X-ray based corrosion detection robot

Abstract

The present application relates to the technical field of corrosion detection robot, disclose a kind of corrosion detection robot based on X-ray, including multiple installation support frame, and the side of multiple installation support frame is respectively equipped with X-ray detection equipment and electromagnetic scanner by protection shock pad, multiple installation support frame are all equipped with the clamping pole climbing mechanism for clamping in the outside of electric pole.The present application is by being provided installation support frame, X-ray detection equipment, electromagnetic scanner, clamping pole climbing mechanism and encircle detection mechanism and height climbing mechanism, installation support frame is installed fixed electromagnetic scanner and X-ray detection equipment, electromagnetic scanner and X-ray detection equipment are fixed by protection shock pad, can effectively reduce the influence of vibration in the process of robot crawling and detection on X-ray imaging quality, using clamping pole climbing mechanism 3 is used to stably clamp installation support frame on the surface of electric pole 1, for preventing falling.

Description

Technical Field

[0001] This invention relates to the field of corrosion detection robot technology, specifically to an X-ray-based corrosion detection robot. Background Technology

[0002] Power poles are important supporting structures in power transmission lines and are widely used in infrastructure construction such as urban and rural power grids, traffic lighting, and communication base stations. Depending on the material, power poles are mainly divided into concrete poles, steel pipe poles, and iron towers. Among them, concrete poles are the most widely used in distribution networks and low-voltage transmission lines due to their advantages such as lower cost, better durability, and convenient construction and maintenance.

[0003] Concrete utility poles typically have multiple longitudinal main reinforcing bars and spiral stirrups inside to enhance their bending resistance and overall structural strength. However, in coastal areas, industrial pollution zones, and environments with high humidity and high salt spray, utility poles are exposed to harsh natural conditions for extended periods. Corrosive media such as chloride ions, moisture, and carbon dioxide in the air can gradually penetrate to the surface of the reinforcing bars through micro-cracks in the concrete, damaging the passivation film on the surface of the reinforcing bars and initiating electrochemical corrosion. As corrosion continues to develop, the cross-section of the reinforcing bars gradually decreases, and the volume of corrosion products can expand to 2-6 times the original volume of the reinforcing bars. When the resulting expansion stress exceeds the tensile strength of the concrete, it can cause the concrete protective layer to crack and peel off, severely reducing the structural load-bearing capacity of the utility pole and even causing sudden breakage accidents.

[0004] X-ray inspection technology has been gradually introduced into the field of internal defect detection of concrete structures due to its advantages such as non-contact operation, ability to penetrate concrete, and intuitive imaging. However, most existing X-ray inspection equipment is fixed or handheld, requiring the erection of scaffolding or the use of aerial work platforms to lift the equipment to the inspection position. This makes equipment handling and positioning difficult, results in low inspection efficiency, and poses significant safety risks when operating at height.

[0005] In addition, while some existing pole-climbing robots can move up and down along utility poles, most of them only have simple climbing functions and cannot carry X-ray detection equipment for comprehensive corrosion detection. Furthermore, they lack the ability to scan the circumference of the utility pole, making it difficult to obtain complete information on internal steel reinforcement corrosion. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides an X-ray-based corrosion detection robot, which solves the problems of difficulties in equipment handling and positioning, significant safety risks associated with high-altitude operations, and the inability of pole-climbing robots to carry X-ray detection equipment for comprehensive corrosion detection.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution: an X-ray-based corrosion detection robot, comprising multiple mounting support frames, wherein X-ray detection equipment and an electromagnetic scanner are respectively mounted on the sides of the mounting support frames via protective shock-absorbing pads; each of the multiple mounting support frames is provided with a clamping climbing mechanism for clamping onto the outside of a power pole; the clamping climbing mechanism includes limiting frames disposed on both sides of the mounting support frame, on which clamping rods are slidably mounted; and the mounting support frame is provided with a drive component for driving the two clamping rods to clamp and retract.

[0008] Furthermore, each of the aforementioned mounting support frames is equipped with a surround detection mechanism, and the aforementioned mounting support frames and surround detection mechanisms are connected by a height climbing mechanism.

[0009] By adopting the above technical solution, the surrounding detection mechanism 5 is used to carry the electromagnetic scanner 6. The electromagnetic scanner 6 has an electromagnetic probe equipped with a floating spring mounting seat, which adapts to changes in rod diameter and always fits the outer wall with zero gap. It is used to record the defect height and circumferential angle data in real time and store them in the controller. All the coordinates of the suspicious points around the circle are stored.

