A GIS equipment X-ray detection device and method with multiple anti-collision protection

Abstract

The present invention discloses a GIS equipment X-ray detection device and method with multiple anti-collision protection. The device includes a detection part, which includes an electric power equipment X-ray detection intelligent vehicle, a robotic arm, an X-ray source and an imaging module, an ultrasonic detector, and a detection part. The detection part includes a fixed frame, a switch part, a spring, a movable column, a movable rod and a connecting rod; the rear end of the fixed frame is fixed on the front side surface of the electric power equipment X-ray detection intelligent vehicle, and the front end of the fixed frame is an open end and faces the front of the electric power equipment X-ray detection intelligent vehicle; the fixed frame has two groups, and each group of fixed frames is equipped with a switch part, a spring and a movable column; the switch part and the spring are both located in the fixed frame, and the movable column is inserted into the fixed frame from the open end of the fixed frame. This solution solves the problem of flexible use of the X-ray detection device in different GIS equipment installation environments by setting a flexible impact structure.

Description

Technical Field

[0001] The present invention belongs to the technical field of X-ray detection equipment, and in particular relates to an X-ray detection device and method for GIS equipment with multiple anti-collision protections. Background Art

[0002] Since the vigorous development of X-ray digital imaging live detection of power equipment, it has not only realized the live detection of power equipment defects, but also the accuracy and reliability of its detection results have been fully verified and recognized. For GIS equipment, X-ray digital imaging technology can detect defects such as foreign matter, loose bolts and broken fasteners inside GIS equipment, and realize preventive and accurate inspection of structural defects of GIS and other power equipment and accurate analysis of emergency defects, which can effectively improve the scientificity and effectiveness of GIS equipment maintenance.

[0003] In the practice of applying X-ray digital imaging to the detection of power equipment, in order to improve the degree of automation and efficiency of detection and to realize the radiation protection of on-site personnel, vehicle-mounted X-ray detection devices have emerged. When these vehicle-mounted detection devices are used for GIS equipment detection, due to the narrow space around the GIS equipment, it is necessary to consider the collision problem between the detection device and the GIS equipment during the movement and turning of the vehicle-mounted detection device. Regarding this issue, China Publication No. CN105549593B discloses a GPS-based power equipment X-ray detection platform control system for controlling the power equipment X-ray detection platform. The power equipment X-ray detection platform includes a power equipment X-ray detection smart car and a robotic arm. The robotic arm is arranged on the power equipment X-ray detection smart car, and the wireless transmission unit and platform system located on the power equipment X-ray detection platform The control unit and the data processing unit are respectively connected to the wireless transmission unit and the data processing unit by the platform system control unit; the power equipment X-ray detection smart car includes a smart car control unit, which controls the power equipment X-ray detection smart car and the robotic arm; the end of the robotic arm is fixedly connected to the smart car, and the front end of the power equipment X-ray detection smart car and the top of the robotic arm are respectively provided with GPS positioning devices, and the GPS positioning devices are communicatively connected to the data processing unit; the smart car control unit is communicatively connected to the platform system control unit, and the power equipment X-ray detection smart car and the robotic arm are both provided with ultrasonic rangefinders, which can reflect the distance between the power equipment X-ray detection smart car and the robotic arm and other surrounding objects in real time during operation to prevent the power equipment X-ray detection smart car and the robotic arm from colliding with them or being too close to them, affecting the use of the X-ray detection equipment. However, this patent does not provide an effective collision protection mechanism, cannot effectively reduce the severity of the collision of GIS equipment, which may cause damage to the equipment, lacks anti-collision protection design similar to the anti-slip characteristics of the ground, which limits its scope of application and lacks adaptability in confined spaces, which may lead to insufficient stability of the detection equipment in complex environments.

[0004] In order to improve the adaptability of X-ray digital imaging technology to live detection of power equipment, it is necessary to further optimize the relevant technologies. Summary of the Invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a GIS equipment X-ray detection device and method with multiple anti-collision protection.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] In one aspect, the present invention provides a GIS equipment X-ray detection device with multiple anti-collision protections, comprising a detection component, the detection component comprising an electric power equipment X-ray detection smart vehicle, the electric power equipment X-ray detection smart vehicle equipped with a mechanical arm, the mechanical arm being provided with an X-ray source and an imaging module, and an ultrasonic detector fixed to the front surface of the electric power equipment X-ray detection smart vehicle, the electric power equipment X-ray detection smart vehicle further comprising a detection component, the detection component comprising a fixed frame, a switch component, a spring, a movable column, a movable rod, and a connecting rod;

[0008] The rear end of the fixing frame is fixed on the front surface of the electric power equipment X-ray inspection smart car, and the front end of the fixing frame is an open end and faces the front of the electric power equipment X-ray inspection smart car;

[0009] There are two groups of fixed frames, each of which is equipped with a switch, a spring and a movable column;

[0010] The switch member and the spring are both located in the fixed frame, the switch member is fixedly connected to the fixed frame and is located inside the fixed frame, the movable column is inserted into the fixed frame from the open end of the fixed frame and slidably cooperates with the fixed frame, the movable rod is fixed to one end of the movable column located in the fixed frame and faces the switch member, one end of the spring is fixedly connected to the fixed frame, and the other end of the spring is fixedly connected to one end of the movable column located in the fixed frame;

[0011] One end of the connecting rod is fixedly connected to the movable column on one set of fixed frames, and the other end is fixedly connected to the movable column on the other set of fixed frames. The connecting rod is located in front of the ultrasonic detector.

[0012] The spring satisfies:

[0013] Under the elastic force of the spring, the movable column is pushed to a state where the switch member and the movable rod are spaced apart by elastic recovery;

[0014] Under the thrust from the movable column, the spring can be elastically deformed to a state where the switch member and the movable rod are pressed against each other.

[0015] Furthermore, the electric power equipment X-ray inspection smart car further includes a movable part, which includes a support frame, a ball screw, a motor, and a guide column; the support frame, the guide column, and the motor are all fixed on the upper surface of the electric power equipment X-ray inspection smart car, the ball screw is in driving connection with the output end of the motor, and the ball screw is parallel to the guide column;

[0016] It also includes two groups of connecting columns, wherein the lower ends of one group of connecting columns are fixed to the screw nut of the ball screw, and the lower ends of the other group of connecting columns are slidably connected to the guide columns;

[0017] The ball screw and the screw nut are located in the support frame;

[0018] A support rod is fixed to the upper end of each group of connecting columns, and a connecting plate is fixed to the upper end of the support rod. Different ends of the connecting plate are supported on different support rods. The connecting plate is located above the ultrasonic detector. The connecting plate is equipped with a shielding member whose state changes as the position of the connecting plate changes. The shielding member is used to shield the ultrasonic detector.

[0019] Furthermore, the electric power equipment X-ray inspection smart car also includes a moving part, which includes a support column, a limit frame, a support wheel and a fixed column; the support column is fixed to the outer surface of the front side of the electric power equipment X-ray inspection smart car, and there are two groups of support columns, each group of support columns is provided with a limit frame on the upper surface, the upper end and the lower end of the fixed column are provided with support wheels, each limit frame is equipped with a fixed column, and the support wheel at the lower end of the fixed column is arranged in the limit frame and supports the fixed column in the limit frame;

[0020] During the process of changing the position of the connecting plate, the support wheel at the upper end of the fixed column changes the shielding state of the connecting plate and the shielding member. When the connecting plate position moves backward, the support wheel supports the shielding member, and the shielding member is in a flipped-up state. When the connecting plate position moves forward, the support wheel supports the connecting plate, and the shielding member flips over to a state of blocking the ultrasonic detector by gravity.

[0021] Furthermore, the shielding member includes a connecting frame, a limiting groove and a shielding plate; the connecting frame is rotatably connected to the front end of the connecting plate through a hinge, the limiting groove is opened on the connecting frame, and the shielding plate is slidably connected to the inside of the connecting frame;

[0022] A guide plate is fixed to the shielding plate, and the guide plate is slidably fitted in the limiting groove;

[0023] After the shielding member is turned over by gravity, the shielding plate slides out from the lower end of the connecting frame, and the guide plate is suspended on the connecting frame by being supported on the lower end of the limiting groove.

[0024] Furthermore, the movable member further includes a limiting hole provided on the side wall of the limiting frame, wherein the limiting holes are multiple and arranged on a straight line parallel to the bottom side of the limiting frame, the distance between the straight line and the bottom of the limiting hole is S1, and the distance between the axis of the support wheel on the bottom side of the fixed column and the bottom of the limiting hole is S2, and S1 and S2 are equal;

[0025] The wheel axle of the support wheel on the bottom side of the fixed column is a hollow shaft, and also includes a connecting pin for connecting the limit frame with the hollow shaft pin. The connecting pin is inserted into the limit hole and the inner hole of the hollow shaft to achieve pin connection.

[0026] Furthermore, the guide plate and the shielding plate are both provided with mounting grooves, a connecting shaft is provided in the mounting groove, the outer surface of the connecting shaft is rotatably connected to a rotating tube, and the side surface of the rotating tube is supported on the side surface of the limiting groove;

[0027] Mounting grooves are provided on both sides of the guide plate, and a connecting shaft and a rotating tube are provided in each mounting groove. The rotating tube serves as a roller when the guide plate slides in the limiting groove.

