A non-destructive testing robot for power transmission lines based on drone platform

Abstract

The present invention discloses a transmission line nondestructive testing robot based on an unmanned aerial vehicle platform, the present invention relates to the field of transmission line detection technology, including a support plate, the bottom side wall of the support plate is provided with a first groove, the inner wall of the first groove is fixedly connected with a first electric slide rail, the side wall of the first electric slide rail is symmetrically slidably connected with two first sliding plates, the bottom side wall of the support plate is provided with a second groove, the inner wall of the second groove is fixedly connected with a second electric slide rail. The present invention can move an ultrasonic flaw detector to the inside of a protective hardware, so that the ultrasonic flaw detector can detect the portion of the transmission line blocked by the protective hardware, to prevent the protective hardware from failing to detect the portion of the transmission line blocked by the transmission line during the transmission line detection, thereby affecting the effect of the transmission line detection, and improving the reliability of the device when detecting the transmission line.

Description

Technical Field

[0001] The present invention belongs to the technical field of power transmission line detection, and in particular relates to a power transmission line nondestructive detection robot based on an unmanned aerial vehicle platform. Background Art

[0002] Transmission lines are infrastructure used to transmit electricity. Their main function is to transmit the electricity generated by power plants to users through the power grid. At the same time, in order to increase transmission capacity and improve reliability, multiple split conductors are often used. Multiple split conductors divide a main conductor into multiple sub-conductors, which are arranged in parallel for power transmission. In order to ensure the spacing between the sub-conductors of the split conductors and prevent the sub-conductors of the same phase from being "entangled" together, protective fittings fixed by fixed wires are used to limit the conductors, allowing multiple parallel-arranged conductors to pass through the protective fittings, making it easier for the conductors to transmit electricity stably.

[0003] In the prior art, when using an unmanned aerial vehicle platform to inspect power transmission lines, an ultrasonic flaw detector is usually mounted on the unmanned aerial vehicle platform, and the unmanned aerial vehicle platform is used to drive the detection device to inspect the power transmission line to determine whether the power transmission line is damaged. However, since protective hardware needs to be installed every 50 to 60 meters of the power transmission line to limit the position of the power transmission line, when the unmanned aerial vehicle platform is equipped with the detection device to inspect the power transmission line, the outer wall of the power transmission line is blocked by the protective hardware, and the power transmission line blocked by the protective hardware cannot be detected by the ultrasonic flaw detector, resulting in incomplete detection of the power transmission line, and reducing the effect and reliability of the transmission line detection.

[0004] To this end, we propose a transmission line nondestructive inspection robot based on a drone platform to solve the above problems. Summary of the invention

[0005] The technical problem to be solved by the present invention is that since protective hardware needs to be installed every 50 to 60 meters to limit the transmission line, when the UAV platform carries a detection device to detect the transmission line, the outer wall of the transmission line is blocked by the protective hardware, and the transmission line blocked by the protective hardware cannot be detected by the ultrasonic flaw detector, resulting in incomplete detection of the transmission line and reducing the effect and reliability of the transmission line detection.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A nondestructive testing robot for power transmission lines based on an unmanned aerial vehicle platform comprises a support plate, a first groove is provided on the bottom side wall of the support plate, a first electric slide rail is fixedly connected to the inner wall of the first groove, two first sliding plates are symmetrically slidably connected to the side wall of the first electric slide rail, a second groove is provided on the bottom side wall of the support plate, a second electric slide rail is fixedly connected to the inner wall of the second groove, two second sliding plates are symmetrically slidably connected to the side wall of the second electric slide rail, the bottom side walls of the first sliding plate are both fixedly connected to the first electric telescopic rod, the bottom side walls of the second sliding plate are both fixedly connected to the second electric telescopic rod, the telescopic ends of the first electric telescopic rod and the second electric telescopic rod are both fixedly connected to auxiliary support assemblies, and the side wall of the auxiliary support assembly located at one end of the first electric telescopic rod is provided with a detection assembly, while the side wall of the auxiliary support assembly located at one end of the second electric telescopic rod is provided with a rust cleaning assembly.

