X-ray detection device for strain clamp of power transmission line

Abstract

The invention discloses an X-ray detection device for a strain clamp of a power transmission line, and relates to the field of power detection, and the X-ray detection device comprises a ray source which is used for emitting X-rays; the holder mechanism is used for being connected with an external carrier; the connecting mechanism is used for connecting the holder mechanism and the radiation source, and the connecting mechanism comprises a bearing framework used for bearing the radiation source; wherein the cradle head mechanism comprises a pitching driving mechanism, the pitching driving mechanism comprises a first driving motor and a connecting rod assembly driven by the first driving motor, and the connecting rod assembly is fixedly connected with the radiation source so as to drive the radiation source to rotate around a first axis in a pitching mode; the yaw driving mechanism comprises a second driving motor and a gear transmission assembly driven by the second driving motor, the gear transmission assembly is used for driving the radiation source to perform yaw rotation around a second axis, and the first axis and the second axis intersect. According to the invention, the radiation source can be independent of the external carrier for multi-degree-of-freedom attitude adjustment, and the operation safety and the detection efficiency are guaranteed under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of power testing, and more specifically to an X-ray testing device for tension clamps of transmission lines. Background Technology

[0002] Tension clamps are hardware used to fix transmission lines to transmission towers (pole towers). They are generally located at line bends, terminals, or long spans, and bear significant mechanical tension. The crimping process of tension clamps involves high-altitude work, and its quality is greatly affected by processes, personnel, and equipment. Internal defects that are not visible to the naked eye can occur, severely impacting power transmission. Therefore, X-ray non-destructive testing of transmission line tension clamps is a crucial means of ensuring the safe operation of the power grid. In this testing operation, the X-ray source and imaging plate must be precisely positioned on both sides of the tension clamp, and the X-ray beam must penetrate the clamp crimping area at a near-vertical angle to obtain a clear imaging effect that reveals internal defects.

[0003] In existing technologies, drones or robots are typically used as mobile platforms to carry X-ray inspection devices. The X-ray source is rigidly fixed to the drone fuselage or the end effector of the robot arm. When the angle of the X-ray source needs to be adjusted to fit tension clamps on different orientations or different split conductors, the operator must remotely control the drone or robot to change its flight attitude or body posture. This approach exposes serious problems in complex high-altitude environments: in confined spaces (such as navigating between split conductors) or high wind speeds, forcing the drone or robot to make significant attitude adjustments can easily lead to platform instability, collisions, or even crashes, posing extremely high safety risks. Furthermore, the adjustment process is time-consuming and results in low inspection efficiency. Summary of the Invention

[0004] This invention aims to address one of the technical problems in related technologies to a certain extent. To this end, this invention provides an X-ray inspection device for tension clamps in power transmission lines. The X-ray source can be independently adjusted in multiple degrees of freedom from external carriers, ensuring operational safety and inspection efficiency under complex working conditions.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An X-ray inspection device for tension clamps of power transmission lines includes: a radiation source for emitting X-rays; a pan-tilt mechanism for connecting to an external carrier; and a connecting mechanism for connecting the pan-tilt mechanism and the radiation source, the connecting mechanism including a support frame for supporting the radiation source; wherein the pan-tilt mechanism includes: a pitch drive mechanism including a first drive motor and a linkage assembly driven by the first drive motor, the linkage assembly being fixedly connected to the radiation source to drive the radiation source to pitch around a first axis; and a yaw drive mechanism including a second drive motor and a gear transmission assembly driven by the second drive motor, the gear transmission assembly driving the radiation source to yaw around a second axis, the first axis and the second axis intersecting.

