Airborne four-bundle conductor flaw detection imaging detection device

Abstract

The invention discloses an airborne four-bundle conductor flaw detection imaging detection device, belongs to the field of conductor detection devices, solves the problem of low attitude adjustment precision of existing X-ray detection equipment, and adopts the technical scheme that the airborne four-bundle conductor flaw detection imaging detection device mainly comprises a walking robot and an X-ray detection device, and the X-ray detection device comprises an X-ray emitter and a back plate; the X-ray emitter is connected with the machine shell through a first adjusting assembly, the back plate is connected with the X-ray emitter through a second adjusting assembly, the first adjusting assembly comprises a first output piece, a second output piece and a first connecting piece, the output end of the first output piece is connected with the first connecting piece, the second output piece is fixed to the X-ray emitter, and the X-ray emitter is fixed to the back plate. The second adjusting assembly comprises a third output piece and a second connecting piece, the third output piece is fixed to the X-ray emitter, and the two ends of the second connecting piece are connected with the back plate and the second output piece respectively. The invention is mainly used for improving the adjustment precision and the adjustment range of the X-ray detection device.

Description

Technical Field

[0001] This invention presents an airborne four-split conductor flaw detection imaging device, belonging to the technical field of conductor detection devices. 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 attitude adjustment accuracy of existing X-ray inspection equipment. To this end, an airborne four-split wire flaw detection imaging device is provided to improve the adjustment accuracy and adjustment range of the X-ray inspection device.

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

[0006] An airborne four-split conductor flaw detection imaging device includes:

[0007] A walking robot includes a housing and a walking mechanism, wherein the walking mechanism drives the housing to walk on a guide wire;

[0008] An X-ray inspection device includes an X-ray transmitter and a backplate. The X-ray transmitter is movably connected to the lower side of the housing via a first adjustment component. The backplate is movably connected to the X-ray transmitter via a second adjustment component and is located directly in front of the X-ray transmitter. The first and second adjustment components control the X-ray transmitter and the backplate to move to both sides of the crimping tube of the lead wire to inspect the crimping tube.

[0009] The first adjustment assembly includes a first output component, a second output component, and a first connector. The first output component is fixed to the housing, and its output end 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 a horizontal plane. The second output component is fixed to the X-ray transmitter and is connected to the first connector via a transmission connection. The second output component adjusts the elevation angle of the X-ray transmitter. The second adjustment assembly includes a third output component and a second connector. The third output component is fixed to the X-ray transmitter, and the two ends of the second connector are respectively connected to a back plate and the second output component. The third output component drives the second connector and the back plate to rotate on a vertical plane.

[0010] The beneficial effects of using the present invention are:

[0011] The walking robot described in this invention walks on a four-split guide wire. An X-ray detection device is movably mounted on the lower side of the casing, positioned in the center of the four-split guide. The first output component of the first adjustment assembly can drive the X-ray emitter to rotate on a horizontal plane, while the second drive component can adjust the pitch angle of the X-ray generator. Through the adjustment of the first adjustment assembly, the X-ray emitter can be effectively aligned with the four wires of the four-split guide wire, allowing the X-ray to enter the crimping tube of the wire at a suitable angle, better penetrating the crimping tube and acquiring a cleaned internal image, thereby improving the accuracy and reliability of the detection. Simultaneously, the first connecting component enables multi-angle flexible adjustment of the X-ray emitter, resulting in a wider adjustment angle range and higher adjustment precision, enabling accurate detection of the four-split guide wire. Furthermore, the third output component... The second connector and the back plate are driven to rotate in a vertical plane by the second connector. During the rotation, the position of the second connector can be adjusted so that it can avoid the wire and ensure that the wire is between the X-ray transmitter and the back plate. This allows the X-ray to enter the crimping tube smoothly at a suitable angle. Adjustment ensures that the X-ray transmitter's detection is not interfered with by the wire itself, and it can detect various parts of the crimping tube, improving the detection range and accuracy of the X-ray transmitter. Secondly, the walking mechanism can move on the wire, eliminating the need for manual climbing of the power line for operation. This greatly reduces the workload and labor risks for operators. Operators only need to remotely control and monitor the detection device from the ground or a safe area to complete the detection of the crimping tube, which can significantly improve the ease of operation and detection efficiency of the detection device.

