Auxiliary device for substation x-ray detection

Abstract

The utility model relates to X -ray detection technical field, concretely relates to a transformer substation X -ray detection auxiliary device including mobile chassis, mobile chassis is track chassis, and mobile chassis includes car body, and the both sides symmetry of car body in horizontal direction are equipped with two track wheel assembly, the top of car body is connected with the carrying platform through the hinge shaft, and the axis of hinge shaft is along the horizontal arrangement, and car body is hinged with one end of angle adjusting push rod, and the other end of angle adjusting push rod is hinged with the bottom of carrying platform and is away from the side of hinge shaft, and angle adjusting push rod can be telescopic, the top of carrying platform is equipped with the lift column that can be telescopic along the vertical direction, and the top of lift column is equipped with fixed platform, and fixed platform is used for installing X -ray transmitter, when the utility model's mobile chassis climbs or climbs the stairs, carrying platform can be adjusted to be the horizontal state, and the device is avoided to dump.

Description

Technical Field

[0001] This utility model relates to the field of X-ray detection technology, specifically to an auxiliary device for X-ray detection in substations. Background Technology

[0002] In the operation and maintenance of GIS equipment in substations, live-line testing is a crucial step in promptly identifying potential hazards and ensuring the safe and stable operation of the equipment. When abnormal signals are detected during testing, maintenance personnel typically use X-ray digital imaging technology to further investigate the problem area in order to accurately pinpoint the specific defect.

[0003] Currently, commonly used X-ray emitters weigh approximately 45 kg. In traditional inspection operations, the equipment handling alone requires 2-3 people working together, which not only consumes a lot of manpower but also risks damaging the equipment due to bumps and knocks during transport. Furthermore, manual handling poses certain safety risks in the complex environment of substations. Patent CN117775126A discloses a substation GIS equipment X-ray inspection robot with a support structure. This robot uses a tracked walking mechanism, making it more convenient to move than traditional manual handling, and its movement on flat ground is more stable, thus reducing labor costs and improving the safety of equipment movement to some extent.

[0004] However, due to the diverse installation locations of GIS equipment in substations, many devices are located at high altitudes, requiring robots to have the ability to climb stairs or slopes to reach the inspection positions. In the aforementioned patent, the robot's X-ray emitter is mounted on top of the lifting column. When climbing slopes or stairs, the heavy X-ray emitter will cause the robot's center of gravity to shift upwards and away from the center of the machine, making it difficult for the robot to climb slopes, and may even cause the robot to become unbalanced, tilting or even tipping over. Utility Model Content

[0005] To address the technical problem in existing technologies where the X-ray transmitter of a substation GIS equipment X-ray inspection robot is installed on top of a lifting column, the heavy X-ray transmitter can cause the robot's center of gravity to shift upwards and deviate from the center of the robot body when climbing slopes or stairs, making it difficult for the robot to climb slopes, and even causing the robot to become unbalanced, tilt, or even fall over, this utility model provides an auxiliary device for substation X-ray inspection.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] An auxiliary device for X-ray inspection of a substation includes a mobile chassis, which is a tracked chassis. The mobile chassis includes a vehicle body with two track wheel assemblies symmetrically arranged on both sides of the vehicle body in the lateral direction. The top of the vehicle body is connected to a transport platform via a hinge shaft, the axis of which is arranged laterally. One end of the vehicle body is hinged to an angle adjustment push rod, and the other end of the angle adjustment push rod is hinged to the bottom of the transport platform away from the hinge shaft. The angle adjustment push rod is telescopic. The top of the transport platform is provided with a vertically telescopic lifting column, and the top of the lifting column is provided with a fixed platform for mounting an X-ray transmitter.

[0008] By adopting the above structural design, this utility model, through the use of a tracked mobile chassis and symmetrical track wheel assemblies on both sides, ensures convenient and stable movement of the device in the complex ground environment of substations. Compared with traditional manual handling of X-ray transmitters, this significantly saves labor costs and reduces handling risks. The vehicle body and the handling platform are connected by a transverse hinge shaft, and with the help of a telescopic angle-adjustable push rod, the tilt angle of the handling platform can be changed by adjusting the extension length of the push rod during the device's ascent or descent. This ensures that the handling platform remains level, effectively preventing the device from tipping over due to the X-ray transmitter's center of gravity shifting, and ensuring the safety of high-altitude inspection operations. Simultaneously, the lifting column allows the X-ray transmitter to be raised and lowered vertically, meeting the inspection needs of GIS equipment at different heights.

