Onboard nondestructive inspection robot for linear splicing sleeve of power transmission line

Abstract

The invention discloses an airborne nondestructive flaw detection robot for a linear splicing sleeve of a power transmission line, and solves the technical problems of high manual risk, incapability of penetrating detection and low efficiency in the traditional detection means. According to the technical scheme, the X-ray detection device comprises a rack, a walking mechanism, a safety locking mechanism and an X-ray detection mechanism, the walking mechanism comprises a driving wheel moving along a wire and a driving motor driving the driving wheel to rotate. The safety locking mechanism comprises a holding ring and a safety locking motor which drives the holding ring to open and close so as to clamp or loosen a wire. The X-ray detection mechanism comprises an X-ray transmitter and an X-ray detection imaging receiving plate which are oppositely arranged.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line inspection technology, specifically relating to an airborne non-destructive testing robot for straight-line connection pipes of power transmission lines. Background Technology

[0002] Under the influence of natural conditions such as strong winds, icing, lightning, and flashover, power transmission lines may experience problems such as metal fatigue, loosening of connectors, and corrosion aging. In severe cases, this can even lead to faults such as broken conductor strands and damaged connecting pipes, which not only threaten the stable operation of the power transmission system but may also cause large-scale power outages.

[0003] Existing inspection methods mainly rely on manual tower climbing or visual inspection using drone imagery. However, these methods cannot penetrate the conductor structure itself, making it difficult to detect internal metal damage, cracks, and connection defects, posing safety hazards. While some handheld X-ray inspection devices can achieve X-ray imaging, they require personnel to operate close to high-voltage areas, posing extremely high risks of electric shock, falls, and radiation, and are also inefficient with limited coverage. To address the need for non-destructive testing of the internal condition of straight-line connection conduits in high-altitude transmission lines, there is an urgent need for a technology that can overcome structural obstructions and achieve non-contact internal imaging to improve inspection efficiency and accuracy, ensuring the long-term safe and stable operation of transmission lines. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide an airborne non-destructive testing robot for straight-line connection pipes of power transmission lines, which solves the technical difficulties of high human risk, inability to penetrate and low efficiency of traditional testing methods.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0006] An airborne non-destructive testing robot for straight-line splice pipes in power transmission lines includes a frame and a walking mechanism, a safety locking mechanism, and an X-ray inspection mechanism mounted on the frame; wherein,

[0007] The walking mechanism includes a drive wheel that moves along the guide wire and a drive motor that drives the drive wheel to rotate.

[0008] The safety locking mechanism includes a retaining ring and a safety locking motor that drives the retaining ring to open and close to clamp or release the wire.

[0009] The X-ray detection mechanism includes an X-ray transmitter and an X-ray detection imaging receiver plate arranged opposite to each other.

[0010] Preferably, the safety locking mechanism includes a lead screw and a nut-slider assembly connected to the lead screw. The nut-slider assembly is connected to a retaining ring. The safety locking motor drives the lead screw to rotate, and the lead screw drives the nut-slider assembly to slide, thereby moving the retaining ring to clamp or release the wire.

[0011] Preferably, the lead screw has a left lead screw section and a right lead screw section with opposite directions of rotation, and the left lead screw section and the right lead screw section are respectively connected to the left nut slider assembly and the right nut slider assembly, which are respectively connected to the left clamping ring and the right clamping ring. The left clamping ring and the right clamping ring cooperate to clamp or release the wire.

[0012] Preferably, the safety locking motor is located below the lead screw, and the motor shaft is perpendicular to the lead screw, with a bevel gear set between the motor shaft and the lead screw; and / or, the inner wall of the retaining ring is provided with an anti-slip pad layer.

[0013] Preferably, the safety locking mechanism further includes a left limit sensor connected to the left nut slider assembly and a left limit photoelectric switch fixedly disposed corresponding to the left limit sensor; the safety locking mechanism further includes a right limit sensor connected to the right nut slider assembly and a right limit photoelectric switch fixedly disposed corresponding to the right limit sensor.

