X-ray imaging detection device with smooth walking

Abstract

The application relates to the technical field of power transmission line detection devices, and particularly discloses an X-ray imaging detection device with stable walking, which comprises a rack, two groups of walking mechanisms, a detection mechanism and a hoisting mechanism. The two groups of walking mechanisms are arranged side by side on the rack, and the detection mechanism is arranged on one side of the rack through an extendable extension rod. The hoisting mechanism comprises unwinding devices, winding devices, a first reversing frame and a second reversing frame which are arranged on the two sides of the rack. In the scheme, the unwinding devices and the winding devices are arranged on the side far from the detection mechanism to increase the counterweight, and the first reversing frame and the second reversing frame are located between the two walking mechanisms so that the traction force is close to the gravity center. In combination with the three-point layout of the detection mechanism and the walking mechanism, the gravity center balance of the device in the X direction is realized. The application significantly improves the stability of the device in the walking and lifting process, effectively prevents the side inclination, and guarantees the safety of the high-altitude detection operation and the stable operation.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection devices, and in particular to a stable X-ray imaging inspection device. Background Technology

[0002] X-ray non-destructive testing is an important means of ensuring the safe operation of high-voltage transmission lines. Due to the complex structure of four-split transmission lines, conventional testing equipment often faces risks such as poor stability, tilting, or even overturning when conducting high-altitude testing. This not only affects the accuracy of the testing but also poses a threat to operational safety.

[0003] In existing technologies, some patents have attempted to improve the walking performance of detection devices through structural design. For example, Chinese patent CN120728444B discloses a multi-angle detection robot for multi-split tension clamps. While this device achieves multi-angle detection of tension clamps, its structural layout still has shortcomings in addressing the stability of its movement. In particular, the arrangement of its detection mechanism, walking mechanism, and lifting mechanism may lead to uneven distribution of the device's center of gravity, making it prone to lateral tilting when walking along high-altitude power transmission lines, affecting walking stability and the accuracy of detection positions.

[0004] In order to overcome the shortcomings of existing detection devices, such as poor stability and easy tilting, there is an urgent need for an X-ray imaging detection device that can optimize the structural layout, especially by innovating the arrangement of the walking mechanism, detection mechanism and hoisting mechanism, in order to improve the overall stability and operational safety of the device. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a walking-smooth X-ray imaging detection device to solve the above problems.

[0006] A stable X-ray imaging detection device, comprising:

[0007] A frame, wherein the frame is provided with an extension rod whose extended length can be telescopically adjusted in the X direction;

[0008] Two sets of traveling mechanisms are arranged side by side on the frame along the X direction. Each set of traveling mechanisms includes a traveling arm and a traveling wheel on the traveling arm that can travel along the power transmission line in the X direction.

[0009] The detection mechanism is located at the end of the extension rod and on the X-axis side of the frame, and is used to perform X-ray imaging detection on the transmission line;

[0010] The hoisting mechanism includes an unwinding device, a winding device, a first reversing frame, a second reversing frame, and a rope. The openings of the unwinding device and the winding device both face the detection mechanism and are respectively located at both ends of the frame along the Y direction, and below the traveling mechanism away from the detection mechanism. The first reversing frame and the second reversing frame are respectively located at both ends of the frame along the Y direction, and between the two sets of traveling mechanisms. The rope is released from the unwinding device, passes sequentially around the first reversing frame, the power transmission line, and the second reversing frame, and is finally wound up by the winding device to raise the height of the frame.

[0011] Specifically, the unwinding device includes a first mounting plate fixed on the frame, an unwinding motor fixed on the first mounting plate, an unwinding reel connected to the output shaft of the unwinding motor, and a first cover that can be opened and closed and covers the unwinding reel. The lateral opening of the first cover is the opening of the unwinding device.

[0012] The first commutator includes a first bracket fixed on the frame, a first roller disposed on the first bracket and rotatable about the Y-axis, and a second roller disposed on the first bracket and rotatable about the X-axis. The rope is released from the unwinding reel, passes sequentially around the first roller and the second roller, and extends along the Z-axis to the power transmission line.

[0013] The winding device includes a second mounting plate fixed on the frame, a winding motor fixed on the second mounting plate, a winding reel connected to the output shaft of the winding motor, and a second cover that can be opened and closed and covered on the winding reel. The lateral opening of the second cover is the opening of the winding device.