[0006] In existing technologies, X-ray sources are generally fixed to external carriers, so their angle adjustment depends on the attitude changes of the external carriers. This embodiment, by setting up a gimbal mechanism with pitch and yaw degrees of freedom, decouples the X-ray source's attitude adjustment function from the carrier's flight control system. In actual operation, external carriers such as drones only need to fly to the detection area and maintain a stable hovering or fixed attitude; the angle adjustment of the X-ray source is completed by the gimbal mechanism. This eliminates the risk of instability and collision caused by high-risk attitude changes of the external carrier. Especially in complex working conditions such as high wind speeds or limited space (e.g., between split conductors), the external carrier does not need to adjust its position, thus making the operating environment safer. The gimbal mechanism realizes the pitch and yaw rotation of the X-ray source through a linkage assembly and a gear transmission assembly, respectively. Since the two actions are driven by a first drive motor and a second drive motor, the first drive motor can be controlled independently or in tandem. That is, pitch and yaw actions can be realized synchronously or independently, allowing for real-time and flexible adjustment of the X-ray source's angle, facilitating the imaging of tension clamps at complex angles. Secondly, this application integrates the radiation source, pan-tilt mechanism, and connecting mechanism into a single module, and this module can be detachably installed on different external carriers to accommodate different split circuits such as six-split and eight-split circuits.

[0007] Optionally, the linkage assembly includes: an input rocker arm, one end of which is fixedly connected to the output end of the first drive motor; an output linkage, one end of which is rotatably connected to the end of the input rocker arm away from the first drive motor; and a rigid shaft connector, which is fixedly connected to the end of the output linkage away from the input rocker arm and the radiation source.

[0008] The input rocker arm is a rigid metal rod, one end of which is fixedly connected to the output shaft of the first drive motor. "Fixedly connected" means there is no relative movement between the two in the circumferential or axial directions. The output connecting rod is an irregularly shaped rigid component, one end of which is rotatably connected to the free end of the input rocker arm. "Rotationally connected" means that the two can rotate relative to each other. The rigid shaft connector is a cylindrical sleeve with outwardly protruding wing plates on its outer circumference. A mounting through hole is provided on the wing plate, and the end of the output connecting rod furthest from the input rocker arm passes through the mounting through hole and is interference-fitted with it.

[0009] Optionally, the connecting mechanism includes a fixed back plate for fixing to the radiation source, and the linkage assembly further includes a first connecting shaft, both ends of which are fixed to one end of the fixed back plate, and the rigid shaft connector is fixedly sleeved on the first connecting shaft.

[0010] The connecting mechanism also includes a fixed back plate, on which the X-ray source is mounted. The linkage assembly also includes a first connecting shaft, with both ends of the first connecting shaft fixed to the fixed back plate, and a rigid shaft connector fixedly sleeved on it, so as to achieve the purpose of driving the X-ray source to rotate through the linkage mechanism.

[0011] Optionally, the linkage assembly further includes a second connecting shaft, the two ends of which are rotatably supported by the load-bearing frame and fixedly connected to the fixed back plate, and the axis of the second connecting shaft constitutes the first axis.

[0012] The second connecting shaft is rotatably supported at both ends by the supporting frame and fixed to the fixed back plate. Therefore, the second connecting shaft restricts the vertical movement of the fixed back plate away from the first connecting shaft, thus becoming the rotation fulcrum of the fixed back plate. The axis of the second connecting shaft naturally forms the first axis of pitch rotation of the X-ray source. When the first drive motor rotates, through the transmission of the input rocker arm, output connecting rod, and rigid shaft connector, it ultimately drives the fixed back plate and the entire X-ray source to stably pitch and swing around the second connecting shaft (the first axis).

[0013] Optionally, the supporting frame is U-shaped with an internal cavity; the fixing back plate is a plate-like structure adapted to the shape of the cavity, and has connecting ribs extending toward the cavity for connecting the first connecting shaft.

[0014] The main body of the support frame is constructed in a U-shape, forming a rectangular cavity with openings at the top and sides. The fixing back plate is a plate-like structure adapted to the cross-sectional shape of the cavity to facilitate the fixing of the back plate to secure the radiation source and to allow the support frame to better support the radiation source. On the inner side of the fixing back plate, corresponding to the positions at both ends of the first connecting shaft, integrally formed connecting ribs extending perpendicularly to the plate surface into the cavity are provided. The two ends of the first connecting shaft are respectively fixed into the holes of the two connecting ribs to enhance the connection strength between the first connecting shaft and the fixing back plate.

