An UAV ray detection device for strain clamp

Abstract

The present invention discloses a tension clamp unmanned aerial vehicle (UAV) ray detection device, comprising: a main body structure, which includes: two straight rods arranged in parallel and a bent rod, the straight rods are connected to the bent rod, the top of the bent rod is connected to a hanging ear, a first and a second imaging plate connecting member are connected between the straight rods, and an imaging plate protection assembly is connected between the imaging plate connecting members; the second imaging plate connecting member is connected to the imaging plate protection assembly through a gear, the gear is connected to a transmission mechanism, and the transmission mechanism is connected to the upper cross arm of the main body structure; the imaging plate protection assembly is connected to the first imaging plate connecting member through a rolling bearing, and a torsion spring is arranged between the rolling bearing and the first imaging plate connecting member; the straight rod is connected with a ray machine connecting member, and a pulsed ray machine is connected to the ray machine connecting member. The present invention can realize the UAV digital ray detection of the crimping quality of the multi-split conductor tension clamp, and the design of the transmission structure can make the imaging plate protection assembly flip under the self-gravity of the device, improving the detection efficiency.

Description

Technical Field

[0001] The invention discloses a tension clamp UAV ray detection device, which relates to the technical field of non-destructive detection of the crimping quality of tension clamps for transmission lines. Background Art

[0002] The crimped tension clamp of high-voltage transmission lines plays the role of bearing the conductor tension and transmitting the working current, and its crimping quality needs to be detected by means of ray digital imaging. In order to reduce safety risks, in recent years, various units within the power system have piloted a new detection method of using UAVs to replace manual tower climbing operations.

[0003] In order to avoid the magnification and blurring of the crimping quality defects of the tension clamp, the digital imaging plate needs to be closely attached to the tension clamp during detection. When detecting the tension clamps of complex multi-split conductors such as double-split and quadruple-split conductors, due to the small conductor spacing and the UAV flight control accuracy, it is very difficult to accurately mount the detection device in place, which brings great difficulties to the operation of the UAV pilot. On the premise that the UAV control accuracy is difficult to improve in a short time, how to use the structural characteristics of the detection device itself to reduce the operation difficulty of the UAV pilot has become one of the necessary ways for the UAV digital ray detection of the crimping quality of tension clamps. Summary of the Invention

[0004] Aiming at the defects in the above background art, the invention provides a tension clamp UAV ray detection device, which replaces the traditional high-altitude operation, reduces the operation difficulty of the UAV pilot, improves the detection efficiency, and reduces the safety risk.

[0005] To achieve the above object, the technical solution adopted by the invention is as follows: A tension clamp UAV ray detection device, comprising: a main body structure, the main body structure includes: two straight rods and a bent rod arranged in parallel, the upper ends of the straight rods are connected to one end of the bent rod, the other end of the bent rod is connected to a hook rod, the top of the bent rod is connected to a hanging ear, a first imaging plate connecting member and a second imaging plate connecting member are connected to the two straight rods, and an imaging plate protection assembly is connected between the two imaging plate connecting members; the second imaging plate connecting member is connected to the imaging plate protection assembly through a gear, the gear is connected to a transmission mechanism, and the transmission mechanism is connected to the upper cross arm of the main body structure; the hanging ear above the main body structure is connected to a multi-rotor UAV through a flexible rope for lifting the whole set of detection device;

[0006] The imaging plate protection assembly is connected to the first imaging plate connecting member through a rolling bearing, and a torsion spring is arranged between the rolling bearing and the first imaging plate connecting member; a ray machine connecting member is arranged at the lower end of the straight rod, and a pulsed ray machine is connected to the ray machine connecting member.

[0007] Furthermore, the first imaging plate connecting piece and the second imaging plate connecting piece are sleeved on the straight pipe part of the main body structure; the first imaging plate connecting piece and the second imaging plate connecting piece are connected to the main body structure by set screws.

[0008] Furthermore, the ray machine connecting piece is sleeved on the straight pipe part of the main body structure, and the ray machine connecting piece is connected to the main body structure by set screws.