[0010] The X-ray inspection device 7 rotates and climbs around the utility pole 1 to achieve a full-range scan of the utility pole 1. The device retrieves the stored abnormal coordinates, moves to the corresponding height to store defect images, and the electromagnetic scanner 6 above quickly conducts a large-area survey, while the X-ray inspection device 7 below only takes pictures of the potential hazard points, greatly reducing the number of exposures, saving power and reducing radiation.

[0011] Preferably, the drive assembly includes a multi-stage push rod installed on the side of the mounting support frame. An adjustment guide is fixedly installed at the output end of the multi-stage push rod. The adjustment guide has a figure-eight-shaped strip channel. A sliding rod is installed at the end of the clamping rod. The sliding rod is slidably disposed in the strip channel and an anti-detachment block is fixed on the outer surface of the sliding rod.

[0012] Preferably, the mounting support frame has a moving cavity inside, and the mounting support frames on both sides are slidably disposed inside the moving cavity. Several fastening screws are fixedly installed on the mounting support frame, and several fastening screw holes that cooperate with the fastening screws are opened on the limiting frame.

[0013] Preferably, the limiting frame has a channel for the movement of the clamping rod, and the outer surface of the clamping rod is slidably disposed inside the channel, and the clamping rod has a movement groove for moving inside the channel.

[0014] Preferably, the clamping rod includes an L-shaped rod and a supporting sleeve. The L-shaped rod is slidably disposed inside the supporting sleeve. A fixing bolt is threaded onto the supporting sleeve. The L-shaped rod has a plurality of fixing screw holes for the fixing bolt to be inserted.

[0015] Preferably, the surround detection mechanism includes an arc-shaped connecting plate fixed on a mounting support frame, a support guide is fixedly mounted on the top plate of the arc-shaped connecting plate, an arc-shaped bracket is slidably mounted on the support guide, and a motion component for driving the arc-shaped bracket to move is provided inside the support guide.

[0016] Preferably, the motion component includes a limiting slider fixed to the bottom of the arc-shaped bracket, a drive gear is rotatably mounted on the limiting slider via a rotating shaft, the arc-shaped bracket has an installation groove inside and a drive motor is fixed inside the installation groove, the drive gear is fixedly connected to the output shaft of the drive motor via a rotating shaft, and an arc-shaped toothed plate that meshes with the drive gear is fixedly mounted on the inner wall of the support guide.

[0017] The height climbing mechanism includes a connecting base fixed on an arc-shaped bracket, a threaded rod rotatably mounted on the connecting base, and a forward and reverse motor for driving the threaded rod to rotate is installed inside the connecting base. The mounting support is threaded onto the outer surface of the threaded rod.

[0018] Preferably, the threaded rod is provided with support guide rods on both sides, and the two support guide rods are fixedly installed on the connecting base. The mounting support frame is slidably disposed on the outer surface of the two support guide rods, and the top of the threaded rod and the two guide rods are fixed with support baffles for limiting the mounting support.

[0019] Preferably, the clamping rod has an arc-shaped groove and an arc-shaped elastic pad is installed in the groove. The outer surface of the elastic pad is provided with an anti-slip protective pad, and the elastic pad is provided with multiple compression springs inside.

[0020] Working principle:

[0021] Before the robot starts working, the equipment is first installed on the utility pole by the clamping climbing mechanism. The operator can adjust the extension length of the limit frame according to the diameter of the utility pole by cooperating the fastening screw with the fastening screw holes at different positions, so that the clamping rod can be adapted to the utility pole of different specifications. At the same time, the extension length of the L-shaped rod in the support sleeve can be adjusted by adjusting the fixing bolt, and the radial position of the clamping rod can be further fine-tuned to ensure that the clamping mechanism can fit tightly against the surface of the utility pole.

[0022] Multiple compression springs are installed inside the elastic pad at the end of the clamping rod. When the clamping rod is clamped towards the power pole, the compression springs can adaptively compress or extend according to the local unevenness of the power pole surface, so that the anti-slip protective pad on the outer surface of the elastic pad always keeps in close contact with the power pole surface, which not only ensures the stability of the clamping, but also avoids damage to the power pole surface caused by rigid clamping.