[0014] Preferably, the X-ray detection mechanism further includes a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm connected to the X-ray transmitter and an X-ray transmitter joint motor assembly that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm connected to the X-ray detection imaging receiver plate and a receiver plate joint motor assembly that drives the receiver plate support arm to rotate up and down.

[0015] Preferably, the X-ray transmitter support arm has a telescopic structure, and the receiver plate support arm has a telescopic structure; and / or, the X-ray transmitter joint motor assembly has degrees of freedom in the vertical and horizontal directions, and the receiver plate joint motor assembly has degrees of freedom in the vertical and horizontal directions.

[0016] Preferably, the walking mechanism has two drive wheels, front and rear, wherein the front drive wheel is driven by a front drive motor and the rear drive wheel is driven by a rear drive motor.

[0017] Preferably, the frame is provided with a "Λ"-shaped opening structure.

[0018] Preferably, the frame is installed inside the housing, and the housing has a receiving groove in the middle for accommodating the X-ray detection mechanism, the control system, and the lithium battery unit.

[0019] The present invention, by adopting the above technical solution, has the following beneficial effects:

[0020] To avoid manual tower climbing, the airborne non-destructive testing robot for straight-line splice pipes of power transmission lines provided by this invention can be installed on an airborne platform. Airborne installation means that the robot can be directly mounted on an aircraft or other flying vehicle, and can be deployed onto or retrieved from the power transmission line. Therefore, the non-destructive testing robot of this invention can be deployed and retrieved using unmanned aerial vehicles (UAVs).

[0021] Because power transmission lines are long, robots need to be able to move autonomously along them. The airborne non-destructive testing robot for straight-line joint pipes of power transmission lines provided by this invention is equipped with a walking mechanism. The walking mechanism includes a drive wheel that moves along the conductor and a drive motor that drives the drive wheel to rotate, enabling the robot to move self-driven along the conductor direction and move forward and backward on the power transmission line, so as to perform inspections on different length sections of the power transmission line.

[0022] To detect internal defects in straight-line connectors of power transmission lines, the airborne non-destructive testing robot for straight-line connectors of power transmission lines provided by this invention adopts the currently mature X-ray inspection technology. The X-ray inspection mechanism can realize non-destructive testing of internal metal defects in the conductors. The imaging data is transmitted in real time, which can clearly identify internal defects such as steel core cracks and corrosion, accurately determine the internal state of the metal, and avoid the problem that traditional visual inspection cannot penetrate the metal.

[0023] To ensure operational stability, the airborne non-destructive testing robot for straight-line connection pipes of power transmission lines provided by this invention is also equipped with a safety locking mechanism. The safety locking mechanism includes a clamping ring and a safety locking motor that drives the clamping ring to open and close to clamp or release the conductor. This improves the robot's anti-tipping ability and stability during operation and testing, ensures that the robot can still operate stably under the influence of external factors such as wind load, and improves the accuracy of detection, anti-interference ability, and imaging quality of X-ray detection.

[0024] To ensure precise alignment of X-rays with the straight-line connector tube, the X-ray transmitter and X-ray imaging receiver plate need to be adjustable in position. Therefore, the airborne non-destructive testing robot for straight-line connector tubes of power transmission lines provided by this invention is equipped with a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm connected to the X-ray transmitter and an X-ray transmitter joint motor assembly that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm connected to the X-ray imaging receiver plate and a receiver plate joint motor assembly that drives the receiver plate support arm to rotate up and down. Furthermore, both the X-ray transmitter support arm and the receiver plate support arm have telescopic structures; both the X-ray transmitter joint motor assembly and the receiver plate joint motor assembly have degrees of freedom in the vertical and horizontal directions. Since both the X-ray transmitter support arm and the receiver support arm are telescopic structures, the X-ray transmitter and the X-ray detection imaging receiver can be adjusted in front and behind. Furthermore, the X-ray transmitter joint motor assembly and the receiver joint motor assembly can achieve bidirectional adjustment of vertical lifting and horizontal rotation, ensuring that X-rays penetrate the core area of ​​the connector tube.

