Damage detection device for steel angle main material of power transmission tower

Abstract

The invention discloses a damage detection device for an angle steel main material of a power transmission tower, and relates to a damage detection device. The invention aims to solve the problems of low detection efficiency, high cost and high omission ratio when the existing angle steel main material is detected. A magnetic conductivity probe, an ultrasonic flaw detection probe and a pressure sensor are integrated to cooperatively work to form a three-dimensional detection system of surface stress detection, internal flaw detection and pressure calibration; the magnetic conductivity probe detects stress distribution of an angle steel main material through an inverse magnetostrictive effect, and accurately identifies a local strain high-risk area under a cyclic load; early warning is provided for fatigue crack initiation; the ultrasonic flaw detection probe penetrates through the metal surface by using high-frequency sound waves to carry out deep scanning on a high-risk area and detect defects such as internal cracks and air holes, so that full-dimensional damage identification from the surface to the inside is realized; the pressure sensor calibrates the attaching state, and it is ensured that the attaching pressure of the magnetic conductivity probe and the measured surface is consistent. The invention belongs to the technical field of electric iron tower damage detection.

Description

Technical Field

[0001] This invention relates to a damage detection device, specifically a damage detection device for the main material of angle steel for power transmission towers, belonging to the field of damage detection technology for power transmission towers. Background Technology

[0002] Transmission towers, as critical infrastructure of power transmission systems, endure complex alternating loads such as wind vibration, icing, and gravity for extended periods. Angle steel, the main load-bearing component of these towers, is particularly susceptible to localized or overall failure due to fatigue damage accumulation during long-term service. The essence of metal fatigue failure is the process by which micro-cracks gradually propagate to a critical size under cyclic stress, leading to unstable fracture. According to engineering practice, fatigue damage to angle steel typically manifests as bolt loosening, angle steel cracking, and weld detachment, among other common forms. High-cycle fatigue (cycles > 10) is particularly problematic. 4 (Second) is dominant.

[0003] For example, in coastal areas, under the influence of typhoons, the stress amplitude at critical nodes of the angle steel main material of power transmission towers can reach 30%-50% of the material's yield strength, causing fatigue cracks to propagate to the through section within 3-5 years. Existing detection technologies mostly rely on manual inspections or offline spot checks, making it difficult to capture early micro-damage in real time. On the other hand, non-destructive testing methods such as ultrasonic and magnetic particle testing are limited by the high-altitude working environment of power towers, resulting in problems such as low detection efficiency, high cost, and high missed detection rate.

[0004] Therefore, traditional damage detection techniques have significant limitations and cause great inconvenience to operators. Although commonly used vibration analysis methods can identify structural damage through changes in modal parameters, they require the establishment of complex finite element models for inversion analysis.

[0005] In summary, how to propose a damage detection device to address the aforementioned technical problems and shortcomings has become a pressing issue for those skilled in the art. Summary of the Invention

[0006] To address the shortcomings of the prior art, this invention provides a damage detection device for the main material of angle steel for power transmission towers.

[0007] The technical solution of the present invention is: a damage detection device for the main material of angle steel for power transmission towers, comprising a remote controller, a frame, a detection unit, four walking units and four electric telescopic arms.

[0008] The frame is equipped with a drive motor, main control board, battery pack and two transmission units.

[0009] The battery pack powers the main control board, the remote control communicates with the main control board, and the rotor of the drive motor is equipped with an active bevel gear.

[0010] Two transmission units are respectively arranged on both sides of the axis of the driving bevel gear. The transmission unit includes the driven bevel gear, the support plate and the differential threaded rod.

[0011] One end of the differential threaded rod is rotatably connected to the frame, and two threaded blocks are installed on the differential threaded rod.

[0012] The driven bevel gear is installed at the other end of the differential threaded rod, and the driven bevel gear meshes with the driving bevel gear.

[0013] The support plate is fixed to the frame and rotatably connected to the differential threaded rod.

[0014] The detection unit includes a second electric telescopic rod, a third electric telescopic rod, a rectangular detection plate, and a detection box.