[0015] Optionally, the output link includes a main body, an extension, and a stop, arranged sequentially. The extension is horizontally arranged, the main body and the stop are vertically arranged and extend in opposite directions. The main body is fixedly connected to the rigid shaft connector, and the input rocker arm is rotatably connected to the extension.

[0016] The output connecting rod is a single integrated component. The main body extends upwards in a generally vertical direction, with its top end fixed to the rigid shaft connector. An extension is horizontally positioned from the bottom of the main body and extends outwards, rotatably connected to the input rocker arm. A stop extends downwards from the end of the extension and is positioned generally vertically. The stop's function is to mechanically prevent detachment. When the device is subjected to vibration or impact, causing the input rocker arm to tend to accidentally separate from the output connecting rod, the stop will abut against the input rocker arm, creating physical interference and preventing the input rocker arm from falling off the output connecting rod, thus improving the reliability of the transmission.

[0017] Optionally, the gear transmission assembly is connected to the support frame to drive the support frame to rotate around the second axis; the support frame is configured to drive the X-ray source to rotate synchronously around the second axis.

[0018] The gear transmission assembly is directly connected to the load-bearing frame. The function of the gear transmission assembly is to drive the load-bearing frame to rotate around the second axis, avoiding the transmission of torque through complex connecting rods or flexible links, and providing yaw rotation power for the X-ray source.

[0019] Optionally, the gear transmission assembly includes a driving gear and a driven gear meshing with the driving gear. The driving gear is fixed to the output shaft of the second drive motor, and the rotation axis of the driven gear constitutes the second axis. The driven gear is fixed to the support frame by a fixing pin so that the support frame can rotate around the second axis.

[0020] The gear transmission assembly consists of a driving gear, a driven gear, and a retaining pin. The driving gear is fixed to the output shaft of the second drive motor. The driven gear meshes with the driving gear, and its axis of rotation is set vertically. The driven gear is rigidly fixed to the bottom of the support frame via an interference-fit retaining pin; that is, coaxial pin holes are machined at corresponding positions on the hub of the driven gear and the base of the support frame, and the retaining pin is pressed in to achieve a rigid connection without relative rotation. The axis of rotation of the driven gear itself is configured to coincide with the second axis. Therefore, when the second drive motor drives the driving gear to rotate, the driven gear rotates around the second axis and directly drives the support frame to rotate around the second axis via the retaining pin. Furthermore, because the support frame and the fixed back plate are connected via a second connecting shaft, the fixed back plate and the radiation source fixed to the fixed back plate by several fasteners, such as screws and threaded rods, can also rotate around the second axis.

[0021] Optionally, the gimbal mechanism further includes a housing, in which the first drive motor, the second drive motor, the gear transmission assembly, and at least a portion of the linkage assembly are located.

[0022] The housing can be detachably mounted on various external vehicles (such as drones and robots) to accommodate a wide range of applications. The housing provides physical protection against dust, moisture, and impacts to the internal structure, ensuring reliable operation in complex outdoor environments.

[0023] Optionally, the pitch rotation angle range of the radiation source around the first axis is -45° to 45°, and the yaw rotation angle range of the pitch drive mechanism around the second axis is 0° to 270°.

[0024] The pitch range of -45° to 45° ensures that the X-ray source can be aimed at the tension clamp crimping areas located on different sides of the transmission line from multiple angles, both above and below; the horizontal yaw range of 0° to 270° allows the X-ray source to photograph clamps from multiple angles without requiring the vehicle to turn around. This enables drones or robots equipped with this device to quickly inspect tension clamps at multiple angles and positions around them by controlling the gimbal mechanism after arriving and hovering or positioning stably once, without the need for frequent vehicle movement or attitude adjustments, simplifying the operation process and improving inspection efficiency.

[0025] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of the present invention will be shown in detail in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. In addition, each of these features, elements and components appearing in the following text and drawings is a plurality of, and different symbols or numbers are used for convenience of representation, but all represent parts with the same or similar construction or function. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the X-ray detection device in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the cooperation between the gimbal mechanism and the connecting mechanism in an embodiment of the present invention; Figure 3 for Figure 2 A schematic diagram of the structure after the shell has been removed; Figure 4 for Figure 3 An explosion diagram; Figure 5 This is a schematic diagram illustrating the cooperation between the connecting rod assembly and the load-bearing frame in an embodiment of the present invention.

