Airborne four-bundle conductor X imaging detection device
By using an airborne four-split wire X-ray imaging detection device, a walking robot and adjustment mechanism are used to detect four-split wires individually, which solves the problem of overlapping detection results of existing equipment and improves detection accuracy and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-29
- Publication Date
- 2026-04-03
AI Technical Summary
Existing X-ray inspection equipment cannot accurately determine the condition of four-split conductors, and overlapping inspection results affect the operator's judgment. Furthermore, traditional equipment lacks stability when inspecting at high altitudes.
An airborne four-split wire X-ray imaging detection device was designed, which adopts a walking robot and an X-ray detection mechanism. The X-ray emitter can be individually aligned with each wire for detection through the adjustment mechanism, and the stability is improved by the design of the center of gravity being lower than the wire. The walking stability is ensured by the combination of the clamping mechanism and the wheel set.
It enables individual and precise testing of four-split conductors, improving the accuracy and efficiency of testing results, while also enhancing stability and wind resistance in high-altitude environments.
Smart Images
Figure CN121784029A_ABST
Abstract
Description
Technical Field
[0001] This invention demonstrates an airborne four-split wire X-ray imaging detection device, belonging to the field of detection robot technology. Background Technology
[0002] As a critical connecting component, the four-split transmission line of a high-voltage transmission line may experience problems such as metal fatigue, loosening of connectors, corrosion and aging under natural conditions such as strong winds, icing, lightning, and flashover. In severe cases, it may even lead to faults such as broken strands of the transmission line, fracture of the inner core of the split transmission line, and damage to the connecting pipe. This not only threatens 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 in the four-split conductor in a timely manner, posing safety hazards. While some handheld X-ray inspection devices can achieve transillumination, traditional X-ray inspection equipment suffers from the following problems: the X-ray emitter and backplate are located on opposite sides of the four-split conductor. During inspection, two conductors exist between the X-ray emitter and the backplate. The X-rays pass through both conductors simultaneously, causing the images of the two conductors to overlap, thus affecting the inspection results and making it impossible for operators to accurately assess the condition of the four-split conductor. Summary of the Invention
[0004] The purpose of this invention is to solve the problem of inaccurate detection results of existing X-ray detection equipment. To this end, an airborne four-split wire X-ray imaging detection device is provided, which makes the adjustment of the X-ray detection mechanism simpler and faster, and the detection results more accurate and reliable.
[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:
[0006] An airborne four-split wire X-ray imaging detection device includes:
[0007] A walking robot includes a housing and a walking mechanism, the walking mechanism extending to both sides of the housing and mounted on two guide wires to drive the housing to walk on the guide wires;
[0008] An X-ray inspection mechanism includes an X-ray transmitter and a backplate. The X-ray transmitter is located below the housing and is connected to the backplate via a connecting seat so that the backplate is positioned directly in front of the X-ray transmitter.
[0009] The adjustment mechanism includes an adjustment seat fixed to the housing, a first adjustment driver and a second adjustment driver. The adjustment seat is provided with a lifting rail and a slider connected to a connecting seat. The first adjustment driver is driven to the slider to drive the slider to slide along the lifting rail. The second adjustment driver is driven to the connecting seat to drive the connecting seat to rotate on a horizontal plane.
[0010] The connector includes a connecting plate and a connecting arm. The connecting plate is fixed to the lower surface of the X-ray emitter. The connecting plate is connected to the back plate via the connecting arm. The connecting arm is at the same height as the X-ray emitter's head and avoids the head. The head faces the center of the back plate. The connecting arm abuts against the upper or lower side of the conductor to make the X-ray emitter reach a detectable position.
