X-ray detection imaging device based on wall-climbing robot

Abstract

The application discloses an X-ray detection imaging device based on a wall-climbing robot, which comprises a safety rope arranged outside a wall, a rope-climbing machine, an imaging machine, a positioning and aligning receiving probe arranged inside the wall and an X-ray machine arranged on a floor. The rope-climbing machine is arranged on the safety rope and moves along the guiding direction of the safety rope. The imaging machine is suspended on the rope-climbing machine through a hanging rope. An imaging plate is arranged on the surface of one side of the imaging machine. An encoder assembly is arranged on the rope-climbing machine at an incoming end, and the encoder assembly is used for measuring displacement height and rough positioning. A positioning and aligning emitting probe is arranged on the imaging machine. The positioning and aligning emitting probe and the positioning and aligning receiving probe are used for fine positioning of the imaging plate. A horizontal thrust assembly is further arranged on the surface of the side of the imaging machine away from the wall, and the horizontal thrust assembly is used for pushing the imaging machine to the wall and fixing the position. The application effectively solves the arrangement of the imaging plate in a high-altitude environment outside the wall, is safe and reliable, and has high precision.

Description

Technical Field

[0001] This invention relates to the field of crack detection technology, and more specifically to an X-ray detection imaging device based on a wall-climbing robot. Background Technology

[0002] In the field of non-destructive testing (NDT) in construction engineering, X-ray inspection technology has become an indispensable and important testing method. Its basic principle is that when X-rays pass through a material, they interact with the atoms of the material, and some energy is absorbed by the material. Since different materials absorb X-rays to varying degrees, information about the interior is obtained by detecting the residual radiation after the X-rays have passed through the material. An imaging plate then converts the transmitted X-rays into electrical signals, which are processed to generate an image with a grayscale gradient. During inspection, the X-ray machine must be placed on one side of the target object, with its emission port aligned with the target area. Simultaneously, an imaging plate is placed at a corresponding position on the other side of the target object. That is, the X-ray machine's emission port must be aligned with both the target object and the imaging plate to ensure that the target object is completely and clearly displayed on the imaging plate. If the alignment is inaccurate, especially if the imaging plate is significantly offset, the X-ray beam penetrating the target object will not form a complete projection on the imaging plate, or may not even be projected at all, resulting in the loss of key information about the target object in the image. Based on the above imaging mechanism and relying on effective alignment, X-ray imaging possesses advantages such as high resolution, intuitive results, and non-contact operation.

[0003] Currently, X-ray imaging has been successfully applied in various aspects of building engineering inspection, including detecting internal structural defects, the diameter of reinforcing bars in concrete structures, and the grouting fullness of prefabricated building sleeves. For interior building components such as walls, beams, and floor slabs, their location within the building allows for convenient placement of the X-ray machine and imaging plate on both sides. Inspectors can also visually observe and use measuring tools or auxiliary instruments for alignment, thus efficiently acquiring images. Taking common indoor component inspections as an example, such as detecting the grouting fullness of precast concrete walls, internal concrete defects, and the diameter of reinforcing bars in beams, inspectors can stably position the X-ray machine on one side of the component and align it with the target area. On the corresponding position on the other side, an imaging plate can be placed. Through this combination of manual observation and instrument assistance, rapid and effective alignment of the three components can be achieved, allowing for the capture and acquisition of fluoroscopic images.