[0023] When it is necessary to climb the pole, the forward and reverse motors are activated. The forward and reverse motors drive the threaded rod to rotate. Since the mounting support frame is threadedly engaged with the threaded rod, when the forward and reverse motors rotate forward, the mounting support frame moves upward, driving the clamping pole climbing mechanism, electromagnetic scanner, and X-ray inspection equipment to rise as a whole. When the forward and reverse motors rotate in reverse, the mounting support frame moves downward, realizing the height adjustment of the electromagnetic scanner and X-ray inspection equipment, which can stop at any inspection height. The electromagnetic scanner above can quickly conduct a large-area survey, while the X-ray inspection equipment below can take pictures of potential hazard points.

[0024] When encountering an obstacle, the multi-stage push rod is activated. When the multi-stage push rod extends, the adjusting guide will move away from the utility pole. At the same time, since the clamping rod is engaged with the limit frame through the groove, during the movement of the adjusting guide, the clamping rods on both sides will move away from each other first, causing the groove of the clamping rod to disengage. When the adjusting guide continues to move, it will pull the clamping rod to follow the movement, causing the groove to move away from the channel. At this time, the outer wall of the clamping rod will fit against the inner wall of the channel. The continued movement of the adjusting guide will drive the clamping rod to follow away from the utility pole, which can effectively deal with the crossbeam on the utility pole.

[0025] When performing multi-directional inspection, the drive motor is turned on, which drives the drive gear to rotate. The drive gear meshes with the arc-shaped toothed plate fixed on the inner wall of the support guide. Since the drive gear is installed on the limit slider at the bottom of the arc-shaped bracket, it moves along the arc-shaped toothed plate when it rotates, causing the arc-shaped bracket to slide along the support guide. The arc-shaped bracket is connected to the mounting support frame above through a height climbing mechanism. Therefore, when the arc-shaped bracket moves, it will drive the mounting support frame and the electromagnetic scanner and X-ray inspection equipment installed on it to rotate around the power pole in sequence, realizing all-round inspection.

[0026] When a circumferential inspection of the current height is required, the upper clamping rod remains clamped as a fixed anchor point, the lower clamping rod is released, and the surrounding inspection mechanism drives the upper mounting support frame to rotate around the power pole, driving the electromagnetic scanner and X-ray inspection equipment to perform a full-range scan of the current cross section. After the inspection is completed, the lower clamping rod is re-clamped.

[0027] When encountering obstacles such as beams on utility poles, the clamping rods are actively released and alternately clamped, combined with obstacle avoidance actions driven by multi-stage push rods, so that the clamping rods can temporarily detach from the surface of the utility pole, pass through the side space of the beam, and re-clamp after passing the obstacle, thus achieving continuous climbing and detection.

[0028] Through the collaborative work of the aforementioned mechanisms, the robot can automatically climb along the utility pole to any height and complete comprehensive inspection at each height, achieving automated, full-coverage, and high-precision detection of corrosion of the internal steel bars of the utility pole.

[0029] This invention provides an X-ray-based corrosion detection robot. It has the following advantages:

[0030] 1. Through the coordinated operation of the clamping climbing mechanism, the height climbing mechanism, and the surrounding detection mechanism, the robot can automatically climb along the utility pole to any height and complete the electromagnetic full-domain survey and X-ray suspicious point fixed-point imaging composite detection at each height position, realizing automated, full-coverage, and high-precision detection of steel corrosion inside the utility pole.

[0031] 2. When encountering obstacles such as beams on utility poles, this invention uses the active release and alternating clamping of the clamping rods, combined with the obstacle avoidance action driven by multi-stage push rods, to allow the clamping rods to temporarily detach from the surface of the utility pole, pass through the side space of the beam, and re-clamp after overcoming the obstacle, thus achieving continuous climbing and detection.

[0032] 3. This invention, by setting up multi-stage push rods, adjusting guides, and sliding rods, allows the adjusting guides to move away from the utility poles when the multi-stage push rods extend. Simultaneously, since the clamping rods are engaged with the limiting frame through grooves, the movement of the adjusting guides will first cause the clamping rods on both sides to move away from each other, disengaging the grooves of the clamping rods. As the adjusting guides continue to move, they will pull the clamping rods to follow, moving the grooves away from the channel. At this point, the outer wall of the clamping rods will adhere to the inner wall of the channel. Continued movement of the adjusting guides will further move the clamping rods away from the utility poles, effectively addressing obstacles such as beams on the utility poles.