[0008] Preferably, the auxiliary support assembly includes a telescopic shell to which the first electric telescopic rod is fixedly connected to the telescopic end of the second electric telescopic rod, the side wall of the telescopic shell is symmetrically fixedly connected with the third electric telescopic rod, the telescopic ends of the third electric telescopic rod are fixedly connected with a push plate, and the side wall of the telescopic shell is symmetrically fixedly connected with two support plates, one of the side walls of the support plates is fixedly connected with the fourth electric telescopic rod, and the telescopic end of the fourth electric telescopic rod is fixedly connected to the side wall of the other support plate.

[0009] Preferably, the detection component includes a fifth electric telescopic rod fixedly connected to the side wall of the telescopic shell, the telescopic end of the fifth electric telescopic rod is fixedly connected to a connecting plate, the side wall of the connecting plate is fixedly connected to a sixth electric telescopic rod, and the telescopic end of the sixth electric telescopic rod is fixedly connected to the detection plate.

[0010] Preferably, the side wall of the connecting plate is fixedly connected with a mounting block, the side wall of the mounting block is provided with a third groove, the inner walls at both ends of the third groove are rotatably connected with a rotating rod, the rod wall of the rotating rod is fixedly connected with a connecting rod, the side wall of the mounting block is fixedly connected with a first motor, the output end of the first motor passes through the side wall of the mounting block and is fixedly connected with one end of the rotating rod, and one end of the connecting rod is fixedly connected with a seventh electric telescopic rod.

[0011] Preferably, the telescopic end of the seventh electric telescopic rod is fixedly connected to an L-shaped rod, one end of the L-shaped rod is fixedly connected to a side plate, one end wall of the side plate is fixedly connected to an eighth electric telescopic rod, the telescopic end of the eighth electric telescopic rod is fixedly connected to a detection plate, the inner wall of the detection plate is fixedly connected to a plurality of ultrasonic flaw detectors, and the inner wall of the detection plate is fixedly connected to a plurality of first cameras.

[0012] Preferably, the rust cleaning assembly includes a ninth electric telescopic rod fixedly connected to the side wall of the telescopic shell, the telescopic end of the ninth electric telescopic rod is fixedly connected to a connecting block, the side wall of the connecting block is fixedly connected to the tenth electric telescopic rod, the telescopic end of the tenth electric telescopic rod is fixedly connected to a cleaning plate, the side wall of the cleaning plate is provided with a plurality of fourth grooves, the inner walls at both ends of the fourth grooves are provided with fifth grooves, the inner walls of the fifth grooves are fixedly connected to support springs, one end of the support spring is fixedly connected to a movable plate, the two movable plates are rotatably connected to the same fixed rod relative to the side wall at one end, and the rod wall of the fixed rod is fixedly connected to a detection cylinder.

[0013] Preferably, a sixth groove is formed on the inner wall of one of the fifth grooves, a resistor plate is fixedly connected to the inner wall of the sixth groove, a conductive plate is fixedly connected to the side wall of one of the movable plates, the side wall of the conductive plate is in conflict with the variable resistance surface of the resistor plate, a plurality of nozzles are fixedly connected to the inner wall of the cleaning plate, a liquid storage tank is fixedly connected to the side wall of the cleaning plate, and the water inlet ends of the nozzles penetrate the cleaning plate and the side walls of the liquid storage tank and extend into the liquid storage tank.

[0014] Preferably, the top side wall of the support plate is fixedly connected to a support column, one end of the support column is fixedly connected to a mounting plate, a plurality of screw holes are opened on the side wall of the mounting plate, and mounting bolts are threadedly connected inside the corresponding screw holes, and the bottom side wall of the support plate is fixedly connected to a second camera.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. Through the auxiliary support assembly, the push plate can be used instead of the protective fittings to temporarily limit the transmission line, so that the contact between the protective fittings and the transmission line is not tight, which is convenient for the subsequent use of ultrasonic flaw detectors to detect the part of the transmission line outside that is blocked by the protective fittings, thereby improving the use effect and detection efficiency of the device.

[0017] 2. The detection component provided can move the ultrasonic flaw detector to the inside of the protective fittings, so that the ultrasonic flaw detector can detect the portion of the transmission line blocked by the protective fittings, thereby preventing the protective fittings from failing to detect the portion of the transmission line blocked by the protective fittings during the transmission line detection, thereby affecting the effect of the transmission line detection, thereby improving the reliability of the device during the transmission line detection.