[0004] However, when the inspection target shifts from indoor components to the exterior wall of a building, especially in high-rise buildings, the previously convenient conditions for placing and aligning equipment on both sides of the component no longer exist. In exterior wall inspections, due to considerations of equipment weight and radiation safety, the X-ray machine must be placed indoors, while the lighter imaging plate is placed on the outside of the wall. While this two-sided placement method is advantageous for inspection, it faces two major challenges: First, the difficulty of placing the imaging plate on the high-altitude exterior wall. Theoretically, although a suspended platform or aerial work platform can be used to bring personnel close to the work surface on the outside of the wall, such auxiliary equipment is expensive, has low mobility and positioning efficiency, and in practice, inspection personnel still need to work at height near the edge for extended periods. Crucially, in such high-altitude... In situations where stable and fixed conditions are lacking, the imaging plate often needs to be manually positioned and supported by personnel during the exposure process, making it impossible to remove in time and directly exposing it to the dual hazards of radiation and falling from height. These factors together make this traditional method unfeasible. Secondly, there is the problem of effective alignment of the X-ray machine, the target object, and the imaging plate. The X-ray machine and the imaging plate are placed on the inside and outside sides of the building's exterior wall, respectively, completely obstructing the operator's line of sight and creating a blind spot. It is also difficult to achieve real-time coordination through conventional communication. This makes it impossible to establish and maintain a stable and accurate alignment state on site. Although slight alignment deviations may only affect the edge clarity of the image, in high-altitude operations without real-time position feedback, the deviations can easily become too large, ultimately causing the target area to deviate from the effective range of the imaging plate, resulting in the loss of key information or complete detection failure.

[0005] In summary, although X-ray inspection technology is theoretically fully applicable to the non-destructive testing of the internal quality of building exterior walls, its potential has not been effectively realized in practical applications at high altitudes and on exterior walls due to two major bottlenecks: the difficulty in placing the outer imaging plate and the difficulty in aligning the inner and outer equipment. Therefore, to solve the existing problems of X-ray inspection of building exterior walls, this invention provides a wall-climbing robot for carrying an X-ray imaging plate. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an X-ray detection and imaging device based on a wall-climbing robot, which effectively solves the problem of the arrangement of the imaging plate in the high-altitude environment outside the wall, is safe and reliable, and has high precision.

[0007] To solve the above-mentioned technical problems, the present invention provides an X-ray detection and imaging device based on a wall-climbing robot, including a safety rope, a rope-climbing machine, an imaging machine set outside the wall, and a positioning and alignment receiving probe and an X-ray machine set inside the wall and on the floor. The rope-climbing machine is set on the safety rope and moves along the direction guided by the safety rope. The imaging machine is suspended on the rope-climbing machine by a hanging cable. An imaging plate is set on one side of the wall surface of the imaging machine. The rope climbing machine is equipped with an encoder assembly at the inlet end, which is used to measure the displacement height and perform coarse positioning. The imaging machine is equipped with a positioning and alignment transmitting probe, which works in conjunction with a positioning and alignment receiving probe to precisely position the imaging plate. A horizontal thrust assembly is also provided on the surface of the imaging device away from the wall. The horizontal thrust assembly is used to push the imaging device toward the wall and fix its position.

[0008] Furthermore, the rope climbing machine includes a first housing, a set of first crawling wheels is provided at the bottom front end of the first housing, a first mounting frame is provided on the surface of the first housing near the wall, the first mounting frame is used for hanging rope connection, and the rope climbing host is provided inside the first housing.

[0009] Furthermore, the first crawling wheel abuts against the wall, and the weight of the imaging machine is applied to the bottom of the rope climbing machine through the padlock, so that the bottom of the first housing forms an angle with the wall.

[0010] Furthermore, the encoder assembly includes a ranging sensing roller, which is shaft-connected to a guide wheel. The ranging sensing roller is fixedly mounted on one end of a swing arm, and the other end of the swing arm is sleeved on a fixed shaft and rotates circumferentially. A tension spring is provided between the swing arm and the fixed shaft. The fixed shaft is fixedly connected to a swing seat, and the swing seat is connected to a rotating seat. The rotating seat is fixed on the rope climbing machine.

[0011] Furthermore, the swing seat includes a connecting body, one end of which is provided with a C-shaped latch for fixing the fixed shaft, and the other end of which is provided with a first U-shaped frame. The rotating seat includes a second U-shaped frame, and the first U-shaped frame and the second U-shaped frame are connected by a rotating shaft. One of the frames has an arc-shaped groove on its side wall, and the other has a positioning screw on its side wall. The positioning screw passes through the corresponding arc-shaped groove.