[0025] In addition, the safety locking mechanism includes a left limit sensor connected to the left nut slider assembly and a corresponding left limit photoelectric switch fixedly installed on the left limit sensor; the safety locking mechanism also includes a right limit sensor connected to the right nut slider assembly and a corresponding right limit photoelectric switch fixedly installed on the right limit sensor. The left and right limit photoelectric switches are electrically connected to the control system. Therefore, when the left and right nut slider assemblies move to their limit positions, the control system immediately cuts off the power supply to the safety locking motor to prevent the clamping ring from excessively clamping and damaging the wires or the slider from exceeding its travel and damaging the lead screw.

[0026] In summary, the airborne non-destructive testing robot for straight-line splice pipes of power transmission lines provided by this invention can achieve high testing efficiency, low resource consumption, tower operation without relying on manpower, long-term operation, and can complete splicing and retrieval through drones. Remote control can complete X-ray inspection operations, solving the problems of low efficiency, high intensity and safety hazards of traditional manual inspection.

[0027] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0028] The invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of an airborne non-destructive testing robot for straight-line splice pipes of power transmission lines according to the present invention. Figure 2 This is a schematic diagram of the safety locking mechanism in this invention; Figure 1In the middle: X-ray detection imaging receiver plate 1, receiver plate support arm 2, receiver plate joint motor assembly 3, control system 5, rear drive wheel 6, wireless transceiver antenna 1 7a, wireless transceiver antenna 2 7b, power transmission line conductor 8, power transmission line conductor segment 1 8a, power transmission line conductor segment 2 8b, safety locking mechanism 9, safety locking motor 10, lithium battery unit 11, X-ray transmitter joint motor assembly 12, X-ray transmitter 13, X-ray transmitter support arm 14, front drive motor 15, linear connector tube 16, front drive wheel 17, frame 18; Figure 2 In the middle: 8 transmission line conductor, 10 safety locking motor, 21 right limit photoelectric switch, 22 left limit photoelectric switch, 23 lead screw, 24 right limit sensor plate, 25 right nut slider assembly, 26 left nut slider assembly, 27 left limit sensor plate, 28 right retaining ring, 29 left retaining ring, 30 bevel gear, 31 locking mechanism bracket. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0030] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.

[0031] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "left," and "right" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] The purpose of this invention is to provide an airborne non-destructive testing robot for straight-line splice pipes of power transmission lines, which is applied to non-contact, high-precision imaging inspection of the internal structure of straight-line splice pipes of power transmission lines, solving the technical problems of high human risk, inability to penetrate the pipe, and low efficiency of traditional inspection methods.

[0035] Reference Figure 1 and Figure 2 As shown, the transmission line conductor 8 is composed of several transmission line conductor segments, and the connected transmission line conductor segments 8a and 8b are connected by a straight connector 16. This embodiment of the invention provides an airborne non-destructive testing robot for transmission line straight connectors, capable of performing X-ray imaging inspection on transmission line conductors 8a and 8b, as well as the straight connector 16. It includes a frame 18 and a walking mechanism, an X-ray inspection mechanism, and a safety locking mechanism mounted on the frame 18. The walking mechanism includes drive wheels that move along the conductor and a drive motor that drives the drive wheels to rotate; the safety locking mechanism includes a clamping ring and a safety locking motor 10 that drives the clamping ring to open and close to clamp or release the conductor; the X-ray inspection mechanism includes an X-ray transmitter 13 and an X-ray inspection imaging receiver 1 arranged opposite each other.

[0036] Based on the existing X-ray inspection principles, the X-ray inspection mechanism adopts mature X-ray inspection technology. During the inspection process, the X-ray transmitter 13 and the X-ray inspection imaging receiver 1 are respectively arranged on both sides of the guide wire, forming a through-beam X-ray imaging structure. The X-ray transmitter 13 emits an X-ray beam that passes through the straight connecting tube 16. The X-ray inspection imaging receiver 1 receives the transmitted image, clearly identifying internal defects in the straight connecting tube, thus improving the accuracy and reliability of the inspection and solving the problems of high risk, high intensity, and strong radiation associated with traditional manual X-ray inspection operations.