[0027] Among them, 1. X-ray source; 2. Gimbal mechanism; 21. Pitch drive mechanism; 211. First drive motor; 212. Linkage assembly; 2121. Input rocker arm; 2122. Output link; 2122a. Main body; 2122b. Extension; 2122c. Stop; 2123. Rigid shaft connector; 2124. First connecting shaft; 2125. Second connecting shaft; 22. Yaw drive mechanism; 221. Second drive motor; 222. Gear transmission assembly; 2221. Drive gear; 2222. Driven gear; 23. Housing; 3. Connecting mechanism; 31. Support frame; 311. Cavity; 32. Fixed back plate; 321. Connecting rib; 4. Imaging plate. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0029] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this patent. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0030] Example: Figures 1 to 3 As shown, this embodiment provides an X-ray inspection device for tension clamps of power transmission lines, including: a radiation source 1 for emitting X-rays; a pan-tilt mechanism 2 for connecting to an external carrier; and a connecting mechanism 3 for connecting the pan-tilt mechanism 2 and the radiation source 1, the connecting mechanism 3 including a support frame 31 for supporting the radiation source 1; wherein the pan-tilt mechanism 2 includes: a pitch drive mechanism 21, which includes a first drive motor 211 and a linkage assembly 212 driven by the first drive motor 211, the linkage assembly 212 being fixedly connected to the radiation source 1 to drive the radiation source 1 to pitch around a first axis; and a yaw drive mechanism 22, which includes a second drive motor 221 and a gear transmission assembly 222 driven by the second drive motor 221, the gear transmission assembly 222 being used to drive the radiation source 1 to yaw around a second axis, the first axis and the second axis intersecting.

[0031] In this embodiment, an X-ray inspection device for tension clamps of transmission lines is provided to solve the problems of high operational risk and poor flexibility caused by the reliance on external carrier attitude changes for the pose adjustment of the X-ray source 1 in the prior art, and the difficulty in adapting the inspection device to different split lines when fixed on a certain carrier. The X-ray source 1 can be an industrial directional X-ray machine to generate a cone-shaped X-ray beam. For example, the X-ray machine housing can be a radiation shield with an X-ray beam exit window at the front end. It should be noted that the X-ray device in this embodiment should also include an imaging plate 4, which has an imaging plane for receiving X-rays. The imaging plate 4 should be arranged on the side of the tension clamp away from the X-ray machine so that the X-ray beam penetrates the clamp's pressing area at a near-vertical angle, thereby obtaining a clear imaging effect of internal defects in the clamp. A gimbal mechanism 2 is used for detachable connection to an external carrier (such as a drone or robot) and drives the X-ray source 1 to change its spatial orientation. Of course, in other embodiments, the gimbal mechanism 2 can also be fixed to an external carrier. The connecting mechanism 3 connects the gimbal mechanism 2 and the X-ray source 1, and includes a support frame 31 for supporting the X-ray source 1. The gimbal mechanism 2 includes a pitch drive mechanism 21 and a yaw drive mechanism 22; the pitch drive mechanism 21 includes a first drive motor 211 and a linkage assembly 212 driven by the motor, and a portion of the linkage assembly 212 is fixedly connected to the X-ray source 1. Driven by the first drive motor 211, the linkage assembly 212 can convert the rotational motion of the motor into pitch rotation of the X-ray source 1 about a first axis. The yaw drive mechanism 22 includes a second drive motor 221 and a gear transmission assembly 222 driven by the motor. Driven by the second drive motor 221, the gear transmission assembly 222 can drive the X-ray source 1 to yaw rotation about a second axis. In this embodiment, the first axis is perpendicular to the second axis, which is a horizontal axis and the second axis is a vertical axis. Therefore, pitch rotation, which is the up-and-down swinging around the horizontal axis, forms the "nodding" or "head-raising" motion of the X-ray source 1; yaw rotation, which is the left-and-right rotation around the vertical axis, forms the "head-shaking" or "head-swaying" motion of the X-ray source 1. In other embodiments, the angle between the first axis and the second axis can also be 60°, 70°, etc.