[0012] Furthermore, the imaging machine has a U-shaped slot on the side near the wall, the imaging plate is placed in the U-shaped slot, the end face of the imaging machine located on the side of the rope climbing machine has two lifting hole plates, and the imaging machine is also equipped with four second crawling wheels.

[0013] Furthermore, the horizontal thrust assembly includes a rotary motor on which a propeller is mounted.

[0014] Furthermore, two guide rings are provided on the surface of the imaging machine away from the wall, and the guide rings are used to limit the radial movement of the safety rope.

[0015] Furthermore, the positioning and alignment transmitting probe is the transmitting probe of the floor slab thickness gauge, and the positioning and alignment receiving probe is the receiving probe of the floor slab thickness gauge. The positioning and alignment receiving probe is connected to the main unit of the floor slab thickness gauge.

[0016] Furthermore, both the rope climbing machine and the imaging machine are equipped with batteries for power supply.

[0017] The beneficial effects of this invention are: This device proposes and implements an imaging panel placement and positioning alignment system for high-altitude X-ray inspection of exterior walls. Unlike traditional wall-adhesive climbing robots, this device employs a traction-type climbing robot that crawls along a pre-set safety rope. Its traction mechanism carries the imaging panel installation mechanism, moving it up and down along the safety rope, thus achieving automated and unmanned placement of the imaging panel on the outer side of the exterior wall. During the climbing process, an integrated height display module guides the climbing robot to the area on the outer side of the exterior wall roughly corresponding to the target object. Then, relying on a cross-wall positioning alignment system, its position is precisely adjusted, ultimately achieving rapid and effective alignment of the X-ray machine, the target object, and the imaging panel. This system fundamentally solves a series of long-standing technical bottlenecks, such as the difficulty of imaging panel placement and alignment operations in high-altitude environments.

[0018] This device innovatively integrates an encoder assembly with dual-axis rotational degrees of freedom into the traction mechanism. Its ranging sensing roller is mounted via a device with dual-axis rotational degrees of freedom, enabling adaptive adjustment of deflection and pitch around two mutually perpendicular axes. This dynamically counteracts additional torque caused by rope torsion, wind disturbances, and robot attitude deflection during the wall-climbing robot's ascent along the safety rope, ensuring the roller maintains constant pressure contact with the safety rope surface. This structure effectively suppresses slippage and freewheeling of the measuring roller relative to the safety rope, guaranteeing continuous, accurate, and real-time acquisition of height data. It significantly improves the system's vertical positioning accuracy and motion reliability, providing a stable measurement foundation for precise high-altitude positioning of the imaging board.

[0019] An innovative cross-wall positioning and alignment system for X-ray inspection of exterior walls has been constructed. This system integrates the transmitting probe of a floor slab thickness gauge onto an imaging plate mounting mechanism on the outer side of the exterior wall, while the receiving probe is positioned on the corresponding inner wall surface. By monitoring and feeding back electromagnetic signal strength and relative distance values ​​in real time, the system guides inspection personnel to remotely and precisely adjust the imaging plate position. This enables rapid alignment of the X-ray machine, target object, and imaging plate in high-altitude environments, fundamentally solving the core technical bottleneck of visual blind spots and alignment difficulties caused by separation of the work surface in exterior wall inspection. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall layout structure of the present invention; Figure 2 This is a schematic diagram of the rope climbing machine structure of the present invention; Figure 3 This is a schematic diagram of the bottom structure of the rope climbing machine of the present invention; Figure 4 This is a schematic diagram of the encoder assembly in the clamping state structure of the present invention; Figure 5 This is a schematic diagram of the imaging device structure of the present invention; Figure 6 This is a schematic diagram of the bottom structure of the imaging machine of the present invention.