[0009] As a preferred implementation of an auxiliary device for X-ray inspection of substations, a gyroscope is installed on the vehicle body, the angle adjustment push rod is an electric push rod, the driving component of the angle adjustment push rod is a stepper motor, and both the gyroscope and the stepper motor are connected to the controller.

[0010] Using the above structural design, the gyroscope installed on the vehicle body can detect the vehicle's tilt angle in real time. The angle adjustment push rod is an electric push rod driven by a stepper motor. Both the gyroscope and the stepper motor are connected to the controller, forming an automated angle adjustment system. The controller can automatically control the stepper motor to extend and retract the angle adjustment push rod based on the vehicle tilt data detected by the gyroscope. This allows for precise adjustment of the transport platform's angle without manual intervention, ensuring that the transport platform remains level during processes such as climbing stairs and slopes.

[0011] As a preferred implementation of an auxiliary device for X-ray inspection in a substation, the fixed platform includes a base. The top of the base is rotatably connected to an adjusting seat via a first rotating shaft. The axial direction of the first rotating shaft is parallel to the axial direction of the lifting column. The top of the adjusting seat is rotatably connected to a fixed platform via a second rotating shaft. The axial direction of the second rotating shaft is perpendicular to the axial direction of the lifting column. A fixed frame is fixedly installed on the top of the fixed platform. The fixed frame is used to install an X-ray transmitter.

[0012] With the above structural design, the base of the fixed platform is connected to the adjustment seat via a rotating shaft one, the axis of which is parallel to the lifting column, allowing the adjustment seat to drive the X-ray transmitter to rotate horizontally around the axis of the lifting column. The adjustment seat is connected to the fixed platform via a rotating shaft two, the axis of which is perpendicular to the lifting column, allowing the fixed platform to drive the X-ray transmitter to adjust its pitch angle around the rotating shaft two. These two angle adjustment methods work together to achieve multi-angle adjustment of the X-ray transmitter in both horizontal and pitch directions. This allows for flexible aiming at the GIS equipment to be inspected at different locations and angles, significantly improving the flexibility and coverage of X-ray inspection. It ensures accurate acquisition of imaging information of equipment defects and solves the problem of limited inspection angles for X-ray transmitters in traditional fixed installation methods.

[0013] As a preferred implementation of an auxiliary device for X-ray inspection of substations, a camera is installed on a fixed platform.

[0014] Using the above structural design, the camera mounted on the fixed platform can capture real-time images of the environment surrounding the X-ray transmitter and its relative position to the GIS equipment. Operators can remotely and clearly observe the alignment of the X-ray transmitter through the images transmitted from the camera, facilitating precise control when adjusting the angle and position of the X-ray transmitter and avoiding adjustment deviations caused by obstructed vision. Simultaneously, the camera can also assist operators in determining the safe distance between the device and surrounding equipment, preventing collisions between the device and the GIS equipment during movement or adjustment, further ensuring the safety and accuracy of the inspection operation.

[0015] As a preferred implementation of an auxiliary device for X-ray inspection of substations, the platform of the transport platform is rectangular, with four transversely penetrating telescopic slots and two telescopic slots on each of the longitudinal sides of the transport platform. Each telescopic slot is slidably connected to a sliding rod. Two sliding rods located on the same side in the longitudinal direction of the transport platform extend into the corresponding telescopic slots in opposite directions. Each end of the sliding rod extending out of the transport platform is connected to a vertically installed support rod, which can be vertically moved and adjusted on the sliding rod.

[0016] With the above structural design, during testing, the sliding rod extends from the telescopic groove, and the support rods are adjusted so that their bottoms contact the ground. The four support rods extend in different directions from both sides of the transport platform, forming a stable support structure. This effectively increases the contact area between the device and the ground, improving the overall stability of the device. Especially when the device is on inclined ground or undergoing testing at height, the support rods can share some of the device's weight, further preventing it from tipping over and enhancing its safety in complex terrain. After testing, the sliding rod retracts into the telescopic groove, and the support rods are adjusted to slide upwards without affecting the normal movement of the device.

[0017] As a preferred implementation of an auxiliary device for X-ray inspection of substations, the top of the transport platform is surrounded by a fence.