[0011] The beneficial effects of using the present invention are:
[0012] In this invention, the first adjustment driver controls the X-ray emitter to rise and fall, while the second adjustment driver controls its rotation on a horizontal plane. The X-ray emitter is positioned below the housing. The rising and falling of the X-ray emitter allows it to be at a similar height to the upper or lower conductors, while the horizontal rotation allows it to face the left or right conductors. The combined action of the first and second adjustment drivers ensures the X-ray emitter is aligned with each of the four-part conductors, enabling individual inspection of each conductor. This allows operators to obtain a clear image of each conductor, resulting in clearer and more accurate inspection results, significantly improving the accuracy of the detection device. Furthermore, the adjustment of the X-ray emitter by the first and second adjustment drivers is simpler; the overall structure of the adjustment mechanism is simpler, and operation is easier. This allows for simple and rapid adjustment of the X-ray emitter, enabling it to respond quickly and be precisely adjusted to the designated position, thus contributing to... Firstly, this improves the detection efficiency and accuracy of the detection device. Secondly, during the detection process, the walking mechanism moves the housing to the detection position of the wire. Then, the second adjustment driver controls the X-ray emitter's head to face the wire to be detected. Finally, the first adjustment driver controls the X-ray emitter to rise and fall until the connecting arm abuts against the wire to be detected. At this point, the X-ray emitter has reached the detection position. The X-ray emitter's detection position is positioned by the connecting arm abutting against the wire. During the adjustment process, if the rise and fall of the X-ray emitter is obstructed, it can clearly indicate to the operator that the X-ray emitter has been adjusted to the correct position, eliminating the need for repeated adjustments by the operator. This improves the positioning accuracy of the X-ray emitter and also helps to improve the detection efficiency of the detection device. Furthermore, the X-ray emitter is located on the lower side of the housing, ensuring that the overall center of gravity of the detection robot is between the two wires. When the detection robot is affected by strong winds, it is less likely to detach from the wire under the drag of the X-ray detection mechanism, which helps to improve the stability of the detection robot walking on the wire.
[0013] Preferably, in the height direction, the bottom surface of the housing is lower than the lowest position of the walking mechanism. The bottom of the housing is provided with a clearance groove for avoiding the X-ray emitter. The highest position of the clearance groove is higher than the contact surface between the walking mechanism and the conductor. The X-ray emitter rises into the clearance groove to detect the upper conductor of the four-split conductor. By adopting the aforementioned technical solution, the clearance groove ensures that the X-ray emitter can detect normally while reducing the distance between the housing and the X-ray emitter, making the connection between the walking robot and the X-ray detection mechanism more compact and reducing the space occupied by the detection device. Furthermore, the above structure can also lower the center of gravity of the detection device, reduce the swaying amplitude of the X-ray emitter caused by strong winds, help improve the wind resistance of the detection device, make the detection device more suitable for high-altitude detection, and also improve the detection accuracy of the device.
[0014] Preferably, the center of gravity of the detection device is lower than that of the upper conductor of the four-split conductor. By employing the aforementioned technical solution, during movement, when encountering lateral winds, irregular conductor shapes, or the device's own acceleration or deceleration, the lower center of gravity provides better anti-tipping torque, thus ensuring the stability of the detection device while moving on the conductor. This reduces the risk of tipping over due to an excessively high center of gravity, ensuring the safe and continuous conduct of the detection work.
[0015] Preferably, the slider is rotatably connected to a rotating shaft, the bottom end of which is fixedly connected to a connecting seat. The output shaft of the second adjustment driver is connected to the rotating shaft for transmission. The second adjustment driver drives the rotating shaft to rotate, thereby causing the connecting seat to rotate on a horizontal plane.