[0014] The second reversing frame includes a second bracket fixed on the frame, a third roller mounted on the second bracket and rotatable about the X-axis, and a fourth roller mounted on the second bracket and rotatable about the Y-axis. The rope enters the third roller from the power transmission line along the Z-axis, passes through the fourth roller, and is finally wound up by the take-up reel.

[0015] Specifically, each set of walking mechanisms also includes a translation drive device for driving the two walking arms to move synchronously relative to each other or in opposite directions along the Y direction, and a second drive device located on the top of the walking arm for driving the walking wheel;

[0016] The detection mechanism includes a first rotary drive device located at one X-axis end of the extension rod, a lifting drive device connected to the output end of the first rotary drive device, a swing frame connected to the output end of the lifting drive device, a second rotary drive device located at the top of the swing frame, an imaging plate connected to the output end of the second rotary drive device, and an X-ray source located on the swing frame and facing the imaging plate, wherein a detection area is formed between the X-ray source and the imaging plate.

[0017] Specifically, the translation drive device includes a mounting base fixed on the frame, a slide rail on the mounting base, two sliders that slide in cooperation with the slide rail, a first lead screw that is rotatably mounted on the mounting base, and a first drive device that drives the first lead screw to rotate.

[0018] The first lead screw has a first threaded portion and a second threaded portion with opposite thread directions, and the two sliders are respectively threaded into the first threaded portion and the second threaded portion through corresponding first lead screw sleeves.

[0019] Specifically, the slider is connected to the walking arm via a rotating storage mechanism. The rotating storage mechanism includes a base fixed on the slider and a rotating seat rotatably connected to the base. The rotating seat is fixed to the walking arm. One end of the rotating seat is rotatably connected to the base via a rotating shaft, and the other end is locked to the base via a pluggable pin. Pulling out the pin allows the rotating seat and the walking arm to rotate relative to the base to achieve folding and storage.

[0020] Specifically, both walking arms of the same walking mechanism are equipped with through-beam photoelectric sensors, and the detection light of the through-beam photoelectric sensors is lower than that of the walking wheels;

[0021] In the two sets of walking mechanisms, one of the walking arms is equipped with an automatic retractor, the rope of which is connected to a pull ring, and the other walking arm is equipped with a hook for hooking the pull ring.

[0022] Specifically, the lifting drive device includes a limiting sleeve connected to the output end of the first rotary drive device, a third drive device fixed to the limiting sleeve, a second lead screw sleeve driven by the third drive device, and a second lead screw threadedly engaged with the second lead screw sleeve, the second lead screw being fixed to the swing frame.

[0023] Specifically, a counterweight module is provided at the end of the frame away from the detection mechanism.

[0024] Specifically, the walking arm has a side roller on the side facing the walking wheel, and the surface of the walking wheel has anti-slip texture.

[0025] Specifically, the second rotary drive device is a dual encoder motor.

[0026] The beneficial effects of this invention are:

[0027] The lightweight X-ray imaging inspection device for power transmission lines of this invention significantly improves the overall stability of the device through optimized structural layout design. Specifically, this application arranges two sets of traveling mechanisms side-by-side on the frame along the X-axis, and positions the inspection mechanism at the end of the telescopic extension rod, forming a three-point balanced layout. This effectively distributes the load on the device and reduces center of gravity shift. Furthermore, placing the unwinding and rewinding devices of the hoisting mechanism at the end furthest from the inspection mechanism increases the counterweight on that side, further balancing the overturning moment caused by the overhang of the inspection mechanism. The first and second reversing frames are positioned between the two sets of traveling mechanisms, ensuring that the point of application of the hoisting traction force is near the device's center of gravity, guaranteeing smooth lifting. The combined effect of these structures stabilizes the center of gravity of the device during travel and lifting, effectively preventing lateral tilting and improving the safety and reliability of the inspection operation. Attached Figure Description

[0028] Figure 1 A three-dimensional view of the X-ray imaging inspection device with stable movement according to this application for the inspection of power transmission lines;

[0029] Figure 2 for Figure 1 Enlarged view of section A;

[0030] Figure 3 This is a perspective view of the hoisting mechanism and transmission line of this application;

[0031] Figure 4 This is a right view of the walking-smooth X-ray imaging detection device of this application;

[0032] Figure 5 for Figure 4 A three-dimensional sectional view along line BB;

[0033] Figure 6 for Figure 5 Enlarged view of section C;

[0034] Figure 7 The three-dimensional walking mechanism of this application Figure 1 ;

[0035] Figure 8 The three-dimensional walking mechanism of this application Figure 2 ;

[0036] Figure 9 for Figure 8 Enlarged view of section D;

[0037] Figure 10 This is a three-dimensional view of the power transmission line inspection conducted by the testing organization of this application.