[0012] 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.

[0013] 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 the maintenance cost and replacement frequency of the first adjusting component.

[0014] Preferably, the pitch angle of the X-ray emitter relative to the horizontal plane is in the range of 0-60°.

[0015] Preferably, the X-ray emitter has an emitting head, and a second driven gear is rotatably connected to the outer periphery of the emitting head. The output end of the third output component is provided with a second adjusting gear that is drivenly 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 back plate to rotate in the vertical plane.

[0016] 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 obtains clear and complete imaging, guaranteeing the acquisition of high-quality detection images.

[0017] Preferably, the connection point between the extension arm and the backplate is located on the outer periphery of the backplate or on the side facing away from the X-ray emitter, and the irradiation range of the X-ray emitter is located in the middle of the backplate.

[0018] Preferably, the X-ray emitter includes a housing, within which a first shielding frame is provided. Both the first and second output components are located inside the first shielding frame. A layer of metal foil is provided on the surface of the back plate facing the X-ray emitter, and a second shielding frame is provided on the side of the back plate facing away from the X-ray emitter. The metal foil is connected to the second shielding frame. Using the aforementioned technical solution, the first and second shielding frames can provide electromagnetic shielding, ensuring that the X-ray emitter can maintain stable operation in a high-voltage electric field, avoiding electromagnetic interference, and guaranteeing that the X-ray emitter can stably and accurately emit X-rays, thereby improving detection quality.

[0019] Preferably, the X-ray transmitter is equipped with an attitude sensor for detecting the attitude data of the X-ray transmitter. 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 also 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.

[0020] Preferably, a groove is provided in the middle of the bottom of the housing, and the second output component is fixed in the groove. The width of the groove is greater than the rotation range of the first connecting component. By adopting the aforementioned technical solution, the groove can reduce the space occupied by the X-ray transmitter and the housing, making the entire device structure more compact. This helps improve the wind resistance of the detection device, reduces the swaying amplitude of the X-ray transmitter caused by strong winds, makes the detection device more suitable for high-altitude detection, and also improves the detection accuracy of the device.

[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 airborne four-split conductor flaw detection and imaging device of the present invention mounted on a conductor.

[0024] Figure 2 This is a schematic diagram of the airborne four-split wire flaw detection imaging device of the present invention;

[0025] Figure 3 This is an exploded view of the X-ray inspection device in the airborne four-split wire flaw detection imaging device of the present invention;

[0026] Figure 4 This is a schematic diagram of the internal structure of the X-ray inspection device in the airborne four-split wire flaw detection imaging device of the present invention.

[0027] Reference numerals: 1. Walking robot; 11. Housing; 111. Groove; 12. Walking mechanism; 121. Driven wheel assembly; 122. Driven wheel assembly; 123. Brush; 13. Pressing mechanism; 2. X-ray detection device; 21. X-ray emitter; 211. Outer shell; 212. Emitting head; 213. 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

[0028] 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.

[0029] 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.

[0030] 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.

[0031] Example 1:

[0032] like Figures 1 to 4 As shown in the figure, this embodiment demonstrates an airborne four-split conductor flaw detection imaging device, including a walking robot 1 and an X-ray detection device. The walking robot 1 includes a housing 11 and a walking mechanism 12. The walking robot 1 is an airborne robot, meaning that the walking robot 1 is deployed and retrieved by a drone. Operators can remotely control the drone to place the walking robot 1 on the high-altitude conductor 3, eliminating the need for manual climbing of the power transmission line, which can greatly reduce the workload and labor risks of operators. In addition, the walking mechanism 12 can drive the housing 11 to walk on the conductor, enabling the walking robot 1 to smoothly reach various parts of the conductor so that the X-ray detection device can get close for inspection.