[0018] 3. The rust cleaning component can change the power of the nozzle according to the amount of rust on the contact position between the transmission line and the protective hardware, so as to use the cleaning liquid to better clean the rust, save resources, and facilitate the ultrasonic flaw detector to perform stable detection of the transmission line, ensure the accuracy of the transmission line detection, improve the reliability of the transmission line detection and the service life of the transmission line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the present invention from other angles;

[0021] Figure 3 It is a schematic diagram of the partial structure of the present invention Figure 1 ;

[0022] Figure 4 It is a schematic diagram of the partial structure of the present invention Figure 2 ;

[0023] Figure 5 It is a schematic diagram of the partial structure of the present invention Figure 3 ;

[0024] Figure 6 It is a schematic diagram of the partial structure of the present invention Figure 4 ;

[0025] Figure 7 It is a schematic diagram of the partial structure of the present invention Figure 5 ;

[0026] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure of part A.

[0027] In the figure: 1, support plate; 2, first groove; 3, first electric slide rail; 4, first sliding plate; 5, second groove; 6, second electric slide rail; 7, second sliding plate; 8, first electric telescopic rod; 9, second electric telescopic rod; 10, auxiliary support assembly; 101, telescopic shell; 102, third electric telescopic rod; 103, push plate; 104, support plate; 105, fourth electric telescopic rod; 11, detection assembly; 111, fifth electric telescopic rod; 112, connecting plate; 113, sixth electric telescopic rod; 114, detection plate; 115, mounting block; 116, third groove; 117, rotating rod; 118, connecting rod; 119, first motor; 1110, seventh electric telescopic rod retractable rod; 1111, L-shaped rod; 1112, side plate; 1113, eighth electric telescopic rod; 1114, ultrasonic flaw detector; 1115, first camera; 12, rust cleaning assembly; 121, ninth electric telescopic rod; 122, connecting block; 123, tenth electric telescopic rod; 124, cleaning plate; 125, fourth groove; 126, fifth groove; 127, supporting spring; 128, moving plate; 129, fixing rod; 1210, detection tube; 1211, sixth groove; 1212, resistor plate; 1213, conductive plate; 1214, nozzle; 1215, liquid storage tank; 13, supporting column; 14, mounting plate; 15, mounting bolt; 16, second camera. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] The following electrical components are all electrically connected to the peripheral PLC controller.

[0030] Reference Figure 1 - Figure 8A nondestructive testing robot for power transmission lines based on an unmanned aerial vehicle platform comprises a support plate 1, a first groove 2 is provided on the bottom side wall of the support plate 1, a first electric slide rail 3 is fixedly connected to the inner wall of the first groove 2, two first sliding plates 4 are symmetrically slidably connected to the side wall of the first electric slide rail 3, a second groove 5 is provided on the bottom side wall of the support plate 1, a second electric slide rail 6 is fixedly connected to the inner wall of the second groove 5, two second sliding plates 7 are symmetrically slidably connected to the side wall of the second electric slide rail 6, the bottom side walls of the first sliding plate 4 are fixedly connected to the first electric telescopic rod 8, the bottom side walls of the second sliding plate 7 are fixedly connected to the second electric telescopic rod 9, the telescopic ends of the first electric telescopic rod 8 and the second electric telescopic rod 9 are fixedly connected to an auxiliary support assembly 10, and a detection assembly 11 is provided on the side wall of the auxiliary support assembly 10 located at one end of the first electric telescopic rod 8, and a rust cleaning assembly 12 is provided on the side wall of the auxiliary support assembly 10 located at one end of the second electric telescopic rod 9.

[0031] In the embodiment, the auxiliary support assembly 10 includes a telescopic shell 101 to which the telescopic ends of the first electric telescopic rod 8 and the second electric telescopic rod 9 are fixedly connected, the side walls of the telescopic shell 101 are symmetrically fixedly connected with the third electric telescopic rod 102, the telescopic ends of the third electric telescopic rod 102 are fixedly connected with a push plate 103, the side walls of the telescopic shell 101 are symmetrically fixedly connected with two support plates 104, the side walls of one of the support plates 104 are fixedly connected with the fourth electric telescopic rod 105, and the telescopic end of the fourth electric telescopic rod 105 is fixedly connected to the side wall of the other support plate 104.