[0038] The attached figures are labeled as follows: frame 10, extension rod 11, swivel casters 12, walking mechanism 20, walking arm 21, translation drive device 22, mounting base 221, slide rail 222, slider 223, first lead screw 224, first drive device 225, encoder 226, walking wheel 23, second drive device 24, guide frame 25, through-beam photoelectric sensor 26, automatic rewinder 27, pull ring 28, hook 29, side roller 210, infrared sensor 211, detection mechanism 30, first rotation drive device 31, lifting drive device 32, limit sleeve 321, third drive device 322, second lead screw sleeve 323, second lead screw 324, swing frame 33. The following components are included: second rotary drive device 34, imaging plate 35, X-ray source 36, distance sensor 37, rotary storage mechanism 40, base 41, rotating seat 42, rotating shaft 43, pin 44, counterweight module 50, hoisting mechanism 60, unwinding device 61, first mounting plate 611, unwinding motor 612, unwinding reel 613, first cover 614, first reversing frame 62, first bracket 621, first roller 622, second roller 623, second reversing frame 63, second bracket 631, third roller 632, fourth roller 633, winding device 64, second mounting plate 641, winding motor 642, second cover 644, rope 65, and power transmission line 70. Detailed Implementation

[0039] This invention provides a stable X-ray imaging detection device. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0040] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0041] Please refer to Figure 1-10As shown, this embodiment discloses a stable-moving X-ray imaging inspection device, which can be used for on-line inspection of a power transmission line 70. In this embodiment, the power transmission line 70 is a four-split power transmission line. The stable-moving X-ray imaging inspection device includes a frame 10, two sets of moving mechanisms 20, an inspection mechanism 30, and a hoisting mechanism 60. The two sets of moving mechanisms 20 are arranged side-by-side on the frame 10 along the X-direction. During operation, the hoisting mechanism 60 raises the height of the entire device, allowing the moving wheels 23 of the moving mechanisms 20 to mount on the power transmission line 70. The second drive device 24 drives the moving wheels 23 to rotate, thereby moving the entire device along the X-direction of the power transmission line 70 to achieve inspection and testing of different locations on the power transmission line 70.

[0042] like Figure 1 As shown, the frame 10 is equipped with an extension rod 11 whose extension length can be adjusted along the X direction. The detection mechanism 30 is located at the end of the extension rod 11 and on one side of the frame 10 in the X direction. This layout creates a three-point arrangement in the X direction of the device: a first set of walking mechanisms 20, a second set of walking mechanisms 20, and a detection mechanism 30. The detection mechanism 30 is located at the end of the extension rod 11, and its lateral position can be adjusted by adjusting the extension length of the extension rod 11. When the device moves, this layout, in conjunction with the counterweight module 50 located on the other side of the frame 10, ensures that the center of gravity of the entire device remains balanced in the X direction. This effectively prevents the device from tilting and falling to one side due to the unilateral arrangement of the detection mechanism 30, thus ensuring smooth movement and stable detection.

