X-ray inspection device for suspension clamps in cooperation with a drone

Abstract

The utility model discloses unmanned aerial vehicle's suspension X -ray detection device of overhanging line clamp cooperation has the imaging board of being located on the supporting part and by unmanned aerial vehicle suspension movement's X -ray camera, and the supporting part is hung on the transmission line and is along transmission line displacement, be equipped with with the adjusting assembly that imaging board is connected on the supporting part, and adjusting assembly is connected with power unit and guide unit, and power unit can drive adjusting assembly and carry out displacement along guide unit, adjusting assembly includes the displacement plate of end and imaging board connection, be equipped with the sliding block on the displacement plate, power unit is the belt drive structure of drive displacement plate movement, guide unit is connected with the sliding block, to make displacement plate displace or displace and deflect under the drive of power unit. To solve the problem that X camera split type detection equipment in the prior art cannot adapt to transmission line of different distribution to a certain extent, and then carry out transmission line detection work.

Description

Technical Field

[0001] This utility model relates to the field of power transmission line inspection technology, specifically to a UAV-assisted suspended clamp X-ray inspection device. Background Technology

[0002] In high-voltage power transmission systems, transmission lines have become the preferred solution for cross-regional backbone power grids due to their excellent transmission efficiency and stability. The safety status of lines and key fittings (such as suspension clamps) directly determines the reliability of power grid operation. X-ray inspection technology, which can penetrate the surface of structures and clearly reveal internal defects, has become a core technology for non-destructive testing in this field, providing reliable support for the timely detection of hidden dangers such as microcracks and internal damage.

[0003] To address the challenges of high-altitude operations, existing X-ray inspection technologies have led to the gradual development of dual-drone collaborative inspection solutions. One drone carries an X-ray camera as the radiation source, while the other carries an imaging plate as the receiver. This dual-drone collaboration enables non-contact inspection of high-altitude power transmission lines. Based on this, a split-type X-ray inspection device for four-split power transmission lines has emerged in the existing technology (see reference 1).

[0004] Reference 1: Chinese patent document with patent publication number CN120195196A.

[0005] Reference 1 discloses an X-ray split-type inspection device for a four-split transmission line, which includes an imaging plate and an X-ray camera suspended and moved by a drone. The imaging plate is mounted on a support member, which can be connected to the transmission line and moved on the transmission line. This enables one drone to carry the X-ray camera as the X-ray source and another drone to carry the imaging plate as the receiving end, so as to realize non-contact inspection of high-altitude transmission lines by two drones working together.

[0006] However, the solution described in Reference 1 cannot achieve multi-angle detection. The complex structures of key components such as suspension clamps and splicing pipes in transmission lines make them difficult to adapt to scenarios with multiple line distributions. The sub-conductor arrangements of four-split transmission lines are diverse, ranging from the conventional square distribution to the increasingly widespread use of six-split, eight-split, and other multi-split transmission lines due to construction or maintenance needs and the increasing demand for power grid transmission capacity. Their sub-conductor arrangements are even more diverse, including regular distributions such as squares in four-split lines and regular hexagons in six-split lines, as well as irregular arrangements formed due to construction environment limitations and the renovation of old lines. Fixed-angle imaging plates cannot adjust their receiving posture in real time according to the spacing and arrangement of sub-conductors, often only covering a single sub-conductor. To detect all four conductors and complete the detection of all sub-conductors, multiple take-offs and landings and repositioning are required, significantly increasing operation time and costs. Utility Model Content

[0007] The purpose of this invention is to solve the problem that existing X-ray camera split-type inspection equipment cannot adapt to power transmission lines with different distribution conditions to a certain extent, and thus cannot carry out power transmission line inspection work. This invention provides a suspended clamp X-ray inspection device that is coordinated with drones.