[0037] Here, "airborne" refers to a robot that can be directly mounted on an aircraft or other flying vehicle, and can be deployed onto or retrieved from power transmission lines. The airborne non-destructive testing robot for straight-line splice pipes in this embodiment can be deployed and retrieved using drones, eliminating the need for manual tower work. The drone can handle both attachment and retrieval, and remote control enables X-ray inspection. This results in high inspection efficiency, low resource consumption, and long-term operation, solving the problems of low efficiency, high intensity, and safety hazards associated with traditional manual inspection.

[0038] Because power transmission lines are long, robots need to be able to move autonomously along them. The airborne non-destructive testing robot for straight-line joint pipes of power transmission lines provided by this invention is equipped with a walking mechanism, which enables the robot to move self-driven along the direction of the conductor, and to move forward and backward on the power transmission line, so as to carry out testing in different length sections of the power transmission line.

[0039] To detect internal defects in straight-line connectors of power transmission lines, the airborne non-destructive testing robot for straight-line connectors of power transmission lines provided by this invention adopts the currently mature X-ray inspection technology. The X-ray inspection mechanism can realize non-destructive testing of internal metal defects in the conductors. The imaging data is transmitted in real time, which can clearly identify internal defects such as steel core cracks and corrosion, accurately determine the internal state of the metal, and avoid the problem that traditional visual inspection cannot penetrate the metal.

[0040] To ensure operational stability, the airborne non-destructive testing robot for straight-line connection pipes of power transmission lines provided by this invention is also equipped with a safety locking mechanism, which enhances the robot's anti-overturning ability and stability during operation and testing, ensuring that the robot can still operate stably under the influence of external factors such as wind load, and improving the accuracy of detection, anti-interference ability and imaging quality of X-ray detection.

[0041] In addition, the robot is equipped with an outer shell (not shown in the figure). The shell has a rectangular structure and is made of aerospace-grade aluminum, combining lightweight and torsional strength. A recessed compartment in the center of the shell houses the X-ray inspection mechanism, control system 5, and lithium battery unit 11. The compartment is designed with a modular structure for easy disassembly and maintenance of core components. The shell surface undergoes special anti-corrosion treatment and has excellent hydrophobic properties. Brushes along the edges ensure continuous contact between the robot and power transmission lines. Copper wires and shielding mesh are interwoven between moving and stationary components to effectively isolate electromagnetic interference from high-voltage electric fields, ensuring stable operation of internal electronic components. No additional shielding enclosure is needed; the shell's structure and shielding design alone meet anti-interference requirements. It also possesses wind and impact resistance, adapting to complex conditions such as low temperatures, strong winds, rain, and snow during high-altitude operations. The outer shell's compartment houses a control system mounting bracket, on which the control system 5 is fixed. Wireless transceiver antennas 7a and 7b are mounted on the shell for bidirectional communication with the UAV flight control system and ground terminal, transmitting flaw detection data and robot status information in real time. Additionally, the top of the frame is equipped with an airborne hoisting structure for connecting to the drone, such as a damped airborne hoisting structure, to address the swaying issue during drone deployment and recovery. A wireless transceiver antenna is used to enable communication between the control system and the ground, allowing for remote control operation of the robot from the ground. It is understood that other existing structures, such as cameras, can also be incorporated to meet the needs of high-altitude operations.

[0042] The frame 18 is fixed in the middle of the outer shell and is an A-type frame with a "Λ"-shaped opening structure at the bottom. Its main function is to enable the robot to quickly get on and off the line. After the drone carries the robot to the top of the wire, the opening of the frame 18 can automatically align with the wire during the lowering process. The robot can slide in along the opening to complete the wire entry without disassembling the wire or manual assistance, thus solving the problem of cumbersome wire entry in traditional equipment.