[0043] like Figure 3As shown, the hoisting mechanism 60 includes an unwinding device 61, a winding device 64, a first reversing frame 62, a second reversing frame 63, and a rope 65. The openings of the unwinding device 61 and the winding device 64 both face the detection mechanism 30 and are respectively located at both ends of the frame 10 along the Y direction, below the traveling mechanism 20 which is away from the detection mechanism 30. The first reversing frame 62 and the second reversing frame 63 are respectively located at both ends of the frame 10 along the Y direction and between the two sets of traveling mechanisms 20. The rope 65 is released from the unwinding device 61, sequentially passes around the first reversing frame 62, the power transmission line 70, and the second reversing frame 63, and is finally wound up by the winding device 64 to raise the height of the frame 10. During the process, the operator first unties the free end of the rope 65 from the winding reel and hands it over to a drone to be towed over the target power transmission line 70. The drone lowers the rope 65 from the other side of the line, and ground personnel then attach it to the reel. Subsequently, the winding motor 642 and the unwinding motor 612 work together. The winding motor 642 rotates forward to wind up the rope 65, while the unwinding motor 612 provides controllable braking force or reverse tension, thereby smoothly lifting the entire device closer to the power transmission line 70. This layout concentrates the two heavier components, the unwinding device 61 and the winding device 64, at the end of the frame 10 away from the detection mechanism 30, significantly increasing the counterweight on that side. This effectively balances the eccentric torque generated by the detection mechanism 30 and the extension rod 11 extending to the other side, making the center of gravity of the device more centered during the lifting process, improving lifting stability and reducing the risk of tipping over.

[0044] Furthermore, the unwinding device 61 includes a first mounting plate 611 fixed on the frame 10, an unwinding motor 612 fixed on the first mounting plate 611, an unwinding reel 613 connected to the output shaft of the unwinding motor 612, and a first cover 614 that can be opened and closed and covered on the unwinding reel 613. The lateral opening of the first cover 614 is the opening of the unwinding device 61.

[0045] The first commutator 62 includes a first support 621 fixed on the frame 10, a first roller 622 disposed on the first support 621 and rotatable about the Y-axis, and a second roller 623 disposed on the first support 621 and rotatable about the X-axis. The rope 65 is released from the unwinding reel 613, passes through the first roller 622 and the second roller 623 in sequence, and extends along the Z-axis to the transmission line 70.

[0046] The winding device 64 includes a second mounting plate 641 fixed on the frame 10, a winding motor 642 fixed on the second mounting plate 641, a winding reel connected to the output shaft of the winding motor 642, and a second cover 644 that can be opened and closed and is covered on the winding reel. The side opening of the second cover 644 is the opening of the winding device 64.

[0047] The second commutator 63 includes a second support 631 fixed on the frame 10, a third roller 632 mounted on the second support 631 and rotatable about the X-axis, and a fourth roller 633 mounted on the second support 631 and rotatable about the Y-axis. The rope 65 enters the third roller 632 from the power transmission line 70 along the Z-axis, passes through the fourth roller 633, and is finally wound up by the take-up reel.

[0048] During operation, the winding path of rope 65 involves two planar turns. Rope 65, emerging from unwinding reel 613, extends horizontally. Upon encountering the first roller 622, its rotation around the Y-axis guides rope 65 to turn horizontally. Next, rope 65 passes the second roller 623, whose rotation around the X-axis guides it from horizontal to vertical. Rope 65 then winds upwards around the power line 70, and then descends vertically from the other side, entering the third roller 632 of the second commutator 63. The rotation of the third roller 632 around the X-axis guides rope 65 from vertical to horizontal. Finally, rope 65 passes the fourth roller 633, which rotates around the Y-axis, and turns again horizontally, ultimately winding horizontally onto the take-up reel. During take-up, take-up motor 642 provides winding power, the take-up reel winds rope 65, while unwinding motor 612 controls the rotation of the unwinding reel, providing appropriate tension to rope 65. Together, these mechanisms ensure the smooth ascent of the device. Similarly, the descent of the device can be controlled by reversing the rotation direction of the motor. This design uses rollers that can rotate freely in multiple directions to smoothly transition the traction force of the rope 65 from the horizontal direction to the vertical direction and then back to the horizontal direction, greatly reducing friction and wear on the rope 65 during the turning process and ensuring a smooth and safe lifting process. The first and second covers 614 and 644, which can be opened and closed, close during equipment operation to prevent the rope 65 from coming off the reel or getting stuck during high-speed winding and unwinding. They can be opened for maintenance, facilitating rope threading and inspection.

[0049] like Figure 5 As shown, each traveling mechanism 20 includes two traveling arms 21 extending along the Z-direction, a translation drive device 22 for driving the two traveling arms 21 to move synchronously relative to or opposite to each other along the Y-direction, and traveling wheels 23 mounted on the traveling arms 21 and capable of traveling along the transmission line 70 along the X-direction. Before the device is put online, the translation drive device 22 can drive the two traveling arms 21 to move synchronously in opposite directions, so that the four traveling arms 21 are spread out, facilitating overall lifting. During the online process, the translation drive device 22 can drive the two traveling arms 21 to move synchronously towards each other, adjusting their spacing so that the traveling wheels 23 on each traveling arm 21 can be precisely aligned and mounted on the corresponding transmission line 70 to accommodate conductors with different split spacings.