[0016] Preferably, the adjusting seat is equipped with a mounting block located below the lifting track. A screw is rotatably connected between the mounting block and the top of the adjusting seat. The first adjusting driver is connected to the screw, and the slider is threadedly connected to the screw. The first adjusting driver drives the screw to rotate, thereby raising or lowering the slider. Using the aforementioned technical solution, when the first adjusting driver drives the screw to rotate, because the slider is threadedly connected to the screw, the slider will rise or fall a precise distance along the lifting track every time the screw rotates a certain angle. This allows for precise adjustment of the X-ray emitter and backplate to the appropriate height position when inspecting four-split wires, based on the wire's specific height, inspection requirements, and surrounding environment, ensuring the accuracy and reliability of the inspection. Furthermore, the first adjusting driver can be integrated with a control system for automated control. Operators only need to input corresponding commands through the control terminal to precisely control the slider's height and speed, eliminating the need for manual operation of complex mechanical structures, improving operational convenience, reducing the impact of human factors on the inspection results, and lowering the operator's workload.
[0017] Preferably, a first transmission wheel is fixed on the rotating shaft, and a second transmission wheel is provided on the output shaft of the second adjusting driver. A transmission belt is fitted between the first and second transmission wheels. Using the aforementioned technical solution, the transmission belt has a certain elasticity. During the process where the second adjusting driver drives the second transmission wheel to rotate, and subsequently drives the first transmission wheel and the rotating shaft to rotate via the transmission belt, it can play a buffering and shock-absorbing role. When the second adjusting driver starts or stops, the elasticity of the transmission belt can absorb some of the impact force, reducing the impact of vibration and impact caused by sudden start or stop on the rotating shaft and the entire detection device, making the rotation of the rotating shaft more stable.
[0018] Preferably, the walking mechanism includes two wheel sets, each wheel set comprising a first wheel and a second wheel respectively located on both sides of the housing. The first wheel has a limiting groove for embedding the wire, and the axial length of the second wheel is greater than the diameter of the wire. The first wheels of both wheel sets are located on the same side of the housing. With the aforementioned technical solution, the first wheel has a limiting groove, and the first wheels of both wheel sets are located on the same side of the housing. The two first wheels, through the limiting groove, can position the wire and guide the movement of the inspection robot, ensuring that the inspection robot always moves stably along the extension direction of the wire, and is less prone to positional deviation due to strong winds or wire swaying, making the robot's movement on the wire more stable and reliable. Furthermore, the axial length of the second wheel is greater than the diameter of the wire, providing sufficient contact range in the axial direction. Even if the distance between the two wires changes under strong winds, the second wheel can maintain good contact with the wire, further enhancing the stability of the inspection robot's movement and preventing the robot from being obstructed or falling due to changes in the distance between the two wires.
[0019] Preferably, the detection device further includes a clamping mechanism, which comprises a clamping driver, a movable component, and a clamping wheel. The clamping wheel is mounted on the movable component, and the clamping driver drives the movable component to move closer to or away from the conductor. Using the aforementioned technical solution, the clamping wheel of the clamping mechanism abuts against the underside of the conductor, which, in conjunction with the walking mechanism, clamps the conductor. Even if the conductor sways up and down under strong winds, the clamping mechanism can prevent the detection robot from completely detaching from the conductor, allowing the walking mechanism to maintain good contact with the conductor, further reducing the possibility of the detection robot detaching from the conductor, and enabling the detection robot to walk stably and reliably on the conductor.
[0020] Preferably, the clamping wheel includes a clamping seat floating on the movable part and a roller rotatably mounted on the clamping seat. The clamping seat is mounted on the movable part via a slide rod, and an elastic element is fitted onto the slide rod. The elastic element gives the clamping seat an upward tendency to move. Using the aforementioned technical solution, when the inspection robot walks on this undulating guide wire, the floating clamping seat can automatically adjust its position according to the vertical changes of the guide wire. The elastic element ensures that the clamping seat always maintains a contact state adapted to the guide wire, allowing the roller to closely adhere to the guide wire. Furthermore, the elastic element provides a continuous and stable upward elastic force to the clamping seat. This elastic force is transmitted to the roller through the clamping seat, causing the roller to apply stable pressure to the guide wire. This stable pressure increases the friction between the roller and the guide wire, preventing the inspection robot from slipping during movement.