[0043] In some embodiments, the walking mechanism includes two drive wheels, respectively mounted at the front and rear ends of the frame 18. The front drive wheel 17 is driven by a front drive motor 15, and the rear drive wheel 6 is driven by a rear drive motor (not shown in the figure). Specifically, a rotating shaft can be set in the middle of the drive wheels, with a reducer mounted on the shaft. One end of the shaft is connected to the drive motor, which drives the drive wheels to rotate synchronously, enabling the robot to move self-driven along the conductor direction. Alternatively, only one drive motor can be used, with a transmission structure synchronously driving the front and rear drive wheels. Furthermore, the surfaces of the front and rear drive wheels are covered with an anti-slip rubber layer, with arc-shaped grooves formed in the rubber layer. This structure allows the robot to move smoothly along the power transmission line, preventing slippage even on inclined sections of the conductor or in windy conditions, ensuring the stability of continuous flaw detection operations. Simultaneously, equipotential contact elements are provided at the contact points between the drive wheels and the conductor to ensure that the robot maintains an equipotential state with the conductor during operation, reducing the risk of arc discharge.

[0044] In some embodiments, the safety locking mechanism 9 includes a lead screw 23 and a nut-slider assembly connected to the lead screw. The nut-slider assembly is connected to a retaining ring. The safety locking motor drives the lead screw to rotate, which in turn drives the nut-slider assembly to slide and move the retaining ring to clamp or release the wire.

[0045] Specifically, the lead screw 23 has a left lead screw section and a right lead screw section with opposite directions of rotation, and the left lead screw section and the right lead screw section are respectively connected to the left nut slider assembly 26 and the right nut slider assembly 25. The left nut slider assembly 26 and the right nut slider assembly 25 are respectively connected to the left clamping ring 29 and the right clamping ring 28. The left clamping ring 29 and the right clamping ring 28 cooperate to clamp or loosen the wire.

[0046] Specifically, the safety locking motor 10 is located below the lead screw 23, and the motor shaft is perpendicular to the lead screw. A bevel gear set is provided between the motor shaft and the lead screw, and the inner wall of the retaining ring is provided with an anti-slip pad layer.

[0047] Furthermore, the safety locking mechanism 9 also includes a left limit sensor 27 connected to the left nut slider assembly and a left limit photoelectric switch 22 fixedly disposed corresponding to the left limit sensor; the safety locking mechanism also includes a right limit sensor 24 connected to the right nut slider assembly and a right limit photoelectric switch 21 fixedly disposed corresponding to the right limit sensor.

[0048] The aforementioned safety locking motor 10, lead screw 23, left limit photoelectric switch 22, and right limit photoelectric switch 21 are mounted on the locking mechanism bracket 31. The lead screw 23 is horizontally supported on the locking mechanism bracket 31 via bearings. Left and right nut slider assemblies are symmetrically fitted onto both ends of the lead screw. Left and right retaining rings are respectively fixed below the left and right nut slider assemblies. Left and right limit photoelectric switches are correspondingly mounted at both ends of the locking mechanism bracket 31. Left and right limit sensing plates are respectively fixed to the outside of the left and right nut slider assemblies. The safety locking motor can be a stepper motor. The stepper motor drives the bevel gear 30 to rotate. When the lead screw rotates forward, the left and right nut slider assemblies move towards each other, and the left and right retaining rings clamp the wire. When the lead screw rotates in reverse, the left and right nut slider assemblies move in the opposite direction, and the left and right retaining rings release the wire. When the left and right nut slider assemblies reach their limit positions, the control system 5 immediately cuts off the stepper motor power to prevent the clamping ring from over-clamping and damaging the wires or the slider from overtraveling and damaging the lead screw. This ensures that the robot operates without shaking or displacement during flaw detection, preventing blurred X-ray images. When movement is required, the clamping ring releases, without affecting the travel path of the walking mechanism.

[0049] like Figure 2As shown, the X-ray detection mechanism further includes a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm 14 connected to the X-ray transmitter and an X-ray transmitter joint motor assembly 12 that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm 2 connected to the X-ray detection imaging receiver plate and a receiver plate joint motor assembly 3 that drives the receiver plate support arm to rotate up and down. The X-ray transmitter support arm 14 and the receiver plate support arm 2 are equipped with telescopic structures; the X-ray transmitter joint motor assembly 12 has degrees of freedom in the vertical and horizontal directions, and the receiver plate joint motor assembly 3 has degrees of freedom in the vertical and horizontal directions.

