A device and method for performing electrical flaw detection using a drone in conjunction with a slide rail robot

Abstract

The invention discloses a device and method for performing electric flaw detection by cooperating with a slide rail robot by an unmanned aerial vehicle, belonging to the technical field of X-ray flaw detection, wherein the flaw detection device comprises a sliding frame, on which a walking part, an imaging plate and an adjusting part for adjusting the position and angle of the imaging plate are installed, the walking part comprises a pulley rotatably installed on the top of the sliding frame, and a guide member cooperating with the pulley is arranged on the sliding frame, and the guide member assists the pulley to form a match with a steel core aluminum stranded wire; the flaw detection device provided by the invention provides an inverted V-shaped guide member on the front side or the rear side of the pulley on the sliding frame, and in the process of the unmanned aerial vehicle hanging the sliding frame and placing it on the steel core aluminum stranded wire, it only needs to adjust the relative position of the guide member and the steel core aluminum stranded wire so that the steel core aluminum stranded wire is located inside the guide member, and the guide member can guide the entire sliding frame so that the groove of the pulley can be smoothly placed on the position of the steel core aluminum stranded wire, thereby reducing the difficulty of controlling the unmanned aerial vehicle in the process of hanging and placing the sliding frame.

Description

Technical Field

[0001] The invention relates to the technical field of X-ray flaw detection, and specifically discloses a device and a method for performing electric flaw detection by using a drone in cooperation with a slide rail robot. Background Art

[0002] In recent years, the internal steel core fracture defects of the tension clamps of overhead transmission lines have occurred many times, posing a huge risk to operation. X-ray flaw detection (radio detection) is a very effective non-destructive testing method. It can be used to check the defects inside power equipment, such as cracks, holes, inclusions, etc., and the transmission line hardware in the power equipment, such as tension clamps, joint pipes, etc., these hardware may have cracks and other problems due to corrosion, fatigue and other reasons during long-term use. X-ray detection can detect these problems early. The existing method is to use a drone to hang the flaw detection device on the steel-core aluminum stranded wire, and control the flaw detection device to move along the steel-core aluminum stranded wire to the vicinity of the tension clamp or joint pipe that needs to be inspected, and then deploy the imaging board and X-ray transmitter set on the flaw detection device to both sides of the flaw detection object for flaw detection.

[0003] For example, the patent CN118190972B with the announcement number of 2024-08-30 discloses an X-ray flaw detection device mounted on a drone and its use method, which mainly relates to the field of X-ray flaw detection technology. It includes an imaging slide frame, a drone body, an imaging plate body, and a rotating frame. The bottom end of the inner wall of the imaging slide frame is slidably connected with a single split cable, and a light emitter is installed at the bottom end of the drone body. Its beneficial effect is that it solves the problem that in the process of inspecting and flaw detection of high-voltage cables, a large drone is first used to lift the entire imaging end device to the position corresponding to the high-voltage cable, and then the light emitter installed at the bottom end of the small drone is used to irradiate the imaging plate on one side of the imaging end device, so as to perform X-ray flaw detection of high-voltage cables. In this process, due to the different types of high-voltage cables, the position of the imaging plate needs to be replaced and adjusted, which leads to the problem of inconvenience in flaw detection of different types of high-voltage cables.

[0004] The disadvantage of the existing flaw detection devices including the above-mentioned patent is that, when the flaw detection device is lifted and placed on the steel-core aluminum stranded wire by a drone, although the relative positions of the pulley on the flaw detection device and the steel-core aluminum stranded wire can be observed through the camera equipped on the drone, it has high requirements on the control technology of the drone operator. However, due to the influence of the stability of the drone during flight, the pulley of the mounting platform is not easy to cooperate with the steel cable (so that the wheel groove on the pulley just fits on the steel-core aluminum stranded wire). Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for performing electrical flaw detection by using a drone in cooperation with a slide rail robot.

