the first crimping tube 24 is generated on the first receiving plate; The second motor 17 is started, and the second lead screw 18 drives the second lead screw slider 19 to move inward, and the second lead screw slider 19 drives the second receiving plate support beam 5 to move inward. When the second receiving plate is close to the second crimping tube 25, the second motor 17 stops rotating, and the X-ray emission port of the transmitter rotates to a position facing the second receiving plate. The transmitter is started, and an X-ray detection image of the second crimping tube 25 is generated on the second receiving plate.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot for X-ray inspection of crimped pipes for power transmission lines with reinforcing wires. It is characterized in that include: An X-ray detection mechanism and a walking mechanism, wherein the walking mechanism comprises: a walking frame and a driving wheel located at the bottom of the walking frame; The X-ray detection mechanism comprises: a transmitter, wherein the transmitter is fixed to a traveling frame through a transmitter support beam, a first receiving plate and a second receiving plate are arranged opposite to each other on both sides of the traveling frame, and strain gauges are respectively provided on the periphery of the plate surface of the first receiving plate and the periphery of the plate surface of the second receiving plate; The first receiving plate can be driven by a first horizontal driving mechanism on the traveling frame to move horizontally to approach or move away from the crimping tube on one side, and the second receiving plate can be driven by a second horizontal driving mechanism on the traveling frame to move horizontally to approach or move away from the crimping tube on the other side.

2. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 1, characterized in that: The X-ray detection mechanism further includes: a first receiving plate support beam and a second receiving plate support beam, the first receiving plate is fixed on the first receiving plate support beam, the second receiving plate is fixed on the second receiving plate support beam, The first receiving plate support beam is located on one side of the forward direction of the walking frame, and the second receiving plate support beam is located on the other side of the forward direction of the walking frame.

3. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 1 or 2, characterized in that: The strain gauges around the plate surface of the first receiving plate are used to detect whether the first receiving plate is in contact with the crimping tube on one side. When contact is detected, the first receiving plate stops moving; the strain gauges around the plate surface of the second receiving plate are used to detect whether the second receiving plate is in contact with the crimping tube on the other side. When contact is detected, the second receiving plate stops moving.

4. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 1 or 2, characterized in that: The X-ray emission port of the transmitter is located at the front part of the walking frame, and the X-ray emission port of the transmitter is a rotatable emission port.

5. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 1 or 2, characterized in that: The first receiving plate and the second receiving plate extend forward to the front position of the walking frame, the strain gauges around the plate surface of the first receiving plate protrude a certain distance relative to the plate surface, and the strain gauges around the plate surface of the second receiving plate protrude a certain distance relative to the plate surface.

6. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 1 or 2, characterized in that: The plate surface of the first receiving plate and the plate surface of the second receiving plate are arranged relatively parallel, and the plate surface orientations of the first receiving plate and the second receiving plate are both perpendicular to the forward direction of the walking frame.

7. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 2, characterized in that: The first horizontal driving mechanism comprises: a first motor, a first lead screw and a first lead screw slider, the first motor is fixed on the walking frame, the output shaft of the first motor is connected to the first lead screw, the first lead screw can rotate under the drive of the first motor, the first lead screw slider is threadedly connected to the first lead screw, and the first lead screw slider is fixedly connected to the first receiving plate support beam; The second horizontal driving mechanism includes: a second motor, a second lead screw and a second lead screw slider. The second motor is fixed on the walking frame. The output shaft of the second motor is connected to the second lead screw. The second lead screw can rotate under the drive of the second motor. The second lead screw slider is threadedly connected to the second lead screw. The second lead screw slider is fixedly connected to the second receiving plate support beam.

8. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 7, characterized in that: It also includes a first guide rail, a second guide rail, a third guide rail and a fourth guide rail fixed to the walking frame, the first receiving plate support beam is slidably connected to the first guide rail through a first sliding member, and is slidably connected to the second guide rail through a second sliding member; The second receiving plate support beam is slidably connected to the third guide rail via a third sliding member, and is slidably connected to the fourth guide rail via a fourth sliding member; The first lead screw is located between the first guide rail and the second guide rail, and the second lead screw is located between the third guide rail and the fourth guide rail.

9. The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to claim 1 or 2, characterized in that: The driving wheels include a first front driving wheel and a second front driving wheel located at the front of the walking frame and a first rear driving wheel and a second rear driving wheel located at the rear of the walking frame; The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel all adopt a wave-shaped structure, and the wave-shaped structure includes at least two concave parts; The first front driving wheel, the second front driving wheel, the first rear driving wheel and the second rear driving wheel have the same structure, and all include: a supporting wheel hub, an inner baffle plate, an outer baffle plate and an outer corrugated rubber layer; One end of the supporting hub is connected to the inner baffle, the other end of the supporting hub is connected to the outer baffle, and the outer side of the supporting hub is sleeved with an outer layer of corrugated rubber.

10. A method for X-ray inspection of crimped tubes for power transmission lines with reinforcing wires, characterized in that: The X-ray inspection robot for crimped tubes of power transmission lines with reinforcing wires according to any one of claims 1 to 9 comprises the following steps: The X-ray inspection robot is driven by a walking mechanism to move to a crimping tube inspection position; The first horizontal driving mechanism drives the first receiving plate to move inward. When the first receiving plate is close to the first crimping tube, the X-ray emission port of the transmitter rotates to a position facing the first receiving plate, the transmitter is started, and an X-ray detection image of the first crimping tube is generated on the first receiving plate. The second horizontal driving mechanism drives the second receiving plate to move inward. When the second receiving plate is close to the second crimping tube, the X-ray emission port of the transmitter rotates to a position facing the second receiving plate, the transmitter is started, and an X-ray detection image of the second crimping tube is generated on the second receiving plate.

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