[0018] With the above structural design, the railings installed around the top of the transport platform can protect the components placed on the platform and prevent them from being bumped or knocked.

[0019] As a preferred implementation of an X-ray inspection auxiliary device for substations, the lifting column includes a hollow column one, a hollow column two that is slidably fitted inside the hollow column one, and a hollow column three that is slidably fitted inside the hollow column two; a telescopic push rod one is provided inside the hollow column one, one end of the telescopic push rod one is connected to the bottom end of the hollow column one, and the other end of the telescopic push rod one is connected to the bottom end of the hollow column three; a telescopic push rod two is provided inside the hollow column two, one end of the telescopic push rod two is connected to the bottom end of the hollow column two, and the other end of the telescopic push rod two is connected to the top end of the hollow column three.

[0020] The above structural design employs a nested structure of three hollow columns: Hollow Column 1, Hollow Column 2, and Hollow Column 3. A telescopic push rod 1 within Hollow Column 1 connects the bottom end of Hollow Column 1 to the bottom end of Hollow Column 3. Similarly, a telescopic push rod 2 within Hollow Column 2 connects the bottom end of Hollow Column 2 to the top end of Hollow Column 3. This allows the extension of Telescopic Push Rod 1 to push Hollow Column 2 out of Hollow Column 1, and the extension of Telescopic Push Rod 2 to push Hollow Column 3 out of Hollow Column 2. This, in turn, propels the X-ray transmitter to a higher detection position, meeting the detection requirements of higher-level GIS equipment within the substation. Furthermore, the dual-push rod drive ensures smoother extension and retraction of the lifting column, improving the stability of the X-ray transmitter during lifting and avoiding detection deviations or equipment damage caused by unstable lifting and lowering.

[0021] As a preferred implementation of an X-ray inspection auxiliary device for substations, the outer periphery of the hollow column is connected to the top of the transport platform by four diagonal braces, which are evenly distributed around the outer periphery of the hollow column.

[0022] By adopting the above structural design, the diagonal bracing provides reinforcement and support to the hollow column, effectively dispersing the radial force generated during the extension and retraction of the lifting column and during the operation of the X-ray transmitter, thus enhancing the stability of the connection between the lifting column and the transport platform. When the lifting column is raised, bringing the X-ray transmitter to a high position, the diagonal bracing prevents the lifting column from tilting or swaying due to uneven force distribution, ensuring the stability of the X-ray transmitter during detection, improving the clarity and accuracy of the imaging, extending the service life of the lifting column, and reducing the risk of equipment failure.

[0023] As a preferred implementation of an auxiliary device for X-ray inspection of a substation, a battery is installed inside the vehicle body, the battery is electrically connected to a leakage protection device, and the battery is electrically connected to an emergency stop switch. The leakage protection device and the emergency stop switch are installed on the outer wall of the vehicle body.

[0024] With the above structural design, the battery installed inside the vehicle provides power to all electrical components of the device, ensuring independent operation without the need for an external power source and enhancing its mobility. The battery is connected to a leakage protection device, which can quickly cut off the power supply in case of leakage, preventing electric shock to operators and ensuring personnel safety. The battery is also connected to an emergency stop switch; in an emergency, operators can press the emergency stop switch on the exterior wall of the vehicle to immediately cut off the power, stopping all device operations and preventing the accident from escalating. This further enhances the device's safety performance and provides reliable safety assurance for testing work in high-voltage environments such as substations.

[0025] As a preferred implementation of an X-ray inspection auxiliary device for substations, the battery is electrically connected to the power display screen, which is mounted on the outer wall of the vehicle body.

[0026] With the above structural design, the battery is connected to a power display screen installed on the outer wall of the vehicle. The power display screen can show the remaining power of the battery in real time, allowing operators to intuitively understand the power status of the device. This facilitates timely charging or battery replacement before the power is insufficient, preventing the device from suddenly stopping due to power depletion during the testing process. This ensures the continuity and efficiency of the testing work, reduces problems such as testing interruptions and equipment damage caused by sudden power outages, and improves the operational reliability of the device.