[0028] Furthermore, detection parts are provided on the upper and lower sides of the ultrasonic detector. The connecting rod on the detection part on the upper side of the ultrasonic detector is located above the ultrasonic detector, and the connecting rod on the detection part on the lower side of the ultrasonic detector is located below the ultrasonic detector.

[0029] Furthermore, the ultrasonic detector is arranged in the center of the width direction of the front side of the electric power equipment X-ray detection smart car, and the ultrasonic detector is arranged above the middle of the electric power equipment X-ray detection smart car in the height direction;

[0030] The connecting rod extends from one side of the electric power equipment X-ray inspection smart car to the other side.

[0031] Furthermore, a flexible pad is provided at the front end of the connecting rod;

[0032] The spring is a coil spring, and the wheels of the electric power equipment X-ray detection smart car are all equipped with independent power sources.

[0033] Another aspect of the present invention provides a method for X-ray inspection of GIS equipment with multiple anti-collision protections. The method uses any of the above-mentioned inspection devices to perform X-ray non-destructive inspection on the GIS equipment, comprising the following steps:

[0034] Position the electric power equipment X-ray inspection smart car around the GIS equipment to be inspected, and use the ultrasonic detector to monitor the environment around the GIS equipment in real time. When an obstacle is detected, the electric power equipment X-ray inspection smart car automatically brakes. After the electric power equipment X-ray inspection smart car brakes, if the electric power equipment X-ray inspection smart car is still in contact with the GIS equipment due to inertia, the detection part at the front end of the electric power equipment X-ray inspection smart car will contact the GIS equipment as a flexible impact structure to reduce the severity of the collision. The spring-supported connecting rod of the detection part will be used when the electric power equipment X-ray inspection smart car is in contact with the GIS When the equipment collides, the spring is compressed to reduce the severity of the impact on the GIS equipment, and releases reverse thrust to help the electric power equipment X-ray inspection smart car brake, slowing down the inertial motion of the electric power equipment X-ray inspection smart car, ensuring that the GIS equipment is not damaged. After the electric power equipment X-ray inspection smart car stops, the electric power equipment X-ray inspection smart car returns to the original inspection trajectory and continues to perform X-ray non-destructive testing of the GIS equipment. The X-ray images and related data of the GIS equipment are collected through detection parts and other testing instruments, and the data are analyzed and processed in real time. A detailed inspection report is generated based on the X-ray inspection results.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] (1) The present invention supports the connecting rod in front of the electric power equipment X-ray detection smart car by a spring. After colliding with the GIS equipment, the spring is compressed to reduce the severity of the impact on the GIS equipment. The spring also provides a reverse thrust to the electric power equipment X-ray detection smart car to help the electric power equipment X-ray detection smart car brake, thereby ensuring the safety of X-ray digital imaging technology when used in GIS equipment detection.

[0037] (2) The present invention provides anti-slip protection for GIS equipment during the detection process based on the anti-slip properties of the ground in different GIS equipment installation scenarios. Therefore, this solution can flexibly adapt to the spatial conditions of GIS equipment and different GIS equipment installation environments.

[0038] (3) The present invention can provide dual anti-collision protection for GIS equipment. Therefore, from the perspective of applicability and feasibility, this solution can be more flexibly used in the narrow surrounding space of GIS equipment.

[0039] (4) In the present invention, since the spring can be compressed to a state where the switch member and the movable rod are squeezed against each other, when the switch member detects that the switch member and the movable rod are in contact, the detection result can be used to trigger multiple protection measures.

[0040] (5) This invention utilizes an ultrasonic detector and a probe to work in tandem. By monitoring the GIS equipment's surroundings in real time, the device automatically triggers braking, thus avoiding direct collisions with obstacles. When the power equipment X-ray inspection vehicle still encounters the GIS equipment due to inertia, the probe acts as a flexible impact structure, effectively mitigating the severity of the collision. This design significantly reduces physical damage to the GIS equipment, ensuring equipment safety during the inspection process.

[0041] (6) The present invention integrates a spring device into the detector. Utilizing the spring's elasticity and reverse thrust, the spring is compressed to absorb the impact force in the event of a collision, reducing the severity of the impact on the GIS equipment. Simultaneously, the released reverse thrust helps effectively brake the power equipment X-ray inspection smart vehicle, further slowing inertial motion and preventing damage to the equipment from continued movement. This design protects the equipment and effectively reduces the risk of possible secondary collisions.

[0042] (7) The present invention ensures the safety of the intelligent vehicle for X-ray inspection of power equipment in complex environments through a flexible collision structure and spring shock absorption design. In particular, when inertial motion has not completely stopped, possible collision damage is avoided, ensuring that the GIS equipment is not damaged during the inspection process, thereby improving the stability and reliability of the entire inspection process.

[0043] (8) The intelligent vehicle of the present invention automatically detects obstacles and prevents collisions by using an ultrasonic detector and a detection element. Real-time data acquisition and processing ensures accurate and reliable X-ray detection results from GIS equipment, further improving detection efficiency and accuracy. Furthermore, automatically generated inspection reports provide an important basis for subsequent equipment maintenance and decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A three-dimensional schematic diagram of a specific embodiment of the X-ray detection device provided by the present invention, in which the shielding member is in a state of shielding the ultrasonic detector;

[0045] Figure 2 For Figure 1 A schematic diagram of the structure shown after removing the shielding member;

[0046] Figure 3 for Figure 1 A partial cross-sectional schematic diagram of the detection component;

[0047] Figure 4 for Figure 1 Schematic diagram of the structure of the moving parts;

[0048] Figure 5 A specific embodiment of the X-ray detection device provided by the present invention includes a partial structural diagram of a moving part and a shielding part;

[0049] Figure 6 A structural schematic diagram illustrating the cooperation relationship between the connecting shaft and the rotating tube in a specific embodiment of the X-ray detection device provided by the present invention.

[0050] The accompanying drawings are marked as follows: 1. Detection part; 11. Intelligent vehicle for X-ray detection of electric power equipment; 12. Ultrasonic detector; 2. Detection part; 21. Fixed frame; 22. Switch part; 23. Spring; 24. Movable column; 25. Movable rod; 26. Connecting rod; 3. Movable part; 31. Support frame; 32. Ball screw; 33. Motor; 34. Connecting column; 35. Guide column; 36. Support rod; 37. Connecting plate; 4. Moving part; 41. Support column; 42. Limiting frame; 43. Support wheel; 44. Fixed column, 45. Limiting hole; 5. Shielding part; 51. Connecting frame; 52. Limiting groove; 53. Shielding plate; 54. Guide plate; 55. Mounting groove; 56. Connecting shaft; 57. Rotating tube. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0052] Example 1:

[0053] This embodiment provides an X-ray detection device and method for GIS equipment with multiple anti-collision protections. This embodiment solves the problems of flexible use and protection of the X-ray detection device in different GIS equipment installation environments by providing a flexible collision structure.

[0054] The GIS equipment X-ray detection device and method with multiple anti-collision protection provided in this embodiment solves the problem through the following technical points: the protective X-ray detection device and method adapted to the GIS equipment operating environment include a detection component 1, the detection component 1 including an electric power equipment X-ray detection smart car 11, the electric power equipment X-ray detection smart car 11 equipped with a robotic arm equipped with an X-ray source and an imaging module, an ultrasonic detector 12 fixed to the front surface of the electric power equipment X-ray detection smart car 11, and a detection component 2 including a fixed frame 21, a switch 22, a spring 23, a movable column 24, a movable rod 25, and a connecting rod 26;

[0055] The rear end of the fixing frame 21 is fixed to the front surface of the electric power equipment X-ray inspection smart car 11, and the front end of the fixing frame 21 is an open end and faces the front of the electric power equipment X-ray inspection smart car;

[0056] There are two groups of fixed frames 21, each group of fixed frames 21 is equipped with a switch 22, a spring 23 and a movable column 24;

[0057] The switch member 22 and the spring 23 are both located in the fixed frame 21. The switch member 22 is fixedly connected to the fixed frame 21 and is located on the inner side of the fixed frame 21. The movable column 24 is inserted into the fixed frame 21 from the open end of the fixed frame 21 and slidably cooperates with the fixed frame 21. The movable rod 25 is fixed to one end of the movable column 24 located inside the fixed frame 21 and faces the switch member 22. One end of the spring 23 is fixedly connected to the fixed frame 21, and the other end of the spring 23 is fixedly connected to one end of the movable column 24 located inside the fixed frame 21.

[0058] One end of the connecting rod 26 is fixedly connected to the movable column 24 on one set of the fixed frames 21, and the other end is fixedly connected to the movable column 24 on the other set of the fixed frames 21. The connecting rod 26 is located in front of the ultrasonic detector 12.

[0059] The spring 23 satisfies:

[0060] Under the elastic force of the spring 23, the movable column 24 is pushed to a state where the switch member 22 and the movable rod 25 are spaced apart by elastic recovery;

[0061] Under the thrust from the movable column 24 , the spring 23 can be elastically deformed to a state where the switch member 22 and the movable rod 25 are pressed against each other.