[0021] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description
[0022] The invention will be further described below with reference to the accompanying drawings:
[0023] Figure 1 This is a schematic diagram of the structure of an airborne four-split wire X-ray imaging detection device according to the present invention;
[0024] Figure 2 This is a schematic diagram of the lifting mechanism in an airborne four-split conductor X-ray imaging detection device of the present invention;
[0025] Figure 3 This is a schematic diagram of the X-ray detection mechanism in an airborne four-split conductor X-ray imaging detection device of the present invention;
[0026] Figure 4 This is a schematic diagram of the wheel assembly in an airborne four-split conductor X-ray imaging detection device of the present invention;
[0027] Figure 5 This is a schematic diagram of the clamping mechanism in an airborne four-split wire X-ray imaging detection device of the present invention.
[0028] Reference numerals: 1. Housing; 11. Clearance groove; 2. Wheel set; 21. First wheel body; 211. Limiting groove; 22. Second wheel body; 23. First drive shaft; 24. Travel driver; 3. Lifting mechanism; 31. Adjusting seat; 311. Lifting rail; 312. Slider; 32. First adjustment driver; 321. Screw; 33. Second adjustment driver; 331. Second drive wheel; 332. First drive wheel; 333. Drive belt; 34. Mounting block; 35. Rotating shaft; 4. X-ray detection mechanism; 41. X-ray emitter; 42. Back plate; 431. Connecting plate; 432. Connecting arm; 5. Wire; 61. Pressing driver; 62. Second drive shaft; 63. Rotating seat; 64. Moving part; 651. Pressing seat; 652. Roller; 653. Slide rod. 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] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship 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 limitations on this invention.
[0031] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0032] like Figures 1 to 5 As shown in the figure, this embodiment demonstrates an airborne 5X imaging detection device for a four-split conductor, including a walking robot, an X-ray detection mechanism 4, and an adjustment mechanism. The walking robot is an airborne robot, meaning that the walking robot is deployed and retrieved by a drone. Operators can remotely control the drone to place the walking robot on the high-altitude power transmission line, eliminating the need for manual climbing of the power transmission line for operation, which can greatly reduce the workload and labor risks of operators.
[0033] The walking robot in this embodiment includes a housing 1 and a walking mechanism. The walking mechanism extends to both sides of the housing 1 and is mounted on two guide wires 5 to drive the housing 1 to walk on the guide wires 5. The X-ray detection mechanism 4 includes an X-ray emitter 41 and a back plate 42. The X-ray emitter 41 is located below the housing 1 and is connected to the back plate 42 through a connecting seat so that the back plate 42 is directly in front of the X-ray emitter 41.
[0034] In this embodiment, the adjustment mechanism includes an adjustment seat 31 fixed on the housing 1, a first adjustment driver 32 and a second adjustment driver 33. The adjustment seat 31 is provided with a lifting track 311 and a slider 312 connected to the connecting seat. The first adjustment driver 32 is driven to slide the slider 312 along the lifting track 311. The second adjustment driver 33 is driven to rotate the connecting seat on the horizontal plane.
[0035] In this embodiment, the connecting base includes a connecting plate 431 and a connecting arm 432. The connecting plate 431 is fixed to the lower surface of the X-ray emitter 41. The connecting plate 431 is connected to the back plate 42 through the connecting arm 432. The connecting arm 432 is at the same height as the emitting head of the X-ray emitter 41 and avoids the emitting head. The emitting head is directly facing the middle of the back plate 42. The connecting arm 432 abuts against the upper or lower side of the guide wire 5 so that the X-ray emitter 41 reaches a detectable position.