[0015] The two ends of the second electric telescopic rod are fixedly connected to the lower surfaces of the detection box and the frame, respectively.

[0016] The detection box is equipped with a third electric telescopic rod, and the protruding part of the third electric telescopic rod passes through the detection box and is fixedly connected to the rectangular detection plate.

[0017] An ultrasonic flaw detector is installed on the lower surface of the detection box, and a magnetic permeability detector is installed on the lower surface of the rectangular detection plate.

[0018] The second electric telescopic rod, the ultrasonic flaw detection probe, the third electric telescopic rod, and the magnetic permeability probe are all electrically connected to the main control board.

[0019] The traveling unit is located below the frame and includes a base, two second adapters, two fifth electric telescopic rods, and four spring telescopic rods.

[0020] The base has four T-shaped slots arranged in a square. T-shaped sliders are embedded in the T-shaped slots. A first adapter is fixed to the T-shaped slider, and an electric wheel is fixed to the first adapter.

[0021] The two fifth electric telescopic poles are arranged as mirror images of the center of the square, and both fifth electric telescopic poles are located on one of the diagonals of the square.

[0022] Two spring telescopic rods are arranged on both sides of the axis of each fifth electric telescopic rod. The two ends of the fifth electric telescopic rod are fixed to the base and the second adapter respectively, and the two ends of the spring telescopic rod are fixed to the first adapter and the second adapter respectively.

[0023] The two ends of the electric telescopic boom are fixedly connected to the threaded block and the base, respectively, and the electric telescopic boom, drive motor, second electric telescopic rod, electric wheel, and fifth electric telescopic rod are all electrically connected to the main control board.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. Integration of multiple detection technologies enhances the comprehensiveness of damage identification:

[0026] This invention integrates a magnetic permeability probe 17, an ultrasonic flaw detection probe 13, and a pressure sensor 18 to work together, forming a three-dimensional detection system of "surface stress detection - internal flaw detection - pressure calibration":

[0027] The magnetic permeability probe 17 detects the stress distribution of the angle steel main material 200 through the inverse magnetostriction effect, accurately identifies high-risk areas of local strain under cyclic loading (such as stress concentration points), and provides early warning for fatigue crack initiation; the ultrasonic flaw detection probe 13 uses high-frequency sound waves (0.5-25MHz) to penetrate the metal surface and perform in-depth scanning of the above-mentioned high-risk areas to detect internal cracks, pores and other defects, and realize full-dimensional damage identification from the surface to the interior.

[0028] The pressure sensor 18 is calibrated to ensure that the magnetic permeability probe 17 is in contact with the surface being measured under consistent pressure. The three work together to significantly improve the accuracy and completeness of damage identification.

[0029] 2. Strong obstacle-crossing ability, adaptable to complex tower structures:

[0030] When the detection path encounters oblique or horizontal obstacles, the clamping of the electric wheel 206 on the main angle steel 200 can be released sequentially according to the distance from the obstacle, and the obstacle can be crossed by the coordinated action of the electric telescopic arm.

[0031] 3. Gravity-dispersing design to avoid secondary damage:

[0032] The differential threaded rod 4 and the threaded block 8 work together to drive the electric telescopic arm to move along the length of the strip hole 2, thereby adjusting the distance between the electric telescopic arm and the detection unit, so that the gravity of the device is evenly distributed on the surface of the angle steel main material 200, avoiding excessive local pressure that could lead to structural deformation, thus ensuring the authenticity of stress, crack and other data during the detection process.

[0033] Meanwhile, the cooperation between the T-shaped slider 204 and the T-shaped groove 203 allows the spacing of the electric wheel 206 to be variable, ensuring that the walking unit can adapt to angle steel main material 200 of different thicknesses (such as 4-12mm).