[0033] 4. This invention incorporates a drive motor, a limiting slider, a drive gear, and an arc-shaped toothed plate. The drive motor is a self-locking motor that drives the drive gear to rotate via a rotating shaft. The rotating drive gear meshes with the arc-shaped toothed plate, causing the drive gear to move. This movement of the drive gear, through the limiting slider, causes the arc-shaped bracket to move synchronously. The arc-shaped bracket, through a height climbing mechanism, drives the upper mounting support frame and the X-ray detection equipment mounted on it to rotate synchronously around the utility pole, enabling multi-angle scanning and detection of the utility pole's circumference. It can also avoid obstacles such as beams at different locations. Multiple mounting support frames can move collaboratively, providing multi-directional clamping and fixation, while increasing flexibility and enabling multi-angle obstacle avoidance. Attached Figure Description

[0034] Figure 1 This is a perspective view of the present invention;

[0035] Figure 2 This is a partial structural schematic diagram of the present invention;

[0036] Figure 3 This is a schematic diagram of another aspect of the structure of the present invention;

[0037] Figure 4This is a schematic diagram of the clamping climbing mechanism and the surrounding detection mechanism of the present invention;

[0038] Figure 5 This is a schematic diagram of the clamping climbing pole mechanism of the present invention;

[0039] Figure 6 This is a schematic diagram of the mounting support frame structure of the present invention;

[0040] Figure 7 This is a schematic diagram of the adjusting guide structure of the present invention;

[0041] Figure 8 This is a schematic cross-sectional view of the support guide and arc-shaped bracket of the present invention;

[0042] Figure 9 This is a schematic cross-sectional view of the support guide frame structure of the present invention;

[0043] Figure 10 This is a schematic diagram of the cross-sectional structure of the limiting frame of the present invention;

[0044] Figure 11 This is a schematic diagram of the support sleeve structure of the present invention.

[0045] 1. Utility poles;

[0046] 2. Install the support frame;

[0047] 3. Clamping climbing mechanism; 301. Clamping rod; 302. Sliding rod; 303. Adjusting guide; 304. Multi-stage push rod; 305. Limiting frame; 306. Anti-slip layer; 307. Elastic pad; 308. L-shaped rod; 309. Fixing bolt; 310. Supporting sleeve;

[0048] 4. Height climbing mechanism; 401. Threaded rod; 402. Support guide rod; 403. Connecting base;

[0049] 5. Surround detection mechanism; 501. Arc-shaped connecting plate; 502. Support guide; 503. Arc-shaped toothed plate; 504. Arc-shaped bracket; 505. Drive motor; 506. Limiting slider; 507. Drive gear;

[0050] 6. Electromagnetic scanner;

[0051] 7. X-ray inspection equipment. Detailed Implementation

[0052] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] Please see the appendix Figure 1 - Appendix Figure 4 This invention provides an X-ray-based corrosion detection robot, including multiple mounting support frames 2. X-ray detection equipment 7 and electromagnetic scanner 6 are respectively mounted on the sides of the multiple mounting support frames 2 through protective shock-absorbing pads. Each of the multiple mounting support frames 2 is provided with a clamping climbing mechanism 3 for clamping the outside of the power pole 1. The clamping climbing mechanism 3 includes a limiting frame 305 disposed on both sides of the mounting support frame 2. Clamping rods 301 are slidably mounted on the limiting frame 305. The mounting support frame 2 is provided with a drive component for driving the two clamping rods 301 to clamp and retract.

[0054] Furthermore, multiple mounting support frames 2 are equipped with a surround detection mechanism 5, and the multiple mounting support frames 2 and the surround detection mechanism 5 are connected by a height climbing mechanism 4.

[0055] The X-ray inspection device 7 is installed and fixed by the installation support frame 2, X-ray inspection equipment 7, electromagnetic scanner 6, clamping climbing mechanism 3, surrounding inspection mechanism 5, and height climbing mechanism 4. The electromagnetic scanner 6 and X-ray inspection equipment 7 are fixed by protective shock-absorbing pads. The X-ray inspection device 7 is preferably a single-sided backscattered X-ray inspection device. This device integrates the X-ray source and detector, eliminating the need for an imaging plate on the opposite side of the pole 1, allowing inspection to be completed from one side. Both the single-sided backscattered X-ray inspection device and the electromagnetic scanner 6 are existing technologies, and their principles will not be elaborated here. This effectively reduces robot crawling. To mitigate the impact of vibrations during the inspection process on X-ray imaging quality, a clamping climbing mechanism 3 is used to stably clamp the mounting support frame 2 onto the surface of the utility pole 1, preventing it from falling and ensuring its stability on the surface of the utility pole 1. A height climbing mechanism 4 drives the mounting support frame 2 to move the electromagnetic scanner 6 and X-ray inspection equipment 7 up and down along the utility pole 1, enabling inspection work at different heights. A surrounding inspection mechanism 5 is used to carry the electromagnetic scanner 6. The electromagnetic probe of the electromagnetic scanner 6 is equipped with a floating spring mounting seat, which adapts to changes in the pole diameter and always fits the outer wall with zero gap. In conjunction with real-time recording of defect height and circumferential angle data, the controller stores all the coordinates of the entire circle of suspicious points.