[0036] In this embodiment, the first adjustment driver 32 controls the X-ray emitter 41 to rise and fall, and the second adjustment driver 33 controls the X-ray emitter 41 to rotate on the horizontal plane. The X-ray emitter 41 is located below the housing 1. By raising and lowering the X-ray emitter 41, it can be positioned at a similar height to the upper or lower guide wire 5. By rotating the X-ray emitter 41 horizontally, it can be positioned directly facing the left or right guide wire 5. Under the combined action of the first adjustment driver 32 and the second adjustment driver 33, the X-ray emitter 41 can... The device can align with each of the four-splittered leads 5 and can inspect each lead 5 individually, allowing operators to obtain a clear image of each lead 5 and thus obtain clearer and more accurate inspection results, significantly improving the detection accuracy of the device. Furthermore, the first adjustment driver 32 and the second adjustment driver 33 simplify the adjustment of the X-ray emitter 41; that is, the overall structure of the adjustment mechanism is simpler and the operation is easier, enabling simple and rapid adjustment of the X-ray emitter 41, allowing it to respond quickly and be precisely adjusted to the designated position. The first adjustment driver 33 controls the X-ray emitter 41 to face the wire 5, which helps improve the detection efficiency and accuracy of the detection device. Secondly, during the detection process, the walking mechanism moves the housing 1 to the detection position of the wire 5. Then, the second adjustment driver 33 controls the X-ray emitter 41 to face the wire 5 to be detected. Finally, the first adjustment driver 32 controls the X-ray emitter 41 to rise and fall until the connecting arm 432 abuts against the wire 5. At this point, the X-ray emitter 41 has reached the detection position. The detection position of the X-ray emitter 41 is positioned by the connecting arm 432 abutting against the wire 5. During the adjustment process, when the X-ray emitter... When the lifting and lowering of the X-ray transmitter 41 is obstructed, it can clearly indicate to the operator that the X-ray transmitter 41 has been adjusted to the correct position, eliminating the need for repeated adjustments by the operator. This can improve the positioning accuracy of the X-ray transmitter 41 and also help improve the detection efficiency of the detection device. Furthermore, the X-ray transmitter 41 is located on the lower side of the housing 1, which can ensure that the overall center of gravity of the detection robot is between the two guide wires 5. When the detection robot is affected by strong winds, it is less likely to detach from the guide wires 5 under the drag of the X-ray detection mechanism 4, which helps improve the stability of the detection robot walking on the guide wires 5.
[0037] Specifically, in this embodiment, the adjusting seat 31 is vertically fixed to the housing 1 and extends upward. The first adjusting driver 32 is fixed to the top of the adjusting seat 31, and the second adjusting driver 33 is fixed to the bottom of the adjusting seat 31. The adjusting seat 31 is also provided with a mounting block 34, which is located below the lifting track 311. A screw 321 is rotatably arranged between the mounting block 34 and the top of the adjusting seat 31. The output end of the first adjusting driver 32 is connected to the top of the screw 321. After the first adjusting driver 32 is started, it drives the screw 321 to rotate. The slider 312 is threadedly connected to the screw 321. The slider 312 moves up and down along the lifting track 311 as the screw 321 rotates. The slider 312 is rotatably connected to a rotating shaft 35. The bottom end of the rotating shaft 35 is fixedly connected to a connecting seat. The output shaft of the second adjusting driver 33 is connected to the rotating shaft 35. The second adjusting driver 33 drives the rotating shaft 35 to rotate, thereby causing the connecting seat to rotate on the horizontal plane.
[0038] In this embodiment, when the first adjusting driver 32 drives the screw 321 to rotate, since the slider 312 is threadedly connected to the screw 321, the slider 312 will rise or fall a precise distance along the lifting track 311 every time the screw 321 rotates a certain angle. This allows the X-ray emitter and backplate 42 and other detection components to be precisely adjusted to a suitable height position according to the specific height of the wire 5, detection requirements, and surrounding environment when detecting the four-split wire 5, ensuring the accuracy and reliability of the detection. In addition, the first adjusting driver 32 can be integrated with the control system to achieve automated control. The operator only needs to input the corresponding instructions through the control terminal to precisely control the lifting height and speed of the slider 312, without the need for manual operation of complex mechanical structures, which improves the convenience of operation, reduces the impact of human factors on the detection results, and reduces the labor intensity of the operator.
