X-ray detection method of four-bundle conductor tension crimping pipe

Abstract

The invention discloses an X-ray detection method for a four-bundle conductor tension crimping tube, belongs to the field of detection robots, and solves the problem of low detection precision of existing X-ray detection equipment. The technical scheme for solving the problem is mainly as follows: firstly, a walking robot is carried to a four-bundle conductor by an unmanned aerial vehicle; then the walking mechanism advances to the position of the tension crimping pipe along the wire, then the first adjusting assembly and the second adjusting assembly adjust the X-ray emitter and the back plate until the tension crimping pipe is located between the X-ray emitter and the back plate, then the X-ray emitter emits X-rays to the tension crimping pipe, the back plate receives the X-rays, and the X-rays are transmitted to the X-ray emitter. And finally, the unmanned aerial vehicle takes down the walking robot from the wire and returns to the ground. The invention is mainly used for improving the detection precision of the X-ray detection equipment.

Description

Technical Field

[0001] This invention demonstrates an X-ray inspection method for a four-split conductor tension-resistant connector, belonging to the field of inspection robot technology. Background Technology

[0002] As a critical connecting component, the four-split conductor of a high-voltage transmission line may experience 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 conductor strand breakage, core fracture of split conductors, and damage to connecting pipes, which 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 four-split conductors 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: low attitude adjustment accuracy, inability to cover the entire circumference and multiple elevation angles of the conductor; cumbersome disassembly and assembly, making maintenance and upgrades difficult; and inability to adapt to the demands of live-line work in complex outdoor environments. Summary of the Invention

[0004] The purpose of this invention is to solve the problem of low detection accuracy in existing X-ray inspection equipment. To this end, an X-ray inspection method for a four-split conductor tension-resistant connector is provided to improve the detection accuracy of X-ray inspection equipment.

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

[0006] An X-ray inspection method for a four-split conductor tension-resistant connector includes a walking robot and an X-ray inspection device. The walking robot is equipped with a walking mechanism and a clamping mechanism. The X-ray inspection device includes an X-ray emitter and a backplate. The X-ray emitter is movably connected to the walking robot via a first adjustment component, and the backplate is movably connected to the X-ray emitter via a second adjustment component. The second adjustment component includes a second connector for connecting the backplate and the X-ray emitter. The inspection method includes:

[0007] S1. The first adjustment component adjusts the X-ray emitter toward the walking direction of the walking robot, which is transported by a drone to the four-split guide wire;

[0008] S2, the clamping mechanism moves to the lower side of the conductor and abuts against the conductor, and the traveling mechanism travels along the conductor to the tension-resistant connector;

[0009] S3. The first adjustment component adjusts the X-ray emitter to face the side where the tension-resistant connector to be tested is located. If the tension-resistant connector is on the upper layer of the four-split conductor, the first adjustment component controls the X-ray emitter to rotate upward, while the second connector rotates to the lower side of the emitter head. If the tension-resistant connector is on the lower layer of the four-split conductor, the first adjustment component controls the X-ray emitter to rotate downward, while the second connector rotates to the upper side of the emitter head. This continues until the tension-resistant connector is between the X-ray emitter and the backplate.

[0010] S4. The X-ray emitter emits X-rays toward the tension-resistant pipe, and the back plate receives the X-rays.

[0011] S5. The drone removes the walking robot from the guide wire and returns it to the ground.

[0012] The beneficial effects of using the present invention are:

[0013] This invention utilizes a drone to transport a walking robot to a four-split conductor. Compared to the traditional method of manually climbing the conductor to install the inspection equipment, this significantly improves the efficiency of equipment deployment, reduces the time and difficulty of manual work at heights, lowers labor costs, and shortens the preparation time for the entire inspection process. Furthermore, the first adjustment component allows for flexible adjustment of the X-ray emitter's orientation. Initially, it faces the direction of travel to facilitate equipment transport and positioning. During the inspection phase, it precisely faces the side where the tension-resistant pipe to be inspected is located. Whether it's the upper or lower tension-resistant pipe, the first adjustment component controls the X-ray emitter's rotation accordingly, ensuring accurate X-ray illumination of the inspection area and improving inspection precision. Secondly, the second adjustment component rotates to a suitable position based on the tension-resistant pipe's location, allowing the second connector to avoid the conductor and ensuring the conductor is positioned between the X-ray emitter and the backplate. This allows the X-ray to accurately penetrate the conductor, providing comprehensive and clear image information of the tension-resistant pipe's interior, avoiding blind spots due to improper positioning, and ensuring the completeness and accuracy of the inspection results.