[0062] In the application of existing X-ray digital imaging technology, for GIS equipment, although the GIS equipment has a compact structure, the vehicle-mounted X-ray detection device can still be used to detect defects such as internal foreign matter, loose bolts, and broken fasteners in some parts of the GIS equipment. During the movement of the X-ray detection smart car 11 based on the power equipment X-ray detection device, in order to avoid the collision between the power equipment X-ray detection smart car 11 and the GIS equipment, the existing technology has a technical solution of installing an anti-collision detection module at the front end of the X-ray detection smart car. The ultrasonic detector 12 is a common implementation method of the anti-collision detection module, and its basic principle is: during the movement of the power equipment X-ray detection smart car 11, the ultrasonic detector 12 uses ultrasonic waves to detect the distance between the surrounding obstacles and the power equipment X-ray detection smart car 11. When it is confirmed that the distance is When the vehicle is at a dangerous distance where a collision may occur, an obstacle avoidance action is performed, and the obstacle avoidance action includes but is not limited to issuing an audible and visual alarm, and braking of the electric power equipment X-ray detection smart car 11. As the intelligence level of the electric power equipment X-ray detection smart car 11 increases and in order to adapt to the intelligence requirements of X-ray digital imaging technology, the braking and obstacle avoidance action performed by the electric power equipment X-ray detection smart car 11 based on the detection results of the ultrasonic detector 12 is determined by the ground used to support the wheels of the electric power equipment X-ray detection smart car 11 at this time. When the ground is a gravel ground or a muddy soil ground, after performing the braking and obstacle avoidance action, due to the long braking distance, there is still a possibility that the electric power equipment X-ray detection smart car 11 and the GIS equipment will collide. In order to reduce this possibility, the present solution provides the above X-ray detection device.

[0063] On the one hand, the detection part 2 serves as a flexible impact structure at the front end of the electric power equipment X-ray detection smart car 11. After the electric power equipment X-ray detection smart car 11 performs braking to avoid obstacles based on the detection results of the ultrasonic detector 12, if the electric power equipment X-ray detection smart car 11 still moves to the position where the connecting rod 26 collides with the GIS equipment under inertia, at this time, the connecting rod 26 supported in front of the electric power equipment X-ray detection smart car 11 by the spring 23 is compressed by the spring 23 after colliding with the GIS equipment to reduce the severity of the impact on the GIS equipment, and the reverse thrust provided by the spring 23 to the electric power equipment X-ray detection smart car 11 helps the electric power equipment X-ray detection smart car 11 to brake, thereby achieving the purpose of ensuring the safety of X-ray digital imaging technology when used in GIS equipment detection.

[0064] On the other hand, the ultrasonic detector 12 and the detection element 2 both provide anti-collision protection for the X-ray detection device. For the anti-slip characteristics of the ground in different GIS equipment installation scenarios, this solution provides anti-collision protection for the GIS equipment during the detection process. Therefore, this solution can flexibly adapt to the spatial conditions of GIS equipment and different GIS equipment installation environments.

[0065] On the other hand, this solution is different from the existing technology in that the position and orientation of the X-ray source and imaging module are adjusted based on the movement and deflection of the electric power equipment X-ray detection smart car 11. The detection part 2 can provide flexible anti-collision protection, that is, this solution takes into account the anti-collision protection measures of GIS equipment in addition to the collision distance. When used in a narrow environment where the electric power equipment X-ray detection smart car 11 moves and deflects, it can provide double anti-collision protection for the GIS equipment. Therefore, from the perspective of applicability and feasibility, this solution can be more flexibly used in the narrow surrounding GIS equipment space.

[0066] On the other hand, since the spring 23 can be compressed to a state where the switch member 22 and the movable rod 25 are squeezed against each other, when the switch member 22 detects that the switch member 22 and the movable rod 25 are in contact, the detection result can be applied to, for example, based on the following movable member 3, movable key and shielding member 5, the shielding member 5 is triggered to cover the ultrasonic detector 12 to protect the ultrasonic detector 12; based on the control system of the electric power equipment X-ray detection smart car 11, the emergency braking of the electric power equipment X-ray detection smart car 11 is realized to reduce the impact force that may cause further impact in the later stage; based on the robotic arm control module, the robotic arm is closed to improve the stability of the X-ray detection device during further impact.

[0067] The working principle of the above X-ray detection device is as follows: under normal conditions, the relative positions of the switch member 22, the spring 23 and the movable column 24 are constrained by the fixed frame 21, and the switch member 22 is constrained to be located on the inner side of the fixed frame 21. The spring 23 pushes the movable column 24 away, so that the switch member 22 is spaced apart from the movable rod 25. When the connecting rod 26 collides with the GIS equipment, the electric power equipment X-ray detection smart car 11 further moves the GIS equipment under the action of inertia. The movable column 24 moves toward the inner side of the fixed frame 21. At this time, the spring 23 is squeezed and deformed to reduce the force on the GIS equipment and assist the electric power equipment X-ray detection smart car 11 in braking. When the movable rod 25 collides with the switch member 22, the switch member 22 acts as a sensor to detect the collision, and the detection signal triggered acts on the braking system, robotic arm control module, ultrasonic detector 12 shielding component, etc. of the electric power equipment X-ray detection smart car 11.

[0068] As a further technical solution of the X-ray detection device:

[0069] The vehicle further includes a movable member 3, which includes a support frame 31, a ball screw 32, a motor 33, and a guide post 35. The support frame 31, the guide post 35, and the motor 33 are all fixed to the upper surface of the smart vehicle 11 for X-ray inspection of electric power equipment. The ball screw 32 is in driving connection with the output end of the motor 33, and the ball screw 32 is parallel to the guide post 35.

[0070] It also includes two groups of connecting columns 34, wherein the lower end of one group of connecting columns 34 is fixed to the screw nut of the ball screw 32, and the lower end of the other group of connecting columns 34 is slidably connected to the guide column 35;

[0071] The ball screw 32 and the screw nut are located in the support frame 31;

[0072] A support rod 36 is fixed to the upper end of each group of connecting columns 34, and a connecting plate 36 is fixed to the upper end of the support rod 36. Different ends of the connecting plate 36 are supported on different support rods 36. The connecting plate 36 is located above the ultrasonic detector 12. The connecting plate 36 is equipped with a shielding member 5 whose state changes as the position of the connecting plate 36 changes. The shielding member 5 is used to shield the ultrasonic detector 12.

[0073] In the above scheme, the movable part 3 serves as a linkage mechanism of the covering part. Specifically, when the switch part 22 detects contact with the movable rod 25, the motor 33 rotates under the control of the control module. At this time, the ball screw 32 located in the support block rotates, driving the screw nut thereon to move horizontally. In this process, under the traction of the screw nut and the constraint of the guide column 35, the structure including the connecting column 34, the support rod 36 and the connecting plate 36 slides along the axis of the roller screw. Under this sliding, the position of the connecting plate 36 relative to the electric power equipment X-ray detection smart car 11 changes, so that the covering part 5, which changes its state with the change of the position of the connecting plate 36, changes its state to the state of blocking the ultrasonic detector 12, thereby realizing anti-collision protection for the ultrasonic detector 12 at the front end of the electric power equipment X-ray detection smart car 11. This solution is particularly suitable for the use of an ultrasonic detector 12 installed in front of the front end of the electric power equipment X-ray detection smart car 11. At the same time, it is easy to understand that the front side surface of the electric power equipment X-ray detection smart car 11 mentioned in this solution is the front end surface of the electric power equipment X-ray detection smart car 11. The specific side referred to by the front side is determined by the forward direction of the electric power equipment X-ray detection smart car 11, so the front end surface includes the front end, rear end and side of the electric power equipment X-ray detection smart car 11.

[0074] In the above scheme, the connecting plate 36 can be stably supported by supporting different ends of the connecting plate 36 through two support rods 36. The support frame 31 can be used as a protective frame on the outside of the roller screw. As for the guide column 35, it can also be arranged in another support frame 31; the ball screw 32 is used to convert the rotation output by the motor 33 into smooth linear motion, even during the movement of the power equipment X-ray detection smart car 11, it can ensure that the connecting plate 36 can be reliably changed in position under the action of the motor 33.

[0075] The vehicle further includes a moving part 4, which includes a support column 41, a limit frame 42, a support wheel 43, and a fixed column 44; the support column 41 is fixed to the outer surface of the front side of the smart vehicle 11 for X-ray inspection of electric power equipment, and two groups of support columns 41 are provided. A limit frame 42 is provided on the upper surface of each group of support columns 41, and support wheels 43 are provided at the upper and lower ends of the fixed columns 44. Each limit frame 42 is equipped with a fixed column 44, and the support wheel 43 at the lower end of the fixed column 44 is provided in the limit frame 42 and supports the fixed column 44 in the limit frame 42;

[0076] During the process of the position change of the connecting plate 36, the support wheel 43 at the upper end of the fixed column 44 changes the shielding state of the connecting plate 36 and the shielding member 5. When the connecting plate 36 moves backward, the support wheel 43 supports the shielding member 5, and the shielding member 5 is in a flipped-up state. When the connecting plate 36 moves forward, the support wheel 43 supports the connecting plate 36, and the shielding member 5 flips over to a state of blocking the ultrasonic detector 12 by gravity.