[0039] Specifically, in this embodiment, a first transmission wheel 332 is fixed on the rotating shaft 35, and a second transmission wheel 331 is provided on the output shaft of the second adjustment driver 33. A transmission belt 333 is fitted between the first transmission wheel 332 and the second transmission wheel 331. The transmission belt 333 has a certain elasticity. During the process of the second adjustment driver 33 driving the second transmission wheel 331 to rotate, and then driving the first transmission wheel 332 and the rotating shaft 35 to rotate through the transmission belt 333, it can play a role in buffering and shock absorption. When the second adjustment driver 33 starts or stops, the elasticity of the transmission belt 333 can absorb part of the impact force, reduce the impact of vibration and impact caused by sudden start or stop on the rotating shaft 35 and the entire detection device, and make the rotation of the rotating shaft 35 more stable.
[0040] Specifically, in this embodiment, the bottom of the housing 1 is provided with a clearance groove 11. When the X-ray detection mechanism 4 rises to its highest position, the X-ray detection mechanism 4 is located within the clearance groove 11, and the connecting arm 432 abuts against the upper conductor 5 of the four-split conductor. At this time, the X-ray emitter 41 can irradiate the upper conductor 5, thereby realizing the detection of the upper conductor 5. In the height direction, the bottom surface of the housing 1 is lower than the lowest position of the walking mechanism. The bottom of the housing 1 is provided with a clearance groove 11 for avoiding the X-ray emitter 41, and the highest position of the clearance groove 11 is higher than the walking mechanism. By setting a clearance groove on the contact surface with the conductor 5, the X-ray transmitter 41 can not only ensure that it can normally detect the upper conductor 5, but also reduce the distance between the housing 1 and the X-ray transmitter 41, making the connection between the walking robot and the X-ray detection mechanism 4 more compact and reducing the space occupied by the detection device. In addition, the above structure can also lower the center of gravity of the detection device, reduce the swaying amplitude of the X-ray transmitter 41 caused by strong winds, help improve the wind resistance of the detection device, make the detection device more suitable for high-altitude detection, and also improve the detection accuracy of the detection device.
[0041] In this embodiment, the center of gravity of the detection device is lower than that of the upper conductor 5 of the four-split conductor. When the detection device travels on the conductor 5, it can provide better anti-tipping torque when encountering lateral wind, irregular shape of the conductor 5, or acceleration or deceleration of the device itself. This ensures the stability of the device when traveling on the conductor 5, reduces the risk of tipping over due to excessive center of gravity, and ensures that the detection work can be carried out safely and continuously.
[0042] Specifically, in this embodiment, the walking mechanism includes two wheel sets 2. Each wheel set 2 includes a first wheel body 21 and a second wheel body 22 located on both sides of the housing 1, and a walking driver 24 for driving the first wheel body 21 and the second wheel body 22. A first transmission shaft 23 is provided between the first wheel body 21 and the second wheel body 22. The walking driver 24 drives the first wheel body 21 and the second wheel body 22 to rotate through the first transmission shaft 23, thereby realizing the walking mechanism walking on the guide wire 5. The first wheel body 21 is provided with a limiting groove 211 for the guide wire 5 to be embedded. The axial length of the second wheel body 22 is greater than the diameter of the guide wire 5. The first wheel bodies 21 of the two wheel sets 2 are both located on the same side of the housing 1. Using the aforementioned technical solution, the first wheel 21 is provided with a limiting groove 211, and the first wheel 21s of the two wheel sets 2 are all located on the same side of the housing 1. The two first wheels 21 can position the wire 5 through the limiting groove 211, and can also guide the movement of the inspection robot, ensuring that the inspection robot always moves stably along the extension direction of the wire 5, and is not prone to positional deviation due to strong winds or the swaying of the wire 5, making the movement of the inspection robot on the wire 5 more stable and reliable. In addition, the axial length of the second wheel 22 is greater than the diameter of the wire 5, so that the second wheel 22 has sufficient contact range in the axial direction. Even if the distance between the two wires 5 changes under the action of strong winds, the second wheel 22 can still maintain good contact with the wires 5, further enhancing the stability of the inspection robot's movement and avoiding obstruction or falling of the inspection robot due to changes in the distance between the two wires 5.