[0027] The beneficial effects of this utility model include:

[0028] This invention utilizes a tracked mobile chassis with symmetrical track wheel assemblies on both sides to ensure convenient and stable movement of the device in the complex ground environment of substations. Compared to traditional manual handling of X-ray transmitters, this significantly reduces labor costs and lowers handling risks. The vehicle body and the transport platform are connected by a transverse hinge shaft, and with the help of a retractable angle-adjustable push rod, the tilt angle of the transport platform can be changed by adjusting the extension length of the push rod during climbing stairs or slopes. This ensures that the transport platform remains level, effectively preventing the device from tipping over due to the X-ray transmitter's center of gravity shifting, and guaranteeing the safety of high-altitude inspection operations. Simultaneously, the lifting column allows the X-ray transmitter to be raised and lowered vertically, meeting the inspection needs of GIS equipment at different heights. Attached Figure Description

[0029] To more clearly illustrate the technical solution of this utility model, the drawings used in the description will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of an auxiliary device for X-ray detection in a substation according to a specific embodiment of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of a substation X-ray inspection auxiliary device walking on stairs according to a specific embodiment of this utility model;

[0032] Figure 3 This is a schematic diagram of the structure of the mobile chassis and the transport platform in a specific embodiment of this utility model;

[0033] Figure 4 This is a schematic diagram of the internal structure of the lifting column in a specific embodiment of this utility model;

[0034] Figure 5 This is a schematic diagram of the structure of the fixed platform in a specific embodiment of this utility model;

[0035] Figure 6 This is a structural diagram of the vehicle body, transport platform, lifting column, and fixed platform in a specific embodiment of this utility model;

[0036] Figure 7 for Figure 6 Enlarged view of the structure at point A in the middle.

[0037] List of components and reference numerals:

[0038] 1. Mobile chassis; 11. Body; 12. Track wheel assembly; 13. Leakage protection device; 14. Emergency stop switch; 15. Power display screen; 16. Angle adjustment push rod; 17. Support column; 18. Hinge shaft; 19. Battery; 2. Handling platform; 3. Fence; 4. Telescopic groove; 5. Sliding rod; 6. Ground support rod; 7. Lifting column; 71. Hollow column one; 72. Hollow column two; 73. Hollow column three; 74. Telescopic push rod one; 75. Telescopic push rod two; 8. Fixed platform; 81. Base; 82. Adjustable seat; 83. Fixed platform; 84. Fixed frame; 85. Rotating shaft one; 86. Rotating shaft two; 9. X-ray transmitter; 10. Diagonal brace; 011. Camera; 012. Gyroscope; 013. Controller; 014. Stepper motor. Detailed Implementation

[0039] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] Reference Figure 1-7 This embodiment proposes an auxiliary device for X-ray inspection of a substation, including a mobile chassis 1, which is a tracked chassis. The mobile chassis 1 includes a body 11, with two track wheel assemblies 12 symmetrically arranged on both sides in the lateral direction. A battery 19 is installed inside the body 11, and the battery 19 is electrically connected to a leakage current protection device 13 and an emergency stop switch 14. The leakage current protection device 13 and the emergency stop switch 14 are installed on the outer wall of the body 11. The battery 19 can power the entire vehicle. The battery 19 is also electrically connected to a power display screen 15, which is installed on the outer wall of the body 11. The leakage current protection device 13, the emergency stop switch 14, and the power display screen 15 are all prior art, and those skilled in the art should understand their connection and usage methods, which will not be described in detail in this embodiment. The mobile chassis 1 in this embodiment can move remotely, specifically using an engineering-grade remote control, which is 3-5 times more durable than ordinary remote controls, drop-resistant, moisture-proof, has stable signal output, and a remote control distance of up to 200-300 meters.

[0041] The top of the vehicle body 11 is connected to the transport platform 2 via a hinge shaft 18, the axis of which is arranged laterally. One end of the vehicle body 11 is hinged to an angle adjustment push rod 16, and the other end of the push rod 16 is hinged to the bottom of the transport platform 2 away from the hinge shaft 18. The angle adjustment push rod 16 is telescopic. A gyroscope 012 is installed on the vehicle body 11. The angle adjustment push rod 16 is an electric push rod, driven by a stepper motor 014. Both the gyroscope 012 and the stepper motor 014 are connected to a controller 013. In this embodiment, the controller 013 can be mounted on the vehicle body. The controller 013 can be remotely connected to an engineering-grade remote controller, or it can exist independently to independently control the telescopic movement of the angle adjustment push rod 16.