[0033] The X-ray detection device includes an X-ray emitter 21 and a backplate 22. The X-ray emitter 21 is movably connected to the lower side of the housing 11 via a first adjustment component, and the backplate 22 is movably connected to the front of the X-ray emitter 21 via a second adjustment component. The X-ray emitter 21 has an emitting head 212, and the backplate 22 is located in front of the emitting head 212. The emitting head 212 emits X-rays towards the backplate 22 and forms an image on the backplate 22. The area of ​​the backplate 22 facing the X-ray emitter 21 is larger than the imaging area of ​​the X-ray emitter 21, ensuring that the image can be completely presented on the backplate 22. The first and second adjustment components control the movement of the X-ray emitter 21 and the backplate 22 relative to the conductor 3, so that the crimping tube of the conductor 3 can be positioned between the X-ray emitter 21 and the backplate 22. The X-ray emitter 21 can emit X-rays towards the crimping tube, and the X-rays pass through the crimping tube and form an image on the backplate 22. The operator can obtain the detection results of the crimping tube through the image for real-time analysis and judgment.

[0034] 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 its output end 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.

[0035] In this embodiment, the walking robot 1 walks on the four-split guide wire 3. The X-ray detection device is movably mounted on the lower side of the housing 11, located in the middle of the four-split guide. The first output component 232 in the first adjustment assembly can drive the X-ray emitter 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 assembly, the X-ray emitter 21 can be effectively aligned with the four wires 3 of the four-split guide wire 3, so that the X-ray enters the crimping tube of the guide 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 emitter 21, making the adjustment angle range of the X-ray emitter 21 larger and the adjustment accuracy higher, and can accurately complete the detection of the four-split guide wire 3; in addition, the third output component 242 can... The second connector 241 and the back plate 22 are driven to rotate in the vertical plane. During the rotation, the position of the second connector 241 can be adjusted so that it can avoid the wire 3 and ensure that the wire 3 is between the X-ray transmitter 21 and the back plate 22. This allows the X-ray to enter the crimping tube smoothly at a suitable angle. By adjusting, it can be ensured that the detection of the X-ray transmitter 21 is not interfered with by the wire 3 itself, and various parts of the crimping tube can be detected, improving the detection range and accuracy of the X-ray transmitter 21. Secondly, the walking mechanism 12 can walk on the wire 3, eliminating the need for manual climbing of the power line for operation. This greatly reduces the workload and labor risks of the operator. The operator only needs to remotely control and monitor the detection device from the ground or a safe area to complete the detection of the crimping tube, which can significantly improve the operation convenience and detection efficiency of the detection device.

[0036] Specifically, such as Figure 1 and Figure 2 As shown, the detection device described in this embodiment is applicable to a four-split wire 3, which includes two wire layers 3, each layer having two spaced wires 3. The walking robot 1 is brought above the four-split wire 3 with the assistance of a drone, and then the walking mechanism 12 is mounted on the two uppermost wires 3. The X detection device 2 is located between the two wire layers 3. When the walking mechanism 12 moves the X detection device 2 close to the crimping tube of the wire 3, the first adjustment component and the second adjustment component control the movement of the X emitter and the back plate 22, so that the X emitter and the back plate 22 can move to both sides of the crimping tube, thereby detecting the crimping tube.

[0037] 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. 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.

[0038] Secondly, in this embodiment, all parts of the walking robot 1 are electrically connected, thereby ensuring that all parts of the walking robot 1 are at the same potential. In addition, the walking robot 1 is also provided with two brushes 123, which are located on both sides of the housing 11. Each brush 123 includes a metal arm electrically connected to the housing 11 and bristles for contacting the wire 3 (only the metal arm is shown in the figure, not the bristles). Both brushes 123 are in contact with the wire 3, ensuring that the walking robot 1 is always electrically connected to the wire 3, and ensuring that the walking robot 1 can work stably in a high-voltage electric field.

[0039] Specifically, such as Figure 3 and Figure 4 As shown, 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 emitter 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.

[0040] In addition, in this embodiment, a groove 111 is provided in the middle of the bottom of the housing 11. The second output component 233 is fixed in the groove 111. The width of the groove 111 is greater than the rotation range of the first connector 231. The groove 111 can reduce the space occupied by the X-ray transmitter 21 and the housing 11, making the structure of the entire device more compact. This helps to improve the wind resistance of the detection device, reduce the swaying amplitude of the X-ray transmitter 21 caused by strong winds, make the detection device more suitable for high-altitude detection, and also improve the detection accuracy of the detection device.