[0077] In the above scheme, the support column 41 serves as a supporting component of the limit frame 42, and the support wheel 43 at the lower end of the fixed column 44 is restricted to the fixed position of the limit frame 42. In this way, when the connecting plate 36 supported on the support wheel 43 above the fixed column 44 is translated under the action of the motor 33, the shielding member 5 and the connecting plate 36 change position relative to the upper end of the fixed column 44. When the fixed column 44 supports the connecting plate 36, the shielding member 5 is flipped by gravity to a state of shielding the ultrasonic detector 12 without support. When supported on the shielding member 5, the shielding member 5 is located above the ultrasonic detector 12 in the flipped-up state. In specific use, the connecting plate 36 moves back and forth under the action of the motor 33. Under normal circumstances, the connecting plate 36 is in a relatively rearward position. At this time, the fixed column 44 provides support for the shielding member 5, and the shielding member 5 is in a flipped-up state, so that the shielding member 5 does not block the front end of the ultrasonic detector 12. In this state, the ultrasonic detector 12 has a normal detection function. When the motor 33 moves under the trigger signal to make the connecting plate 36 move to a relatively rearward position, the shielding member 5 moves backward with the connecting plate 36, and the support wheel 43 at the upper end of the fixed column 44 is transformed from the shielding member 5 to support the connecting plate 36. At this time, the shielding member 5 loses support and flips over by gravity to a state of blocking the ultrasonic detector 12.

[0078] In the above scheme, the support wheel 43 at the upper end of the fixed column 44 reduces the movement resistance of the connecting plate 36 and the shielding member 5 by rolling during the movement of the connecting plate 36. The support wheel 43 at the upper end of the fixed column 44 is used to facilitate the position adjustment of the fixed column 44 in the limit frame 42. For example, when the control mode of the motor 33 is not adjusted, if the fixed column 44 is located at the front side of the limit frame 42, the fixed column 44 can lose its support ability for the shielding member 5 after the connecting plate 36 retreats a shorter distance. If the fixed column 44 is located at the rear side of the limit frame 42, the fixed column 44 can lose its support ability for the shielding member 5 only after the connecting plate 36 retreats a longer distance. When in use, according to the need for the shielding member 5 to block the ultrasonic detector 12, the triggering timing or position of the shielding member 5 can be adjusted by moving the fixed column 44 along the limit frame 42 during debugging.

[0079] The shielding member 5 includes a connecting frame 51, a limiting groove 52 and a shielding plate 53; the connecting frame 51 is rotatably connected to the front end of the connecting plate 36 by a hinge, the limiting groove 52 is provided on the connecting frame 51, and the shielding plate 53 is slidably connected to the interior of the connecting frame 51;

[0080] A guide plate 54 is fixed on the shielding plate 53, and the guide plate 54 is slidably fitted in the limiting groove 52;

[0081] After the shielding member 5 is turned over by gravity, the shielding plate 53 slides out from the lower end of the connecting frame 51 , and the guide plate 54 is suspended on the connecting frame 51 by being supported on the lower end of the limiting groove 52 .

[0082] The above scheme provides an implementation method of the shielding member 5 including a connecting frame 51, a shielding plate 53, etc. Specifically, the upper surface of the rear end of the connecting frame 51 is rotatably connected to the lower surface of the front end of the connecting plate 36 by a hinge. When the connecting plate 36 is in a relatively rear position, the fixed column 44 supports the connecting frame 51, so that the connecting frame 51 is in a flat plate shape to prevent the connecting frame 51 from flipping around the hinge and falling at the front end. When the connecting plate 36 moves to a relatively front position, the support wheel 43 at the upper end of the fixed column 44 is transformed from supporting the bottom surface of the connecting frame 51 to supporting the bottom surface of the connecting plate 36. At this time, the connecting frame 51 loses its constraint, and the front end flips downward, so that the shielding plate 53 located therein is lifted by the connecting frame The lower end of 51 slides out and is suspended on the lower end of the connecting frame 51 through the guide plate 54. At this time, the shielding plate 53 blocks the front of the ultrasonic detector 12, forming a state of blocking the ultrasonic detector 12; when it needs to be reset, the connecting plate 36 moves backward under the action of the motor 33. When it moves backward to the back of the connecting frame 51 and contacts the support wheel 43 at the upper end of the fixed column 44, in the process of further moving backward, the support wheel 43 pushes the connecting frame 51 to flip upward around the hinge. After the flipping angle increases to a certain extent, the shielding member 5 is deformed so that there is an open space in front of the ultrasonic detector 12. At this time, the shielding plate 53 can be manually pushed to store the shielding plate 53 in the connecting frame 51.

[0083] In the above scheme, according to the actual application scenario, the front end of the connecting frame 51 in the flipped-up state can be located in front of the connecting rod 26 or behind the connecting rod 26. For example, this is determined by the relationship between the height of the GIS equipment and the height of the electric power equipment X-ray detection smart car 11, the shape of the GIS equipment and the electric power equipment X-ray detection smart car 11, etc. The assembly relationship between the connecting frame 51 and the shielding plate 53 is used to expand the shielding range of the shielding member 5 at the front end of the electric power equipment X-ray detection smart car 11 after the front end of the connecting frame 51 is flipped downward. For example, when the shielding plate 53 is stored in the connecting frame 51, the shielding member 5 is not unfolded. At this time, the position of the front end of the shielding member 5 is not forward to avoid the front end of the shielding member 5 directly hitting the GIS equipment. When the shielding plate 53 slides out of the connecting frame 51, since the shielding plate 53 can slide downward relative to the connecting frame 51, the lower end of the shielding member 5 can slide to a lower position at this time. In this form, a larger shielding range can be obtained.

[0084] The positioning frame 42 further includes a plurality of limiting holes 45 provided on the side wall thereof. The limiting holes 45 are arranged on a straight line parallel to the bottom side of the limiting frame 42. The distance between the straight line and the bottom of the limiting holes 45 is S1. The distance between the axis of the support wheel 43 on the bottom side of the fixing column 44 and the bottom of the limiting holes 45 is S2, and S1 and S2 are equal.

[0085] The wheel axle of the support wheel 43 on the bottom side of the fixed column 44 is a hollow shaft, and also includes a connecting pin for connecting the limit frame 42 with the hollow shaft pin. The connecting pin is inserted into the limit hole 45 and the inner hole of the hollow shaft to achieve pin connection.

[0086] In the above scheme, the limiting hole 45 and the connecting pin are used to constrain the position of the support wheel 43 at the lower end of the fixing column 44 in the limiting frame 42. When the connecting pin is inserted into the limiting hole 45 and the center axis, the position of the lower end of the fixing column 44 in the limiting frame 42 is locked. Therefore, by changing the limiting hole 45 used to cooperate with the connecting pin, the position of the fixing column 44 in the limiting frame 42 can be changed. When the connecting pin is removed and the fixing column 44 is moved, since the fixing column 44 is clamped between the limiting frame 42 and the connecting plate 36 or between the limiting frame 42 and the shielding member 5, the fixing column 44 can be easily moved by pushing and pulling the fixing column 44 along the limiting frame 42 under the action of the support wheels 43 at the upper and lower ends of the fixing column 44.

[0087] The above restrictions of being arranged in a straight line and S1 being equal to S2 are used to achieve: within the coverage of the limiting hole 45, as the fixing column 44 translates, the hollow shaft can dock with any limiting hole 45 and install the connecting pin.

[0088] The guide plate 54 and the shielding plate 53 are both provided with a mounting groove 55, in which a connecting shaft 56 is provided. The outer surface of the connecting shaft 56 is rotatably connected to a rotating tube 57, and the side surface of the rotating tube 57 is supported on the side surface of the limiting groove 52;

[0089] Mounting grooves 55 are provided on both sides of the guide plate 54 . A connecting shaft 56 and a rotating tube 57 are provided in each mounting groove 55 . The rotating tube 57 serves as a roller when the guide plate 54 slides in the limiting groove 52 .

[0090] In this embodiment, the mounting groove 55 is assembled with the connecting shaft 56 and the rotating tube 57. Specifically, the two sides of the limiting groove 52 contact the outer wall of the rotating tube 57 to limit the position of the guide plate 54 in the width direction of the limiting groove 52. Since the guide plate 54 is fixedly connected to the shielding plate 53, the limiting groove 52 can also limit the position of the shielding plate 53 in the width direction of the connecting frame 51. This not only makes the shielding member 5 compact, but also prevents the shielding plate 53 from being unable to slide out of the connecting frame 51 due to the large friction between the side walls of the shielding plate 53 and the side walls of the inner hole of the connecting frame 51. When the guide plate 54 slides in the limiting groove 52, it rotates via the rotating tube 57, which not only ensures the matching accuracy of the guide plate 54 in the limiting groove 52, but also provides a small sliding force for the guide plate 54 to slide in the limiting groove 52.