[0032] Specifically, the push plate 103 can be used instead of the protective fittings to temporarily limit the transmission line, so that the contact between the protective fittings and the transmission line is not tight, which facilitates the subsequent use of the ultrasonic flaw detector 1114 to detect the part of the outside of the transmission line that is blocked by the protective fittings, thereby improving the use effect and detection efficiency of the device.

[0033] In the embodiment, the detection assembly 11 includes a fifth electric telescopic rod 111 fixedly connected to the side wall of the telescopic shell 101, the telescopic end of the fifth electric telescopic rod 111 is fixedly connected to a connecting plate 112, the side wall of the connecting plate 112 is fixedly connected to a sixth electric telescopic rod 113, and the telescopic end of the sixth electric telescopic rod 113 is fixedly connected to a detection plate 114;

[0034] The side wall of the connecting plate 112 is fixedly connected with a mounting block 115, and a third groove 116 is formed on the side wall of the mounting block 115. The inner walls at both ends of the third groove 116 are rotatably connected with a rotating rod 117, and the rod wall of the rotating rod 117 is fixedly connected with a connecting rod 118. The side wall of the mounting block 115 is fixedly connected with a first motor 119, and the output end of the first motor 119 passes through the side wall of the mounting block 115 and is fixedly connected with one end of the rotating rod 117, and one end of the connecting rod 118 is fixedly connected with a seventh electric telescopic rod 1110;

[0035] The telescopic end of the seventh electric telescopic rod 1110 is fixedly connected to the L-shaped rod 1111, one end of the L-shaped rod 1111 is fixedly connected to the side panel 1112, one end of the side panel 1112 is fixedly connected to the eighth electric telescopic rod 1113, the telescopic end of the eighth electric telescopic rod 1113 is fixedly connected to the detection plate 114, the inner wall of the detection plate 114 is fixedly connected to a plurality of ultrasonic flaw detectors 1114, and the inner wall of the detection plate 114 is fixedly connected to a plurality of first cameras 1115.

[0036] Specifically, the ultrasonic flaw detector 1114 can be moved to the inside of the protective fittings, so that the ultrasonic flaw detector 1114 can detect the portion of the transmission line blocked by the protective fittings, thereby preventing the protective fittings from failing to detect the portion of the transmission line blocked by the protective fittings during transmission line detection, thereby affecting the effect of the transmission line detection, thereby improving the reliability of the device when detecting transmission lines.

[0037] In the embodiment, the rust cleaning assembly 12 includes a ninth electric telescopic rod 121 fixedly connected to the side wall of the telescopic shell 101, the telescopic end of the ninth electric telescopic rod 121 is fixedly connected to a connecting block 122, the side wall of the connecting block 122 is fixedly connected to a tenth electric telescopic rod 123, the telescopic end of the tenth electric telescopic rod 123 is fixedly connected to a cleaning plate 124, the side wall of the cleaning plate 124 is provided with a plurality of fourth grooves 125, the inner walls of both ends of the fourth groove 125 are provided with fifth grooves 126, the inner walls of the fifth groove 126 are fixedly connected to support springs 127, one end of the support spring 127 is fixedly connected to a movable plate 128, the two movable plates 128 are rotatably connected to the same fixed rod 129 relative to the side wall of one end, and the rod wall of the fixed rod 129 is fixedly connected to a detection cylinder 1210;

[0038] A sixth groove 1211 is formed on the inner wall of one of the fifth grooves 126, and a resistor plate 1212 is fixedly connected to the inner wall of the sixth groove 1211. A conductive plate 1213 is fixedly connected to the side wall of one of the movable plates 128, and the side wall of the conductive plate 1213 is in conflict with the variable resistance surface of the resistor plate 1212. A plurality of nozzles 1214 are fixedly connected to the inner wall of the cleaning plate 124, and a liquid storage tank 1215 is fixedly connected to the side wall of the cleaning plate 124. The water inlet ends of the nozzles 1214 penetrate through the side walls of the cleaning plate 124 and the liquid storage tank 1215 and extend into the liquid storage tank 1215.

[0039] Specifically, the power of the nozzle 1214 can be changed according to the amount of rusty materials adhered to the contact position between the transmission line and the protective hardware, so that the rusty materials can be better cleaned with the cleaning liquid, saving resources. At the same time, it can facilitate the ultrasonic flaw detector 1114 to perform stable detection of the transmission line, ensure the accuracy of the transmission line detection, improve the reliability of the transmission line detection and the service life of the transmission line.