[0009] Furthermore, the transmission mechanism includes: a base, a connecting bar, a rack and a support spring; the base is connected to the upper crossbar of the main body structure, a support spring is connected between the base and one end of the connecting bar, the other end of the connecting bar is connected to the rack, the rack is arranged parallel to the straight rod, and the rack is meshed and connected with the gear;

[0010] The transmission mechanism controls the rotation of the imaging plate protection component through the movement in cooperation with the gear, controls the rotation angle of the gear by controlling the compression amount of the support spring, the rotation angle of the gear is 0~90°, and controls the rotation range of the imaging plate protection component between the horizontal and vertical states;

[0011] Initially, the imaging plate protection component is in the vertical or approximately vertical state; due to the imaging plate protection component being in this state, when the whole device is placed on the ground with the hook facing down before lifting, the internal digital imaging plate can be effectively protected from damage.

[0012] When mounted, the support spring is compressed, and the support force provided by the support spring is greater than the torsion spring provided on the first imaging plate connecting piece but less than the gravity of the whole device.

[0013] Furthermore, the first imaging plate connecting piece includes: a connecting sleeve and a connecting column, the connecting column is connected to a rolling bearing, and the connecting sleeve is sleeved on the straight rod.

[0014] Furthermore, a limiting device is arranged on the surface of the connecting sleeve of the first imaging plate connecting piece, and the limiting device includes: a horizontal limiting rod and a vertical limiting rod, the horizontal limiting rod is arranged on the same horizontal line of the connecting column, and the vertical limiting rod is arranged on the same vertical line of the connecting column, and is used to limit the rotation of the imaging plate protection component within the horizontal and vertical ranges.

[0015] Furthermore, the imaging plate protection component is coated with carbon fiber and supported by an aluminum alloy edge, and the internal digital ray imaging plate of the imaging plate protection component is coated with carbon fiber, which can not only not affect the detection image quality but also protect the digital ray imaging plate from damage.

[0016] Furthermore, during detection, the pulsed ray machine is located below the imaging plate protection component and adopts a vertical radiographic arrangement form.

[0017] Furthermore, the pulsed ray machine is fixed to the ray machine connecting piece by bolts.

[0018] Beneficial effects: The tension clamp UAV ray detection device provided by the present invention can realize the digital ray detection of the crimping quality of the multi-split conductor tension clamp by UAV. The design of the transmission structure enables the imaging plate protection component to flip under the self-gravity of the device, effectively reducing the operation difficulty of the UAV operator and improving the detection efficiency. Description of the drawings

[0019] Figure 1 is a schematic structural diagram of a tension clamp UAV ray detection device of the present invention;

[0020] Figure 2 is a schematic structural diagram of the main body of the device of the present invention;

[0021] Figure 3 is a schematic diagram of the transmission mechanism of the device of the present invention;

[0022] Figure 4 is a schematic diagram of the gear structure of the device of the present invention;

[0023] Figure 5 is a schematic structural diagram of the first imaging plate connecting member of the device of the present invention;

[0024] Figure 6 is a schematic structural diagram of the second imaging plate connecting member of the device of the present invention;

[0025] Figure 7 is a schematic structural diagram of the ray machine connecting member of the device of the present invention;

[0026] Figure 8 is a schematic diagram of the usage method of the device of the present invention for detecting the tension clamp of the upper conductor;

[0027] Wherein: 1 - main body structure; 2 - imaging plate protection component; 3 - first imaging plate connecting member; 4 - rolling bearing; 5 - second imaging plate connecting member; 6 - gear; 7 - transmission mechanism; 8 - ray machine connecting member; 9 - pulsed ray machine. Detailed implementation manners

[0028] The following further describes the implementation of the technical solution in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention and cannot be used to limit the protection scope of the present invention.