[0091] Detectors 2 are provided on the upper and lower sides of the ultrasonic detector 12. The connecting rod 26 on the detector 2 on the upper side of the ultrasonic detector 12 is located above the ultrasonic detector 12, and the connecting rod 26 on the detector 2 on the lower side of the ultrasonic detector 12 is located below the ultrasonic detector 12.

[0092] In the above scheme, the detection parts 2 located in front of the ultrasonic monitor and arranged on the upper and lower sides thereof can provide flexible impact protection for the GIS equipment for impact points in different directions in front of the power equipment X-ray detection smart car 11.

[0093] The ultrasonic detector 12 is arranged in the center of the width direction of the front side of the electric power equipment X-ray inspection smart car 11, and the ultrasonic detector 12 is arranged above the middle of the height direction of the electric power equipment X-ray inspection smart car 11;

[0094] The connecting rod 26 extends from one side of the electric power equipment X-ray inspection smart car 11 to the other side.

[0095] In the above scheme, the position setting of the ultrasonic detector 12 can enable the ultrasonic detector 12 to have a good impact detection coverage range to obtain a good collision possibility detection rate. The setting method of the connecting rod 26 is used to form a relatively wide detection part 2 coverage area on the front side of the power equipment X-ray detection smart car 11.

[0096] A flexible pad is provided at the front end of the connecting rod 26 .

[0097] In the above solution, the flexible pad is used to protect the surface of the GIS equipment that is subjected to collision, for example, a soft pad or an elastic pad is used to prevent the paint on the surface of the GIS equipment from falling off due to collision.

[0098] The spring 23 is a coil spring 23 , and the wheels of the electric equipment X-ray inspection smart car 11 are all equipped with independent power sources.

[0099] In the above scheme, the coil spring 23 can be set to have a longer length and a suitable elastic coefficient, so that before a collision occurs, the movable column 24 has a larger displacement, so as to reduce the energy possessed by the electric equipment X-ray detection smart car 11 when a rigid collision occurs (after the front end of the movable rod 25 hits the switch part 22). The configuration of the power source and the wheels can enable the wheels to rotate independently, so as to further improve the maneuverability and flexibility of the X-ray detection device in a narrow operating space.

[0100] As a further technical solution of the X-ray machine:

[0101] The X-ray machine also includes a control box and a high-voltage generator. These three components are structurally independent functional modules, with the high-voltage generator electrically connected to the X-ray source and control box via flexible cables. In this solution, the functional modules of the X-ray machine are independent and electrically connected using flexible cables. This allows for flexible arrangement of the modules based on on-site spatial conditions during specific use, improving the machine's adaptability to any installation environment.

[0102] Example 2:

[0103] The parts not mentioned in this embodiment are the same as those in embodiment 1.

[0104] like Figures 1 to 6As shown, a protective X-ray detection device and method adapted to the GIS equipment operating environment includes a detection component 1, the detection component 1 including an electric power equipment X-ray detection smart car 11, the electric power equipment X-ray detection smart car 11 equipped with a robotic arm, the robotic arm provided with an X-ray source and an imaging module, an ultrasonic detector 12 fixed to the front surface of the electric power equipment X-ray detection smart car 11, and a detection component 2 including a fixed frame 21, a switch 22, a spring 23, a movable column 24, a movable rod 25, and a connecting rod 26.

[0105] The rear end of the fixing frame 21 is fixed to the front surface of the electric power equipment X-ray inspection smart car 11, and the front end of the fixing frame 21 is an open end and faces the front of the electric power equipment X-ray inspection smart car 11;

[0106] There are two groups of fixed frames 21, each group of fixed frames 21 is equipped with a switch 22, a spring 23 and a movable column 24;

[0107] The switch member 22 and the spring 23 are both located in the fixed frame 21. The switch member 22 is fixedly connected to the fixed frame 21 and is located on the inner side of the fixed frame 21. The movable column 24 is inserted into the fixed frame 21 from the open end of the fixed frame 21 and slidably cooperates with the fixed frame 21. The movable rod 25 is fixed to one end of the movable column 24 located inside the fixed frame 21 and faces the switch member 22. One end of the spring 23 is fixedly connected to the fixed frame 21, and the other end of the spring 23 is fixedly connected to one end of the movable column 24 located inside the fixed frame 21.

[0108] One end of the connecting rod 26 is fixedly connected to the movable column 24 on one set of the fixed frames 21, and the other end is fixedly connected to the movable column 24 on the other set of the fixed frames 21. The connecting rod 26 is located in front of the ultrasonic detector 12.

[0109] The spring 23 satisfies:

[0110] Under the elastic force of the spring 23, the movable column 24 is pushed to a state where the switch member 22 and the movable rod 25 are spaced apart by elastic recovery;

[0111] Under the thrust from the movable column 24 , the spring 23 can be elastically deformed to a state where the switch member 22 and the movable rod 25 are pressed against each other.

[0112] In the application of existing X-ray digital imaging technology, for GIS equipment, although the GIS equipment has a compact structure, the vehicle-mounted X-ray detection device can still be used to detect defects such as internal foreign matter, loose bolts, and broken fasteners in some parts of the GIS equipment. During the movement of the X-ray detection smart car 11 based on the power equipment X-ray detection device, in order to avoid the collision between the power equipment X-ray detection smart car 11 and the GIS equipment, the existing technology has a technical solution of installing an anti-collision detection module at the front end of the X-ray detection smart car. The ultrasonic detector 12 is a common implementation method of the anti-collision detection module, and its basic principle is: during the movement of the power equipment X-ray detection smart car 11, the ultrasonic detector 12 uses ultrasonic waves to detect the distance between the surrounding obstacles and the power equipment X-ray detection smart car 11. When it is confirmed that the distance is When the vehicle is at a dangerous distance where a collision may occur, an obstacle avoidance action is performed, and the obstacle avoidance action includes but is not limited to issuing an audible and visual alarm, and braking of the electric power equipment X-ray detection smart car 11. As the intelligence level of the electric power equipment X-ray detection smart car 11 increases and in order to adapt to the intelligence requirements of X-ray digital imaging technology, the braking and obstacle avoidance action performed by the electric power equipment X-ray detection smart car 11 based on the detection results of the ultrasonic detector 12 is determined by the ground used to support the wheels of the electric power equipment X-ray detection smart car 11 at this time. When the ground is a gravel ground or a muddy soil ground, after performing the braking and obstacle avoidance action, due to the long braking distance, there is still a possibility that the electric power equipment X-ray detection smart car 11 and the GIS equipment will collide. In order to reduce this possibility, the present solution provides the above X-ray detection device.

[0113] On the one hand, the detection part 2 serves as a flexible impact structure at the front end of the electric power equipment X-ray detection smart car 11. After the electric power equipment X-ray detection smart car 11 performs braking to avoid obstacles based on the detection results of the ultrasonic detector 12, if the electric power equipment X-ray detection smart car 11 still moves to the position where the connecting rod 26 collides with the GIS equipment under inertia, at this time, the connecting rod 26 supported in front of the electric power equipment X-ray detection smart car 11 by the spring 23 is compressed by the spring 23 after colliding with the GIS equipment to reduce the severity of the impact on the GIS equipment, and the reverse thrust provided by the spring 23 to the electric power equipment X-ray detection smart car 11 helps the electric power equipment X-ray detection smart car 11 to brake, thereby achieving the purpose of ensuring the safety of X-ray digital imaging technology when used in GIS equipment detection.

[0114] On the other hand, the ultrasonic detector 12 and the detection element 2 both provide anti-collision protection for the X-ray detection device. For the anti-slip characteristics of the ground in different GIS equipment installation scenarios, this solution provides anti-collision protection for the GIS equipment during the detection process. Therefore, this solution can flexibly adapt to the spatial conditions of GIS equipment and different GIS equipment installation environments.

[0115] On the other hand, this solution is different from the existing technology in that the position and orientation of the X-ray source and imaging module are adjusted based on the movement and deflection of the electric power equipment X-ray detection smart car 11. The detection part 2 can provide flexible anti-collision protection, that is, this solution takes into account the anti-collision protection measures of GIS equipment in addition to the collision distance. When used in a narrow environment where the electric power equipment X-ray detection smart car 11 moves and deflects, it can provide double anti-collision protection for the GIS equipment. Therefore, from the perspective of applicability and feasibility, this solution can be more flexibly used in the narrow surrounding GIS equipment space.

[0116] On the other hand, since the spring 23 can be compressed to a state where the switch member 22 and the movable rod 25 are squeezed against each other, when the switch member 22 detects that the switch member 22 and the movable rod 25 are in contact, the detection result can be applied to, for example, based on the following movable member 3, movable key and shielding member 5, the shielding member 5 is triggered to cover the ultrasonic detector 12 to protect the ultrasonic detector 12; based on the control system of the electric power equipment X-ray detection smart car 11, the emergency braking of the electric power equipment X-ray detection smart car 11 is realized to reduce the impact force that may cause further impact in the later stage; based on the robotic arm control module, the robotic arm is closed to improve the stability of the X-ray detection device during further impact.