[0032] In summary, in existing technologies, the X-ray source 1 is generally fixed to an external vehicle, so its angle adjustment depends on the attitude changes of the external vehicle. This embodiment, by setting up a gimbal mechanism 2 with pitch and yaw degrees of freedom, decouples the attitude adjustment function of the X-ray source 1 from the flight control system of the vehicle. In actual operation, external vehicles such as drones only need to fly to the detection area and maintain a stable hovering or fixed attitude. The angle adjustment of the X-ray source 1 is completed by the gimbal mechanism 2, eliminating the risk of instability and collision caused by high-risk attitude changes of the external vehicle. Especially in complex working conditions such as high wind speeds or limited space (e.g., between split conductors), the external vehicle does not need to adjust its position, thus making the operating environment safer. The gimbal mechanism 2 achieves the pitch and yaw rotation of the X-ray source 1 through the linkage assembly 212 and the gear transmission assembly 222, respectively. Since the two actions are driven by the first drive motor 211 and the second drive motor 221, the first drive motor 211 can be controlled independently or in concert with the second drive motor 221. That is, the pitch and yaw actions can be achieved synchronously or independently, and the angle of the X-ray source 1 can be flexibly adjusted in real time, which is convenient for shooting tension clamps with complex angles. Furthermore, this application integrates the X-ray source 1, the gimbal mechanism 2, and the connecting mechanism 3 into a single module, and this module can be detachably installed on different external carriers to be suitable for different split lines such as six-split and eight-split lines.

[0033] like Figure 3 , Figure 4 and Figure 5 As shown, the linkage assembly 212 includes: an input rocker arm 2121, one end of which is fixedly connected to the output end of the first drive motor 211; an output linkage 2122, one end of which is rotatably connected to the end of the input rocker arm 2121 away from the first drive motor 211; a rigid shaft connector 2123, which is fixedly connected to the end of the output linkage 2122 away from the input rocker arm 2121 and the radiation source 1.

[0034] In this embodiment, the input rocker arm 2121 is a rigid metal rod, one end of which is fixedly connected to the output shaft of the first drive motor 211. "Fixedly connected" means there is no relative movement between the two in the circumferential and axial directions. The output connecting rod 2122 is an irregularly shaped rigid component, one end of which is rotatably connected to the free end of the input rocker arm 2121. "Rotary connection" means that the two can rotate relative to each other. The rigid shaft connector 2123 is a cylindrical sleeve with a protruding wing plate on its outer periphery. A mounting through hole is provided on the wing plate, and the end of the output connecting rod 2122 away from the input rocker arm 2121 passes through the mounting through hole and is interference-fitted with it. In other embodiments, the output connecting rod 2122 can also be welded to the rigid shaft connector 2123. The linkage process of the linkage assembly 212 is as follows: The output shaft of the first drive motor 211 drives the input rocker arm 2121, which is fixed to it, to rotate around the axis of the output shaft; the free end of the input rocker arm 2121 (the end connected to the output linkage 2122) serves as the active motion point, driving the output linkage 2122, which is rotatably connected to it. The end of the output linkage 2122 away from the input rocker arm 2121 is fixed to the rigid shaft connector 2123; since the rigid shaft connector 2123 is fixedly connected to the X-ray source 1, and the X-ray source 1 is constrained to rotate around a fixed first axis through the connecting mechanism 3, the movement of this end of the output linkage 2122 is restricted to reciprocating motion in a direction substantially perpendicular to the first axis in a vertical plane perpendicular to the first axis, that is, it manifests as up and down movement. The rigid shaft connector 2123 moves up and down synchronously with the output linkage 2122, thereby applying a rotational torque around the first axis to the radiation source 1 through its fixed connection with the radiation source 1, driving the radiation source 1 to pitch and rotate around the first axis in the vertical plane. The linkage mechanism allows the first drive motor 211 to be positioned away from the rotation axis (first axis), providing flexibility for the optimized spatial layout of the gimbal mechanism 2 and helping to improve the center of gravity distribution of the device. At the same time, the linkage mechanism itself has fewer parts and a compact structure, which helps to reduce the overall size and weight of the gimbal.