[0042] The controller 013 can automatically adjust the extension length of the angle adjustment push rod 16 according to the detection results of the gyroscope 012, so that the transport platform 2 is always in a horizontal state when climbing stairs or slopes. The logic is as follows: the two ends of the angle adjustment push rod 16 are hinged to the vehicle body 11 and the transport platform 2 respectively. The distance between the two ends of the angle adjustment push rod 16 and the hinge axis 18 is constant. Through the detection results of the gyroscope 012, the angle between the vehicle body 11 and the transport platform 2 when the transport platform 2 is in a horizontal state can be obtained. Based on the triangle formed by the vehicle body 11, the horizontal transport platform 2 and the angle adjustment push rod 16, the extension length of the angle adjustment push rod 16 when the transport platform 2 is in a horizontal state can be calculated.

[0043] Reference Figure 2 This can be understood as moving forward up stairs or reversing down stairs. In this embodiment, when going up and down stairs, the front and rear of the vehicle are in the same direction, and the same applies to going up and down slopes.

[0044] In this embodiment, the controller 013 can be a microcontroller, specifically an STM32 series microcontroller, such as the STM32F103C8T6. It features abundant GPIO interfaces and an ADC module, allowing direct connection to the gyroscope 012 (e.g., MPU6050). It controls the stepper motor 014 by outputting pulse signals through a timer, and its computing power is sufficient for angle calculations and length conversions. Alternatively, the controller 013 can be an embedded microprocessor, such as a Raspberry Pi (PicoW), based on the RP2040 chip. This offers high cost-effectiveness, supports MicroPython and C / C++ programming, and provides sufficient I / O interfaces to connect sensors and motor drivers.

[0045] In another embodiment, a tilt sensor can also be installed on the transport platform 2. The angle adjustment push rod 16 can be manually operated to adjust the extension length or automatically adjusted according to the detection results of the tilt sensor until the detection results of the tilt sensor indicate that the transport platform 2 is in a horizontal state. The real-time detection data of the tilt sensor can be uploaded to a computer or mobile APP, allowing staff to obtain it in real time. In this embodiment, the tilt sensor can also serve as an auxiliary tool after the angle adjustment push rod 16 adjusts the extension length in real time according to the detection results of the gyroscope 012, to help determine whether the transport platform 2 has finally reached a horizontal state.

[0046] In this embodiment, in the longitudinal direction of the vehicle body 11, two support columns 17 are provided on the side away from the hinge axis 18. The two support columns 17 are laterally distributed and can support the bottom of the transport platform 2 when the angle adjustment push rod 16 is at its shortest.

[0047] The transport platform 2 is rectangular, with a fence 3 around its top. Four horizontally penetrating telescopic slots 4 are formed on the transport platform 2, and two telescopic slots 4 are located on each of its longitudinal sides. Each telescopic slot 4 has a sliding rod 5 slidably connected to it. Two sliding rods 5 on the same side of the transport platform 2 extend into their corresponding telescopic slots 4 in opposite directions. Each end of the sliding rod 5 extending out of the transport platform 2 is connected to a vertically arranged support rod 6, which can move vertically and adjust along the sliding rod 5. In this embodiment, the support rod 6 can be threadedly connected to the sliding rod 5; rotating the support rod 6 adjusts its height and stops it at any position. In another embodiment, the support rod 6 can have several horizontally arranged pin holes along its length, and the limiting structure for vertical sliding adjustment of the support rod 6 can be a horizontally arranged pin. In yet another embodiment, the support rod 6 itself is telescopic.

[0048] The top of the transport platform 2 is equipped with a lifting column 7 that can extend and retract in the vertical direction. The top of the lifting column 7 is equipped with a fixed platform 8, which is used to install the X-ray transmitter 9.

[0049] The lifting column 7 includes a hollow column one 71, a hollow column two 72 that slides inside the hollow column one 71, and a hollow column three 73 that slides inside the hollow column two 72. A telescopic push rod one 74 is located inside the hollow column one 71, with one end connected to the bottom end of the hollow column one 71 and the other end connected to the bottom end of the hollow column three 73. A telescopic push rod two 75 is located inside the hollow column two 72, with one end connected to the bottom end of the hollow column two 72 and the other end connected to the top end of the hollow column three 73. The outer circumference of the hollow column one 71 is connected to the top of the transport platform 2 via four diagonal braces 10. The four diagonal braces 10 are evenly distributed around the outer circumference of the hollow column one 71, and both ends of the four diagonal braces 10 can be hinged to the hollow column one 71 and the top of the transport platform 2 respectively, facilitating installation. Telescopic push rod 1 74 and telescopic push rod 2 75 can be electric push rods, controlled by an engineering-grade remote control, and powered by the battery 19 inside the vehicle body 11.