[0117] The working principle of the above X-ray detection device is as follows: under normal conditions, the relative positions of the switch member 22, the spring 23 and the movable column 24 are constrained by the fixed frame 21, and the switch member 22 is constrained to be located on the inner side of the fixed frame 21. The spring 23 pushes the movable column 24 away, so that the switch member 22 is spaced apart from the movable rod 25. When the connecting rod 26 collides with the GIS equipment, the electric power equipment X-ray detection smart car 11 further moves the GIS equipment under the action of inertia. The movable column 24 moves toward the inner side of the fixed frame 21. At this time, the spring 23 is squeezed and deformed to reduce the force on the GIS equipment and assist the electric power equipment X-ray detection smart car 11 in braking. When the movable rod 25 collides with the switch member 22, the switch member 22 acts as a sensor to detect the collision, and the detection signal triggered acts on the braking system, robotic arm control module, ultrasonic detector 12 shielding component, etc. of the electric power equipment X-ray detection smart car 11.

[0118] As a more detailed technical solution of the X-ray detection device:

[0119] The vehicle further includes a movable member 3, which includes a support frame 31, a ball screw 32, a motor 33, and a guide post 35. The support frame 31, the guide post 35, and the motor 33 are all fixed to the upper surface of the smart vehicle 11 for X-ray inspection of electric power equipment. The ball screw 32 is in driving connection with the output end of the motor 33, and the ball screw 32 is parallel to the guide post 35.

[0120] It also includes two groups of connecting columns 34, wherein the lower end of one group of connecting columns 34 is fixed to the screw nut of the ball screw 32, and the lower end of the other group of connecting columns 34 is slidably connected to the guide column 35;

[0121] The ball screw 32 and the screw nut are located in the support frame 31;

[0122] A support rod 36 is fixed to the upper end of each group of connecting columns 34, and a connecting plate 37 is fixed to the upper end of the support rod 36. Different ends of the connecting plate 37 are supported on different support rods 36. The connecting plate 37 is located above the ultrasonic detector 12. The connecting plate 37 is equipped with a shielding member 5 whose state changes as the position of the connecting plate 37 changes. The shielding member 5 is used to shield the ultrasonic detector 12.

[0123] In the above scheme, the movable part 3 serves as a linkage mechanism of the covering part. Specifically, when the switch part 22 detects contact with the movable rod 25, the motor 33 rotates under the control of the control module. At this time, the ball screw 32 located in the support block rotates, driving the screw nut thereon to move horizontally. In this process, under the traction of the screw nut and the constraint of the guide column 35, the structure including the connecting column 34, the support rod 36 and the connecting plate 37 slides along the axis of the roller screw. Under this sliding, the position of the connecting plate 37 relative to the electric power equipment X-ray detection smart car 11 changes, so that the covering part 5, which changes its state with the change of the position of the connecting plate 37, changes its state to the state of blocking the ultrasonic detector 12, thereby realizing anti-collision protection for the ultrasonic detector 12 at the front end of the electric power equipment X-ray detection smart car 11. This solution is particularly suitable for the use of an ultrasonic detector 12 installed in front of the front end of the electric power equipment X-ray detection smart car 11. At the same time, it is easy to understand that the front side surface of the electric power equipment X-ray detection smart car 11 mentioned in this solution is the front end surface of the electric power equipment X-ray detection smart car 11. The specific side referred to by the front side is determined by the forward direction of the electric power equipment X-ray detection smart car 11, so the front end surface includes the front end, rear end and side of the electric power equipment X-ray detection smart car 11.

[0124] In the above scheme, the connecting plate 37 can be stably supported by supporting different ends of the connecting plate 37 through two support rods 36. The support frame 31 can be used as a protective frame on the outside of the roller screw. As for the guide column 35, it can also be arranged in another support frame 31; the ball screw 32 is used to convert the rotation output by the motor 33 into smooth linear motion, even during the movement of the power equipment X-ray detection smart car 11, it can ensure that the connecting plate 37 can be reliably changed in position under the action of the motor 33.

[0125] The vehicle further includes a moving part 4, which includes a support column 41, a limit frame 42, a support wheel 43, and a fixed column 44; the support column 41 is fixed to the outer surface of the front side of the smart vehicle 11 for X-ray inspection of electric power equipment, and two groups of support columns 41 are provided. A limit frame 42 is provided on the upper surface of each group of support columns 41, and support wheels 43 are provided at the upper and lower ends of the fixed columns 44. Each limit frame 42 is equipped with a fixed column 44, and the support wheel 43 at the lower end of the fixed column 44 is provided in the limit frame 42 and supports the fixed column 44 in the limit frame 42;

[0126] During the process of the position change of the connecting plate 37, the support wheel 43 at the upper end of the fixed column 44 changes the shielding state of the connecting plate 37 and the shielding member 5. When the connecting plate 37 moves backward, the support wheel 43 supports the shielding member 5, and the shielding member 5 is in a flipped-up state. When the connecting plate 37 moves forward, the support wheel 43 supports the connecting plate 37, and the shielding member 5 flips over to a state of blocking the ultrasonic detector 12 by gravity.

[0127] In the above scheme, the support column 41 serves as a supporting component of the limit frame 42, and the support wheel 43 at the lower end of the fixed column 44 is restricted to the fixed position of the limit frame 42. In this way, when the connecting plate 37 supported on the support wheel 43 above the fixed column 44 is translated under the action of the motor 33, the shielding member 5 and the connecting plate 37 change position relative to the upper end of the fixed column 44. When the fixed column 44 supports the connecting plate 37, the shielding member 5 is flipped by gravity to a state of shielding the ultrasonic detector 12 without support. When supported on the shielding member 5, the shielding member 5 is located above the ultrasonic detector 12 in the flipped-up state. In specific use, the connecting plate 37 moves back and forth under the action of the motor 33. Normally, the connecting plate 37 is in a relatively rearward position. At this time, the fixed column 44 provides support for the shielding member 5, and the shielding member 5 is in a flipped-up state, so that the shielding member 5 does not block the front end of the ultrasonic detector 12. In this state, the ultrasonic detector 12 has a normal detection function. When the motor 33 moves under the trigger signal to move the connecting plate 37 to a relatively rearward position, the shielding member 5 moves backward with the connecting plate 37, and the support wheel 43 at the upper end of the fixed column 44 is transformed from the shielding member 5 to support the connecting plate 37. At this time, the shielding member 5 loses support and flips over by gravity to a state of blocking the ultrasonic detector 12.

[0128] In the above scheme, the support wheel 43 at the upper end of the fixed column 44 reduces the movement resistance of the connecting plate 37 and the shielding member 5 by rolling during the movement of the connecting plate 37. The support wheel 43 at the upper end of the fixed column 44 is used to facilitate the position adjustment of the fixed column 44 in the limit frame 42. For example, when the control mode of the motor 33 is not adjusted, if the fixed column 44 is located at the front side of the limit frame 42, the fixed column 44 can lose its support ability for the shielding member 5 after the connecting plate 37 retreats a shorter distance. If the fixed column 44 is located at the rear side of the limit frame 42, the fixed column 44 can lose its support ability for the shielding member 5 only after the connecting plate 37 retreats a longer distance. When in use, according to the need for the shielding member 5 to block the ultrasonic detector 12, the triggering timing or position of the shielding member 5 can be adjusted by moving the fixed column 44 along the limit frame 42 during debugging.

[0129] The shielding member 5 includes a connecting frame 51, a limiting groove 52 and a shielding plate 53; the connecting frame 51 is rotatably connected to the front end of the connecting plate 37 through a hinge, the limiting groove 52 is provided on the connecting frame 51, and the shielding plate 53 is slidably connected to the interior of the connecting frame 51;

[0130] A guide plate 54 is fixed on the shielding plate 53, and the guide plate 54 is slidably fitted in the limiting groove 52;

[0131] After the shielding member 5 is turned over by gravity, the shielding plate 53 slides out from the lower end of the connecting frame 51 , and the guide plate 54 is suspended on the connecting frame 51 by being supported on the lower end of the limiting groove 52 .

[0132] The above scheme provides an implementation method of the shielding member 5 including a connecting frame 51, a shielding plate 53, etc. Specifically, the upper surface of the rear end of the connecting frame 51 is rotatably connected to the lower surface of the front end of the connecting plate 37 by a hinge. When the connecting plate 37 is in a relatively rear position, the fixed column 44 supports the connecting frame 51, so that the connecting frame 51 is in a flat plate shape to prevent the connecting frame 51 from flipping around the hinge and falling at the front end. When the connecting plate 37 moves to a relatively front position, the support wheel 43 at the upper end of the fixed column 44 is transformed from supporting the bottom surface of the connecting frame 51 to supporting the bottom surface of the connecting plate 37. At this time, the connecting frame 51 loses its constraint, and the front end flips downward, so that the shielding plate 53 located therein is lifted by the connecting frame The lower end of 51 slides out and is suspended on the lower end of the connecting frame 51 through the guide plate 54. At this time, the shielding plate 53 blocks the front of the ultrasonic detector 12, forming a state of blocking the ultrasonic detector 12; when it needs to be reset, the connecting plate 37 moves backward under the action of the motor 33. When it moves backward to the back of the connecting frame 51 and contacts the support wheel 43 at the upper end of the fixed column 44, in the process of further moving backward, the support wheel 43 pushes the connecting frame 51 to flip upward around the hinge. After the flipping angle increases to a certain extent, the shielding member 5 is deformed so that there is an open space in front of the ultrasonic detector 12. At this time, the shielding plate 53 can be manually pushed to store the shielding plate 53 in the connecting frame 51.