[0056] The X-ray inspection device 7 rotates and climbs around the utility pole 1 to achieve a full-range scan of the utility pole 1. The device retrieves the stored abnormal coordinates, moves to the corresponding height to store defect images, and the electromagnetic scanner 6 above quickly conducts a large-area general survey. The X-ray inspection device 7 below only takes pictures of the hazard points, which greatly reduces the number of exposures, saves power, and has lower radiation.

[0057] When a circumferential inspection of the current height is required, the upper clamping rod 301 remains clamped as a fixed anchor point, while the lower clamping rod 301 is released. The surrounding inspection mechanism 5 drives the upper mounting support frame 2 to rotate around the utility pole 1, driving the electromagnetic scanner 6 and X-ray inspection equipment 7 to perform a 360° all-round scan of the current cross-section. After the inspection is completed, the lower clamping rod 301 is re-clamped. By rotating, the incident direction of the X-ray is changed, avoiding the obstruction of internal steel bars caused by fixed-position inspection. This ensures that each steel bar can be clearly imaged, avoiding missed detections due to obstruction. It solves the problems of traditional inspection methods that require manual climbing, have limited inspection range, and pose safety hazards, and realizes automated, all-round, and high-precision inspection of corrosion of internal steel bars in utility poles.

[0058] For details, please refer to the appendix. Figure 5 - Appendix Figure 7 The drive assembly includes a multi-stage push rod 304 mounted on the side of the mounting support frame 2. An adjusting guide 303 is fixedly mounted on the output end of the multi-stage push rod 304. The adjusting guide 303 has a figure-eight-shaped strip channel. A sliding rod 302 is mounted on the end of the clamping rod 301. The sliding rod 302 is slidably disposed in the strip channel and an anti-detachment block is fixed on the outer surface of the sliding rod 302. A channel for the clamping rod 301 to move is provided on the limiting frame 305, and the outer surface of the clamping rod 301 is slidably disposed inside the channel. A movement groove for moving inside the channel is provided on the clamping rod 301.

[0059] By setting up multi-stage push rods 304, adjusting guides 303, and sliding rods 302, when the multi-stage push rods 304 extend, the adjusting guides 303 will move away from the power post 1. At the same time, since the clamping rods 301 are in a snap-fit ​​state with the limiting frame 305 through the groove, and the clamping rods 301 are provided with an anti-slip layer 306, the stability of the clamping is improved. During the movement of the adjusting guides 303, the clamping rods 301 on both sides will move away from each other first, so that the grooves of the clamping rods 301 are disengaged. At this time, the adjustment guides 303 continue to move and will pull the clamping rods 301 to follow the movement, so that the grooves are away from the channel. At this time, the outer wall of the clamping rods 301 will fit against the inner wall of the channel. The adjustment guides 303 continue to move and will drive the clamping rods 301 to follow away from the power post 1. This can effectively deal with the crossbeam on the power post 1 and avoid the problem of obstruction of the movement of the clamping rods 301.

[0060] For details, please refer to the appendix. Figure 4 Appendix Figure 8 and attached Figure 9The surrounding detection mechanism 5 includes an arc-shaped connecting plate 501 fixed on the mounting support frame 2. A support guide 502 is fixedly installed on the top plate of the arc-shaped connecting plate 501. An arc-shaped bracket 504 is slidably installed on the support guide 502. A motion component for driving the arc-shaped bracket 504 is provided inside the support guide 502. The motion component includes a limiting slider 506 fixed to the bottom of the arc-shaped bracket 504. A drive gear 507 is rotatably installed on the limiting slider 506 via a rotating shaft. An installation groove is opened inside the arc-shaped bracket 504, and a drive motor 505 is fixed inside the installation groove. The drive gear 507 is fixedly connected to the output shaft of the drive motor 505 via a rotating shaft. An arc-shaped toothed plate 503 that meshes with the drive gear 507 is fixedly installed on the inner wall of the support guide 502.