[0029] Such as Figure 1An embodiment described: A tension clamp UAV ray detection device, comprising: a main structure 1, the main structure 1 comprising: two parallel straight rods 11 and a bent rod 12, the upper end of the straight rod 11 is connected to one end of the bent rod 12, the other end of the bent rod 12 is connected to a hook rod 13, the top of the bent rod 12 is connected to a hanging ear 14, and the hanging ear 14 is connected to a multi-rotor UAV through a flexible rope; a first imaging plate connecting member 3 and a second imaging plate connecting member 5 are connected to the two straight rods 11, and an imaging plate protection assembly 2 is connected between the two imaging plate connecting members; the second imaging plate connecting member 5 is connected to the imaging plate protection assembly 2 through a gear 6, the gear 6 is connected to a transmission mechanism 7, and the transmission mechanism 7 is connected to the upper cross arm 15 of the main structure 1;

[0030] The imaging plate protection assembly 2 is connected to the first imaging plate connecting member 3 through a rolling bearing 4, and a torsion spring 32 is arranged between the rolling bearing 4 and the first imaging plate connecting member 3; a ray machine connecting member 8 is arranged at the lower end of the straight rod 11, and a pulsed ray machine 9 is connected to the ray machine connecting member 8.

[0031] The first imaging plate connecting member 3 and the second imaging plate connecting member 5 are sleeved on the straight pipe part of the main structure 1; the first imaging plate connecting member 3 and the second imaging plate connecting member 5 are connected to the main structure 1 by set screws.

[0032] The transmission mechanism 7 controls the rotation of the imaging plate protection assembly 2 by cooperating with the gear 6 in motion, controls the rotation angle of the gear 6 by controlling the compression amount of the support spring 74, the rotation angle of the gear is 0~90°, and controls the rotation range of the imaging plate protection assembly 2 between the horizontal and vertical states;

[0033] Initially, the imaging plate protection assembly 2 is in a vertical or approximately vertical state;

[0034] When mounted, the support spring 74 is compressed, and the support force provided by the support spring 74 is greater than the torsion spring 32 provided on the first imaging plate connecting member 3, but less than the gravity of the entire set of devices.

[0035] The imaging plate protection assembly 2 is wrapped with carbon fiber and supported by an aluminum alloy edge, and the imaging plate protection assembly uses a digital ray imaging plate wrapped with carbon fiber inside, which not only does not affect the detection image quality but also protects the digital ray imaging plate from damage.

[0036] As Figure 2 shown, the main structure 1 of the device of the present invention adopts a profile with a hook of special design, which can be a round tube, a channel shape, an I-beam, etc. Here, a round tube is taken as an example, and the material can be selected from steel, or lightweight materials such as aluminum alloy and carbon fiber; multiple cross arms 15 can be provided at the hook to enhance the structural stability; an opening for installing a mounting base 71 is provided on the uppermost cross arm 15.

[0037] As Figure 3 shown, the transmission mechanism 7 includes: a base 71, a connecting bar 72, a rack 73, and a support spring 74; the base 71 is connected to the upper crossbar 15 of the main body structure 1, and an opening matching the upper crossbar 15 of the main body structure 1 is provided above the base 71 for bolt connection; a support spring 74 is connected between the base 71 and one end of the connecting bar 72, the other end of the connecting bar 72 is connected to the rack 73, the rack 73 is arranged parallel to the straight rod 11, the rack 73 is meshed and connected with the gear 6, and by selecting a suitable support spring 74 and the module of the rack 73, the movement amount of the rack 73 during the detection process is controlled to be 1 / 4 of the circumference of the gear, that is, the gear rotates 90 degrees; by selecting a suitable support spring 74 to control the provided support force, which is greater than the torsion force provided by the torsion spring 32 provided by the first imaging plate connecting member 3, but less than the gravity of the whole set of devices, so that the support spring 74 will not cause the imaging plate protection assembly 2 to not maintain a vertical state due to the excessive torsion force of the torsion spring 32 of the first imaging plate connecting member 3 in the initial state, nor will it cause the imaging plate protection assembly 2 to not rotate due to the gravity of the device during detection due to the excessive support force of the support spring 74.

[0038] As Figure 4 shown, the module and width of the gear 6 match the rack 73, and the hub diameters on both sides of the gear 6 match the imaging plate protection assembly 2 and the right imaging plate connecting member 5 respectively.