[0021] The following are the labels in the diagram: 1. Safety rope; 2. Rope climbing machine; 3. Imaging machine; 4. Positioning and alignment receiving probe; 5. X-ray machine; 6. Imaging plate; 7. Encoder assembly; 8. Positioning and alignment transmitting probe; 9. Horizontal thrust assembly; 10. First outer shell; 11. First crawling wheel; 12. First mounting frame; 13. Rope climbing main unit; 14. Distance measuring sensor roller; 15. Guide wheel; 16. Swing arm; 17. Fixed shaft; 18. Tension spring; 19. Swing seat; 20. Rotary seat; 21. Connecting body; 22. C-lock; 23. First U-shaped frame; 24. Arc groove; 25. Positioning screw; 26. U-shaped slot; 27. Lifting hole plate; 28. Second crawling wheel; 29. ​​Rotary motor; 30. Propeller; 31. Guide ring; 111. Hanging rope. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0023] Reference Figures 1 to 6 As shown, one embodiment of the X-ray inspection and imaging device based on a wall-climbing robot of the present invention includes a safety rope 1, a rope-climbing machine 2, an imaging machine 3, and a positioning and alignment receiving probe 4 and an X-ray machine 5 installed inside the wall and on the floor. One end of the safety rope is fixed to the roof and is lowered down above the location on the wall to be inspected. The rope-climbing machine is mounted on the safety rope and can move along the direction guided by the safety rope, i.e., it moves up and down. The imaging machine is suspended on the rope-climbing machine by a hanging cable 111. The rope-climbing machine moves the imaging machine up and down. An imaging plate 6 is installed on one side of the wall surface where the imaging machine is located. The rope-climbing machine moves along the safety rope to bring the imaging machine to the location to be inspected. The X-ray machine inside the room works, emits X-rays onto the wall, and the imaging plate receives and images the X-rays to obtain an image. The image is used to determine whether the wall structure meets the design requirements.

[0024] In the above structure, since the imaging plate needs to be set relative to the X-ray machine, and the positions outside and inside the wall cannot be determined by simple visual inspection, two methods, coarse positioning and fine positioning, are designed to ensure that the imaging plate and the X-ray machine are set up accurately relative to each other.

[0025] Specifically, an encoder assembly 7 is installed on the rope climbing machine at the inlet end. The weight of the rope climbing machine and the imaging machine can tighten the part between the fixed end of the safety rope and the inlet end of the rope climbing machine. At this time, the encoder assembly is in close contact with the taut safety rope. During the movement, the encoder assembly rolls along the safety rope, which realizes the calculation process of the lifting distance, thereby obtaining the displacement height, which is a coarse positioning. With the height data, the imaging plate can be brought to the outer wall side of the corresponding position of the X-ray machine.

[0026] For walls, some have windows, allowing for a rough assessment, while most lack windows, making it impossible to determine if the imaging plate's position meets imaging requirements. Therefore, a positioning and alignment system is employed. This system is a non-metallic floor slab thickness gauge, consisting of a transmitting probe, a receiving probe, and a main unit. The transmitting probe is mounted on the imaging machine. The transmitting probe outside the wall and the receiving probe inside the wall transmit electromagnetic signals, with the main unit providing real-time feedback on signal strength and vertical distance between them. When the signal strength reaches its maximum and the vertical distance reaches its minimum, it indicates that the transmitting and receiving probes are properly aligned. The placement of the receiving probe inside the wall can be determined based on the location of the target being inspected. By adjusting the height of the imaging machine, its position can be accurately determined, thus constituting precise positioning.

[0027] Since the imaging device is located outdoors and moves on a safety rope, it may sway when the wind blows. Therefore, a horizontal thrust assembly 9 is installed on the surface of the imaging device away from the wall. This horizontal thrust assembly is used to push the imaging device against the wall and fix its position, ensuring the imaging plate is stationary and unaffected by the wind, thus guaranteeing image quality. Specifically, the horizontal thrust assembly includes a rotary motor 29 with a propeller 30 mounted on it. The rotary motor rotates, driving the propeller to rotate, which accelerates and pushes air away from the wall, thus pressing the imaging device against the wall and keeping it stable. Due to the rope connection method, the imaging device is not restrained by the rope climbing machine, resulting in good wall contact.