[0043] It should be noted that in this embodiment, both wheel sets 2 are provided with a travel driver 24; in other embodiments, one wheel set 2 may be a driving wheel set 2 and the other wheel set 2 may be a driven wheel set 2. The driving wheel set 2 has a travel driver 24, and the driven wheel set 2 is connected to the first drive shaft 23 of the driving wheel set 2. The driven wheel set 2 runs as the first drive shaft 23 rotates.
[0044] Specifically, the detection device in this embodiment further includes a clamping mechanism, which includes a clamping driver 61, a movable part 64, and a clamping wheel. The output end of the clamping driver 61 is drivenly connected to a second drive shaft 62, and both ends of the second drive shaft 62 are drivenly connected to the movable part 64. A rotating seat 63 is fixedly installed on the outer side of the housing 1. The movable part 64 is rotatably connected to the rotating seat 63. The clamping wheel is installed on the movable part 64. The clamping driver 61 drives the movable part 64 to move closer to or away from the wire 5. The clamping wheel of the clamping mechanism abuts against the lower side of the wire 5, which can cooperate with the walking mechanism to clamp the wire 5. Even if the wire 5 sways up and down under the influence of strong wind, the clamping mechanism can prevent the detection robot from completely detaching from the wire 5, so that the walking mechanism can maintain good contact with the wire 5, further reducing the possibility of the detection robot detaching from the wire 5, and enabling the detection robot to walk stably and reliably on the wire 5.
[0045] Specifically, when the clamping mechanism needs to clamp the wire 5, the clamping driver 61 is activated, simultaneously driving the movable parts 64 on both sides of the housing 1 to rotate upwards via the second transmission shaft 62 until the clamping wheel abuts against the wire 5. At this time, the clamping wheel is located below the wire 5 and provides support for it. The wire 5 is clamped between the walking mechanism and the clamping wheel, preventing the detection robot from completely detaching from the wire 5 and ensuring good contact between the walking mechanism and the wire 5. When it is necessary to remove the walking robot, the clamping driver 61 is activated in reverse, simultaneously driving the movable parts 64 on both sides of the housing 1 to rotate downwards via the second transmission shaft 62, so that the clamping wheel returns to its original position. At this time, the clamping wheel avoids the wire 5, ensuring that the clamping wheel will not interfere with the wire 5 during the process of the drone lifting the walking robot, thus ensuring that the walking robot can be retrieved normally.
[0046] Specifically, the clamping wheel includes a clamping seat 651 floating on the movable part 64 and a roller 652 rotatably mounted on the clamping seat 651. The clamping seat 651 is mounted on the movable part 64 via a slide rod 653. An elastic element is fitted on the slide rod 653, which gives the clamping seat 651 an upward tendency to move. When the inspection robot walks on the undulating guide wire 5, the floating clamping seat 651 can automatically adjust its position according to the vertical changes of the guide wire 5. The elastic element ensures that the clamping seat 651 always maintains a contact state adapted to the guide wire 5, and that the roller 652 is in close contact with the guide wire 5. In addition, the elastic element provides a continuous and stable upward elastic force to the clamping seat 651. This elastic force is transmitted to the roller 652 through the clamping seat 651, so that the roller 652 applies stable pressure to the guide wire 5. The stable pressure can increase the friction between the roller 652 and the guide wire 5, preventing the inspection robot from slipping during walking.