[0041] Secondly, in this embodiment, the second output component 233 is fixed inside the X-ray emitter 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 emitter 21. The hinge end is coaxially provided with a first driven gear 2332. 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 2332. 32. Rotation: Since the first driven gear 2332 is fixed to the connecting arm 2312, the X-ray emitter can rotate relative to the hinge end to adjust the elevation angle of the X-ray emitter 21. The elevation angle range of the X-ray emitter 21 relative to the horizontal plane is 0-60°, ensuring that the X-ray emitter 21 can face the upper and lower layers of wires 3. Through the linkage of the first and second adjustment components, the X-ray emitter 21 can be positioned directly facing 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 emitter 21 is 60° with respect to the horizontal plane; and the maximum downward adjustment angle of the X-ray emitter 21 is also 60° with respect to the horizontal plane.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In this embodiment, the X-ray transmitter 21 is equipped with an attitude sensor 213 for detecting the attitude data of the X-ray transmitter 21. The attitude sensor 213 can accurately acquire the attitude of the X-ray transmitter 21, thereby ensuring that the X-ray transmitter 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, thus greatly improving the accuracy of detection. In addition, the attitude sensor 213 can also allow operators to conveniently understand the attitude of the X-ray transmitter 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.

[0046] 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 flaw detection imaging device, characterized in that, include: A walking robot includes a housing and a walking mechanism, wherein the walking mechanism drives the housing to walk on a power transmission line; An X-ray inspection device includes an X-ray transmitter and a backplate. The X-ray transmitter is movably connected to the lower side of the housing via a first adjustment component. The backplate is movably connected to the X-ray transmitter via a second adjustment component and is located directly in front of the X-ray transmitter. The first and second adjustment components control the X-ray transmitter and the backplate to move to both sides of the crimping tube of the lead wire to inspect the crimping tube. The first adjustment assembly includes a first output component, a second output component, and a first connector. The first output component is fixed to the housing, and its output end 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 a horizontal plane. The second output component is fixed to the X-ray transmitter and is connected to the first connector via a transmission connection. The second output component adjusts the elevation angle of the X-ray transmitter. The second adjustment assembly includes a third output component and a second connector. The third output component is fixed to the X-ray transmitter, and the two ends of the second connector are respectively connected to a back plate and the second output component. The third output component drives the second connector and the back plate to rotate on a vertical plane.

2. The airborne four-split conductor flaw detection imaging device according to claim 1, 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.

3. The airborne four-split conductor flaw detection imaging device according to claim 2, 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.

4. The airborne four-split conductor flaw detection imaging device according to claim 3, characterized in that, The X-ray emitter has an elevation angle range of 0-60° relative to the horizontal plane.

5. The airborne four-split conductor flaw detection imaging device according to claim 1, characterized in that, The X-ray emitter has an emitting head, and a second driven gear is rotatably connected to the outer periphery of the emitting head. 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 back plate to rotate in the vertical plane.

6. The airborne four-split conductor flaw detection imaging device according to claim 5, 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.

7. The airborne four-split conductor flaw detection imaging device according to claim 6, characterized in that, The connection point between the extension arm and the backplate is located on the outer periphery of the backplate or on the side facing away from the X-ray emitter, and the irradiation range of the X-ray emitter is located in the middle of the backplate.

8. The airborne four-split conductor flaw detection imaging device according to claim 1, characterized in that, The X-ray emitter includes a housing, inside which a first shielding frame is provided. A first output component and a second output component are both located inside the first shielding frame. A layer of metal foil is provided on the surface of the back plate facing the X-ray emitter. A second shielding frame is provided on the side of the back plate facing away from the X-ray emitter. The metal foil is connected to the second shielding frame.

9. The airborne four-split conductor flaw detection imaging device according to claim 1, characterized in that, The X-ray transmitter is equipped with an attitude sensor for detecting the attitude data of the X-ray transmitter.

10. The airborne four-split conductor flaw detection imaging device according to claim 1, characterized in that, The bottom of the housing has a groove in the middle, and the second output component is fixed in the groove. The width of the groove is greater than the rotation range of the first connector.

Images