[0028] In use, first secure the top of the safety rope to the roof or above the detection position. Then lower the safety rope to the ground or a workable platform and thread that end into the rope climbing machine. Simultaneously, align the encoder assembly with the safety rope at the threaded end of the rope climbing machine. Next, move the rope climbing machine a short distance to facilitate the installation of the imaging machine. To install the imaging machine, simply connect it to the rope climbing machine using padlocks. This can be two parallel metal ropes or two V-shaped metal ropes, with the larger end of the V facing the imaging machine and secured to it.

[0029] After the fixation is completed, the required climbing height of the rope climbing machine can be obtained by reviewing data and measuring actual measurements. The rope climbing machine is controlled to rise through the control unit. Once it reaches the designated position, the positioning and aligning mechanism is activated to align the transmitting probe. Personnel inside the room determine the placement of the positioning and aligning receiving probe based on the X-ray machine's imaging position. Then, based on the signal received by the positioning and aligning receiving probe, it is determined whether the imaging plate has moved to the appropriate range. If not, adjustments are made. If it is within the range, the horizontal thrust assembly is activated to push the imaging machine firmly against the exterior wall. The X-ray machine then operates, working in conjunction with the imaging plate to capture images for assessing the working conditions inside the wall.

[0030] The aforementioned rope-climbing machine includes a first outer casing 10, with a set of first crawling wheels 11 at the bottom front end of the first outer casing. A first mounting frame 12 is provided on the surface of the first outer casing near the wall, and the first mounting frame is used for attaching a rope. The rope-climbing main unit 13 is located inside the first outer casing. The upper end of the rope is located near the wall, while the other end is slightly farther away from the wall, forming an angle. Due to its weight, the imaging machine will move towards the vertical direction. The formation of this angle allows the movement of the imaging machine to be blocked by the wall, thus ensuring that the imaging machine can always stay close to the wall and guaranteeing stability during movement.

[0031] Furthermore, when the first crawling wheel comes into contact with the wall, the weight of the imaging machine is applied to the bottom of the rope climbing machine through the padlock, so that the bottom of the first housing forms an angle with the wall to meet the operating posture of the rope climbing host.

[0032] For the aforementioned encoder assembly, it is crucial that it maintains a tight and close contact with the safety rope at all times. If it is loose, it will lead to inaccurate counting. Furthermore, due to the characteristics of the safety rope and the working conditions, there are multiple angle compression changes between the encoder assembly and the safety rope. In order to accommodate the displacement of the safety rope, the encoder assembly is designed to include a distance sensing roller 14, which is shaft-connected to a guide wheel 15. The distance sensing roller is fixedly mounted on one end of a swing arm 16, and the other end of the swing arm is sleeved on a fixed shaft 17 and rotates circumferentially. A tension spring 18 is provided between the swing arm and the fixed shaft. The fixed shaft is fixedly connected to a swing seat 19, which is connected to a rotating seat 20. The rotating seat is fixed on the rope climbing machine.

[0033] During operation, the guide wheel is in contact with the safety rope. The guide wheel surface has grooves to limit and conform to the safety rope. During lifting and lowering, the guide wheel rolls on the safety rope surface. The guide wheel rotates synchronously with the shaft, driving the distance-measuring sensor roller to rotate for signal acquisition. Displacement data is obtained through signal conversion and calculation. The guide wheel must remain in contact with the safety rope to ensure accurate signal acquisition. Therefore, a tension spring is used to ensure the swing arm always presses against the safety rope surface. Specifically, the tension spring rotates the guide wheel towards the side of the wall climber away from the wall, while the safety rope arrangement requires the swing arm to rotate in the opposite direction towards the wall. This stretches the tension spring, allowing the safety rope to pass through the guide wheel in the direction it would return to and enter the wall climber. The safety rope prevents the guide wheel from returning to its original position, meaning the stretched spring cannot return to its original position, and the swing arm always exerts a pressing force against the safety rope.