[0035] like Figure 3 , Figure 4 and Figure 5 As shown, the connecting mechanism 3 includes a fixed back plate 32 for fixing to the radiation source 1, and the connecting rod assembly 212 also includes a first connecting shaft 2124. Both ends of the first connecting shaft 2124 are fixed to one end of the fixed back plate 32, and the rigid shaft connector 2123 is fixedly sleeved on the first connecting shaft 2124.

[0036] In this embodiment, the connecting mechanism 3 further includes a fixed back plate 32, on which the X-ray source 1 is mounted. The linkage assembly 212 further includes a first connecting shaft 2124, both ends of which are fixed to the fixed back plate 32, and a rigid shaft connector 2123 is fixedly sleeved on it to achieve the purpose of driving the X-ray source 1 to rotate through the linkage mechanism.

[0037] The linkage assembly 212 also includes a second connecting shaft 2125, the two ends of which are rotatably supported on the supporting frame 31 and fixedly connected to the fixed back plate 32, and the axis of the second connecting shaft 2125 constitutes the first axis.

[0038] In this embodiment, the two ends of the second connecting shaft 2125 are rotatably supported by the supporting frame 31 and fixed to the fixed back plate 32. Therefore, the second connecting shaft 2125 restricts the vertical movement of the fixed back plate 32 away from the end of the first connecting shaft 2124, thus becoming the rotation fulcrum of the fixed back plate 32. The axis of the second connecting shaft 2125 naturally forms the first axis of pitch rotation of the X-ray source 1. When the first drive motor 211 rotates, through the transmission of the input rocker arm 2121, the output connecting rod 2122 and the rigid shaft connector 2123, the fixed back plate 32 and the X-ray source 1 are finally driven to pitch and swing stably around the second connecting shaft 2125 (the first axis).

[0039] The supporting frame 31 is U-shaped, and a cavity 311 with an opening on one side is formed inside; the fixed back plate 32 is a plate-shaped structure adapted to the shape of the cavity 311, and it is provided with connecting ribs 321 extending toward the cavity 311 for connecting the first connecting shaft 2124.

[0040] In this embodiment, the main body of the supporting frame 31 is constructed as a U-shaped structure, with a rectangular cavity 311 formed inside the U-shaped structure, open at the top and on both sides. The fixing back plate 32 is a plate-like structure adapted to the cross-sectional shape of the cavity 311, so as to facilitate fixing the X-ray source 1 and enable the supporting frame 31 to better support the X-ray source 1. On the inner side of the fixing back plate 32, corresponding to the positions of the two ends of the first connecting shaft 2124, connecting ribs 321 are integrally formed, extending perpendicularly to the plate surface into the cavity 311. The two ends of the first connecting shaft 2124 are respectively fixed in the holes of the two connecting ribs 321 to enhance the connection strength between the first connecting shaft 2124 and the fixing back plate 32.

[0041] like Figure 3 , Figure 4 and Figure 5 As shown, the output link 2122 includes a main body 2122a, an extension 2122b, and a stop 2122c arranged in sequence. The extension 2122b is arranged horizontally, while the main body 2122a and the stop 2122c are arranged vertically and extend in opposite directions. The main body 2122a is fixedly connected to the rigid shaft connector 2123, and the input rocker arm 2121 is rotatably connected to the extension 2122b.

[0042] In this embodiment, the output link 2122 is an integrated component. The main body 2122a extends upward in a generally vertical direction, and its top end is fixedly connected to the rigid shaft connector 2123. The extension 2122b is horizontally arranged from the bottom end of the main body 2122a and extends outward, and the extension 2122b is rotatably connected to the input rocker arm 2121. The stop 2122c extends downward from the end of the extension 2122b and is arranged in a generally vertical direction. The function of the stop 2122c is to mechanically prevent detachment. When the device is subjected to vibration or impact, causing the input rocker arm 2121 to tend to accidentally detach from the output link 2122, the stop 2122c will abut against the input rocker arm 2121 to form physical interference, thereby preventing the input rocker arm 2121 from falling off the output link 2122 and improving the reliability of the transmission.