[0040] In the embodiment, the top side wall of the support plate 1 is fixedly connected to a support column 13, one end of the support column 13 is fixedly connected to a mounting plate 14, a plurality of screw holes are provided on the side wall of the mounting plate 14, and mounting bolts 15 are threadedly connected to the corresponding screw holes, and a second camera 16 is fixedly connected to the bottom side wall of the support plate 1.

[0041] Specifically, the support plate 1 can be installed at the lower end of the UAV platform, so that the support plate 1 can be driven by the UAV platform to move to a position for detecting the power transmission line.

[0042] The operating principle of the present invention is now described as follows:

[0043] In the present invention, when it is necessary to detect the power transmission line, the support plate 1 is first installed under the UAV platform by using the mounting bolts 15 and the mounting plate 14, and then the UAV is controlled to move, driving the support plate 1 to move above the power transmission line, and the position of the support plate 1 at this time is judged by the second camera 16 to ensure that the support plate 1 is located in the middle part directly above the power transmission line, and then the first electric slide rail 3 and the second electric slide rail 6 are controlled to start, respectively driving the first sliding plate 4 and the second sliding plate 7 to move, so that the first electric telescopic rod 8 and the second electric telescopic rod 9 move. At this time, the distance between the adjacent first electric telescopic rod 8 and the second electric telescopic rod 9 is larger than the distance between the multiple power transmission lines, and then the fourth electric telescopic rod 105 is controlled to start, driving one of the support plates 104 to move, so that the telescopic shell 101 extends, and when the spacing between the push plates 103 is the same as the transmission line, the telescopic shell 101 extends out. When the spacing between the upper and lower lines is the same, the fourth electric telescopic rod 105 is controlled to stop extending, and then the drone platform is controlled to drive the support plate 1 to move downward, so that the push plate 103 and the corresponding power transmission line are at the same level, and then the third electric telescopic rod 102 is controlled to start, drive the push plate 103 to move, and push the corresponding wire inward, and use the four push plates 103 to temporarily limit the wire. At this time, the contact position between the protective hardware for limiting the power transmission line and the wire changes, so that the protective hardware does not bring pressure to the wire, and the push plate 103 can be used instead of the protective hardware to temporarily limit the power transmission line, so that the contact between the protective hardware and the power transmission line is not tight, which is convenient for the subsequent use of the ultrasonic flaw detector 1114 to detect the part of the outside of the power transmission line that is blocked by the protective hardware, thereby improving the use effect and detection efficiency of the device;

[0044] After the push plate 103 is used to temporarily limit the transmission line, the first motor 119 is controlled to start, and the rotating rod 117 is driven to rotate forty-five degrees. Then, the seventh electric telescopic rod 1110 is controlled to start, and the L-shaped rod 1111 is driven to move, so that after the rotating rod 117 rotates ninety degrees, the detection plate 114 fixedly connected to the telescopic end of the eighth electric telescopic rod 1113 is rotated ninety degrees. The distance between the detection plate 114 fixedly connected to the telescopic end of the eighth electric telescopic rod 1113 and the corresponding wire is the same as the distance between the detection plate 114 fixedly connected to the telescopic end of the sixth electric telescopic rod 113 and the wire. Then, the seventh electric telescopic rod 1110 is controlled to stop extending, and the first electric drive rotating rod 117 is controlled to continue to rotate forty-five degrees. Then, the seventh electric telescopic rod 1110 and the eighth electric telescopic rod 1113 are controlled to start, and the detection plate 114 is driven to move toward the outer wall of the wire, so that the ultrasonic wave set on the side wall of the detection plate 114 The ultrasonic flaw detector 1114 contacts the conductive outer wall, and then controls the fifth electric telescopic rod 111 to start, driving the detection plate 114 to move toward the protective fitting, so that one end of the detection plate 114 enters the protective fitting, driving the ultrasonic flaw detector 1114 and the first camera 1115 to move to the protective fitting, so that the ultrasonic flaw detector 1114 detects the outer wall of the power transmission line blocked by the protective fitting, and at the same time, the first camera 1115 can be used to assist in observing the outer wall of the power transmission line blocked by the protective fitting, and the ultrasonic flaw detector 1114 can be moved to the protective fitting, so that the ultrasonic flaw detector 1114 detects the part of the power transmission line blocked by the protective fitting, so as to prevent the protective fitting from failing to detect the part of the power transmission line blocked by the protective fitting when detecting the power transmission line, thereby affecting the detection effect of the power transmission line, and improving the reliability of the device when detecting the power transmission line;