[0008] To address the shortcomings of the aforementioned technical problems, the present invention employs the following technical solution: a drone-assisted suspended clamp X-ray detection device, which has an imaging plate mounted on a support and an X-ray camera suspended and moved by a drone. The support is mounted on a power transmission line and moves along the power transmission line. The support is provided with an adjustment component connected to the imaging plate. The adjustment component is connected to a power unit and a guide unit, and the power unit can drive the adjustment component to move along the guide unit. The adjustment assembly includes a displacement plate whose end is connected to the imaging plate, and a slider is provided on the displacement plate; The power unit is a belt drive structure that drives the displacement plate to move; The guide unit is connected to the slider to make the displacement plate move or deflect under the drive of the power unit, so as to cooperate with the X-ray camera controlled by the UAV to take pictures and detect the power transmission line at different locations.

[0009] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: the support includes a U-shaped connecting frame and a control component set on the connecting frame. The top of the connecting frame is provided with two drive wheels driven by drive motors, and the drive motors are controlled by the control component. The lower end of the vertical section of the connecting frame is provided with a first bend and a second bend that are symmetrically distributed in a figure-eight shape.

[0010] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: two locking parts are fixedly provided above the connecting frame, and the locking parts are connected to the docking hooks included in the docking parts, and the bent part of the docking hook can engage with the positioning rod.

[0011] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: the guide unit is a vertically arranged straight guide rail.

[0012] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: the guide unit is an inclined guide rail, which is set on the support member, and the inclined guide rail includes a vertical part and an inclined part connected to the vertical part. The inclined part is fixed to the support member by a positioning frame.

[0013] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: the included angle between the inclined part and the vertical part is 15° to 45°.

[0014] As a further optimization of the suspended wire clamp X-ray detection device for drone collaboration of this utility model: the guide unit is an adjustable guide rail, which includes two hinge seats on the support, two guide posts hinged to the hinge seats, and a connecting block slidingly engaging with the guide posts; a waist groove is opened at the bottom of the guide post, and a connecting post is slidably connected in the waist groove, the connecting post being located at the protrusion of the convex plate, and the convex plate being driven by a stepper dual-axis motor on the support.

[0015] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: the power unit includes a control motor located above the support and an auxiliary wheel located below the support. The output shaft of the control motor is connected to the auxiliary wheel via an adjustment belt, and the break in the adjustment belt is pressed onto the displacement plate by a pressing plate.

[0016] As a further optimization of the suspended clamp X-ray detection device for drone collaboration of this utility model: the adjustment belt is an elastic polyurethane composite material belt or a special rubber belt with an internal reinforcing layer.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention utilizes a U-shaped connecting frame with a support member, in conjunction with a first and second bend symmetrically arranged in a figure-eight shape, to allow the device to be stably mounted on single or multi-branch power transmission lines, providing a stable spatial reference for X-ray imaging. Furthermore, the guide unit facilitates adjustment of the imaging plate's tilt angle by operators, enabling them to use the tilt angle of the imaging plate in conjunction with an X-ray camera controlled by a drone to inspect power transmission lines with different distributions. Specifically, the vertical guide rail mechanism, using a precision stepper motor and linear guide rail, achieves precise vertical displacement of the imaging plate, meeting the inspection needs of conventional lines; the inclined guide rail adopts a modular design, providing standard tilt angles of 15°, 30°, and 45°, effectively solving the standardized inspection challenges of special line distributions such as multi-branch conductors and corner towers; the adjustable guide rail, driven by a stepper dual-axis motor to the convex plate and connecting column, and combined with an involute groove design, achieves stepless angle adjustment of the imaging plate within the range of 0–60°, easily handling any complex spatial line distribution. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the axial structure of Embodiment 1 of this utility model; Figure 2 This is a cross-sectional structural diagram of Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the usage state structure of Embodiment 2 of this utility model; Figure 4 This is a schematic diagram of the guide unit structure in Embodiment 2 of this utility model; Figure 5 This is a schematic diagram of the usage state structure of Embodiment 3 of this utility model; Figure 6 This is a schematic diagram of the guide unit structure in Embodiment 3 of this utility model; Markings in the diagram: 1. Support component; 101. First bend; 102. Second bend; 103. Connecting frame; 104. Protective shell; 105. Locking component; 106. Reinforcing beam; 107. Drive wheel; 108. Drive motor; 109. Belt drive assembly; 2. Connecting component; 201. Connecting hook; 202. Positioning rod; 3. Power unit; 301. Control motor; 302. Pressing plate; 303. Adjusting belt; 304. Auxiliary wheel; 305. Support plate; 4. Imaging plate; 5. Adjustment assembly Components; 501, docking clamp; 502, connecting block; 503, displacement plate; 6, control assembly; 7, power transmission line; 8, guide unit; 801, straight guide rail; 802, adjustable guide rail; 8021, guide post; 8022, waist groove; 8023, locking nut; 8024, connecting column; 8025, convex plate; 8026, hinge seat; 8027, transmission column; 8028, stepper dual-axis motor; 803, inclined guide rail; 8031, inclined part; 8032, positioning frame; 8033, vertical part. Detailed Implementation