[0043] The gear transmission assembly 222 is connected to the support frame 31 to drive the support frame 31 to rotate around the second axis; the support frame 31 is configured to drive the X-ray source 1 to rotate synchronously around the second axis.

[0044] In this embodiment, the gear transmission assembly 222 is directly connected to the support frame 31. The function of the gear transmission assembly 222 is to drive the support frame 31 to rotate around the second axis, avoiding the transmission of torque through complex linkages or flexible links, and providing yaw rotation power for the X-ray source 1. In addition, the X-ray source 1 can rotate with the support frame 31 by connecting the support frame 31 and the fixed back plate 32 through the second connecting shaft 2125, thereby causing the X-ray source 1 fixed to the fixed back plate 32 to rotate accordingly. In other embodiments, the X-ray source 1 can also be directly mounted on the support frame 31, so that the support frame 31 drives the X-ray source 1 to yaw rotation. However, in this case, the X-ray source 1 should be able to rotate relative to the support frame 31 to achieve the pitch rotation action of the X-ray source 1. In this case, the pitch drive mechanism 21 (first drive motor 211 and linkage assembly 212) can be configured such that the output linkage 2122 is directly connected to the X-ray source 1 to drive the X-ray source 1 to pitch rotation relative to the support frame 31 around the first axis, and the second connecting shaft 2125 can be configured to be directly rotatably connected to the X-ray source 1.

[0045] The gear transmission assembly 222 includes a driving gear 2221 and a driven gear 2222 meshing with the driving gear 2221. The driving gear 2221 is fixed to the output shaft of the second drive motor 221. The rotation axis of the driven gear 2222 forms the second axis. The driven gear 2222 is fixed to the support frame 31 by a fixing pin so that the support frame 31 can rotate around the second axis.

[0046] In this embodiment, the gear transmission assembly 222 consists of a driving gear 2221, a driven gear 2222, and a fixing pin. The driving gear 2221 is fixed to the output shaft of the second drive motor 221. The driven gear 2222 meshes with the driving gear 2221, and its axis of rotation is set vertically. The driven gear 2222 is rigidly fixed to the bottom of the support frame 31 by an interference fit fixing pin, that is, coaxial pin holes are machined at corresponding positions on the hub of the driven gear 2222 and the base of the support frame 31, and the fixing pin is pressed in to achieve a rigid connection without relative rotation. The axis of rotation of the driven gear 2222 itself is configured to coincide with the second axis. Therefore, when the second drive motor 221 drives the driving gear 2221 to rotate, the driven gear 2222 rotates around the second axis and directly drives the support frame 31 to rotate around the second axis through the fixing pin. Since the supporting frame 31 and the fixed back plate 32 are connected by the second connecting shaft 2125, the fixed back plate 32 and the radiation source 1 fixed to the fixed back plate 32 by a number of fasteners can also rotate around the second axis. The fasteners can be screws, bolts, etc.

[0047] In other embodiments, the gear transmission assembly 222 of the yaw drive mechanism 22 may also include a timing belt, that is, the driving wheel and the driven wheel are connected by a timing belt. This solution can also achieve the drive of the support frame 31 around the second axis, and has the advantage of lower noise, and also falls within the protection scope of the present invention.

[0048] The gimbal mechanism 2 also includes a housing 23, in which a first drive motor 211, a second drive motor 221, a gear transmission assembly 222, and at least a portion of a connecting rod assembly 212 are located.

[0049] In this embodiment, the housing 23 is detachably mounted on different external vehicles (such as various types of drones and robots) to adapt to a variety of external vehicles. The housing 23 provides physical protection against dust, moisture, and impacts for the internal structure, ensuring its long-term reliable operation in complex outdoor environments.