[0039] As Figure 5 shown, the first imaging plate connecting member 3 is provided with a connecting column 31 (stator) matching the size of the rolling bearing 4, and a torsion spring 32 is provided on the connecting column to drive the imaging plate protection assembly 2 to tend to maintain a horizontal state, and the torsion force provided by the torsion spring 32 needs to be less than the support force provided by the spring of the rack 73 with a spring; a limiting device is provided in front of and above the first imaging plate connecting member 3, and the limiting device includes: a horizontal limiting rod 33 and a vertical limiting rod 34. The horizontal limiting rod 33 is arranged on the same horizontal line of the connecting column, and the vertical limiting rod 34 is arranged on the same vertical line of the connecting column 31 to limit the rotation of the imaging plate protection assembly 2 within the horizontal and vertical ranges and avoid 360-degree rotation; the first imaging plate connecting member 3 is provided with a threaded hole, and the first imaging plate connecting member 3 is fixed on the straight pipe part of the main body structure 1 through a set screw.

[0040] As Figure 5 shown, the second imaging plate connecting member 5 is provided with an opening 51 matching the hub of the gear 6, and at the same time is provided with a threaded hole, and the second imaging plate connecting member 5 is fixed on the straight pipe part of the main body structure 1 through a set screw.

[0041] As Figure 6As shown, a bolt hole is provided in the middle of the ray machine connector 8 of the present invention for fixing the pulsed ray machine 9; threaded holes are provided in the round tubes on both sides, and the ray machine connector 8 is fixed on the straight tube part of the main structure 1 through set screws; so that the ray machine connector 8 can not only fix the pulsed ray machine 9 and adjust the position, but also act as a cross arm of the main structure 1 to increase the structural stability. During detection, the pulsed ray machine 6 is located below the imaging plate protection assembly 2 and adopts a vertical penetration arrangement form.

[0042] As Figure 7 shown, when detecting the tension clamp above the single split conductor or multi-split conductor, the transmission mechanism 7 is removed; the position of the imaging plate protection assembly 2 is adjusted up and down so that when the hook of the main structure 1 is hung on the conductor or the tension clamp, the imaging plate protection assembly 2 remains in a horizontal state under the action of the torsion spring and the limiting device on the first imaging plate connector 3 and closely adheres to the part to be detected of the tension clamp; the position of the pulsed ray machine 9 is adjusted so that the ray window is flush with or slightly higher than the lower conductor, which can avoid the overlapping projection of the two clamps; the main structure 1 separates the tension clamp to be detected and the pulsed ray machine 9 on both sides, effectively avoiding the pulsed ray machine 9 being stuck between the conductors; the whole set of devices is hung on the conductor or the tension clamp by a multi-rotor unmanned aerial vehicle, and the ray machine and the digital imaging plate are remotely controlled to start, and the detection work can be completed.

[0043] When detecting the crimping quality of the tension clamp of the vertically distributed double split conductor or four split conductor, when detecting the tension clamp of the four split conductor, it can be considered as two vertically distributed double split conductors. Here, the detection of the tension clamp of the vertically distributed double split conductor is taken as an example; before the detection is carried out, the distance between the multi-split conductors should be confirmed first, and then the positions of the imaging plate protection assembly 2 and the pulsed ray machine 9 are adjusted in real time to meet the detection requirements of different types of conductors, and the pulsed ray machine 9 is perpendicular to the imaging plate protection assembly 2 and adopts a vertical penetration method.

[0044] When detecting the tension clamp of the lower conductor, there are the following two working modes. In working mode 1, the transmission mechanism 7 and the gear 6 are used to control the rotation of the imaging plate protection assembly 2; in working mode 2, after the transmission mechanism 7 is removed, the device structure is as Figure 8 shown, and the rotation is realized by relying on the contact mode between the imaging plate protection assembly 2 and the upper conductor, and the imaging plate protection assembly 2 returns to the horizontal state under the action of the torsion spring and the limiting device on the first imaging plate connector 3.