[0014] Preferably, the X-ray transmitter is equipped with an attitude sensor, which detects the attitude data of the X-ray transmitter. In step S3, the first adjustment component and the second adjustment component adjust the X-ray transmitter according to the attitude data. Using the aforementioned technical solution, the attitude sensor can accurately acquire the attitude of the X-ray transmitter, thereby ensuring that the X-ray transmitter can be accurately and quickly adjusted to the specified state, ensuring that the X-rays irradiate the pressure tube at the optimal incident angle, thus greatly improving the accuracy of detection. Furthermore, the attitude sensor allows operators to conveniently monitor the attitude of the X-ray transmitter in real time through a remote monitoring interface, and make remote adjustments and controls as needed, realizing remote operation and monitoring, and improving the flexibility and convenience of operation.

[0015] Preferably, in step S4, if the length of the tension-resistant pipe is greater than the length of the backplate, the X-ray transmitter first scans one end of the tension-resistant pipe, and then the walking robot moves to allow the X-ray transmitter to scan the next part of the tension-resistant pipe until the X-ray transmitter has completed scanning the entire tension-resistant pipe. By employing the aforementioned technical solution, multiple scans of the tension-resistant pipe ensure that every detail of the pipe is illuminated by X-rays, and the backplate can fully receive the corresponding X-ray information, avoiding blind spots caused by length limitations. This allows for a comprehensive and accurate acquisition of the internal condition of the tension-resistant pipe, providing a reliable basis for subsequent quality assessment. Furthermore, in actual transmission lines, the specifications and dimensions of tension-resistant pipes vary, and their lengths are also different. The detection method of this invention is not limited by the length of the tension-resistant pipe. Whether its length is slightly greater than or much greater than the backplate length, the entire tension-resistant pipe can be inspected by rationally planning the number of scans and the moving distance of the walking robot, greatly enhancing the adaptability of the detection equipment to tension-resistant pipes of different specifications.

[0016] Preferably, in step S5, after the X-ray transmitter completes scanning, the first and second adjustment components control the X-ray transmitter to return to its original position facing the walking direction of the robot, ready for transport by the drone. By employing the aforementioned technical solution, returning the X-ray transmitter to its original position facing the walking direction of the robot ensures it maintains a relatively regular and compact posture during drone transport, effectively reducing the possibility of collisions between the X-ray transmitter and the wires, and ensuring the smooth recovery of the X-ray transmitter.

[0017] Preferably, the first adjustment assembly includes a first output component, a second output component, and a first connecting component. The first output component is fixed to the housing, and its output end is connected to the first connecting component. The first connecting component rotates with the X-ray transmitter, and the first output component drives the first connecting component to rotate on a horizontal plane. The second output component is fixed to the X-ray transmitter and is connected to the first connecting component via a transmission mechanism. The second output component adjusts the elevation angle of the X-ray transmitter. Using the aforementioned technical solution, the first output component in the first adjustment assembly can drive the X-ray transmitter to rotate on a horizontal plane, while the second driving component can adjust the elevation angle of the X-ray transmitter. Through the adjustment of the first adjustment assembly, the X-ray transmitter can be effectively aligned with the four wires of the four-split wire, allowing X-rays to enter the crimping tube of the wire at a suitable angle, better penetrating the crimping tube and obtaining a cleaned internal image, thereby improving the accuracy and reliability of the detection. Simultaneously, the first connecting component enables flexible multi-angle adjustment of the X-ray transmitter, resulting in a wider adjustment angle range and higher adjustment precision, enabling accurate detection of the four-split wire.

[0018] Preferably, the first connector includes a connecting rod and connecting arms extending downwards on both sides of the connecting rod. The first connector is generally U-shaped. The ends of the two connecting arms are rotatably connected to both sides of the X-ray transmitter. The output end of the first output component is connected to the middle of the connecting rod, and the output end of the second output component is drively connected to the end of the connecting arm. Using the aforementioned technical solution, the first connector has a simple structure, which can greatly shorten the installation time between the X-ray transmitter and the housing, helping to improve the installation efficiency of the X-ray transmitter. Furthermore, it allows for quick disassembly of the X-ray transmitter during routine maintenance, thereby reducing maintenance time and costs. In addition, using a single connector enables rotation of the X-ray transmitter in two directions. The simple structure allows for multi-directional and multi-angle adjustment of the X-ray transmitter, improving its adjustment flexibility and accuracy, and providing a reliable foundation for accurate detection by the testing device.