[0045] After the protective fittings have been used in the outside world for a long time, the side walls of the protective fittings are prone to rust, and the protective fittings are in contact with the power transmission line all the time. At this time, the rusted materials on the side walls of the protective fittings are prone to contamination on the outer wall of the contact position between the conductor and the protective fittings, affecting the accuracy of the ultrasonic flaw detector 1114 in detecting the power transmission line and the service life of the conductor. Before controlling the first motor 119 to start detecting the transmission line, the tenth electric telescopic rod 123 is controlled to start so that the detection tube 1210 contacts the outer wall of the conductor, and then the ninth electric telescopic rod 121 is controlled to start, driving the detection tube 121 0 moves toward one end of the protective fitting, so that the detection tube 1210 enters the interior of the protective fitting. At this time, the position where the detection tube 1210 contacts the wire corresponds to the position where the protective fitting contacts the wire when limiting the wire. When the position where the wire contacts the protective fitting is contaminated with rust, the detection tube 1210 will be blocked by the rust, driving the detection tube 1210 to move toward one end of the cleaning plate 124, thereby overcoming the elastic force of the supporting spring 127 and driving the moving plate 128 to move. When the moving plate 128 moves, it will drive the conductive plate 1213 to move. 3 and the resistor plate 1212 form a sliding rheostat. As the distance that the conductive plate 1213 moves increases, it means that the rust material at the contact position between the wire and the protective fitting is more. At the same time, the resistance of the resistor plate 1212 will continue to decrease with the movement of the conductive plate 1213, the current will increase, and the power of the control nozzle 1214 will increase. Then, the ninth electric telescopic rod 121 is controlled to continue to extend, so that the nozzle 1214 moves to the position where the wire and the protective fitting are in contact, and the nozzle 1214 is controlled to start. At this time, the power of the nozzle 1214 is proportional to the rust material on the outer wall of the wire. The cleaning fluid in the liquid storage tank 1215 is proportional to the quantity. The nozzle 1214 draws out the cleaning fluid from the liquid storage tank 1215 and sprays it onto the outer wall of the conductor to clean the rusty material on the outer wall of the conductor. The power of the nozzle 1214 can be changed according to the amount of rusty material on the contact position between the power transmission line and the protective fittings, so as to better clean the rusty material with the cleaning fluid, save resources, and at the same time facilitate the ultrasonic flaw detector 1114 to perform stable detection of the power transmission line, ensure the accuracy of the detection of the power transmission line, improve the reliability of the detection of the power transmission line and the service life of the power transmission line.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A transmission line nondestructive testing robot based on an unmanned aerial vehicle platform, comprising a support plate (1), characterized in that: The bottom side wall of the support plate (1) is provided with a first groove (2), the inner wall of the first groove (2) is fixedly connected to a first electric slide rail (3), the side wall of the first electric slide rail (3) is symmetrically slidably connected to two first slide plates (4), the bottom side wall of the support plate (1) is provided with a second groove (5), the inner wall of the second groove (5) is fixedly connected to a second electric slide rail (6), the side wall of the second electric slide rail (6) is symmetrically slidably connected to two second slide plates (7), the bottom side walls of the first slide plate (4) are both fixedly connected to a first electric telescopic rod (8), the bottom side walls of the second slide plate (7) are both fixedly connected to a second electric telescopic rod (9), the telescopic ends of the first electric telescopic rod (8) and the second electric telescopic rod (9) are both fixedly connected to an auxiliary support assembly (10), the side wall of the auxiliary support assembly (10) located at one end of the first electric telescopic rod (8) is provided with a detection assembly (11), and the side wall of the auxiliary support assembly (10) located at one end of the second electric telescopic rod (9) is provided with a rust cleaning assembly (12); The auxiliary support assembly (10) comprises a telescopic shell (101) to which the telescopic ends of the first electric telescopic rod (8) and the second electric telescopic rod (9) are fixedly connected, the side wall of the telescopic shell (101) is symmetrically fixedly connected to the third electric telescopic rod (102), the telescopic ends of the third electric telescopic rod (102) are both fixedly connected to a push plate (103), the side wall of the telescopic shell (101) is symmetrically fixedly connected to two support plates (104), the side wall of one of the support plates (104) is fixedly connected to the fourth electric telescopic rod (105), and the telescopic end of the fourth electric telescopic rod (105) is fixedly connected to the side wall of the other support plate (104); The detection assembly (11) comprises a fifth electric telescopic rod (111) fixedly connected to a side wall of the telescopic housing (101); the telescopic end of the fifth electric telescopic rod (111) is fixedly connected to a connecting plate (112); the side wall of the connecting plate (112) is fixedly connected to a sixth electric telescopic rod (113); and the telescopic end of the sixth electric telescopic rod (113) is fixedly connected to a detection plate (114); The side wall of the connecting plate (112) is fixedly connected to a mounting block (115); a third groove (116) is formed on the side wall of the mounting block (115); inner walls at both ends of the third groove (116) are rotatably connected to a rotating rod (117); a rod wall of the rotating rod (117) is fixedly connected to a connecting rod (118); a first motor (119) is fixedly connected to the side wall of the mounting block (115); an output end of the first motor (119) passes through the side wall of the mounting block (115) and is fixedly connected to one end of the rotating rod (117); and one end of the connecting rod (118) is fixedly connected to a seventh electric telescopic rod (1110); The telescopic end of the seventh electric telescopic rod (1110) is fixedly connected to an L-shaped rod (1111), one end of the L-shaped rod (1111) is fixedly connected to a side plate (1112), one end of the side plate (1112) is fixedly connected to an eighth electric telescopic rod (1113), the telescopic end of the eighth electric telescopic rod (1113) is fixedly connected to a detection plate (114), the inner wall of the detection plate (114) is fixedly connected to a plurality of ultrasonic flaw detectors (1114), and the inner wall of the detection plate (114) is fixedly connected to a plurality of first cameras (1115).