[0019] To better understand this utility model, the following embodiments further illustrate the content of this utility model, but the content of this utility model is not limited to the following embodiments.

[0020] <Example 1> like Figure 1 and Figure 2 As shown, this embodiment provides a drone-integrated suspended wire clamp X-ray inspection device. This device integrates mechanical transmission, precise positioning, and non-destructive testing technologies to form a complete aerial inspection system. The core of the device includes five major modules: a support component 1, a control component 6, a docking component 2, an adjustment component 5, and an imaging plate 4. The support component 1 is made of high-strength aluminum alloy, ensuring both structural strength and lightweight design. Its unique U-shaped structure allows it to be stably suspended on the power transmission line 7 and moved online via a motor drive. The control component 6 is integrated inside the protective shell 104 and features a waterproof and dustproof design to ensure reliable operation in complex outdoor environments. The docking component 2 has a special geometric design that allows for quick docking with the sling systems of mainstream drones on the market, greatly improving deployment efficiency.

[0021] Specifically, the support component 1 consists of a U-shaped connecting frame 103 and a protective shell 104 forming a closed structure. Multiple tilting blocks on the top of the protective shell 104 are made of wear-resistant rubber, providing both cushioning protection and increasing friction with the transmission line 7. Two drive wheels 107 inside the protective shell 104 are mounted on both sides of the protective shell 104 via precision bearings and are driven by two high-torque DC motors via a synchronous belt drive system. This independent dual-motor drive design ensures the smoothness and accuracy of the device's movement on the transmission line 7. The locking component 105 on the top of the protective shell 104 adopts a quick-release structure, forming a reliable mechanical interlock with the docking hook 201 of the docking component 2.

[0022] The lower end of the connecting frame 103 is provided with a first bending part 101 and a second bending part 102. The first bending part 101 and the second bending part 102 are symmetrically arranged in a figure-eight shape. The first bending part 101 and the second bending part 102 not only facilitate the alignment operation during UAV hoisting, but more importantly, after the device is mounted on the power transmission line 7, they can form a self-stabilizing structure, effectively preventing the device from tipping over under the action of external forces such as wind. The second bending part 102 is fixed to the mounting seat of the control component 6 by bolts, while the first bending part 101 is connected to the adjustment component 5 by a flange. The symmetrical layout of the first bending part 101 and the second bending part 102 ensures the overall center of gravity balance of the device. The docking component 2 can be attached to the drone, causing the support component 1 and all its structures to shift and be attached to the power transmission line 7. Specifically, the docking component 2 includes a docking hook 201 connected to the locking component 105. A positioning rod 202 is engaged at the bend at the top of the docking hook 201. The positioning rod 202 and the docking hook 201 make the connection operation of the drone more convenient.