[0019] Preferably, the output end of the second output component is provided with a first adjusting gear, and the connecting arm is provided with a hinged end that is rotatably connected to the X-ray transmitter. A first driven gear is coaxially provided on the hinged end. The first adjusting gear and the first driven gear are connected in a transmission manner, and the second output component drives the first driven gear to adjust the elevation angle of the X-ray transmitter. By adopting the aforementioned technical solution, using the first adjusting gear and the first driven gear for power transmission, stepless adjustment of the X-ray transmitter can be achieved, thereby enabling precise X-ray irradiation into the pressure tube and improving the detection accuracy of the X-ray transmitter. Furthermore, the transmission structure of the first adjusting gear and the first driven gear is more compact, ensuring transmission stability and making the angle adjustment of the X-ray transmitter more smooth and reliable. Secondly, the gear transmission has high strength and wear resistance, maintaining the integrity of the gears during long-term operation, reducing gear wear and damage, thereby increasing the service life of the first adjusting component and reducing maintenance costs and replacement frequency.

[0020] Preferably, the second adjustment component further includes a third output component, which is fixed to the X-ray transmitter. One end of the second connector is connected to the edge of the backplate, and the other end is movably connected to the outer periphery of the transmitter head. The third output component drives the second connector to rotate around the transmitter head. Using the aforementioned technical solution, the third output component drives the second connector and the backplate to rotate in a vertical plane via the second connector. During rotation, the position of the second connector can be adjusted, allowing it to avoid the wire and ensuring that the wire is positioned between the X-ray transmitter and the backplate. This allows X-rays to smoothly enter the crimping tube at a suitable angle. Adjustment ensures that the X-ray transmitter's detection is not interfered with by the wire itself, enabling detection of various parts of the crimping tube and improving the detection range and accuracy of the X-ray transmitter.

[0021] Preferably, a second driven gear is rotatably connected to the outer periphery of the transmitter head, and a second adjusting gear is provided at the output end of the third output member, which is connected to the second driven gear in a transmission manner. The two ends of the second connecting member are respectively connected to the back plate and the second driven gear. The second driven gear rotates to drive the second connecting member to rotate around the transmitter head.

[0022] Preferably, the second connector includes a connecting ring and an extension arm. The connecting ring is fixedly connected to the second driven gear and coaxially arranged. The connecting ring has a through hole to avoid the emitting head. The two ends of the extension arm are connected to the connecting ring and the back plate, respectively, and the extension arm avoids the irradiation range of the emitting head. Using the aforementioned technical solution, the connecting ring is fixedly connected to the second driven gear and connected to the back plate via the extension arm. This allows the back plate to be positioned directly in front of the emitting head, simplifying the connection structure between the back plate and the X-ray emitter. It also ensures that the back plate acquires clear and complete imaging, guaranteeing the acquisition of high-quality detection images.

[0023] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description

[0024] The invention will be further described below with reference to the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the walking robot on the conductor in the X-ray inspection method for a four-split conductor tension-resistant connector of the present invention;

[0026] Figure 2 This is a schematic diagram of the walking robot and X-ray detection device in the X-ray detection method for a four-split conductor tension-resistant connector of the present invention;

[0027] Figure 3 This is an exploded view of the X-ray detection device in the X-ray detection method for a four-split conductor tension-resistant connector of the present invention;

[0028] Figure 4 This is a schematic diagram of the X-ray detection device in the X-ray detection method for a four-split conductor tension-resistant connector of the present invention;

[0029] Figure 5 This is a schematic diagram of the clamping mechanism in the X-ray inspection method for a four-split conductor tension-resistant connector of the present invention;

[0030] Figure 6 This is a simplified flowchart of an X-ray inspection method for a four-split conductor tension-resistant connector according to the present invention.