[0050] The fixed platform 8 includes a base 81, the top of which is rotatably connected to an adjusting seat 82 via a pivot 85. The axial direction of the pivot 85 is parallel to the axial direction of the lifting column 7. The top of the adjusting seat 82 is rotatably connected to a fixed platform 83 via a pivot 86. The axial direction of the pivot 86 is perpendicular to the axial direction of the lifting column 7. A mounting bracket 84 is fixedly installed on the top of the fixed platform 83. The mounting bracket 84 is used to mount the X-ray transmitter 9. A camera 011 is mounted on the fixed platform 83. The driving components of both the pivot 85 and the pivot 86 can be rotary motors installed inside the fixed platform. The power source is the battery 19 inside the vehicle body 11. The rotary motors can be remotely controlled by an engineering-grade remote controller. Thus, the engineering-grade remote controller can also control the X-ray transmitter 9 to perform horizontal rotation and pitch angle adjustment.

[0051] The beneficial effects of this embodiment include:

[0052] Install the X-ray transmitter 9 on the mounting bracket 84 of the fixed platform 8 and check the connection status of each component of the device: ensure that the two track wheel assemblies 12 of the mobile chassis 1 are operating normally, the battery 19 inside the vehicle body 11 has sufficient power, and the leakage protection device 13 and the emergency stop switch 14 are in normal working condition.

[0053] Operators remotely control the mobile chassis 1 to move using an engineering-grade remote controller. The tracked walking structure of the tracked wheel assembly 12 ensures stable movement of the device on complex terrain within the substation (such as flat roads, slopes, stairs, etc.). During remote control operation, the relative position of the device to surrounding GIS equipment can be observed in real time via camera 011 on the fixed platform 83 to prevent collisions.

[0054] When the device needs to climb stairs or slopes, the gyroscope 012 on the vehicle body 11 detects the tilt angle of the vehicle body 11 in real time and transmits the data to the controller 013. The controller 013 calculates the target extension length of the angle adjustment push rod 16 based on the tilt data, drives the stepper motor 014 to extend and retract the angle adjustment push rod 16, and ultimately keeps the transport platform 2 in a horizontal state to prevent the device from tipping over due to the shift of the center of gravity of the X-ray transmitter 9.

[0055] Upon reaching the detection position, the operator controls the slide bar 5 on the transport platform 2 to extend from the telescopic groove 4: the slide bars 5 on both sides of the transport platform 2 extend in opposite directions, and the vertical support bar 6 at the end of each slide bar 5 contacts the ground through length adjustment (such as telescopic or threaded adjustment) to form a stable support, further enhancing the stability of the device when operating at an incline or height.

[0056] Based on the height of the GIS equipment, the lifting column 7 is extended and retracted via remote control. At this time, the first telescopic push rod 74 inside the hollow column 71 extends, pushing the second hollow column 72 out of the hollow column 71; the second telescopic push rod 75 inside the hollow column 72 extends, pushing the third hollow column 73 out of the hollow column 72. The combined action of the two push rods causes the X-ray transmitter 9 to rise to the target height.

[0057] Using the angle adjustment function of the fixed platform 8, namely: the first rotating shaft 85 drives the adjustment seat 82 to rotate, realizing the horizontal rotation of the X-ray transmitter 9 around the lifting column 7 axis; the second rotating shaft 86 drives the fixed table 83 to rotate, realizing the pitch angle adjustment of the X-ray transmitter 9. Combined with the image of the camera 011, the X-ray transmitter 9 is precisely aimed at the part of the GIS equipment to be inspected.

[0058] The X-ray transmitter 9 is started to inspect the GIS equipment. In case of emergency (such as equipment malfunction or collision risk), the operator can press the emergency stop switch 14 on the outer wall of the vehicle body 11 to immediately cut off the power and stop all the actions of the device.