[0050] like Figure 6 , Figure 7 and Figure 10As shown, the detection mechanism 30 includes a first rotary drive device 31 located at one X-axis end of the extension rod 11, a lifting drive device 32 connected to the output end of the first rotary drive device 31, a swing frame 33 connected to the output end of the lifting drive device 32, a second rotary drive device 34 located at the top of the swing frame 33, an imaging plate 35 connected to the output end of the second rotary drive device 34, and a radiation source 36 located on the swing frame 33 and facing the imaging plate 35. A detection area is formed between the radiation source 36 and the imaging plate 35. When inspecting a four-split transmission line 70 (usually with two lines at the top and two at the bottom), the detection mechanism 30 can perform the following actions: First, the lifting drive device 32 drives the swing frame 33 to rise, so that the detection area formed by the imaging plate 35 and the radiation source 36 is aligned with one of the upper conductors. Then, the first rotary drive device 31 drives the entire detection mechanism 30 to swing around the X-axis, and with the second rotary drive device 34 making fine adjustments to the angle of the imaging plate 35, X-ray imaging inspection can be completed sequentially for the two upper conductors. Subsequently, the lifting drive device 32 drives the swing frame 33 to descend, adjusting the height of the detection area to align with the two conductors below. Finally, the detection of the two lower conductors is completed again through the coordinated movement of the first rotary drive device 31 and the second rotary drive device 34. This structure realizes the non-destructive testing function for all sub-conductors in the four-split transmission line 70.

[0051] As a preferred embodiment, the first rotation drive device 31 can be a servo motor to achieve precise control of the rotation angle of the swing frame 33, ensuring that the detection area can be accurately aligned with the specific detection part of each target wire.

[0052] like Figure 7 As shown, the translation drive device 22 includes a mounting base 221 fixed on the frame 10, a slide rail 222 mounted on the mounting base 221, two sliders 223 slidably engaged with the slide rail 222, a first lead screw 224 rotatably mounted on the mounting base 221, and a first drive device 225 that drives the first lead screw 224 to rotate; an encoder 226 is provided at one end of the first lead screw 224. The first drive device 225 drives the first lead screw 224 to rotate, which drives the two sliders 223 to move synchronously towards or away from each other along the slide rail 222 through the positive and negative threads, thereby precisely adjusting the distance between the two traveling arms 21. The encoder 226 can provide real-time feedback on the rotation angle of the first lead screw 224, and combined with the lead screw lead, the moving distance of the sliders 223 can be accurately calculated to achieve control of the distance between the traveling arms 21.

[0053] Furthermore, the first lead screw 224 is provided with a first threaded portion and a second threaded portion with opposite thread directions. The two sliders 223 are threadedly engaged with the first threaded portion and the second threaded portion respectively through corresponding first lead screw sleeves. This structure ensures that when the first lead screw 224 rotates, the two sliders 223 can move in opposite directions in strict synchronization, ensuring the symmetry of the movement of the two traveling arms 21. The spacing between the traveling wheels 23 can be adjusted to adapt to the different split spacings of the four-split transmission lines 70.

[0054] Please refer to Figures 7 to 9 The slider 223 is connected to the walking arm 21 via a rotating storage mechanism 40. The rotating storage mechanism 40 includes a base 41 fixed on the slider 223 and a rotating seat 42 rotatably connected to the base 41. The rotating seat 42 is fixed to the walking arm 21. One end of the rotating seat 42 is rotatably connected to the base 41 via a rotating shaft 43, and the other end is locked to the base 41 via a pluggable pin 44. Pulling out the pin 44 allows the rotating seat 42 and the walking arm 21 to rotate relative to the base 41 to achieve folding and storage. To achieve folding and storage of the four walking arms 21, the distance between the two walking arms 21 on the two sets of walking mechanisms 20 can be adjusted by the translation drive device 22 to create a misalignment. For example, the distance between the walking arms 21 of the two sets of walking mechanisms 20 can be different to avoid spatial interference of the walking arms 21 along the X direction during folding. Afterwards, by pulling out the corresponding pins 44 of each walking arm 21, the walking arm 21 can be rotated 90° to the side and laid down, which greatly reduces the storage volume of the device and makes it easier to transport and store.