[0031] Reference numerals: 1. Walking robot; 11. Housing; 12. Walking mechanism; 121. Driven wheel assembly; 122. Driven wheel assembly; 13. Pressing mechanism; 131. First driver; 1311. Pressing output shaft; 132. Moving part; 1321. Rotating seat; 133. Pressing wheel; 1331. Pressing seat; 1332. Roller; 1333. Slide bar; 1334. Elastic element; 2. X-ray detection device; 21. X-ray emitter; 211. Housing; 212. Emitting head; 213. 1. Attitude sensor; 214. Avoidance notch; 22. Back plate; 231. First connector; 2311. Connecting rod; 2312. Connecting arm; 232. First output component; 233. Second output component; 2331. First adjusting gear; 2332. First driven gear; 241. Second connector; 2411. Connecting ring; 2412. Extension arm; 2413. Through hole; 242. Third output component; 2421. Second adjusting gear; 2422. Second driven gear; 3. Wire. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] like Figures 1 to 6As shown in the figure, this embodiment demonstrates an X-ray inspection method for a four-split conductor 3 tension-resistant connector, including a walking robot 1 and an X-ray inspection device. The walking robot 1 is equipped with a walking mechanism 12 and a clamping mechanism 13. The X-ray inspection device includes an X-ray emitter 21 and a back plate 22. The X-ray emitter 21 is movably connected to the walking robot 1 through a first adjustment component, and the back plate 22 is movably connected to the X-ray emitter 21 through a second adjustment component. The second adjustment component includes a second connector 241 for connecting the back plate 22 and the X-ray emitter 21. The inspection method includes:

[0036] S1. The first adjustment component adjusts the X-ray emitter 21 toward the walking direction of the walking robot 1, which is carried by a drone to the four-split conductor 3;

[0037] S2, the clamping mechanism 13 moves to the lower side of the conductor 3 and abuts against the conductor 3, and the traveling mechanism 12 travels along the conductor 3 to the tension-resistant connecting pipe;

[0038] S3. The first adjustment component adjusts the X-ray emitter 21 to face the side where the tension-resistant connector to be tested is located. If the tension-resistant connector is on the upper layer of the four-split conductor 3, the first adjustment component controls the X-ray emitter 21 to rotate upward, while the second connector 241 rotates to the lower side of the emitter head 212. If the tension-resistant connector is on the lower layer of the four-split conductor 3, the first adjustment component controls the X-ray emitter 21 to rotate downward, while the second connector 241 rotates to the upper side of the emitter head 212. This continues until the tension-resistant connector is between the X-ray emitter 21 and the back plate 22.

[0039] S4. The X-ray emitter 21 emits X-rays toward the tension-resistant pipe, and the back plate 22 receives the X-rays.

[0040] S5. The drone removes the walking robot 1 from the guide wire 3 and returns it to the ground.

[0041] In this embodiment, a drone is used to transport the walking robot 1 onto the four-split conductor 3. Compared with the traditional method of manually climbing the conductor 3 to install the inspection equipment, this greatly improves the efficiency of equipment deployment, reduces the time and difficulty of manual work at height, lowers labor costs, and shortens the preparation time of the entire inspection process. In addition, the orientation of the X-ray emitter can be flexibly adjusted through the first adjustment component. In the initial stage, it is oriented towards the walking direction to facilitate equipment transportation and positioning. In the inspection stage, it can be precisely oriented towards the side where the tension-resistant pipe to be inspected is located. Whether it is the upper or lower tension-resistant pipe, the X-ray emitter can be rotated accordingly through the first adjustment component to ensure that the X-ray accurately irradiates the inspection area, improving the accuracy of the inspection. Secondly, the second adjustment component rotates to a suitable position according to the position of the tension-resistant pipe, so that the second connector 241 can avoid the conductor 3 and ensure that the conductor 3 is between the X-ray emitter 21 and the back plate 22. This allows the X-ray to accurately penetrate into the conductor 3, thereby obtaining comprehensive and clear image information of the interior of the tension-resistant pipe. This avoids blind spots caused by improper positioning and ensures the integrity and accuracy of the inspection results.

[0042] Specifically, in this embodiment, the X-ray emitter 21 is equipped with an attitude sensor 213 for detecting the attitude data of the X-ray emitter 21. The attitude sensor 213 can accurately acquire the attitude data of the X-ray emitter 21 in real time and transmit the attitude data to the main control module. When the X-ray emitter 21 needs to be adjusted, the first adjustment component and the second adjustment component adjust the attitude of the X-ray emitter 21 according to the attitude data of the X-ray emitter 21, thereby ensuring that the X-ray emitter 21 can be accurately and quickly adjusted to the specified state, ensuring that the X-ray is irradiated onto the pressure tube at the optimal incident angle, thereby greatly improving the accuracy of detection. In addition, the attitude sensor 213 can also allow operators to conveniently understand the attitude status of the X-ray emitter 21 in real time through a remote monitoring interface, and make remote adjustments and controls as needed, realizing remote operation and monitoring, and improving the flexibility and convenience of operation.