[0050] The pitch rotation angle of the X-ray source 1 around the first axis is -45° to 45°, and the yaw rotation angle of the pitch drive mechanism 21 around the second axis is 0° to 270°.

[0051] In this embodiment, the pitch range of -45° to 45° ensures that the X-ray source 1 can be aimed at the tension clamp crimping area located on different sides of the transmission line from multiple angles, both above and below; the horizontal yaw range of 0° to 270° allows the X-ray source 1 to photograph the clamps from multiple directions without the need for the vehicle to turn around. This enables a drone or robot equipped with this device to quickly inspect tension clamps at multiple angles and positions around it by controlling the gimbal mechanism 2 after arriving and hovering or positioning once, without the need for frequent vehicle movement or adjustment of its own attitude, simplifying the operation process and improving inspection efficiency.

[0052] The above are merely specific embodiments 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 X-ray inspection device for tension clamps in power transmission lines, characterized in that, include: A radiation source, used to emit X-rays; A gimbal mechanism used for connection to an external vehicle; A connecting mechanism for connecting the pan-tilt mechanism and the radiation source, the connecting mechanism including a support frame for supporting the radiation source; The gimbal mechanism includes: A pitch drive mechanism includes a first drive motor and a linkage assembly driven by the first drive motor. The linkage assembly is fixedly connected to the radiation source to drive the radiation source to pitch and rotate about a first axis. A yaw drive mechanism includes a second drive motor and a gear transmission assembly driven by the second drive motor. The gear transmission assembly is used to drive the ray source to yaw about a second axis, wherein the first axis and the second axis intersect. The linkage assembly includes: an input rocker arm, one end of which is fixedly connected to the output end of the first drive motor; an output linkage, one end of which is rotatably connected to the end of the input rocker arm away from the first drive motor; and a rigid shaft connector, which is fixedly connected to the end of the output linkage away from the input rocker arm and the radiation source.

2. The X-ray detection device according to claim 1, characterized in that, The connecting mechanism includes a fixed back plate for fixing to the radiation source, and the linkage assembly also includes a first connecting shaft, both ends of which are fixed to one end of the fixed back plate, and the rigid shaft connector is fixedly sleeved on the first connecting shaft.

3. The X-ray detection device according to claim 2, characterized in that, The linkage assembly further includes a second connecting shaft, the two ends of which are rotatably supported by the load-bearing frame and fixedly connected to the fixed back plate, and the axis of the second connecting shaft constitutes the first axis.

4. The X-ray detection device according to claim 2, characterized in that, The supporting frame is U-shaped with an internal cavity; the fixed back plate is a plate-like structure adapted to the shape of the cavity, and has connecting ribs extending toward the cavity for connecting the first connecting shaft.

5. The X-ray detection device according to claim 1, characterized in that, The output link includes a main body, an extension, and a stop, arranged sequentially. The extension is horizontally arranged, while the main body and the stop are vertically arranged and extend in opposite directions. The main body is fixedly connected to the rigid shaft connector, and the input rocker arm is rotatably connected to the extension.

6. The X-ray detection apparatus according to any one of claims 1-5, characterized in that, The gear transmission assembly is connected to the support frame to drive the support frame to rotate around the second axis; the support frame is configured to drive the radiation source to rotate synchronously around the second axis.

7. The X-ray detection device according to claim 6, characterized in that, The gear transmission assembly includes a driving gear and a driven gear meshing with the driving gear. The driving gear is fixed to the output shaft of the second drive motor. The rotation axis of the driven gear forms the second axis. The driven gear is fixed to the support frame by a fixing pin so that the support frame can rotate around the second axis.

8. The X-ray detection apparatus according to any one of claims 1-5, characterized in that, The gimbal mechanism also includes a housing, in which the first drive motor, the second drive motor, the gear transmission assembly, and at least a portion of the linkage assembly are located.

9. The X-ray detection apparatus according to any one of claims 1-5, characterized in that, The pitch rotation angle of the radiation source around the first axis is in the range of -45° to 45°, and the yaw rotation angle of the pitch drive mechanism around the second axis is in the range of 0° to 270°.

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