[0133] In the above scheme, according to the actual application scenario, the front end of the connecting frame 51 in the flipped-up state can be located in front of the connecting rod 26 or behind the connecting rod 26. For example, this is determined by the relationship between the height of the GIS equipment and the height of the electric power equipment X-ray detection smart car 11, the shape of the GIS equipment and the electric power equipment X-ray detection smart car 11, etc. The assembly relationship between the connecting frame 51 and the shielding plate 53 is used to expand the shielding range of the shielding member 5 at the front end of the electric power equipment X-ray detection smart car 11 after the front end of the connecting frame 51 is flipped downward. For example, when the shielding plate 53 is stored in the connecting frame 51, the shielding member 5 is not unfolded. At this time, the position of the front end of the shielding member 5 is not forward to avoid the front end of the shielding member 5 directly hitting the GIS equipment. When the shielding plate 53 slides out of the connecting frame 51, since the shielding plate 53 can slide downward relative to the connecting frame 51, the lower end of the shielding member 5 can slide to a lower position at this time. In this form, a larger shielding range can be obtained.

[0134] The positioning frame 42 further includes a plurality of limiting holes 45 provided on the side wall thereof. The limiting holes 45 are arranged on a straight line parallel to the bottom side of the limiting frame 42. The distance between the straight line and the bottom of the limiting holes 45 is S1. The distance between the axis of the support wheel 43 on the bottom side of the fixing column 44 and the bottom of the limiting holes 45 is S2, and S1 and S2 are equal.

[0135] The wheel axle of the support wheel 43 on the bottom side of the fixed column 44 is a hollow shaft, and also includes a connecting pin for connecting the limit frame 42 with the hollow shaft pin. The connecting pin is inserted into the limit hole 45 and the inner hole of the hollow shaft to achieve pin connection.

[0136] In the above scheme, the limiting hole 45 and the connecting pin are used to constrain the position of the support wheel 43 at the lower end of the fixing column 44 in the limiting frame 42. When the connecting pin is inserted into the limiting hole 45 and the center axis, the position of the lower end of the fixing column 44 in the limiting frame 42 is locked. Therefore, by changing the limiting hole 45 used to cooperate with the connecting pin, the position of the fixing column 44 in the limiting frame 42 can be changed. When the connecting pin is removed and the fixing column 44 is moved, since the fixing column 44 is clamped between the limiting frame 42 and the connecting plate 37 or between the limiting frame 42 and the shielding member 5, the fixing column 44 can be easily moved by pushing and pulling the fixing column 44 along the limiting frame 42 under the action of the support wheels 43 at the upper and lower ends of the fixing column 44.

[0137] The above restrictions of being arranged in a straight line and S1 being equal to S2 are used to achieve: within the coverage of the limiting hole 45, as the fixing column 44 translates, the hollow shaft can dock with any limiting hole 45 and install the connecting pin.

[0138] The guide plate 54 and the shielding plate 53 are both provided with a mounting groove 55, in which a connecting shaft 56 is provided. The outer surface of the connecting shaft 56 is rotatably connected to a rotating tube 57, and the side surface of the rotating tube 57 is supported on the side surface of the limiting groove 52;

[0139] Mounting grooves 55 are provided on both sides of the guide plate 54 . A connecting shaft 56 and a rotating tube 57 are provided in each mounting groove 55 . The rotating tube 57 serves as a roller when the guide plate 54 slides in the limiting groove 52 .

[0140] In this embodiment, the mounting groove 55 is assembled with the connecting shaft 56 and the rotating tube 57. Specifically, the two sides of the limiting groove 52 contact the outer wall of the rotating tube 57 to limit the position of the guide plate 54 in the width direction of the limiting groove 52. Since the guide plate 54 is fixedly connected to the shielding plate 53, the limiting groove 52 can also limit the position of the shielding plate 53 in the width direction of the connecting frame 51. This not only makes the shielding member 5 compact, but also prevents the shielding plate 53 from being unable to slide out of the connecting frame 51 due to the large friction between the side walls of the shielding plate 53 and the side walls of the inner hole of the connecting frame 51. When the guide plate 54 slides in the limiting groove 52, it rotates via the rotating tube 57, which not only ensures the matching accuracy of the guide plate 54 in the limiting groove 52, but also provides a small sliding force for the guide plate 54 to slide in the limiting groove 52.

[0141] Detectors 2 are provided on the upper and lower sides of the ultrasonic detector 12. The connecting rod 26 on the detector 2 on the upper side of the ultrasonic detector 12 is located above the ultrasonic detector 12, and the connecting rod 26 on the detector 2 on the lower side of the ultrasonic detector 12 is located below the ultrasonic detector 12.

[0142] In the above scheme, the detection parts 2 located in front of the ultrasonic monitor and arranged on the upper and lower sides thereof can provide flexible impact protection for the GIS equipment for impact points in different directions in front of the power equipment X-ray detection smart car 11.

[0143] The ultrasonic detector 12 is arranged in the center of the width direction of the front side of the electric power equipment X-ray inspection smart car 11, and the ultrasonic detector 12 is arranged above the middle of the height direction of the electric power equipment X-ray inspection smart car 11;

[0144] The connecting rod 26 extends from one side of the electric power equipment X-ray inspection smart car 11 to the other side.

[0145] In the above scheme, the position setting of the ultrasonic detector 12 can enable the ultrasonic detector 12 to have a good impact detection coverage range to obtain a good collision possibility detection rate. The setting method of the connecting rod 26 is used to form a relatively wide detection part 2 coverage area on the front side of the power equipment X-ray detection smart car 11.

[0146] A flexible pad is provided at the front end of the connecting rod 26 .

[0147] In the above solution, the flexible pad is used to protect the surface of the GIS equipment that is subjected to collision, for example, a soft pad or an elastic pad is used to prevent the paint on the surface of the GIS equipment from falling off due to collision.

[0148] The spring 23 is a coil spring, and the wheels of the electric equipment X-ray inspection smart car 11 are all equipped with independent power sources.

[0149] In the above scheme, the coil spring can be set to have a longer length and a suitable elastic coefficient so that before a collision occurs, the movable column 24 has a larger displacement to reduce the energy of the electric equipment X-ray detection smart car 11 when a rigid collision occurs (after the front end of the movable rod 25 hits the switch part 22). The configuration of the power source and the wheels can enable the wheels to rotate independently, so as to further improve the maneuverability and flexibility of the X-ray detection device in a narrow operating space.

[0150] Another aspect of this embodiment provides a protective X-ray inspection method adapted to the operating environment of GIS equipment. The method uses any of the above-mentioned inspection devices to perform X-ray nondestructive inspection on GIS equipment, including the following steps:

[0151] Position the electric power equipment X-ray inspection smart car around the GIS equipment to be inspected, and use the ultrasonic detector to monitor the environment around the GIS equipment in real time. When an obstacle is detected, the electric power equipment X-ray inspection smart car automatically brakes. After the electric power equipment X-ray inspection smart car brakes, if the electric power equipment X-ray inspection smart car is still in contact with the GIS equipment due to inertia, the detection part at the front end of the electric power equipment X-ray inspection smart car will contact the GIS equipment as a flexible impact structure to reduce the severity of the collision. The spring-supported connecting rod of the detection part will be used when the electric power equipment X-ray inspection smart car is in contact with the GIS When the equipment collides, the spring is compressed to reduce the severity of the impact on the GIS equipment, and releases reverse thrust to help the electric power equipment X-ray inspection smart car brake, slowing down the inertial motion of the electric power equipment X-ray inspection smart car, ensuring that the GIS equipment is not damaged. After the electric power equipment X-ray inspection smart car stops, the electric power equipment X-ray inspection smart car returns to the original inspection trajectory and continues to perform X-ray non-destructive testing of the GIS equipment. The X-ray images and related data of the GIS equipment are collected through detection parts and other testing instruments, and the data are analyzed and processed in real time. A detailed inspection report is generated based on the X-ray inspection results.