[0043] Specifically, in this embodiment, when the length of the tension-resistant pipe is greater than the length of the back plate 22, the X-ray emitter 21 cannot complete the scan of the entire tension-resistant pipe in one go. Therefore, the X-ray emitter 21 first scans one end of the tension-resistant pipe, and then the walking robot 1 moves to allow the X-ray emitter 21 to scan the next part of the tension-resistant pipe, until the X-ray emitter 21 completes the scan of the entire tension-resistant pipe. By performing multiple scans of the tension-resistant pipe, it can be ensured that every detail of the tension-resistant pipe is irradiated by X-rays, and the back plate 22 can completely receive the X-rays of the corresponding parts. The optical information avoids detection blind spots caused by length limitations, thus comprehensively and accurately acquiring the internal condition of the tension-resistant pipe, providing a reliable basis for subsequent quality assessment of the tension-resistant pipe. In addition, in actual transmission lines, the specifications and dimensions of tension-resistant pipes vary, and their lengths are also different. However, the detection method of this invention is not limited by the length of the tension-resistant pipe. Whether its length is slightly larger or much larger than the length of the back plate 22, the entire tension-resistant pipe can be detected by reasonably planning the number of scans and the moving distance of the walking robot 1, greatly enhancing the adaptability of the detection equipment to tension-resistant pipes of different specifications.

[0044] Specifically, in this embodiment, after the X-ray transmitter 21 completes scanning, the first adjustment component and the second adjustment component control the X-ray transmitter 21 to return to the walking direction facing the walking robot 1, so that it can be carried by the drone. Returning the X-ray transmitter to the walking direction facing the walking robot 1 ensures that it is in a relatively regular and compact posture during the drone's transport process, which can effectively reduce the possibility of the X-ray transmitter 21 colliding with the wire 3 and ensure that the X-ray transmitter 21 can be successfully recovered.

[0045] Specifically, in this embodiment, the first adjustment component includes a first output component 232, a second output component 233, and a first connector 231. The first output component 232 is fixed to the housing 11, and the output end of the first output component 232 is connected to the first connector 231. The first connector 231 rotates with the X-ray transmitter 21, and the first output component 232 drives the first connector 231 to rotate on the horizontal plane. The second output component 233 is fixed to the X-ray transmitter 21 and is connected to the first connector 231 in a transmission manner. The second output component 233 adjusts the elevation angle of the X-ray transmitter 21. The second adjustment component includes a third output component 242 and a second connector 241. The third output component 242 is fixed to the X-ray transmitter 21, and the two ends of the second connector 241 are respectively connected to the back plate 22 and the second output component 233. The third output component 242 drives the second connector 241 and the back plate 22 to rotate on the vertical plane.

[0046] In this embodiment, the first output component 232 in the first adjustment component can drive the X-ray transmitter 21 to rotate on the horizontal plane, while the second drive component can adjust the pitch angle of the X-ray generator. Through the adjustment of the first adjustment component, the X-ray transmitter 21 can be effectively aligned with the four wires 3 of the four-split wire 3, so that the X-ray enters the crimping tube of the wire 3 at a suitable angle, better penetrates the crimping tube and obtains the cleaned internal image, thereby improving the accuracy and reliability of the detection. At the same time, the first connector 231 can realize the multi-angle flexible adjustment of the X-ray transmitter 21, making the adjustment angle range of the X-ray transmitter 21 larger and the adjustment accuracy higher, so as to accurately complete the detection of the four-split wire 3.