[0055] In a preferred embodiment, the top of the traveling arm 21 is provided with a second drive device 24 for driving the traveling wheels 23. The second drive device 24 can be a high-power servo motor. The top of the traveling arm 21 is also provided with a downward-sloping guide frame 25. The high-power servo motor provides sufficient driving force for the traveling wheels 23, ensuring that the device can travel stably on the inclined or resistance-prone power transmission line 70. The downward-sloping guide frame 25 plays a guiding role during the loading process, making it easy for the traveling wheels 23 to smoothly engage and be mounted on the power transmission line 70.

[0056] Please refer to Figure 7 Both traveling arms 21 of the same traveling mechanism 20 are equipped with through-beam photoelectric sensors 26, whose detection beams are lower than those of the traveling wheels 23. When the device is raised close to the power transmission line 70, the detection beam of the through-beam photoelectric sensor 26 is blocked by the conductor. After receiving the signal that the beam is blocked, the control system can determine that the traveling wheels 23 are roughly aligned with the bottom of the power transmission line 70. The control system then stops the device from rising and, through subsequent adjustment of the spacing between the traveling arms 21, accurately mounts the traveling wheels 23 onto the power transmission line 70.

[0057] Please refer to Figure 2 and Figure 7In the two sets of traveling mechanisms 20, one traveling arm 21 is equipped with an automatic retractor 27, the rope of which is connected to a pull ring 28. The other traveling arm 21 is equipped with a hook 29 for hooking the pull ring 28. Before the device is put on the line, the pull ring 28 of the automatic retractor 27 on one traveling arm 21 can be pulled out and hooked onto the hook 29 on the other traveling arm 21. By tightening the rope with the automatic retractor 27, the tops of the two traveling arms 21 arranged along the X direction can be connected and tightened to form a stable four-column auxiliary support structure, which effectively improves the overall rigidity and anti-overturning ability of the device when traveling on the line.

[0058] Please refer to Figure 6 The lifting drive device 32 includes a limiting sleeve 321 connected to the output end of the first rotary drive device 31, a third drive device 322 fixed to the limiting sleeve 321, a second lead screw sleeve 323 driven by the third drive device 322, and a second lead screw 324 threadedly engaged with the second lead screw sleeve 323. The second lead screw 324 is fixed to the swing frame 33. The third drive device 322 drives the second lead screw sleeve 323 to rotate, and through threaded transmission, drives the second lead screw 324 to move linearly relative to the second lead screw sleeve 323, thereby realizing the lifting and lowering of the swing frame 33 and the entire detection mechanism 30. The lead screw transmission method has self-locking and high precision, which can ensure that the detection mechanism 30 can be stably maintained after being lifted to a specified height, and can accurately adjust the height position of the X-ray source 36 and the imaging plate 35 relative to the power transmission line 70.

[0059] Please refer to Figure 5 A counterweight module 50 is provided at the end of the frame 10 furthest from the detection mechanism 30. The counterweight module 50 can be a battery, a counterweight plate, or a combination of both. The counterweight module 50 is used to balance the weight of the extension rod 11 and the detection mechanism 30 located on the other side of the frame 10. By adjusting the extension length of the extension rod 11 or increasing or decreasing the weight of the counterweight plate, the center of gravity of the entire device can be kept between the two sets of walking mechanisms 20, avoiding the problem of walking deviation and ensuring the stability of the device on the power transmission line 70.

[0060] Please refer to Figure 7 The traveling arm 21 has a side roller 210 on the side facing the traveling wheel 23, and the surface of the traveling wheel 23 has anti-slip texture. After the traveling wheel 23 is loaded with the conductor, the side roller 210 can closely adhere to the conductor from the side, playing a role in auxiliary limiting and guiding, preventing the traveling wheel 23 from shifting laterally or derailing during travel. The anti-slip texture on the surface of the traveling wheel 23 increases the friction between the wheel surface and the transmission line 70, providing more reliable driving force and preventing slippage on wet or inclined lines.