[0061] By setting up a drive motor 505, a limiting slider 506, a drive gear 507, and an arc-shaped toothed plate 503, the drive motor 505 is a self-locking motor. The drive motor 505 drives the drive gear 507 to rotate through the rotating shaft. The drive gear 507 rotates and meshes with the arc-shaped toothed plate 503, thereby causing the drive gear 507 to move. The movement of the drive gear 507 can drive the arc-shaped bracket 504 to move synchronously through the limiting slider 506. Then, the arc-shaped bracket 504 drives the mounting support frame 2 above and the electromagnetic scanner 6 and X-ray detection equipment 7 mounted on it to rotate synchronously around the utility pole 1 through the height climbing mechanism 4, realizing multi-angle scanning and detection of the utility pole 1 in all directions. At the same time, it can deal with and avoid crossbeam obstacles in different positions. Multiple mounting support frames 2 can move in coordination, which can clamp and fix in multiple directions, while improving flexibility and realizing multi-angle obstacle avoidance.

[0062] For details, please refer to the appendix. Figure 3 The height climbing mechanism 4 includes a connecting base 403 fixed on an arc-shaped bracket 504. A threaded rod 401 is rotatably mounted on the connecting base 403, and a forward and reverse motor for driving the threaded rod 401 to rotate is installed inside the connecting base 403. The mounting support frame 2 is threaded onto the outer surface of the threaded rod 401. Support guide rods 402 are provided on both sides of the threaded rod 401. Both support guide rods 402 are fixedly mounted on the connecting base 403. The mounting support frame 2 is slidably disposed on the outer surface of the two support guide rods 402, and support baffles for limiting the mounting support are fixed at the top of the threaded rod 401 and the two guide rods.

[0063] By setting up a forward and reverse motor, a threaded rod 401, and a support guide rod 402, the forward and reverse motor is a motor with a self-locking mechanism. The forward and reverse motor drives the threaded rod 401 to rotate forward or reverse. Since the mounting support frame 2 is threadedly engaged with the threaded rod 401 and its rotational freedom is restricted by the support guide rod 402, the mounting support frame 2 can only move up and down along the axial direction of the threaded rod 401, thereby driving the clamping climbing rod mechanism 3, the electromagnetic scanner 6, and the X-ray inspection equipment 7 to rise and fall as a whole. This screw lifting mechanism has a self-locking characteristic, can stably stay at any inspection height, and has smooth transmission and high positioning accuracy, meeting the corrosion inspection requirements at different height positions.

[0064] For details, please refer to the appendix. Figure 10 Unlike the above embodiments, the clamping rod 301 has an arc-shaped groove and an arc-shaped elastic pad 307 is installed in the groove. The outer surface of the elastic pad 307 is provided with an anti-slip protective pad, and the elastic pad 307 is provided with multiple compression springs inside.

[0065] By setting an elastic pad 307, the arc-shaped groove on the clamping rod 301 is used to adapt to the cylindrical wire post. The elastic pad 307, through multiple internal compression springs, preferably squeeze springs, can adaptively adjust and change during the clamping process of the wire post 1, adapting to the use of wire posts 1 of different shapes, and can also clamp and fix when encountering uneven surfaces or small obstacles on the surface of the wire post 1.

[0066] For details, please refer to the appendix. Figure 6 and attached Figure 11 Unlike the above embodiments, the mounting support frame 2 has a moving cavity inside, and the mounting support frames 2 on both sides are slidably disposed inside the moving cavity. Several fastening screws are fixedly installed on the mounting support frame 2, and several fastening screw holes that cooperate with the fastening screws are opened on the limiting frame 305. The clamping rod 301 includes an L-shaped rod 308 and a support sleeve 310. The L-shaped rod 308 is slidably disposed inside the support sleeve 310, and a fixing bolt 309 is threadedly installed on the support sleeve 310. Several fixing screw holes for the fixing bolt 309 to be inserted are opened on the L-shaped rod 308.

[0067] By setting fastening screws and fixing bolts 309, the extension length of the limiting frame 305 can be adjusted by inserting the fastening screws into the fixing screw holes at different positions. By setting fixing bolts 309, the position of the L-shaped rod 308 can be adjusted, which cooperates with the limiting frame 305, thereby adjusting the position of the clamping rods 301 on both sides, and enabling the clamping of electrical poles 1 of different widths.