[0050] Based on the above structural configuration, the airborne non-destructive testing robot for straight-line splice pipes in power transmission lines achieves bidirectional adjustment by setting up a receiver plate joint motor assembly 3 and an X-ray transmitter joint motor assembly 12, which drive the receiver plate support arm 2 and the X-ray transmitter support arm 14, eliminating the need for additional linear module mechanisms or independent drive units. The extension and retraction adjustment of the support arms can precisely align the straight-line splice pipes 16 at different positions. Combined with the self-driven movement of the walking mechanism along the conductor, it can achieve continuous non-destructive testing of multiple straight-line splice pipes, improving the testing efficiency of straight-line splice pipes and enabling clear identification of defects such as cracks, corrosion, and fractures in the steel core inside the pipe through X-ray penetration imaging, accurately determining the internal condition of the metal.

[0051] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art should understand that the invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the invention will be included within the scope of the claims.

Claims

1. An airborne power transmission line straight-line joint tube non-destructive inspection robot, characterized in that, The rack is provided with a walking mechanism, a safety locking mechanism and an X-ray detection mechanism, The walking mechanism comprises a driving wheel moving along the guide wire and a driving motor driving the driving wheel to rotate. The safety locking mechanism comprises a safety locking motor driving a clamping ring to clamp or release the guide wire. The X-ray detection mechanism comprises an X-ray transmitter and an X-ray detection imaging receiving plate arranged oppositely.

2. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 1, characterized in that, The safety locking mechanism comprises a screw rod and a nut block assembly connected with the screw rod, the nut block assembly is connected with the clamping ring, the safety locking motor drives the screw rod to rotate, the screw rod drives the nut block assembly to slide and drives the clamping ring to move to clamp or release the guide wire.

3. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 2, characterized in that, The screw rod is provided with left and right screw rod segments with opposite rotation directions, the left and right screw rod segments are correspondingly connected with left and right nut block assemblies, the left and right nut block assemblies are correspondingly connected with left and right clamping rings, and the left and right clamping rings clamp or release the guide wire in cooperation.

4. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 3, characterized in that, The safety locking motor is arranged below the screw rod, the motor shaft is perpendicular to the screw rod, and an umbrella-shaped gear set is arranged between the motor shaft and the screw rod.

5. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 3, characterized in that, The inner wall of the clamping ring is provided with an anti-skid pad layer.

6. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 1, wherein The safety locking mechanism further comprises a left limit sensing sheet connected with the left nut block assembly and a left limit photoelectric switch fixedly arranged corresponding to the left limit sensing sheet, and further comprises a right limit sensing sheet connected with the right nut block assembly and a right limit photoelectric switch fixedly arranged corresponding to the right limit sensing sheet.

7. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 6, characterized in that, The X-ray detection mechanism further comprises a transmitter adjusting component and a receiving plate adjusting component, the transmitter adjusting component comprises an X-ray transmitter support arm connected with the X-ray transmitter and an X-ray transmitter joint motor assembly driving the X-ray transmitter support arm to move, and the receiving plate adjusting component comprises a receiving plate support arm connected with the X-ray detection imaging receiving plate and a receiving plate joint motor assembly driving the receiving plate support arm to rotate up and down.

8. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 1, wherein The X-ray transmitter support arm is provided with a telescopic structure, the receiving plate support arm is provided with a telescopic structure, the X-ray transmitter joint motor assembly is provided with degrees of freedom in up-down and horizontal directions, and the receiving plate joint motor assembly is provided with degrees of freedom in up-down and horizontal directions.

9. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 1, wherein The walking mechanism is provided with front and rear driving wheels, the front driving wheel is driven by a front driving motor, and the rear driving wheel is driven by a rear driving motor.

10. The robot for non-destructive inspection of the straight-line joint tube of the overhead transmission line according to claim 1, wherein The rack is provided with a "Λ" shaped opening structure. The rack is arranged in a shell, a middle part of the shell is provided with a containing groove for containing the X-ray detection mechanism, a control system and a lithium battery unit.

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