[0152] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A GIS equipment X-ray detection device with multiple anti-collision protection, comprising a detection component (1), wherein the detection component (1) comprises an electric power equipment X-ray detection smart car (11), wherein the electric power equipment X-ray detection smart car (11) is equipped with a mechanical arm, wherein the mechanical arm is provided with an X-ray source and an imaging module, and further comprises an ultrasonic detector (12) fixed on the front side surface of the electric power equipment X-ray detection smart car (1 ... The electric power equipment X-ray detection smart car (11) further includes a detection member (2), wherein the detection member (2) includes a fixed frame (21), a switch member (22), a spring (23), a movable column (24), a movable rod (25), and a connecting rod (26); The rear end of the fixing frame (21) is fixed on the front surface of the electric power equipment X-ray inspection intelligent vehicle (11), and the front end of the fixing frame (21) is an open end and faces the front of the electric power equipment X-ray inspection intelligent vehicle (11); There are two groups of fixed frames (21), and each group of fixed frames (21) is equipped with a switch member (22), a spring (23) and a movable column (24); The switch member (22) and the spring (23) are both located in the fixed frame (21), the switch member (22) is fixedly connected to the fixed frame (21) and is located inside the fixed frame (21), the movable column (24) is inserted into the fixed frame (21) from the open end of the fixed frame (21) and is slidably matched with the fixed frame (21), the movable rod (25) is fixed on one end of the movable column (24) located in the fixed frame (21) and facing the switch member (22), one end of the spring (23) is fixedly connected to the fixed frame (21), and the other end of the spring (23) is fixedly connected to one end of the movable column (24) located in the fixed frame (21); One end of the connecting rod (26) is fixedly connected to the movable column (24) on one set of fixed frames (21), and the other end is fixedly connected to the movable column (24) on the other set of fixed frames (21). The connecting rod (26) is located in front of the ultrasonic detector (12); The spring (23) satisfies: Under the elastic force of the spring (23), the movable column (24) is pushed to a state where the switch member (22) and the movable rod (25) are spaced apart by elastic recovery; Under the thrust from the movable column (24), the spring (23) can be elastically deformed to a state where the switch member (22) and the movable rod (25) are pressed against each other; The electric power equipment X-ray inspection intelligent vehicle (11) further includes a movable part (3), the movable part (3) including a support frame (31), a ball screw (32), a motor (33) and a guide column (35); the support frame (31), the guide column (35) and the motor (33) are all fixed on the upper surface of the electric power equipment X-ray inspection intelligent vehicle (11), the ball screw (32) is in transmission connection with the output end of the motor (33), and the ball screw (32) is parallel to the guide column (35); It also includes two groups of connecting columns (34), wherein the lower end of one group of connecting columns (34) is fixed to the screw nut of the ball screw (32), and the lower end of the other group of connecting columns (34) is slidably connected to the guide column (35); The ball screw (32) and the screw nut are located in the support frame (31); A support rod (36) is fixed to the upper end of each group of connecting columns (34), and a connecting plate (37) is fixed to the upper end of the support rod (36). Different ends of the connecting plate (37) are supported on different support rods (36). The connecting plate (37) is located above the ultrasonic detector (12). The connecting plate (37) is provided with a shielding member (5) whose state changes as the position of the connecting plate (37) changes. The shielding member (5) is used to shield the ultrasonic detector (12). The electric power equipment X-ray inspection intelligent vehicle (11) further includes a moving part (4), the moving part (4) including a support column (41), a limit frame (42), a support wheel (43) and a fixed column (44); the support column (41) is fixed on the outer surface of the front side of the electric power equipment X-ray inspection intelligent vehicle (11), and two groups of support columns (41) are provided, and a limit frame (42) is provided on the upper surface of each group of support columns (41), and support wheels (43) are provided at the upper end and the lower end of the fixed column (44), and each limit frame (42) is equipped with a fixed column (44), and the support wheel (43) at the lower end of the fixed column (44) is provided in the limit frame (42) and supports the fixed column (44) in the limit frame (42); During the process of the connection plate (37) position change, the support wheel (43) at the upper end of the fixed column (44) changes the shielding state of the connection plate (37) and the shielding member (5). When the connection plate (37) position moves backward, the support wheel (43) supports the shielding member (5), and the shielding member (5) is in a flipped-up state. When the connection plate (37) position moves forward, the support wheel (43) supports the connection plate (37), and the shielding member (5) flips over to a state of shielding the ultrasonic detector (12) by gravity.

2. The GIS equipment X-ray detection device with multiple anti-collision protection according to claim 1 is characterized in that: The shielding member (5) includes a connecting frame (51), a limiting groove (52) and a shielding plate (53); the connecting frame (51) is rotatably connected to the front end of the connecting plate (37) through a hinge, the limiting groove (52) is provided on the connecting frame (51), and the shielding plate (53) is slidably connected to the interior of the connecting frame (51); A guide plate (54) is fixed on the shielding plate (53), and the guide plate (54) is slidably fitted in the limiting groove (52); After the shielding member (5) is turned over by gravity, the shielding plate (53) slides out from the lower end of the connecting frame (51), and the guide plate (54) is suspended on the connecting frame (51) by being supported on the lower end of the limiting groove (52).

3. The GIS equipment X-ray detection device with multiple anti-collision protection according to claim 1 is characterized in that: The movable member (4) further comprises a limiting hole (45) provided on the side wall of the limiting frame (42), wherein the limiting holes (45) are multiple and arranged on a straight line parallel to the bottom side of the limiting frame (42), the distance between the straight line and the bottom of the limiting hole (45) is S1, and the distance between the axis of the supporting wheel (43) on the bottom side of the fixed column (44) and the bottom of the limiting hole (45) is S2, and S1 is equal to S2; The wheel axle of the support wheel (43) on the bottom side of the fixed column (44) is a hollow shaft, and also includes a connecting pin for connecting the limit frame (42) and the hollow shaft. The connecting pin is inserted into the limit hole (45) and the inner hole of the hollow shaft to achieve pin connection.

4. The GIS equipment X-ray detection device with multiple anti-collision protection according to claim 2 is characterized in that: The guide plate (54) and the shielding plate (53) are both provided with a mounting groove (55), a connecting shaft (56) is provided in the mounting groove (55), and a rotating tube (57) is rotatably connected to the outer surface of the connecting shaft (56), and the side surface of the rotating tube (57) is supported on the side surface of the limiting groove (52); Mounting grooves (55) are provided on both sides of the guide plate (54), and a connecting shaft (56) and a rotating tube (57) are provided in each mounting groove (55). The rotating tube (57) serves as a roller when the guide plate (54) slides in the limiting groove (52).

5. The GIS equipment X-ray detection device with multiple anti-collision protection according to any one of claims 1 to 4, characterized in that: Detection members (2) are provided on both the upper and lower sides of the ultrasonic detector (12); the connecting rod (26) on the detection member (2) on the upper side of the ultrasonic detector (12) is located above the ultrasonic detector (12); and the connecting rod (26) on the detection member (2) on the lower side of the ultrasonic detector (12) is located below the ultrasonic detector (12).

6. The GIS equipment X-ray detection device with multiple anti-collision protection according to claim 5 is characterized in that: The ultrasonic detector (12) is arranged in the center of the width direction of the front side of the electric power equipment X-ray detection smart car (11), and the ultrasonic detector (12) is arranged above the middle of the electric power equipment X-ray detection smart car (11) in the height direction; The connecting rod (26) extends from one side of the electric power equipment X-ray inspection smart car (11) to the other side.

7. The GIS equipment X-ray detection device with multiple anti-collision protection according to any one of claims 1 to 4, characterized in that: A flexible pad is provided at the front end of the connecting rod (26); The spring (23) is a coil spring, and the wheels of the electric power equipment X-ray detection smart car (11) are all equipped with independent power sources.

8. A GIS equipment X-ray detection method with multiple anti-collision protection, characterized in that: The method uses the detection device according to any one of claims 1 to 7 to perform X-ray nondestructive testing on GIS equipment, comprising the following steps: The electric power equipment X-ray detection intelligent vehicle (11) is positioned around the GIS equipment to be detected, and the environment around the GIS equipment is monitored in real time by the ultrasonic detector (12). When an obstacle is detected, the electric power equipment X-ray detection intelligent vehicle (11) automatically brakes. After the electric power equipment X-ray detection intelligent vehicle (11) brakes, if the electric power equipment X-ray detection intelligent vehicle (11) still contacts the GIS equipment due to inertia, the detection member (2) at the front end of the electric power equipment X-ray detection intelligent vehicle (11) contacts the GIS equipment as a flexible impact structure to reduce the severity of the collision. The connecting rod (26) is supported by the spring (23) of the detection member (2). When the electric power equipment X-ray detection intelligent vehicle (11) brakes, if the electric power equipment X-ray detection intelligent vehicle (11) still contacts the GIS equipment due to inertia, the detection member (2) at the front end of the electric power equipment X-ray detection intelligent vehicle (11) contacts the GIS equipment as a flexible impact structure to reduce the severity of the collision. When the power vehicle (11) collides with the GIS equipment, the spring (23) is compressed to reduce the severity of the impact on the GIS equipment, and releases a reverse thrust to help the power equipment X-ray detection intelligent vehicle (11) brake, slowing down the inertial motion of the power equipment X-ray detection intelligent vehicle (11), ensuring that the GIS equipment is not damaged. After the power equipment X-ray detection intelligent vehicle (11) stops, the power equipment X-ray detection intelligent vehicle (11) returns to the original detection trajectory and continues to perform X-ray non-destructive testing of the GIS equipment. The X-ray image and related data of the GIS equipment are collected through the detection piece (2) and other detection instruments, and the data are analyzed and processed in real time, and a detailed detection report is generated based on the X-ray detection results.

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