[0034] 4. Small detection error and high accuracy:

[0035] The third electric telescopic rod 15 finely adjusts the position of the rectangular detection plate 16, ensuring that the magnetic permeability probe 17 and pressure sensor 18 are in close contact with the area being measured. This prevents the second electric telescopic rod 11 from applying excessive force, which could cause structural deformation of the angle steel main material 200 or lead to distortion of strain data due to poor contact. Attached Figure Description

[0036] Figure 1This is an isometric view of the present invention;

[0037] Figure 2 This is a schematic diagram of the electric telescopic arm and transmission unit in this invention;

[0038] Figure 3 This is a bottom view of the present invention;

[0039] Figure 4 This is a cross-sectional view of the present invention;

[0040] Figure 5 yes Figure 4 A magnified view of a section at point I;

[0041] Figure 6 This is an exploded view of the walking unit in this invention;

[0042] Figure 7 This is a schematic diagram of the invention in use.

[0043] In the diagram: 1. Frame; 2. Strip hole; 3. Support plate; 4. Differential threaded rod; 501. Driving bevel gear; 502. Driven bevel gear; 6. Cover plate; 7. Drive motor; 8. Threaded block; 9. First electric telescopic rod; 10. Connecting block; 11. Second electric telescopic rod; 12. Detection box; 13. Ultrasonic flaw detector probe; 15. Third electric telescopic rod; 16. Rectangular detection plate; 17. Magnetic permeability probe; 18. Pressure sensor; 19. Fourth electric telescopic rod; 21. Main control board; 23. Battery pack; 100. Remote control; 200. Angle steel main material; 201. Camera; 202. Base; 203. T-slot; 204. T-slider; 205. First adapter; 206. Electric wheel; 207. Fifth electric telescopic rod; 208. Spring telescopic rod; 209. Second adapter. Detailed Implementation

[0044] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments.

[0045] Specific implementation method one: Combining Figures 1 to 7 This embodiment describes a damage detection device for the main material of angle steel for power transmission towers, which includes a remote controller 100, a frame 1, a detection unit, four walking units, and four electric telescopic arms.

[0046] The frame 1 is equipped with a drive motor 7, a main control board 21, a battery pack 23, and two transmission units.

[0047] The battery pack 23 supplies power to the main control board 21, and each battery of the battery pack 23 is evenly arranged on the left and right sides of the axis of the drive motor 7. The remote controller 1 is connected to the main control board 21 to send control signals to the main control board 21, thereby realizing remote control. The rotor of the drive motor 7 is equipped with an active bevel gear 501.

[0048] Two transmission units are respectively arranged on both sides of the axis of the driving bevel gear 501. The transmission unit includes the driven bevel gear 502, the support plate 3 and the differential threaded rod 4.

[0049] One end of the differential threaded rod 4 is rotatably connected to the frame 1, and two threaded blocks 8 are installed on the differential threaded rod 4.

[0050] Driven bevel gear 502 is installed at the other end of differential threaded rod 4, and driven bevel gear 502 meshes with driving bevel gear 501.

[0051] The support plate 3 is fixedly connected to the frame 1, and the support plate 3 is rotatably connected to the differential threaded rod 4.

[0052] The detection unit includes a second electric telescopic rod 11, a third electric telescopic rod 15, a rectangular detection plate 16, and a detection box 12.

[0053] The two ends of the second electric telescopic rod 11 are fixedly connected to the lower surfaces of the detection box 12 and the frame 1, respectively.

[0054] The detection box 12 is equipped with a third electric telescopic rod 15, and the protruding part of the third electric telescopic rod 15 passes through the detection box 12 and is fixedly connected to the rectangular detection plate 16.

[0055] An ultrasonic flaw detector 13 is mounted on the lower surface of the detection box 12, and a magnetic permeability detector 17 is mounted on the lower surface of the rectangular detection plate 16.

[0056] The second electric telescopic rod 11, the ultrasonic flaw detector 13, the third electric telescopic rod 15, and the magnetic permeability detector 17 are all electrically connected to the main control board 21.

[0057] The traveling unit is located below the frame 1. The traveling unit includes a base 202, two second adapters 209, two fifth electric telescopic rods 207, and four spring telescopic rods 208.

[0058] The base 202 has four T-slots 203 arranged in a square. T-slots 204 are embedded in the T-slots 203. The size and cross-sectional shape of the T-slots 204 are adapted to the cross-sectional shape of the T-slots 203. This arrangement facilitates the sliding fit between the two.