[0047] Specifically, in this embodiment, the first connector 231 includes a connecting rod 2311 and connecting arms 2312 extending downward on both sides of the connecting rod 2311. The first connector 231 is generally U-shaped. The ends of the two connecting arms 2312 are rotatably connected to both sides of the X-ray emitter 21. The output end of the first output component 232 is provided with a conversion component. The conversion component is fixedly connected to the middle of the connecting rod 2311. The first output component 232 is fixed to the lower side of the housing 11. The output shaft of the first output component 232 is vertically arranged. After the first output component 232 is started, it drives the first connector 231 to rotate through the conversion component, so that the two connecting arms 2312 rotate in the horizontal plane. The two connecting arms 2312 are connected to the X-ray emitter. Therefore, the X-ray emitter rotates 360 degrees in the horizontal plane with the connecting arms 2312 so that the irradiation range of the emitting head 212 can cover the entire circumferential direction, ensuring that the X-ray emitter 21 can face the wires 3 on the left and right sides.

[0048] Secondly, in this embodiment, the second output component 233 is fixed inside the X-ray transmitter 21. The output end of the second output component 233 is provided with a first adjusting gear 2331. The connecting arm 2312 is provided with a hinge end that is rotatably connected to the X-ray transmitter 21. A first driven gear 2332 is coaxially provided on the hinge end. The first adjusting gear 2331 and the first driven gear 2332 are connected in a transmission manner. After the second output component 233 is started, it drives the first adjusting gear 2331 to rotate, and the first adjusting gear 2331 drives the first driven gear 2331. 2. Rotation: Since the first driven gear 2332 is fixed to the connecting arm 2312, the X-ray transmitter can rotate relative to the hinge end to adjust the elevation angle of the X-ray transmitter 21. The elevation angle range of the X-ray transmitter 21 relative to the horizontal plane is 0-60°, ensuring that the X-ray transmitter 21 can face the upper and lower layers of wires 3. Through the linkage of the first and second adjustment components, the X-ray transmitter 21 can be aligned with the pressure tube to be inspected, ensuring that the X-ray enters the pressure tube at a suitable angle to complete the imaging of the pressure tube. It should be noted that the elevation angle range of 0-60° means that the maximum upward adjustment angle of the X-ray transmitter 21 is 60° with the horizontal plane; and the maximum downward adjustment angle of the X-ray transmitter 21 is also 60° with the horizontal plane.

[0049] In this embodiment, the first connector 231 has a simple structure, which can greatly shorten the installation time of the X-ray transmitter 21 and the housing 11, and help improve the installation efficiency of the X-ray transmitter 21. Furthermore, it allows for quick disassembly of the X-ray transmitter 21 during routine maintenance, thereby reducing maintenance time and costs. Additionally, using a single connector enables rotation of the X-ray transmitter 21 in two directions. This simple structure allows for multi-directional and multi-angle adjustment of the X-ray transmitter 21, improving its adjustment flexibility and accuracy, and providing a reliable foundation for accurate detection by the testing device. Secondly, the use of a first adjusting tooth... The first driven gear 2332 transmits power to the first adjusting gear 2331, enabling stepless adjustment of the X-ray transmitter 21. This allows X-rays to be precisely irradiated into the pressure tube, improving the detection accuracy of the X-ray transmitter 21. Furthermore, the transmission structure of the first adjusting gear 2331 and the first driven gear 2332 is more compact, ensuring transmission stability and making the angle adjustment of the X-ray transmitter 21 smoother and more reliable. Secondly, the gear transmission has high strength and wear resistance, maintaining gear integrity during long-term operation, reducing wear and damage, and thus extending the service life of the first adjusting component, reducing maintenance costs and replacement frequency.

[0050] Specifically, in this embodiment, a second driven gear 2422 is rotatably connected to the outer periphery of the transmitter head 212. The output end of the third output component 242 is provided with a second adjusting gear 2421, which is connected to the second driven gear 2422. Both ends of the second connecting component 241 are respectively connected to the back plate 22 and the second driven gear 2422. After the third output component 242 is activated, it drives the second adjusting gear 2421 to rotate. The second adjusting gear 2421 drives the second driven gear 2422 to rotate, and the second driven gear 2422 drives the extension arm 2412 and the back plate 22 to rotate in the vertical plane. Furthermore, the connection position between the extension arm 2412 and the back plate 22 is located on the outer periphery of the back plate 22 or on the side facing away from the X-ray transmitter 21. During the detection process, in order to ensure that the lead wire 3 can... To move between the backplate 22 and the X-ray emitter 21, the extension arm 2412 needs to avoid the conductor 3. For example, when the X-ray emitter 21 needs to detect the lower conductor 3, the third output component 242 needs to drive the extension arm 2412 to rotate to the upper side of the connecting ring 2411 and the backplate 22, thereby ensuring that the backplate 22 and the X-ray emitter 21 can move downward from the upper side of the conductor 3 until the backplate 22 and the X-ray emitter 21 are on both sides of the conductor 3. When the X-ray emitter 21 needs to detect the upper conductor 3, the third output component 242 needs to drive the extension arm 2412 to rotate to the lower side of the connecting ring 2411 and the backplate 22, thereby ensuring that the backplate 22 and the X-ray emitter 21 can move upward from the lower side of the conductor 3 until the backplate 22 and the X-ray emitter 21 are on both sides of the conductor 3.