2. The power transmission line nondestructive testing robot based on an unmanned aerial vehicle platform according to claim 1 is characterized in that: The rust cleaning assembly (12) comprises a ninth electric telescopic rod (121) fixedly connected to the side wall of the telescopic housing (101); the telescopic end of the ninth electric telescopic rod (121) is fixedly connected to a connecting block (122); the side wall of the connecting block (122) is fixedly connected to a tenth electric telescopic rod (123); the telescopic end of the tenth electric telescopic rod (123) is fixedly connected to a cleaning plate (124); a plurality of fourth grooves (125) are formed on the side wall of the cleaning plate (124); both ends of the inner walls of the fourth grooves (125) are formed with fifth grooves (126); the inner walls of the fifth grooves (126) are fixedly connected to support springs (127); one end of the support spring (127) is fixedly connected to a moving plate (128); the two moving plates (128) are rotatably connected to the same fixed rod (129) at the side wall relative to one end; the rod wall of the fixed rod (129) is fixedly connected to a detection cylinder (1210).

3. The power transmission line nondestructive testing robot based on an unmanned aerial vehicle platform according to claim 2 is characterized in that: A sixth groove (1211) is formed on the inner wall of one of the fifth grooves (126), and a resistor plate (1212) is fixedly connected to the inner wall of the sixth groove (1211); a conductive plate (1213) is fixedly connected to the side wall of one of the movable plates (128), and the side wall of the conductive plate (1213) contacts the variable resistance surface of the resistor plate (1212); a plurality of nozzles (1214) are fixedly connected to the inner wall of the cleaning plate (124), and a liquid storage tank (1215) is fixedly connected to the side wall of the cleaning plate (124), and the water inlet ends of the nozzles (1214) penetrate through the side walls of the cleaning plate (124) and the liquid storage tank (1215) and extend into the liquid storage tank (1215).

4. The power transmission line nondestructive testing robot based on an unmanned aerial vehicle platform according to claim 1 is characterized in that: The top side wall of the support plate (1) is fixedly connected to a support column (13), one end of the support column (13) is fixedly connected to a mounting plate (14), a plurality of screw holes are provided on the side wall of the mounting plate (14), and mounting bolts (15) are threadedly connected to the corresponding screw holes, and the bottom side wall of the support plate (1) is fixedly connected to a second camera (16).

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