[0068] Working principle:

[0069] Before the robot starts working, the device is first installed on the power post 1 by clamping the climbing rod mechanism 3. The operator can adjust the extension length of the limit frame 305 according to the diameter of the power post 1 by cooperating the fastening screw with the fastening screw holes at different positions, so that the clamping rod 301 can be adapted to power posts 1 of different specifications. At the same time, the extension length of the L-shaped rod 308 in the support sleeve 310 is adjusted by fixing bolt 309 to further fine-tune the radial position of the clamping rod 301, ensuring that the clamping mechanism can fit tightly against the surface of the power post 1.

[0070] Multiple compression springs are provided inside the elastic pad 307 at the end of the clamping rod 301. When the clamping rod 301 is clamped towards the wire post 1, the compression springs can adaptively compress or extend according to the local unevenness of the surface of the wire post 1, so that the anti-slip protective pad on the outer surface of the elastic pad 307 always maintains close contact with the surface of the wire post 1, which not only ensures the stability of clamping, but also avoids damage to the surface of the wire post 1 caused by rigid clamping.

[0071] When it is necessary to climb the pole, the forward and reverse motors are activated. The forward and reverse motors drive the threaded rod 401 to rotate. Since the mounting support frame 2 is threadedly engaged with the threaded rod 401, when the forward and reverse motors rotate forward, the mounting support frame 2 moves upward, driving the clamping pole climbing mechanism 3, the electromagnetic scanner 6, and the X-ray inspection equipment 7 to rise as a whole. When the forward and reverse motors rotate in reverse, the mounting support frame 2 moves downward, realizing the height adjustment of the electromagnetic scanner 6 and the X-ray inspection equipment 7, which can stop at any inspection height. The electromagnetic scanner 6 at the top can quickly conduct a large-area survey, while the X-ray inspection equipment 7 at the bottom can take pictures of potential hazard points.

[0072] When an obstacle is encountered, the multi-stage push rod 304 is activated. When the multi-stage push rod 304 extends, the adjusting guide 303 moves away from the power pole 1. At the same time, since the clamping rod 301 is engaged with the limiting frame 305 through the groove, during the movement of the adjusting guide 303, the clamping rods 301 on both sides will move away from each other first, causing the groove of the clamping rod 301 to disengage. When the adjusting guide 303 continues to move, it will pull the clamping rod 301 to follow the movement, causing the groove to move away from the channel. At this time, the outer wall of the clamping rod 301 will fit against the inner wall of the channel. When the adjusting guide 303 continues to move, it will drive the clamping rod 301 to follow away from the power pole 1, which can effectively deal with the crossbeam on the power pole 1.

[0073] When performing multi-directional inspection, the drive motor 505 is turned on, and the drive motor 505 drives the drive gear 507 to rotate. The drive gear 507 meshes with the arc-shaped toothed plate 503 fixed on the inner wall of the support guide 502. Since the drive gear 507 is installed on the limiting slider 506 at the bottom of the arc-shaped bracket 504, the drive gear 507 will move along the arc-shaped toothed plate 503 when it rotates, causing the arc-shaped bracket 504 to slide along the support guide 502. The arc-shaped bracket 504 is connected to the mounting support frame 2 above through the height climbing mechanism 4. Therefore, when the arc-shaped bracket 504 moves, it will drive the mounting support frame 2 and the electromagnetic scanner 6 and X-ray inspection equipment 7 installed on it to rotate synchronously around the power post 1, realizing all-round inspection.

[0074] When a circumferential inspection of the current height is required, the upper clamping rod 301 is kept clamped as a fixed anchor point, the lower clamping rod 301 is released, and the surrounding inspection mechanism 5 drives the upper mounting support frame 2 to rotate around the pole 1, driving the electromagnetic scanner 6 and X-ray inspection equipment 7 to perform a 360° all-round scan of the current section. After the inspection is completed, the lower clamping rod 301 is clamped again.

[0075] When encountering obstacles such as beams on utility pole 1, the active release and alternating clamping of the clamping rod 301, combined with the obstacle avoidance action driven by the multi-stage push rod 304, allows the clamping rod 301 to temporarily detach from the surface of utility pole 1, pass through the side space of the beam, and re-clamp after overcoming the obstacle, thus achieving continuous climbing and detection.

[0076] Through the collaborative work of the aforementioned mechanisms, the robot can automatically climb along the utility pole 1 to any height and complete comprehensive inspection at each height position, achieving automated, full-coverage, and high-precision detection of corrosion of the internal steel bars of the utility pole.