[0034] The above describes the process of the guide wheel pressing the safety rope. However, in actual working conditions, issues such as wind and uneven wall surfaces can affect the tightness between the guide wheel and the safety rope. Therefore, a combination of a swing seat and a rotating seat is used to achieve a multi-axis adaptive effect, ensuring that the guide wheel and safety rope are always tightly pressed together. The swing seat and the rotating seat form one rotational R-axis, and the rotating seat and the rope climbing machine form another rotational R-axis, i.e., a two-axis rotating platform.

[0035] Specifically, the swing seat includes a connecting body 21, one end of which is provided with a C-type latch 22 for fixing the fixed shaft, enabling quick disassembly and adjustment, and providing effective space for tension spring installation. The other end of the connecting body is provided with a first U-shaped frame 23, and the rotating seat includes a second U-shaped frame. The first U-shaped frame and the second U-shaped frame are connected by a rotating shaft. One of them has an arc-shaped groove 24 on its side wall, and the other has a positioning screw 25 on its side wall. The positioning screw passes through the corresponding arc-shaped groove. The positioning screw and the arc-shaped groove cooperate to limit the relative angle between the first U-shaped frame and the second U-shaped frame after the first U-shaped frame swings and rotates. The arc-shaped groove has a fan-shaped size to meet the use under different entry angles. By swinging adjustment, the angle between the connecting body and the safety rope can be adjusted. The swing arm, the connecting body and the safety rope form a triangular structure. By changing the angle, the rotation angle of the swing arm can be adjusted. The larger the rotation angle of the swing arm, the greater the reaction force and the better the clamping effect on the safety rope. Conversely, the force is small. Therefore, by swinging the angle and locking, the swing arm posture can be quickly adapted to different angles of the safety rope when entering the rope climbing machine in different scenarios, ensuring effective contact with the safety rope. The second U-shaped frame is connected to the rope climbing machine shaft, meaning it is limited in the axial direction and can rotate in the circumferential direction. This design allows the second U-shaped frame to rotate relative to the rope climbing machine. When potholes appear during the climbing process, and the rope climbing machine flips slightly on one side, the encoder assembly pressed against the safety rope will not flip along with it, and will always remain synchronized with the safety rope, thus preventing it from detaching from the safety rope during rotation.

[0036] This invention achieves high accuracy in measuring lifting height through four key safeguards: first, the safety rope at the encoder mounting location is always taut; second, the encoder assembly remains firmly in contact with the safety rope; third, the guide wheel rolls smoothly and continuously against the safety rope surface, preventing free-spinning or stopping; and fourth, the contact between the encoder assembly and the safety rope provides resistance to external interference. If the encoder assembly is used in conjunction with a first or second crawling wheel, external disturbances during the rope-climbing machine's ascent along the safety rope can cause the first or second crawling wheel to lose contact with the wall and spin freely or stop, resulting in measurement failure.

[0037] In the aforementioned imaging machine, a U-shaped slot 26 is provided on the side near the wall, and the imaging plate is placed in the U-shaped slot for easy assembly and replacement. Two lifting hole plates 27 are provided on the end face of the imaging machine located on the side of the rope climbing machine to facilitate installation with two cables. The imaging machine is also provided with four second crawling wheels 28 to facilitate rolling against the wall during the lifting process and reduce friction.

[0038] When the imaging machine is equipped with a propeller, the safety rope, if unrestrained, risks being entangled in the propeller. Therefore, two guide rings 31 are installed on the surface of the imaging machine away from the wall. These guide rings limit the radial movement of the safety rope, preventing it from moving towards the propeller during rotation and ensuring safety. A positioning and alignment receiving probe is connected to a handheld detection terminal to display the relative position between the positioning and alignment receiving probe and the positioning and alignment transmitting probe, thus determining whether the imaging plate is within the appropriate range. Both the rope climbing machine and the imaging machine are equipped with batteries for power supply. All the above signal controls are transmitted wirelessly, meeting the needs of high-altitude operations.