[0051] Specifically, in this embodiment, the X-ray emitter 21 includes a housing 211, inside which a first shielding frame is provided. The first output component 232 and the second output component 233 are both located inside the first shielding frame. A metal foil is provided on the surface of the back plate 22 facing the X-ray emitter 21. A second shielding frame is provided on the side of the back plate 22 facing away from the X-ray emitter 21. The metal foil is connected to the second shielding frame. The first and second shielding frames can play the role of electromagnetic shielding, ensuring that the X-ray emitter 21 can maintain stable operation in a high-voltage electric field, avoiding electromagnetic interference, and ensuring that the X-ray emitter 21 can emit X-rays stably and accurately, thereby improving the detection quality.

[0052] Specifically, in this embodiment, the walking mechanism 12 includes a driver, an active wheel assembly 121, and a driven wheel assembly 122. Both the active wheel assembly 121 and the driven wheel assembly 122 have two walking wheels located on both sides of the housing 11. Each walking wheel is placed on a conductor 3. The driver drives the walking wheels of the active wheel assembly 121 to rotate. During the rotation of the active wheel assembly 121, the driven wheel assembly 122 is driven to rotate, thereby realizing the walking of the walking robot 1. In addition, the walking robot 1 also includes a clamping mechanism 13. The clamping mechanism 13 includes a guide wheel and an elastic element 1334. The guide wheel abuts against the conductor 3 from the lower side, thereby enabling the guide wheel to cooperate with the active wheel assembly 121 / driven wheel assembly 122 to clamp the conductor 3, which can improve the stability of the walking robot 1 on the power transmission line.

[0053] Specifically, in this embodiment, the clamping mechanism 13 includes two movable parts 132. The housing 11 is provided with two rotating seats 1321. The two movable parts 132 are rotatably mounted on the two rotating seats 1321 respectively. The two movable parts 132 are located on both sides of the housing 11. The second driver is located inside the housing 11. The two ends of the second driver have two clamping output shafts 1311. Both clamping output shafts 1311 are provided with bevel gears. The hinge between the movable part 132 and the rotating seat 1321 is also provided with bevel gears. The clamping output shaft 1311 of the second driver is rotatably connected to the movable part 132 through the bevel gears. After the second driver is started, it synchronously drives the two movable parts 132 to move closer to or away from the power line. The synchronous movement of the two movable parts 132 by the second driver makes the pressure applied by the clamping mechanism 13 on both sides of the power line almost the same, ensuring that the contact pressure between the inspection robot and the power line is balanced on both sides. This can effectively prevent the inspection robot from tilting or deviating due to excessive pressure on one side, making the inspection robot walk more smoothly on the power line.

[0054] Specifically, in this embodiment, the clamping wheel 133 includes a clamping seat 1331 floatingly disposed on the movable member 132 and a roller 1332 rotatably disposed on the clamping seat 1331. The clamping seat 1331 is mounted on the movable member 132 via a slide rod 1333. An elastic element 1334 is fitted on the slide rod 1333, and the elastic element 1334 causes the clamping seat 1331 to have an upward movement tendency. When the detection robot walks on this undulating path, the floating clamping seat 1331 can adjust according to the vertical changes of the path. The automatic adjustment of position ensures that the elastic element 1334 keeps the clamping seat 1331 in contact with the line, and the roller 1332 fits tightly against the power line. In addition, the elastic element 1334 provides a continuous and stable upward elastic force to the clamping seat 1331. This elastic force is transmitted to the roller 1332 through the clamping seat 1331, so that the roller 1332 applies stable pressure to the power line. The stable pressure increases the friction between the roller 1332 and the power line, preventing the inspection robot from slipping during movement.