[0059] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A substation X-ray inspection auxiliary device, comprising a mobile chassis (1), characterized in that, The mobile chassis (1) is a tracked chassis. The mobile chassis (1) includes a body (11). The body (11) is symmetrically provided with two track wheel assemblies (12) on both sides in the lateral direction. The top of the body (11) is connected to the transport platform (2) through a hinge shaft (18). The axis of the hinge shaft (18) is arranged in the lateral direction. The body (11) is hinged to one end of the angle adjustment push rod (16). The other end of the angle adjustment push rod (16) is hinged to the bottom of the transport platform (2) away from the hinge shaft (18). The angle adjustment push rod (16) can extend and retract. The top of the transport platform (2) is provided with a lifting column (7) that can extend and retract in the vertical direction. The top of the lifting column (7) is provided with a fixed platform (8), which is used to install the X-ray transmitter (9).

2. The auxiliary device for X-ray inspection of a substation according to claim 1, characterized in that, A gyroscope (012) is installed on the vehicle body (11). The angle adjustment push rod (16) is an electric push rod. The driving component of the angle adjustment push rod (16) is a stepper motor (014). Both the gyroscope (012) and the stepper motor (014) are connected to the controller (013).

3. The auxiliary device for X-ray inspection of a substation according to claim 1, characterized in that, The fixed platform (8) includes a base (81). The top of the base (81) is rotatably connected to the adjusting seat (82) via a first rotating shaft (85). The axial direction of the first rotating shaft (85) is parallel to the axial direction of the lifting column (7). The top of the adjusting seat (82) is rotatably connected to the fixed platform (83) via a second rotating shaft (86). The axial direction of the second rotating shaft (86) is perpendicular to the axial direction of the lifting column (7). A fixed frame (84) is fixedly installed on the top of the fixed platform (83). The fixed frame (84) is used to install the X-ray transmitter (9).

4. The auxiliary device for X-ray inspection of a substation according to claim 3, characterized in that, A camera (011) is installed on the fixed platform (83).

5. The auxiliary device for X-ray inspection of a substation according to claim 1, characterized in that, The platform of the transport platform (2) is rectangular. Four horizontally penetrating telescopic grooves (4) are opened on the transport platform (2). Two telescopic grooves (4) are provided on each of the longitudinal sides of the transport platform (2). Each telescopic groove (4) is slidably connected to a slide rod (5). Two slide rods (5) located on the same side in the longitudinal direction of the transport platform (2) extend out of the corresponding telescopic grooves (4) in opposite directions. Each slide rod (5) is connected to a vertically set support rod (6) at one end extending out of the transport platform (2). The support rod (6) can be vertically moved and adjusted on the slide rod (5).

6. The auxiliary device for X-ray inspection of a substation according to claim 5, characterized in that, The top of the transport platform (2) is surrounded by a fence (3).

7. The auxiliary device for X-ray inspection of a substation according to claim 1, characterized in that, The lifting column (7) includes a hollow column one (71), a hollow column two (72) is slidably sleeved inside the hollow column one (71), and a hollow column three (73) is slidably sleeved inside the hollow column two (72). Hollow column one (71) is provided with telescopic push rod one (74), one end of telescopic push rod one (74) is connected to the bottom end of hollow column one (71), and the other end of telescopic push rod one (74) is connected to the bottom end of hollow column three (73); hollow column two (72) is provided with telescopic push rod two (75), one end of telescopic push rod two (75) is connected to the bottom end of hollow column two (72), and the other end of telescopic push rod two (75) is connected to the top end of hollow column three (73).

8. The auxiliary device for X-ray inspection of a substation according to claim 7, characterized in that, The outer periphery of the hollow column 1 (71) is connected to the top of the transport platform (2) by four diagonal braces (10), and the four diagonal braces (10) are evenly distributed around the outer periphery of the hollow column 1 (71).

9. The auxiliary device for X-ray inspection of a substation according to claim 1, characterized in that, A battery (19) is installed inside the vehicle body (11). The battery (19) is electrically connected to the leakage protection device (13) and the emergency stop switch (14). The leakage protection device (13) and the emergency stop switch (14) are installed on the outer wall of the vehicle body (11).

10. The auxiliary device for X-ray inspection of a substation according to claim 9, characterized in that, The battery (19) is electrically connected to the power display screen (15), which is mounted on the outer wall of the vehicle body (11).

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