[0061] Please refer to Figure 2An infrared sensor 211 is also installed on the traveling arm 21. The infrared sensor 211 is located in front of or behind the traveling wheel 23 in the direction of travel, and the infrared sensing line of the infrared sensor 211 points downwards to detect whether the traveling wheel 23 is centered on the transmission line 70. The infrared sensor 211 emits infrared light downwards. When the traveling wheel 23 is accurately centered on the transmission line 70, the reflection or reception signal of the infrared light on the conductor surface has specific characteristics. If the travel deviates, the signal characteristics will change. The control system can adjust the drive of the traveling wheel 23 in real time according to this change or correct the deviation through other mechanisms to ensure that the device always travels stably along the center line of the transmission line 70.

[0062] Furthermore, the second rotary drive device 34 is a dual-encoder motor. The dual-encoder motor possesses high-precision angle control and feedback capabilities. When driving the imaging plate 35 to swing closer to the conductor, the encoder built into the dual-encoder motor can precisely control the swing angle. More importantly, if the imaging plate 35 accidentally touches the conductor or other obstacles during the swing, the motor's torque or position will change abruptly. This signal will be quickly detected by the encoder and fed back to the control system. The control system can immediately stop the dual-encoder motor or issue an alarm to the operator, effectively preventing damage to the imaging plate 35 due to forced collisions, thus achieving the function of "safely swinging while close to the conductor."

[0063] Please refer to Figure 1 The frame 10 is equipped with four swivel casters 12 at its bottom. The swivel casters 12 facilitate the movement, transportation, and positioning of the device on the ground, improving the mobility of the equipment and the convenience of on-site deployment.

[0064] Please refer to Figure 10 Distance sensors 37 are installed on both the top of the swing frame 33 and the limiting sleeve 321. The distance sensors 37 are located on one side of the imaging plate 35 and are also through-beam photoelectric sensors used to detect the distance to the imaging plate 35, thereby precisely controlling the lifting height of the lifting drive device 32. The two sets of through-beam distance sensors 37 respectively detect the position of the lower edge of the imaging plate 35 relative to the limiting sleeve 321. By comparing these two distance values, the current height of the imaging plate 35 and its relative position to the transmission line 70 can be calculated. This feedback information is used for closed-loop control of the lifting drive device 32, ensuring that the imaging plate 35 can accurately and quickly lift and position itself to the preset optimal imaging distance when detecting conductors at different heights.

[0065] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of the present invention.

Claims

1. A stable X-ray imaging detection device, characterized in that, include: The frame (10) is provided with an extension rod (11) whose extension length can be adjusted along the X direction. Two sets of walking mechanisms (20) are arranged side by side on the frame (10) along the X direction. Each set of walking mechanisms (20) includes a walking arm (21) and a walking wheel (23) on the walking arm (21) that can travel along the power transmission line (70) in the X direction. The detection mechanism (30) is located at the end of the extension rod (11) and on the X-direction side of the frame (10), and is used to perform X-ray imaging detection on the transmission line (70); The hoisting mechanism (60) includes an unwinding device (61), a winding device (64), a first reversing frame (62), a second reversing frame (63), and a rope (65). The openings of the unwinding device (61) and the winding device (64) are both facing the detection mechanism (30) and are respectively located at both ends of the frame (10) along the Y direction, and are located below the traveling mechanism (20) away from the detection mechanism (30). The first reversing frame (62) and the second reversing frame (63) are respectively located at both ends of the frame (10) along the Y direction, and are located between the two sets of traveling mechanisms (20). The rope (65) is released from the unwinding device (61), passes sequentially around the first reversing frame (62), the power transmission line (70), and the second reversing frame (63), and is finally wound up by the winding device (64) to raise the height of the frame (10). The unwinding device (61) includes a first mounting plate (611) fixed on the frame (10), an unwinding motor (612) fixed on the first mounting plate (611), an unwinding reel (613) connected to the output shaft of the unwinding motor (612), and a first cover (614) that can be opened and closed and covered on the unwinding reel (613). The lateral opening of the first cover (614) is the opening of the unwinding device (61). The first commutator (62) includes a first bracket (621) fixed on the frame (10), a first roller (622) disposed on the first bracket (621) and rotatable about the Y-axis, and a second roller (623) disposed on the first bracket (621) and rotatable about the X-axis. The rope (65) is released from the unwinding reel (613), passes around the first roller (622) and the second roller (623) in sequence, and extends along the Z-axis to the power transmission line (70). The winding device (64) includes a second mounting plate (641) fixed on the frame (10), a winding motor (642) fixed on the second mounting plate (641), a winding reel connected to the output shaft of the winding motor (642), and a second cover (644) that can be opened and closed and covered on the winding reel. The side opening of the second cover (644) is the opening of the winding device (64). The second reversing frame (63) includes a second bracket (631) fixed on the frame (10), a third roller (632) mounted on the second bracket (631) and rotatable about the X-axis, and a fourth roller (633) mounted on the second bracket (631) and rotatable about the Y-axis. The rope (65) enters the third roller (632) from the power transmission line (70) along the Z-axis, passes through the fourth roller (633), and is finally wound up by the take-up reel. A counterweight module (50) is provided at one end of the frame (10) away from the detection mechanism (30).