[0039] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. An X-ray inspection and imaging device based on a wall-climbing robot, characterized in that, It includes a safety rope, a rope climbing machine, an imaging machine set outside the wall, and a positioning and alignment receiving probe and an X-ray machine set inside the wall and on the floor. The rope climbing machine is set on the safety rope and moves along the direction guided by the safety rope. The imaging machine is suspended on the rope climbing machine by a hanging cable. An imaging plate is set on one side of the wall surface of the imaging machine. The rope climbing machine is equipped with an encoder assembly at the inlet end, which is used to measure the displacement height and perform coarse positioning. The imaging machine is equipped with a positioning and alignment transmitting probe, which works in conjunction with a positioning and alignment receiving probe to precisely position the imaging plate. A horizontal thrust assembly is also provided on the surface of the imaging device away from the wall. The horizontal thrust assembly is used to push the imaging device toward the wall and fix its position. The encoder assembly includes a ranging sensing roller, which is shaft-connected to a guide wheel. The ranging sensing roller is fixedly mounted on one end of a swing arm, and the other end of the swing arm is sleeved on a fixed shaft and rotates circumferentially. A tension spring is provided between the swing arm and the fixed shaft. The fixed shaft is fixedly connected to a swing seat, which is connected to a rotating seat. The rotating seat is fixed on the rope climbing machine. The swing seat includes a connecting body, one end of which is provided with a C-shaped buckle for fixing the fixed shaft, and the other end of which is provided with a first U-shaped frame. The rotating seat includes a second U-shaped frame. The first U-shaped frame and the second U-shaped frame are connected by a rotating shaft, and one of them has an arc-shaped groove on its side wall and the other has a positioning screw on its side wall. The positioning screw passes through the corresponding arc-shaped groove.

2. The X-ray detection and imaging device based on a wall-climbing robot as described in claim 1, characterized in that, The rope climbing machine includes a first housing, a set of first crawling wheels is provided at the bottom front end of the first housing, a first mounting frame is provided on the surface of the first housing near the wall, the first mounting frame is used for hanging rope connection, and the rope climbing host is provided inside the first housing.

3. The X-ray detection and imaging device based on a wall-climbing robot as described in claim 2, characterized in that, The first crawling wheel abuts against the wall, and the weight of the imaging machine is applied to the bottom of the rope climbing machine through the padlock, so that the bottom of the first housing forms an angle with the wall.

4. The X-ray detection and imaging device based on a wall-climbing robot as described in claim 1, characterized in that, The imaging machine has a U-shaped slot on the side near the wall, the imaging plate is placed in the U-shaped slot, the end face of the imaging machine located on the side of the rope climbing machine has two lifting hole plates, and the imaging machine is also equipped with four second crawling wheels.

5. The X-ray inspection and imaging device based on a wall-climbing robot as described in claim 1, characterized in that, The horizontal thrust assembly includes a rotary motor, on which a propeller is mounted.

6. The X-ray detection and imaging device based on a wall-climbing robot as described in claim 1, characterized in that, Two guide rings are also provided on the surface of the imaging machine away from the wall, and the guide rings are used to limit the radial movement of the safety rope.

7. The X-ray detection and imaging device based on a wall-climbing robot as described in claim 1, characterized in that, The positioning and alignment transmitting probe is the transmitting probe of the floor slab thickness gauge, and the positioning and alignment receiving probe is the receiving probe of the floor slab thickness gauge. The positioning and alignment receiving probe is connected to the main unit of the floor slab thickness gauge.

8. The X-ray inspection and imaging device based on a wall-climbing robot as described in claim 1, characterized in that, Both the rope climbing machine and the imaging machine are equipped with batteries for power supply.

Images