[0059] A first adapter 205 is fixedly connected to the T-shaped slider 204, and an electric wheel 206 is fixedly connected to the first adapter 205. Furthermore, the electric wheel 206 adopts existing technology, such as the small single-shaft hub motor disclosed in the announcement number CN205319837U. By fixing the wheel axle of the electric wheel 206 to the first adapter 205, driving can be achieved.

[0060] Two fifth electric telescopic rods 207 are arranged in a mirror image of the center of a square, and both fifth electric telescopic rods 207 are located on a diagonal of the square. Two spring telescopic rods 208 are arranged on both sides of the axis of each fifth electric telescopic rod 207. The two ends of the fifth electric telescopic rod 207 are fixedly connected to the base 202 and the second adapter 209, respectively, and the two ends of the spring telescopic rods are fixedly connected to the first adapter 205 and the second adapter 209, respectively.

[0061] The two ends of the electric telescopic arm are fixedly connected to the threaded block 8 and the base 202 respectively, and the electric telescopic arm, the drive motor 7, the second electric telescopic rod 11, the electric wheel 206, and the fifth electric telescopic rod 207 are all electrically connected to the main control board 21.

[0062] Specific Implementation Method Two: Combining Figures 1 to 7 This embodiment describes a frame 1 that includes a cuboid cover and a cover plate 6.

[0063] The drive motor 7, the main control board 21, and the battery pack 23 are all mounted on the upper surface of the cover plate 6.

[0064] The rectangular cover has a strip hole 2 on its side wall. The drive bevel gear 501 and two transmission units are arranged inside the rectangular cover. The rotor of the drive motor 7 passes through the cover plate 6 and is coaxially fixed to the drive bevel gear 501.

[0065] The other components and connections are the same as in Specific Implementation Method 1.

[0066] Specific implementation method three: Combining Figures 1 to 7 This embodiment describes an electric telescopic boom comprising a first electric telescopic rod 9, a connecting block 10, and a fourth electric telescopic rod 19.

[0067] The first electric telescopic pole 9 and the fourth electric telescopic pole 19 are arranged perpendicularly.

[0068] One end of the first electric telescopic rod 9 is fixedly connected to the connecting block 10, and the other end of the first electric telescopic rod 9 passes through the strip hole 2 and is fixedly connected to the threaded block 8.

[0069] The two ends of the fourth electric telescopic rod 19 are fixedly connected to the connecting block 10 and the base 202, respectively.

[0070] The other components and connections are the same as in specific implementation method one or two.

[0071] Specific implementation method four: Combination Figures 1 to 7 In this embodiment, the support plate 3 is fixedly connected to the inner wall of the cuboid housing. The support plate 3 has a through hole, through which it is rotatably connected to the differential threaded rod 4. One end of the differential threaded rod 4 is rotatably connected to the side wall of the cuboid housing.

[0072] The other components and connections are the same as those in specific implementation methods one, two, or three.

[0073] Specific Implementation Method Five: Combining Figures 1 to 7 In this embodiment, four pressure sensors 18 are also installed on the lower surface of the rectangular detection plate 16. The lower surface of the pressure sensors 18 is flush with the lower surface of the magnetic permeability probe 17. This arrangement ensures that the magnetic permeability probe 17 and the pressure sensors 18 are in close contact with the area being measured, avoiding distortion of strain data due to poor contact, while also preventing damage to the magnetic permeability probe 17.

[0074] Pressure sensors 18 are electrically connected to the main control board 21, and four of them are arranged at the four corners of the rectangular detection board 16.

[0075] The other components and connections are the same as those in specific implementation methods one, two, three, or four.

[0076] Specific Implementation Method Six: Combination Figures 1 to 7 This embodiment describes a camera 201 mounted on a base 202, which is electrically connected to the main control board 21.

[0077] The other components and connections are the same as those in specific implementation methods one, two, three, four, or six.