[0047] 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. Those skilled in the art should understand that the present 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 present invention will be included within the scope of the claims.
Claims
1. An airborne four-split conductor X-ray imaging detection device, characterized in that, include: A walking robot includes a housing and a walking mechanism, the walking mechanism extending to both sides of the housing and mounted on two guide wires to drive the housing to walk on the guide wires; An X-ray inspection mechanism includes an X-ray transmitter and a backplate. The X-ray transmitter is located below the housing and is connected to the backplate via a connecting seat so that the backplate is positioned directly in front of the X-ray transmitter. The adjustment mechanism includes an adjustment seat fixed to the housing, a first adjustment driver and a second adjustment driver. The adjustment seat is provided with a lifting rail and a slider connected to a connecting seat. The first adjustment driver is driven to the slider to drive the slider to slide along the lifting rail. The second adjustment driver is driven to the connecting seat to drive the connecting seat to rotate on a horizontal plane. The connector includes a connecting plate and a connecting arm. The connecting plate is fixed to the lower surface of the X-ray emitter. The connecting plate is connected to the back plate via the connecting arm. The connecting arm is at the same height as the X-ray emitter's head and avoids the head. The head faces the center of the back plate. The connecting arm abuts against the upper or lower side of the conductor to make the X-ray emitter reach a detectable position.
2. The airborne four-split conductor X-ray imaging detection device according to claim 1, characterized in that, In the height direction, the bottom surface of the housing is lower than the lowest position of the walking mechanism. The bottom of the housing is provided with a clearance groove for avoiding the X-ray emitter. The X-ray emitter rises into the clearance groove to detect the upper layer of the four-split conductor.
3. The airborne four-split conductor X-ray imaging detection device according to claim 2, characterized in that, The center of gravity of the detection device is lower than the upper conductor of the four-split conductor.
4. The airborne four-split conductor X-ray imaging detection device according to claim 1, characterized in that, The slider is rotatably connected to a rotating shaft, the bottom end of which is fixedly connected to a connecting seat. The output shaft of the second adjustment driver is connected to the rotating shaft for transmission. The second adjustment driver drives the rotating shaft to rotate, thereby causing the connecting seat to rotate on a horizontal plane.
5. The airborne four-split conductor X-ray imaging detection device according to claim 4, characterized in that, The adjusting seat is provided with a mounting block, which is located below the lifting rail. A screw is rotatably provided between the mounting block and the top of the adjusting seat. The first driver is connected to the screw, and the slider is threadedly connected to the screw. The first driver drives the screw to rotate so as to drive the slider to rise and fall.
6. The airborne four-split conductor X-ray imaging detection device according to claim 4, characterized in that, A first transmission wheel is fixed on the rotating shaft, and a second transmission wheel is provided on the output shaft of the second adjusting driver. A transmission belt is fitted between the first transmission wheel and the second transmission wheel.
7. The airborne four-split conductor X-ray imaging detection device according to claim 1, characterized in that, The walking mechanism includes two wheel sets, each wheel set including a first wheel body and a second wheel body located on both sides of the housing. The first wheel body is provided with a limiting groove for embedding the wire, and the axial length of the second wheel body is greater than the diameter of the wire. The first wheel bodies of the two wheel sets are located on the same side of the housing.
8. The airborne four-split conductor X-ray imaging detection device according to claim 1, characterized in that, The detection device further includes a clamping mechanism, which includes a clamping driver, a movable part, and a clamping wheel. The clamping wheel is mounted on the movable part, and the clamping driver drives the movable part to move closer to or away from the wire.
9. The airborne four-split conductor X-ray imaging detection device according to claim 8, characterized in that, The clamping wheel includes a clamping seat floating on the movable part and a roller rotatably mounted on the clamping seat. The clamping seat is mounted on the movable part via a slide rod, and an elastic element is fitted on the slide rod. The elastic element causes the clamping seat to have an upward movement tendency.