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

[0007] A device for performing electrical flaw detection by using an unmanned aerial vehicle in cooperation with a slide rail robot comprises a sliding frame on which a walking part, an imaging plate and an adjusting part for adjusting the position and angle of the imaging plate are mounted, the walking part comprises a pulley rotatably mounted on the top of the sliding frame, the sliding frame is provided with a guide member matching the pulley, and when the unmanned aerial vehicle lifts the sliding frame and places it on a steel-core aluminum stranded wire, the guide member assists the pulley in matching with the steel-core aluminum stranded wire.

[0008] The walking part of the electric flaw detection device further comprises a bracket fixedly connected to the top of the sliding frame, the bracket is in an inverted L shape, and the pulley is rotatably connected to the bracket.

[0009] The above-mentioned electric flaw detection device, the adjustment part includes an adjustment plate slidably installed in the sliding frame, the adjustment plate can slide along the width direction of the sliding frame, a sliding block is slidably installed on one side of the adjustment plate along the length direction of the sliding frame, the sliding block slides on the adjustment plate along the height direction of the sliding frame, a rotating seat is rotatably installed on the sliding block, the rotating axis of the rotating seat is parallel to the height direction of the sliding frame, and the imaging plate is fixedly installed on the rotating seat.

[0010] In the above-mentioned electric flaw detection device, the pulley and the guide member are staggered along the length direction of the sliding frame, and the guide member includes a fixed plate connected to the bracket, and the first guide rod and the second guide rod are installed on the fixed plate. The first guide rod and the second guide rod are respectively located on both sides of the moving direction of the sliding frame.

[0011] In the above-mentioned electric flaw detection device, the first guide rod and the second guide rod are staggered along the length direction of the sliding frame, the upper end of the first guide rod is connected to the first limit block, and the upper end of the second guide rod is connected to the second limit block, the first limit block and the second limit block are both C-shaped structures, the first limit block and the second limit block are both rotatably installed on the fixed plate, and the bracket is also provided with a driving member for driving the first limit block and the second limit block to rotate towards each other.

[0012] In the above-mentioned electric flaw detection device, when the pulley cooperates with the steel core aluminum stranded wire, the central axes of the first limit block and the second limit block are both higher than the central axis of the steel core aluminum stranded wire.

[0013] In the above-mentioned electric flaw detection device, sliding seats are provided at positions on the fixed plate corresponding to the first limit block and the second limit block, and each sliding seat slides along the width direction of the sliding frame. Rubber blocks are provided inside the first limit block and the second limit block. A baffle rod is fixedly connected to one end of the first guide rod close to the first limit block, and the baffle rod extends to the side where the second guide rod is located. Elastic members are provided at positions on the fixed plate corresponding to the sliding seats, and the elastic members maintain the relative position of the corresponding sliding seat and the fixed plate.

[0014] The above-mentioned electric flaw detection device, the elastic part includes a guide rod fixedly connected to the sliding seat, a spring is mounted on the guide rod, the position corresponding to the guide rod on the fixed plate is fixedly connected to the limit plate, the end of the guide rod away from the sliding seat passes through the corresponding limit plate, and the end of the guide rod that passes through the limit plate forms a ring along its own axial direction.

[0015] The above-mentioned electric flaw detection device, the driving part includes an electric push rod fixedly connected to the bracket, the output end of the electric push rod is fixedly connected to the extrusion plate, and adjusting parts are respectively installed on the fixed plate corresponding to the first guide rod and the second guide rod. When the electric push rod drives the extrusion plate to move downward, the adjusting part drives the first guide rod to revolve around the central axis of the first limit block, and the other adjusting part drives the second guide rod to revolve around the central axis of the second limit block.