[0023] The adjustment assembly 5 includes two connecting blocks 502, which are connected to the guide unit 8. The displacement plate 503 is made of aerospace-grade aluminum, ensuring both rigidity and weight control. The mating clamp 501 at the end of the displacement plate 503 features a V-groove design, allowing the imaging plate 4 to be securely fixed with high-strength connecting bolts while also allowing for fine-tuning of the imaging plate 4's installation angle. The pressure plate 302 of the power unit 3 employs a spring-loaded mechanism, which automatically compensates for changes in the length of the adjustment belt 303 during transmission, ensuring a consistently tight and gapless transmission.

[0024] The control motor 301 is a precision stepper motor, which enables precise positioning of the imaging plate 4 through a closed-loop control system. The auxiliary wheel 304 is mounted on the support plate 305 of the reinforcing beam 106 via a preload adjustment mechanism, ensuring that the adjusting belt 303 always maintains appropriate tension. The two guide units 8 use linear guides with specially hardened surfaces to ensure high motion accuracy even after long-term use. The entire adjustment system allows for vertical position adjustment to fully meet the requirements of X-ray inspection of the transmission line 7.

[0025] The specific usage steps are as follows: S1. The operator uses the docking part 2 of the drone hoisting device to smoothly transport the entire device to the target transmission line 7. Then, using the guiding effect of the first bend 101 and the second bend 102 of the figure-eight shape at the lower end of the connecting frame 103, the device is accurately mounted on the transmission line 7.

[0026] S2. After completion, the drone can be separated from docking component 2. Then, the control component 6 is activated to perform a system self-test, confirming that the drive wheel 107, control motor 301, and imaging plate 4 are in normal condition.

[0027] S3. Next, the operator issues a command through the control component 6 to control the two drive motors 108 to drive the two drive wheels 107 through the belt drive component 109, so that the device moves along the power transmission cable and approaches the suspension clamp or other target position to be detected.

[0028] S4. After the device moves to the target area, the operator starts the adjustment motor 301 through the control component 6. Next, the control motor 301 drives the adjustment belt 303, which drives the connecting block 502 fixed to the displacement plate 503 to slide along the vertically set straight guide rail 801, thereby accurately adjusting the height of the imaging plate 4 in the vertical direction so that its center area is aligned with the line part to be detected.

[0029] S5. Another operator controls a drone equipped with an X-ray camera to fly to the other side of the imaging plate 4, maintaining a predetermined distance and angle from the imaging plate 4, ensuring that the center line of the X-ray beam path is perpendicular to the plane of the imaging plate 4. Next, the X-ray camera emits X-rays, which penetrate the power transmission line 7 or the clamp, forming an image of the internal structure on the imaging plate 4, while the X-ray camera simultaneously captures and records the image on the imaging plate 4.

[0030] S6. After completing the shooting at one detection point, the control component 6 can drive the device to move to the next detection point again.

[0031] S7. Repeating steps 3, 4, 5, and 6 above will enable sequential detection of a continuous line or multiple specific points. After the detection is completed, the operator can call the drone again to connect with docking part 2 and lift the device off the power transmission line 7 to complete the operation.

[0032] <Example 2> like Figure 3 and Figure 4As shown, this embodiment innovatively improves upon embodiment 1 by modifying the guide unit 8. The guide unit 8 is an inclined guide rail 803, which is fixed to the connecting frame 103 by mating screws. This allows operators to replace the inclined guide rails 803 with different inclination angles to accommodate different power transmission line layouts 7. The inclined guide rail 803 adopts a segmented design, consisting of a vertical part 8033 and an inclined part 8031 ​​assembled by precision connectors. The guide rail material is wear-resistant stainless steel with a Teflon coating, ensuring wear resistance while reducing the coefficient of friction. The T-groove structure of the connecting block 502, which mates with the guide rail, has been optimized to ensure smooth sliding while effectively preventing the risk of the connecting block 502 derailing during movement.