[0055] 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 X-ray inspection method for a four-split conductor tension-resistant connector, characterized in that, The system includes a walking robot and an X-ray inspection device. The walking robot has a walking mechanism and a clamping mechanism. The X-ray inspection device includes an X-ray emitter and a backplate. The X-ray emitter is movably connected to the walking robot via a first adjustment component, and the backplate is movably connected to the X-ray emitter via a second adjustment component. The second adjustment component includes a second connector for connecting the backplate and the X-ray emitter. The inspection method includes: S1. The first adjustment component adjusts the X-ray emitter toward the walking direction of the walking robot, which is transported by a drone to the four-split guide wire; S2, the clamping mechanism moves to the lower side of the conductor and abuts against the conductor, and the traveling mechanism travels along the conductor to the tension-resistant connector; S3. The first adjustment component adjusts the X-ray emitter to face the side where the tension-resistant connector to be tested is located. If the tension-resistant connector is on the upper layer of the four-split conductor, the first adjustment component controls the X-ray emitter to rotate upward, while the second connector rotates to the lower side of the emitter head. If the tension-resistant connector is on the lower layer of the four-split conductor, the first adjustment component controls the X-ray emitter to rotate downward, while the second connector rotates to the upper side of the emitter head. This continues until the tension-resistant connector is between the X-ray emitter and the backplate. S4. The X-ray emitter emits X-rays toward the tension-resistant pipe, and the back plate receives the X-rays. S5. The drone removes the walking robot from the guide wire and returns it to the ground.

2. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 1, characterized in that, The X-ray transmitter is equipped with an attitude sensor, which detects the attitude data of the X-ray transmitter. In step S3, the first adjustment component and the second adjustment component adjust the X-ray transmitter according to the attitude data of the X-ray transmitter.

3. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 1, characterized in that, In step S4, if the length of the tension-resistant pipe is greater than the length of the back plate, the X-ray emitter first scans one end of the tension-resistant pipe, and then the walking robot moves to allow the X-ray emitter to scan the next part of the tension-resistant pipe until the X-ray emitter completes the scan of the entire tension-resistant pipe.

4. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 1, characterized in that, In step S5, after the X-ray transmitter completes the scan, the first adjustment component and the second adjustment component control the X-ray transmitter to return to its original position facing the walking direction of the walking robot, ready for transport by the drone.

5. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 1, characterized in that, The first adjustment component includes a first output component, a second output component, and a first connector. The first output component is fixed to the housing, and the output end of the first output component is connected to the first connector. The first connector rotates with the X-ray transmitter, and the first output component drives the first connector to rotate on the horizontal plane. The second output component is fixed to the X-ray transmitter and is connected to the first connector via a transmission. The second output component adjusts the elevation angle of the X-ray transmitter.

6. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 5, characterized in that, The first connector includes a connecting rod and connecting arms extending downward on both sides of the connecting rod. The first connector is generally U-shaped. The ends of the two connecting arms are rotatably connected to both sides of the X-ray emitter. The output end of the first output component is connected to the middle of the connecting rod, and the output end of the second output component is connected to the end of the connecting arm.

7. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 6, characterized in that, The output end of the second output component is provided with a first adjusting gear, and the connecting arm is provided with a hinge end that is rotatably connected to the X-ray transmitter. The hinge end is coaxially provided with a first driven gear. The first adjusting gear is connected to the first driven gear in a transmission manner. The second output component drives the first driven gear to adjust the elevation angle of the X-ray transmitter.

8. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 1, characterized in that, The second adjustment component also includes a third output component, which is fixed to the X-ray emitter. One end of the second connector is connected to the edge of the back plate, and the other end is movably connected to the outer periphery of the emitter head. The third output component drives the second connector to rotate around the emitter head.

9. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 8, characterized in that, The outer periphery of the transmitter head is rotatably connected to a second driven gear. The output end of the third output component is provided with a second adjusting gear that is connected to the second driven gear. The two ends of the second connecting component are respectively connected to the back plate and the second driven gear. The second driven gear rotates to drive the second connecting component to rotate around the transmitter head.

10. The X-ray inspection method for a four-split conductor tension-resistant connector according to claim 9, characterized in that, The second connector includes a connecting ring and an extension arm. The connecting ring is fixedly connected to the second driven gear and is coaxially arranged. The connecting ring has a through hole to avoid the transmitter head. The two ends of the extension arm are respectively connected to the connecting ring and the back plate, and the extension arm avoids the irradiation range of the transmitter head.

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