[0045] The process of working mode 1 is as follows: First, adjust the positions of the imaging plate protection assembly 2 and the pulsed ray machine 9 according to the wire spacing. Adjust the imaging plate protection assembly 2 to a vertical state or an approximately vertical state through the gear 6. Subsequently, connect the transmission mechanism 7 to the upper cross arm of the main structure 1 by bolts. Since the supporting force provided by the supporting spring of the transmission mechanism 7 is greater than the torsional force provided by the torsional spring provided on the first imaging plate connecting piece 3, the imaging plate protection assembly 2 will maintain a state parallel or approximately parallel to the straight pipe part of the main structure 1. Connect the hanging ear of the main structure 1 to the multi-rotor drone through a flexible rope. Subsequently, transport the entire device to the wire, keep the straight pipe part of the main structure 1 close to the wire, with the hook higher than the upper wire. Then, slowly lower the height of the drone. The transmission mechanism 7 will come into contact with the wire or the strain clamp. Continue to lower the height of the drone. The flexible rope connected to the drone will no longer bear the force. Since the supporting force provided by the spring of the transmission mechanism 7 is less than the gravity of the entire device, the spring of the transmission mechanism 7 will be compressed under the action of the gravity of the device itself, driving the rack to move upward. The cooperating gear 6 will rotate accordingly, driving the imaging plate protection assembly 2 to rotate. By controlling the compression amount of the spring of the spring rack 7 and the limiting of the limiting device, the gear 6 can only rotate 90 degrees, that is, the imaging plate protection assembly 2 is rotated from the vertical state to the horizontal state. After the detection is completed, the process of the drone detaching from the wire is opposite to the process of mounting. As the height of the drone rises, the spring of the spring rack 7 changes from the compressed state to the extended state, controlling the imaging plate protection assembly 2 to return from the horizontal state to the vertical state, realizing the detachment of the entire device from the wire.

[0046] The process of working mode 2 is as follows: Do not install or remove the transmission mechanism 7. Adjust the positions of the imaging plate protection assembly 2 and the pulsed ray machine 9 according to the wire spacing. The imaging plate protection assembly 2 will maintain a horizontal state under the action of the torsional spring and the limiting device provided on the first imaging plate connecting piece 3, that is, the imaging plate protection assembly 2 is perpendicular to the straight pipe part of the main structure 1. Connect the hanging ear of the main structure 1 to the multi-rotor drone through a flexible rope. Subsequently, transport the entire device to the wire, keep the straight pipe part of the main structure 1 close to the wire, and the imaging plate protection assembly 2 is higher than the upper wire A. As the height of the drone is slowly lowered, the imaging plate protection assembly 2 touches the upper wire A or the strain clamp, and the imaging plate protection assembly 2 rotates under the action of the rolling bearing 4 to bypass the wire. Then, the drone continues to lower its height. After the imaging plate protection assembly 2 bypasses the upper wire A, it will return to the horizontal state under the action of the torsional spring and the limiting structure of the first imaging plate connecting piece 3. Then, the drone continues to lower its height. The hook of the main structure 1 is hung on the upper strain clamp, and the imaging plate protection assembly 2 is close to the lower wire B or the part to be detected of the strain clamp. Finally, after the detection work is completed, operate the drone to detach from the wire.

[0047] A tension clamp UAV ray detection device involved in the present invention can select different working modes according to different detection objects. Its general usage method is as follows: (1) Select the working mode according to the detection object. First, assemble the device. For double-split, quadruple-split and other conductors, the distance between the upper and lower conductors should be determined first. (2) Adjust the positions of the imaging plate protection component 2 and the pulsed ray machine 9 according to the structural type, size, etc. of the clamp to be detected. (3) Place the whole set of detection device on the ground with the hook opening of the main body structure 1 facing downwards. (4) Place the multi-rotor UAV on the ground in front of the mounting device and connect it to the hanging ear above the main body structure 1 through a flexible rope. (5) Start the multi-rotor UAV, lift the whole set of device into the air, transport it to the tension clamp, and hang the hook of the main body structure 1 at the upper conductor tension clamp. (6) Confirm whether the imaging plate protection component 2 is closely attached to the part of the tension clamp to be detected. (7) Remotely control to turn on the pulsed ray machine and the digital ray imaging plate to obtain the detection result. (8) Raise the multi-rotor UAV to disengage the hook of the main body structure 1 from the tension clamp and send the mounting device back to the ground. (9) During the landing process of the multi-rotor UAV, the whole set of device lands steadily on the ground, and the UAV lands in front of the mounting device to complete the operation.