[0033] The inclined section 8031 ​​of the inclined guide rail 803 is inclined at angles of 15°, 30°, and 45° to the vertical section 8033. The inclined section 8031 ​​can meet the detection requirements of most transmission lines 7. The inclined section 8031 ​​is connected to the connecting frame 103 through the positioning frame 8032. The positioning frame 8032 adopts a triangular support structure, which allows the imaging plate 4 to perform conventional detection in a vertical state, as well as to take multi-angle pictures of specially arranged transmission lines 7 in an inclined state, greatly expanding the applicability of the device.

[0034] In this embodiment, the adjusting belt 303 is made of polyurethane composite material, which has excellent elastic recovery and fatigue resistance, and can adapt well to changes in the transmission path caused by changes in the guide rail angle. The entire angle adjustment process requires no tools, and operators can quickly switch the working sections of the guide rail using a simple mechanical positioning device, greatly improving on-site work efficiency.

[0035] The power unit 3 also integrates a retractable automatic tensioning structure. This structure includes a rotating base mounted on the reinforcing beam 106, a pressure rod rotatably mounted on the base, and a tensioning wheel rotatably connected to the end of the pressure rod away from the base. A disc spring on the base pushes the pressure rod, causing it to drive the tensioning wheel and tensioning belt 303. During the tensioning process, the pressure rod and tensioning wheel deform to adapt the belt 303 to the tilting changes caused by the guide unit 8, thus maintaining the driving function of the displacement plate 503.

[0036] Based on the arrangement of the target transmission line 7 and the required detection angle, a slanted guide rail 803 with a suitable tilt angle 8031 ​​is pre-selected and installed, such as 15°, 30° or 45°.

[0037] In practical use, the following steps are included: S1, Same as step 1 of the method in Example 1.

[0038] S2, same as step 2 of the method in Example 1.

[0039] S3. Select the inclined guide rail 803 with the corresponding tilt angle; S4. After reaching the target area, the operator decides whether to use the vertical part 8033 or the inclined part 8031 ​​of the inclined guide rail 803 according to the detection requirements.

[0040] S5. By controlling the regulating motor 301, the displacement plate 503 and the connecting block 502 are driven to slide on the inclined guide rail 803. If vertical imaging is required, the displacement plate 503 is moved to the vertical part 8033 of the guide rail; if tilt imaging is required, the displacement plate 503 is moved to the tilt part 8031 ​​of the guide rail, thereby fixing the tilt angle of the imaging plate 4.

[0041] S6. Control the drone equipped with the X-ray camera to fly to the other side of the imaging plate 4. At the same time, adjust the drone's posture so that the optical axis of the X-ray camera is strictly perpendicular to the plane of the tilted imaging plate 4.

[0042] S7, the X-ray camera emits X-rays and captures oblique projection images on the imaging plate 4. This angle of imaging helps to reveal internal structural features that cannot be observed from the vertical direction, such as cracks or assembly defects in a specific direction. At the same inspection point, by changing the oblique guide rail 803 at different angles, or by using different inclined sections of the same guide rail, multiple projection images from different angles can be obtained for three-dimensional information reconstruction or comprehensive judgment.

[0043] S8, Same as step 6 of the method in Example 1.

[0044] S9, Same as step 7 of the method in Example 1.

[0045] <Example 3> like Figure 5 and Figure 6As shown, this embodiment further enhances the adaptability of the device. The main difference lies in the guide unit 8. The guide unit 8 includes an adjustable guide rail 802 located on one side of the connecting frame 103 corresponding to the first bend 101. The adjustable guide rail 802 includes two hinge seats 8026 fixedly mounted on the connecting frame 103. The hinge seats 8026 are hinged to guide posts 8021 that slide with the connecting block 502. The bottom of the guide post 8021 is provided with a waist groove 8022. A connecting post 8024 is slidably connected in the waist groove 8022. The connecting post 8024 is fixedly connected to the protrusion of the convex plate 8025. The two convex plates 8025 are connected to the two output shafts of the stepper dual-axis motor 8028 through two transmission columns 8027. This facilitates the operator to control the two cam plates to rotate simultaneously through the stepper dual-axis motor 8028. Subsequently, the two guide posts 8021 will be tilted at different angles by the two connecting posts 8024 and the waist groove 8022. The stepper dual-axis motor 8028 is fixedly installed inside the reinforcing beam 106 to protect the stepper dual-axis motor 8028.