[0078] Specific implementation method seven: Combining Figures 1 to 7 In this embodiment, the first electric telescopic rod 9, the second electric telescopic rod 11, the third electric telescopic rod 15, the fourth electric telescopic rod 19, and the fifth electric telescopic rod 207 are all electric cylinders.

[0079] The other components and connections are the same as those in specific implementation methods one, two, three, or four.

[0080] Working principle

[0081] Combination Figures 1 to 7 To explain the working principle of this invention, when performing flaw detection on the main angle steel material at 200mm, the following steps should be followed:

[0082] Step 1: Preparation

[0083] The operator sends a signal to the main control board 21 via the remote control 100. The main control board 21 then sends an electrical signal to the drive motor 7, causing its rotor and differential threaded rod 4 to rotate. Utilizing the high-precision characteristics of threaded transmission, the rotational motion is converted into linear motion of the threaded block 8. This causes the threaded block 8 to move the electric telescopic arm along the length of the slotted hole 2, thereby adjusting the distance between the electric telescopic arm and the detection unit. On one hand, the threaded engagement between the differential threaded rod 4 and the threaded block 8 has self-locking properties, preventing distance deviations caused by vibration during movement and ensuring detection stability. On the other hand, it enables the overall weight of the invention to be dispersed and evenly distributed on the angle steel main member 200, ensuring detection stability and preventing deformation of the angle steel main member 200 due to its own weight being concentrated in a localized area during use, which would affect the effectiveness of the detection unit.

[0084] Step 2: The operator uses a walking unit on the ground to mount the invention onto the angle steel main material 200, so that the invention can move along the length of the angle steel main material 200.

[0085] First, the remote control 100 controls the main control board 21, causing the two fifth electric telescopic rods 207 to extend simultaneously, bringing the two second adapters 209 closer together. Then, driven by the spring telescopic rod 208, the T-shaped slider 204 slides within the T-shaped groove 203, causing each electric wheel 206 to come into close contact with the surface of the angle steel main material 200. Finally, the main control board 21 causes the electric wheels 206 to rotate, thus enabling movement.

[0086] Step 3: When the present invention moves along the main angle steel 200, it will inevitably encounter inclined or horizontal members, which will hinder the progress of the present invention. Obstacle avoidance is achieved by the cooperation of the camera 201 and the electric telescopic arm.

[0087] The four walking units and four electric telescopic arms are numbered here: the walking unit and electric telescopic arm that are closest to the obstacle during the movement are defined as walking unit number one and electric telescopic arm number one, and so on.

[0088] Step 3: The image is transmitted in real time from the camera 201 to the remote controller 100 via the main control board 21. The operator can see the situation of the forward end of the invention through the camera 201. When there is an oblique or horizontal obstacle in the travel path, the two fifth electric telescopic rods 207 in the first travel unit retract simultaneously, so that each electric wheel 206 in the first travel unit is separated from the angle steel main material 200.

[0089] Step 3.2: The operator then controls the first electric telescopic arm through the remote control 100 and the main control board 21, causing the first electric telescopic rod 9 inside the first electric telescopic arm to extend and the fourth electric telescopic rod 19 to retract, so as to drive the first walking unit away from the obstacle and avoid collision with the obstacle; during this process, the electric wheels 206 in the second to fourth walking units rotate under the action of the main control board 21, so that the invention continues to move.

[0090] Step 33: After the first traveling unit crosses the obstacle, restore the first traveling unit and the first electric telescopic arm to the state before encountering the obstacle, and the electric wheels 206 in the first traveling unit continue to abut against the surface of the angle steel main material 200.

[0091] Steps 3-4: When the No. 2 to No. 4 walking units and the No. 2 to No. 4 electric telescopic arms encounter obstacles, they are controlled according to the operation process of Steps 3-1 to 3-3. This process is repeated to realize the continuous movement of the present invention on the angle steel main material 200.

[0092] Step 4: Start Testing

[0093] Step 4: The operator controls the second electric telescopic rod 11 through the remote controller 100 and the main control board 21, so that the second electric telescopic rod 11 moves the detection box 12 and brings the detection box 12 close to the node of the angle steel main material 200. When the pressure sensor 18 detects pressure, it feeds back to the remote controller 100 through the main control board 21, and the operator stops controlling the second electric telescopic rod 11.