[0077] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An X-ray-based corrosion detection robot, characterized in that, The system includes multiple mounting support frames (2), and X-ray inspection equipment (7) and electromagnetic scanner (6) are respectively mounted on the sides of the multiple mounting support frames (2) through protective shock-absorbing pads. Each of the multiple mounting support frames (2) is provided with a clamping climbing mechanism (3) for clamping the outside of the pole (1). The clamping climbing mechanism (3) includes a limiting frame (305) set on both sides of the mounting support frame (2). A clamping rod (301) is slidably mounted on the limiting frame (305). The mounting support frame (2) is provided with a drive assembly for driving the two clamping rods (301) to clamp and retract. Furthermore, each of the multiple mounting support frames (2) is equipped with a surround detection mechanism (5), and the multiple mounting support frames (2) and the surround detection mechanism (5) are connected by a height climbing mechanism (4).

2. The X-ray-based corrosion detection robot according to claim 1, characterized in that: The drive assembly includes a multi-stage push rod (304) installed on the side of the mounting support frame (2). An adjustment guide (303) is fixedly installed at the output end of the multi-stage push rod (304). The adjustment guide (303) has a figure-eight-shaped strip channel. A sliding rod (302) is installed at the end of the clamping rod (301). The sliding rod (302) is slidably arranged in the strip channel and an anti-detachment block is fixed on the outer surface of the sliding rod (302).

3. The X-ray-based corrosion detection robot according to claim 1, characterized in that: The mounting support frame (2) has a moving cavity inside. The mounting support frames (2) on both sides are slidably arranged inside the moving cavity. Several fastening screws are fixedly installed on the mounting support frame (2). Several fastening screw holes that cooperate with the fastening screws are opened on the limiting frame (305).

4. The X-ray-based corrosion detection robot according to claim 3, characterized in that: The limiting frame (305) has a channel for the movement of the clamping rod (301), and the outer surface of the clamping rod (301) is slidably disposed inside the channel. The clamping rod (301) has a movement groove for moving inside the channel.

5. The X-ray-based corrosion detection robot according to claim 3, characterized in that: The clamping rod (301) includes an L-shaped rod (308) and a support sleeve (310). The L-shaped rod (308) is slidably disposed inside the support sleeve (310). A fixing bolt (309) is threaded on the support sleeve (310). The L-shaped rod (308) has several fixing screw holes for the fixing bolt (309) to be inserted.

6. The X-ray-based corrosion detection robot according to claim 1, characterized in that: The surrounding detection mechanism (5) includes an arc-shaped connecting plate (501) fixed on the mounting support frame (2). A support guide (502) is fixedly installed on the top plate of the arc-shaped connecting plate (501). An arc-shaped bracket is slidably installed on the support guide (502). A motion component for driving the arc-shaped bracket to move is provided inside the support guide (502).

7. The X-ray-based corrosion detection robot according to claim 6, characterized in that: The motion component includes a limiting slider (506) fixed to the bottom of the arc-shaped bracket (504). A drive gear (507) is rotatably mounted on the limiting slider (506) via a rotating shaft. An installation groove is provided inside the arc-shaped bracket (504), and a drive motor (505) is fixed inside the installation groove. The drive gear (507) is fixedly connected to the output shaft of the drive motor (505) via a rotating shaft. An arc-shaped toothed plate (503) that meshes with the drive gear (507) is fixedly mounted on the inner wall of the support guide (502).

8. The X-ray-based corrosion detection robot according to claim 6, characterized in that: The height climbing mechanism (4) includes a connecting base (403) fixed on an arc-shaped bracket (504), a threaded rod (401) is rotatably mounted on the connecting base (403), and a forward and reverse motor for driving the threaded rod (401) to rotate is installed inside the connecting base (403). The mounting support frame (2) is threaded onto the outer surface of the threaded rod (401).

9. The X-ray-based corrosion detection robot according to claim 8, characterized in that: Both sides of the threaded rod (401) are provided with support guide rods (402), and both support guide rods (402) are fixedly installed on the connecting base (403). The mounting support frame (2) is slidably disposed on the outer surface of the two support guide rods (402), and the top of the threaded rod (401) and the two guide rods are fixed with support baffles for limiting the mounting support.

10. The X-ray-based corrosion detection robot according to claim 1, characterized in that: The clamping rod (301) has an arc-shaped groove and an arc-shaped elastic pad (307) is installed in the groove. The outer surface of the elastic pad (307) is provided with an anti-slip protective pad, and the elastic pad (307) is provided with multiple compression springs inside.

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