[0046] The hinge 8026 is made of high-strength stainless steel and uses a self-lubricating bearing inside to ensure that it can maintain flexible rotation performance during long-term use. The guide post 8021 has a precision-ground surface, and the clearance between it and the connecting block 502 is controlled within 0.02mm, which not only ensures the smoothness of movement, but also avoids positioning errors caused by shaking.

[0047] The waist groove 8022 adopts an involute profile, making the movement of the connecting column 8024 within the waist groove 8022 smoother. The connecting column 8024 is made of hardened steel with a chrome-plated surface, ensuring both wear resistance and corrosion resistance. The convex plate 8025 adopts a lever principle design, converting the rotational motion of the stepper dual-axis motor 8028 into precise angle adjustment of the guide column 8021. The stepper dual-axis motor 8028 is a waterproof and dustproof model, equipped with an absolute encoder, enabling closed-loop control of angular position.

[0048] The angle of the guide post 8021 can be steplessly adjusted within the range of 0 to 60° to adjust the angle of the imaging plate 4. The connecting post 8024 passes through the waist groove 8022 and is threadedly connected to a locking nut 8023. The locking nut 8023 features an anti-loosening design, maintaining reliable locking force even under vibration. The drive belt is made of special rubber material with an embedded Kevlar fiber reinforcement layer, significantly improving tensile strength while maintaining elasticity, ensuring reliable transmission under complex angles. Furthermore, the power unit 3 in this embodiment is the same as the power unit 3 in embodiment 2, also integrating a retractable automatic tensioning structure.

[0049] In practical use, the following steps are included: S1, Same as step 1 of the method in Example 1.

[0050] S2, same as step 2 of the method in Example 1.

[0051] S3. Upon reaching the target area, the operator sets the target height and tilt angle of the imaging plate 4 in the control system based on the spatial distribution of the on-site lines, the characteristics of the part to be inspected, and the desired projection direction. Control component 6 activates the regulating motor 301, which drives the displacement plate 503 to approximately reach the target height via the adjusting belt 303. Simultaneously, control component 6 activates the stepper dual-axis motor 8028. The stepper dual-axis motor 8028 drives the two output shafts to rotate synchronously, causing the two convex plates 8025 to rotate. The convex plates 8025 interact with the waist-shaped groove at the bottom of the guide post 8021 through the connecting column 8024, pushing the two guide posts 8021 to deflect synchronously but independently around the hinge seat 8026, thereby changing the tilt angle of the entire displacement plate 503 and the imaging plate 4. The height and angle adjustments can be performed sequentially or collaboratively under advanced system control until the imaging plate 4 reaches the preset pose.

[0052] S4. Operate the X-ray camera mounted on the drone to ensure its optical axis tracks and aligns with the pre-adjusted imaging plate 4 plane in real time, maintaining verticality at all times. The drone's flight control system can communicate with the device's control system to achieve semi-automatic or fully automatic alignment.

[0053] S5. After confirming the pose is accurate, the X-ray camera is triggered to take a picture. The system records the precise height and tilt angle of the imaging plate 4 at this moment and binds it to the image data. For detection tasks requiring complex scanning paths, the programmable control device moves, the height and angle of the imaging plate 4 are adjusted, and the UAV tracks simultaneously, realizing dynamic adaptive detection along the line and efficiently completing comprehensive imaging of irregularly arranged lines or complex components.

[0054] S8, Same as step 6 of the method in Example 1.

[0055] S9, Same as step 7 of the method in Example 1.