[0048] The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the technical principle of the present invention, several improvements and deformations can be made, and these improvements and deformations should also be regarded as the protection scope of the present invention.

Claims

1. A tension clamp UAV ray detection device, characterized in that, it includes: A main body structure (1), the main body structure (1) includes: two straight rods and a bent rod arranged in parallel, the upper ends of the straight rods are connected to one end of the bent rod, the other end of the bent rod is connected to a hook rod, and the top of the bent rod is connected to a hanging ear. A first imaging plate connecting member (3) and a second imaging plate connecting member (5) are connected to the two straight rods, and an imaging plate protection assembly (2) is connected between the two imaging plate connecting members; the second imaging plate connecting member (5) is connected to the imaging plate protection assembly (2) through a gear (6), the gear (6) is connected to a transmission mechanism (7), and the transmission mechanism (7) is connected to the upper cross arm of the main body structure (1); the transmission mechanism (7) includes: a base, a connecting strip, a rack and a support spring; the base is connected to the upper cross arm of the main body structure (1), a support spring is connected between the base and one end of the connecting strip, the other end of the connecting strip is connected to the rack, the rack is arranged parallel to the straight rod, and the rack is meshed and connected with the gear (6); The transmission mechanism (7) controls the rotation of the imaging plate protection assembly (2) by cooperating with the gear (6) to move, controls the rotation angle of the gear (6) by controlling the compression amount of the support spring, the rotation angle of the gear is 0~90°, and controls the rotation range of the imaging plate protection assembly (2) between the horizontal and vertical states. The imaging plate protection assembly (2) is connected to the first imaging plate connecting member (3) through a rolling bearing (4), and a torsion spring is arranged between the rolling bearing (4) and the first imaging plate connecting member (3); a ray machine connecting member (8) is arranged at the lower end of the straight rod, and a pulsed ray machine (9) is connected to the ray machine connecting member (8).

2. A tension clamp UAV ray detection device according to claim 1, characterized in that, The first imaging plate connecting member (3) and the second imaging plate connecting member (5) are sleeved on the straight pipe part of the main body structure (1); the first imaging plate connecting member (3) and the second imaging plate connecting member (5) are connected to the main body structure (1) by set screws.

3. A tension clamp UAV ray detection device according to claim 1, characterized in that, The ray machine connecting member (8) is sleeved on the straight pipe part of the main body structure (1), and the ray machine connecting member (8) is connected to the main body structure (1) by set screws.

4. A tension clamp UAV ray detection device according to claim 1, characterized in that, The first imaging plate connecting member (3) includes: a connecting sleeve and a connecting column, the connecting column is connected to the rolling bearing (4), and the connecting sleeve is sleeved on the straight rod.

5. A tension clamp UAV ray detection device according to claim 4, characterized in that, A limiting device is arranged on the surface of the connecting sleeve of the first imaging plate connecting member (3), and the limiting device includes: a horizontal limiting rod and a vertical limiting rod. The horizontal limiting rod is arranged on the same horizontal line of the connecting column, and the vertical limiting rod is arranged on the same vertical line of the connecting column, and is used to limit the rotation of the imaging plate protection assembly (2) within the horizontal and vertical ranges.

6. A tension clamp UAV ray detection device according to claim 1, characterized in that, the imaging plate protection component (2) is coated with carbon fiber and supported by an aluminum alloy edge.

7. A tension clamp UAV ray detection device according to claim 1, characterized in that, during detection, the pulsed ray machine (9) is located below the imaging plate protection component (2) and is arranged in a vertical penetration form.

8. A tension clamp UAV ray detection device according to claim 1, characterized in that, the pulsed ray machine (9) is fixed to the ray machine connecting piece (8) by bolts.

Images