2. The X-ray imaging detection device for stable walking according to claim 1, characterized in that, Each of the walking mechanisms (20) further includes a translation drive device (22) for driving the two walking arms (21) to move synchronously relative to each other or in opposite directions along the Y direction, and a second drive device (24) located on the top of the walking arm (21) for driving the walking wheel (23). The detection mechanism (30) includes a first rotary drive device (31) located at one end of the extension rod (11) in the X direction, a lifting drive device (32) connected to the output end of the first rotary drive device (31), a swing frame (33) connected to the output end of the lifting drive device (32), a second rotary drive device (34) located at the top of the swing frame (33), an imaging plate (35) connected to the output end of the second rotary drive device (34), and a radiation source (36) located on the swing frame (33) and facing the imaging plate (35). A detection area is formed between the radiation source (36) and the imaging plate (35).

3. The X-ray imaging detection device for stable walking according to claim 2, characterized in that, The translation drive device (22) includes a mounting base (221) fixed on the frame (10), a slide rail (222) provided on the mounting base (221), two sliders (223) that slide in cooperation with the slide rail (222), a first lead screw (224) rotatably provided on the mounting base (221), and a first drive device (225) that drives the first lead screw (224) to rotate. The first lead screw (224) has a first threaded part and a second threaded part with opposite thread directions, and the two sliders (223) are threadedly engaged with the first threaded part and the second threaded part respectively through the corresponding first lead screw sleeve.

4. The X-ray imaging detection device for stable walking according to claim 3, characterized in that, The slider (223) is connected to the walking arm (21) via a rotating storage mechanism (40). The rotating storage mechanism (40) includes a base (41) fixed on the slider (223) and a rotating seat (42) rotatably connected to the base (41). The rotating seat (42) is fixed to the walking arm (21). One end of the rotating seat (42) is rotatably connected to the base (41) via a rotating shaft (43), and the other end is locked to the base (41) via a pluggable pin (44). Pulling out the pin (44) allows the rotating seat (42) and the walking arm (21) to rotate relative to the base (41) to achieve folding and storage.

5. The X-ray imaging detection device for stable walking according to claim 1, characterized in that, Both walking arms (21) of the same walking mechanism (20) are equipped with through-beam photoelectric sensors (26), and the detection light of the through-beam photoelectric sensors (26) is lower than that of the walking wheels (23). In the two sets of walking mechanisms (20), one of the walking arms (21) is provided with an automatic retractor (27), the rope of which is connected to a pull ring (28), and the other walking arm (21) is provided with a hook (29) for hooking the pull ring (28).

6. The X-ray imaging detection device for stable walking according to claim 2, characterized in that, The lifting drive device (32) includes a limiting sleeve (321) connected to the output end of the first rotary drive device (31), a third drive device (322) fixed to the limiting sleeve (321), a second lead screw sleeve (323) driven by the third drive device (322), and a second lead screw (324) threadedly engaged with the second lead screw sleeve (323). The second lead screw (324) is fixed to the swing frame (33).

7. The X-ray imaging detection device for stable walking according to claim 1, characterized in that, The walking arm (21) is provided with a side roller (210) on the side facing the walking wheel (23), and the surface of the walking wheel (23) is provided with anti-slip texture.

8. The X-ray imaging detection device for stable walking according to claim 2, characterized in that, The second rotary drive device (34) is a dual encoder motor.

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