[0056] In the above embodiments, the control component 6 uses an industrial-grade PLC as the main controller and is equipped with a wireless communication module, enabling real-time data exchange with the ground control station. The drive motor 108 is a brushless DC motor equipped with a photoelectric encoder to achieve closed-loop speed control. The belt drive component 109 uses a synchronous belt drive, which has high transmission accuracy and low noise. These components are all mature technologies in the field and will not be described in detail here.

[0057] The parts not explained in the above embodiments, such as the selection and operation of the types and models of the telescopic automatic tensioning structure, control component 6, regulating motor 301, drive motor 108 and belt transmission component 109, and how the UAV drives the X-ray camera to move and deflect the angle so that the X-ray camera optical path is perpendicular to the imaging plate 4, should all be understood as existing technologies known or should be known by those skilled in the art. The methods in this invention are all common means in the prior art.

[0058] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A UAV-assisted suspended clamp X-ray detection device, comprising an imaging plate (4) mounted on a support (1) and an X-ray camera suspended and moved by a UAV, wherein the support (1) is mounted on a power transmission line (7) and moves along the power transmission line (7), characterized in that: The support member (1) is provided with an adjustment component (5) connected to the imaging plate (4). The adjustment component (5) is connected to a power unit (3) and a guide unit (8). The power unit (3) can drive the adjustment component (5) to move along the guide unit (8). The adjustment assembly (5) includes a displacement plate (503) whose end is connected to the imaging plate (4), and a slider is provided on the displacement plate (503); The power unit (3) is a belt drive structure that drives the displacement plate (503) to move; The guide unit (8) is connected to the slider to make the displacement plate (503) move or deflect under the drive of the power unit (3) so as to cooperate with the X-ray camera controlled by the UAV to take pictures and detect the power transmission line (7) at different positions.

2. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 1, characterized in that: The support member (1) includes a U-shaped connecting frame (103) and a control component (6) disposed on the connecting frame (103). The top of the connecting frame (103) is provided with two drive wheels (107) driven by a drive motor (108), and the drive motor (108) is controlled by the control component (6). The lower end of the vertical section of the connecting frame (103) is provided with a first bend (101) and a second bend (102) symmetrically distributed in a figure-eight shape.

3. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 2, characterized in that: Two locking parts (105) are fixedly provided above the connecting frame (103). The locking parts (105) are connected to the docking hook (201) included in the docking part (2). The bent part of the docking hook (201) can engage the positioning rod (202).

4. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 1, characterized in that: The guide unit (8) is a vertically arranged straight guide rail (801).

5. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 1, characterized in that: The guide unit (8) is an inclined guide rail (803), which is mounted on the support member (1). The inclined guide rail (803) includes a vertical part (8033) and an inclined part (8031) that communicates with the vertical part (8033). The inclined part (8031) is fixed to the support member (1) by a positioning frame (8032).

6. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 5, characterized in that: The angle between the inclined part (8031) and the vertical part (8033) is 15° to 45°.

7. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 1, characterized in that: The guide unit (8) is an adjustable guide rail (802). The adjustable guide rail (802) includes two hinge seats (8026) on the support member (1), two guide posts (8021) hinged to the hinge seats (8026), and a connecting block (502) slidingly engaging with the guide posts (8021). The bottom of the guide post (8021) is provided with a waist groove (8022), and a connecting post (8024) is slidably connected in the waist groove (8022). The connecting post (8024) is located at the protrusion of the convex plate (8025), and the convex plate (8025) is driven by a stepper dual-axis motor (8028) on the support member (1).

8. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 1, characterized in that: The power unit (3) includes a control motor (301) located above the support member (1) and an auxiliary wheel (304) located below the support member (1). The output shaft of the control motor (301) and the auxiliary wheel (304) are connected by a drive belt (303), and the disconnection of the drive belt (303) is connected to the displacement plate (503) by a pressing plate (302).

9. The UAV-assisted suspended wire clamp X-ray inspection device as described in claim 8, characterized in that: The adjustment belt (303) is an elastic polyurethane composite material belt or a special rubber belt with an internal reinforcing layer.

Images