[0094] Step 4.2: The operator controls the third electric telescopic rod 15 via the remote control 100 and the main control board 21, causing the third electric telescopic rod 15 to drive the rectangular detection plate 16, thereby fine-tuning the position of the rectangular detection plate 16. When the value of the pressure sensor 18 stabilizes at a specific value (such as 0.1~0.2N, ensuring that the stress generated by the contact pressure will not affect the detection effect of the magnetic permeability probe 17), the main control board 21 feeds back to the remote control 100, and the operator stops controlling the third electric telescopic rod 15. This ensures that the magnetic permeability probe 17 can make close contact with the measured area while avoiding distortion of strain data due to poor contact.

[0095] Step 4.2: The operator controls the magnetic permeability probe 17 via remote control 100 and main control board 21. The probe 17 detects the magnetic permeability at the nodes of the angle steel main material 200 to infer its stress distribution. After detection, the main control board 21 provides real-time feedback to the remote control 100, facilitating the operator's identification of high-risk areas (such as stress concentration points) and providing early warning for fatigue crack initiation. Measuring the stress of components using magnetic permeability is an existing technology. For example, Chapter 2 of the literature "Liu Lihui. Research on Key Technologies for Residual Stress Detection of Metal Components Based on Magnetic Measurement [D]. National University of Defense Technology, 2020" establishes a stress-magnetic permeability mathematical model, theoretically demonstrating that it is feasible to assess the stress distribution of materials by measuring changes in magnetic permeability. This will not be elaborated upon here.

[0096] Step 4.3 After completing the stress test, the operator controls the ultrasonic flaw detection probe 13 through the remote controller 100 and the main control board 21, so that it emits high-frequency sound waves of 0.5-25MHz to the high-risk area. The high-frequency sound waves penetrate the metal surface to detect whether there are defects such as cracks and pores inside the nodes, realizing damage verification "from the surface to the inside", avoiding missed detections, and after the test is completed, the main control board 21 provides real-time feedback to the remote controller 100.

[0097] The magnetic permeability probe 17 locates high-risk areas, the ultrasonic flaw detection probe 13 verifies internal defects, and the pressure sensor 18 calibrates the fit. The three work together to form a three-dimensional detection system of "surface stress detection - internal flaw detection - pressure calibration", which significantly improves the accuracy and completeness of damage identification. The data obtained from the detection can be viewed and recorded in real time through the remote control 100.

[0098] The present invention has been disclosed above with reference to preferred embodiments, but it is not intended to limit the present invention. Any simple modifications, equivalent changes and alterations made by those skilled in the art to the above embodiments without departing from the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A damage detection device for the main material of angle steel in power transmission towers, characterized in that: Includes a remote control (100), a frame (1), a detection unit, four walking units, and four electric telescopic arms; The frame (1) is equipped with a drive motor (7), a main control board (21), a battery pack (23) and two transmission units; The battery pack (23) powers the main control board (21), the remote controller (1) communicates with the main control board (21), and the rotor of the drive motor (7) is equipped with an active bevel gear (501). Two transmission units are respectively arranged on both sides of the axis of the driving bevel gear (501). The transmission unit includes the driven bevel gear (502), the support plate (3) and the differential threaded rod (4). One end of the differential threaded rod (4) is rotatably connected to the frame (1), and two threaded blocks (8) are installed on the differential threaded rod (4). The driven bevel gear (502) is installed at the other end of the differential threaded rod (4), and the driven bevel gear (502) meshes with the driving bevel gear (501); The support plate (3) is fixedly connected to the frame (1), and the support plate (3) is rotatably connected to the differential threaded rod (4); The detection unit includes a second electric telescopic rod (11), a third electric telescopic rod (15), a rectangular detection plate (16), and a detection box (12). The two ends of the second electric telescopic rod (11) are fixed to the lower surfaces of the detection box (12) and the frame (1), respectively; The detection box (12) is equipped with a third electric telescopic rod (15), and the protruding part of the third electric telescopic rod (15) passes through the detection box (12) and is fixedly connected to the rectangular detection plate (16); An ultrasonic flaw detector probe (13) is installed on the lower surface of the detection box (12), and a magnetic permeability probe (17) is installed on the lower surface of the rectangular detection plate (16). The second electric telescopic rod (11), the ultrasonic flaw detection probe (13), the third electric telescopic rod (15) and the magnetic permeability probe (17) are all electrically connected to the main control board (21). The walking unit is arranged below the frame (1). The walking unit includes a base (202), two second adapters (209), two fifth electric telescopic rods (207) and four spring telescopic rods (208). The base (202) has four T-shaped grooves (203) arranged in a square. T-shaped sliders (204) are embedded in the T-shaped grooves (203). A first adapter (205) is fixedly connected to the T-shaped sliders (204). An electric wheel (206) is fixedly connected to the first adapter (205). Two fifth electric telescopic rods (207) are arranged in a mirror image about the center of a square, and both fifth electric telescopic rods (207) are located on a diagonal of the square; two spring telescopic rods (208) are arranged on both sides of the axis of each fifth electric telescopic rod (207), and the two ends of the fifth electric telescopic rod (207) are fixedly connected to the base (202) and the second adapter (209) respectively, and the two ends of the spring telescopic rods are fixedly connected to the first adapter (205) and the second adapter (209) respectively; The two ends of the electric telescopic arm are fixedly connected to the threaded block (8) and the base (202) respectively, and the electric telescopic arm, the drive motor (7), the second electric telescopic rod (11), the electric wheel (206), and the fifth electric telescopic rod (207) are all electrically connected to the main control board (21).

2. The damage detection device for the main material of angle steel for power transmission towers according to claim 1, characterized in that: The frame (1) includes a cuboid shell and a cover plate (6). The drive motor (7), main control board (21) and battery pack (23) are all mounted on the upper surface of the cover plate (6); The side wall of the cuboid cover has a strip hole (2). The active bevel gear (501) and two transmission units are arranged inside the cuboid cover. The rotor of the drive motor (7) passes through the cover plate (6) and is coaxially fixed to the active bevel gear (501).

3. The damage detection device for the main material of angle steel for power transmission towers according to claim 2, characterized in that: The electric telescopic boom includes a first electric telescopic rod (9), a connecting block (10), and a fourth electric telescopic rod (19). The first electric telescopic pole (9) and the fourth electric telescopic pole (19) are arranged perpendicularly; One end of the first electric telescopic rod (9) is fixedly connected to the connecting block (10), and the other end of the first electric telescopic rod (9) passes through the strip hole (2) and is fixedly connected to the threaded block (8); The two ends of the fourth electric telescopic rod (19) are fixedly connected to the connecting block (10) and the base (202) respectively.

4. The damage detection device for the main material of angle steel for power transmission towers according to claim 3, characterized in that: The support plate (3) is fixed to the inner wall of the cuboid shell. The support plate (3) has a through hole and is rotatably connected to the differential threaded rod (4) through the through hole. One end of the differential threaded rod (4) is rotatably connected to the side wall of the cuboid shell.

5. A damage detection device for the main material of angle steel for power transmission towers according to claim 5, characterized in that: Four pressure sensors (18) are also installed on the lower surface of the rectangular detection plate (16). The pressure sensors (18) are electrically connected to the main control board (21), and the four sensors are respectively arranged at the four corners of the rectangular detection plate (16).

6. A damage detection device for the main material of angle steel for power transmission towers according to claim 6, characterized in that: A camera (201) is installed on the base (202), and the camera (201) is electrically connected to the main control board (21).

7. A damage detection device for the main material of angle steel for power transmission towers according to claim 4, characterized in that: The first electric telescopic rod (9), the second electric telescopic rod (11), the third electric telescopic rod (15), the fourth electric telescopic rod (19), and the fifth electric telescopic rod (207) are all electric cylinders.

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