[0016] A method for flaw detection using the above-mentioned electrical flaw detection device, the steps of which are as follows:

[0017] S1: Use a drone to lift the sliding frame, hang the sliding frame on the steel-core aluminum stranded wire, and place the pulley on the steel-core aluminum stranded wire;

[0018] S2: The remote control sliding frame moves along the steel core aluminum stranded wire to the position where the tension clamp is located, and unfolds the imaging plate to one side of the tension clamp and directly opposite to it;

[0019] S3: The drone lifts the X-ray transmitter again and flies to the other side of the tension clamp, so that the X-ray transmitter faces the tension clamp and the imaging plate, and keeps the drone in a hovering state;

[0020] S4: The X-ray transmitter emits X-rays to the tension clamp, the X-rays penetrate the tension clamp and are received by the imaging board, and the imaging board feeds back data to the background.

[0021] In the above technical scheme, the flaw detection device provided by the present invention, by arranging an inverted V-shaped guide member on the front side or rear side of the pulley on the sliding frame, when the drone hangs the sliding frame and places it on the steel-core aluminum stranded wire, it is only necessary to adjust the relative position of the guide member and the steel-core aluminum stranded wire so that the steel-core aluminum stranded wire is located on the inner side of the guide member. The guide member can guide the entire sliding frame so that the groove of the pulley can be smoothly placed on the position of the steel-core aluminum stranded wire, thereby reducing the difficulty of controlling the drone during the process of hanging the sliding frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0023] Figure 1A schematic diagram of a moving state of a sliding frame provided in an embodiment of the present invention;

[0024] Figure 2 A schematic diagram of an imaging plate in an unfolded state provided by an embodiment of the present invention;

[0025] Figure 3 A schematic diagram of the relationship between the unfolded state of the imaging plate and the position of the tension clamp provided by an embodiment of the present invention;

[0026] Figure 4 A front view of a sliding frame in a walking state provided by an embodiment of the present invention;

[0027] Figure 5 A side view of a sliding frame in a walking state provided by an embodiment of the present invention;

[0028] Figure 6 An enlarged schematic diagram of a walking part provided by an embodiment of the present invention;

[0029] Figure 7 A cross-sectional view of a steel core aluminum stranded wire provided by an embodiment of the present invention;

[0030] Figure 8 A left view of the guide frame in an exploded state provided by an embodiment of the present invention;

[0031] Fig. 9 A right side view of the guide frame in an exploded state provided by an embodiment of the present invention;

[0032] Fig.10 The embodiment of the present invention provides Figure 1 The enlarged schematic diagram at A in the middle;

[0033] Fig.11 The embodiment of the present invention provides Figure 3 Enlarged schematic diagram of point B in the middle.

[0034] Description of reference numerals:

[0035] 1. Sliding frame; 11. Top plate; 12. Bottom plate; 13. Connecting rod; 2. Walking part; 21. Pulley; 211. Groove; 22. Bracket; 3. Imaging plate; 4. Adjusting part; 41. Adjusting plate; 42. Sliding block; 421. Driving motor; 43. Rotating seat; 44. First electric push rod; 45. Second electric push rod; 5. Guide member; 51. Fixed plate; 511. Sliding seat; 512. Guide groove; 52. First guide rod ; 521, first limit block; 522, stop rod; 523, slider; 524, rubber block; 53, second guide rod; 531, second limit block; 6, steel core aluminum stranded wire; 61, tension clamp; 7, driving member; 71, electric push rod; 72, extrusion plate; 721, long groove; 8, elastic member; 81, guide rod; 82, spring; 83, limit plate; 9, adjusting member; 91, adjusting rod; 92, push rod; 93, guide block. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] In the description of the present invention, unless otherwise specified, "multiple" means two or more than two; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] like Figure 1-Figure 11 As shown, an embodiment of the present invention provides a device for performing electrical flaw detection by using a drone in cooperation with a slide rail robot, comprising a sliding frame 1, on which a walking part 2, an imaging plate 3 and an adjusting part 4 for adjusting the position and angle of the imaging plate 3 are installed. The walking part 2 includes a pulley 21 rotatably installed on the top of the sliding frame 1, and a guide member 5 matching the pulley 21 is provided on the sliding frame 1. When the drone lifts the sliding frame 1 and places it on the steel-core aluminum stranded wire 6, the guide member 5 assists the pulley 21 to match with the steel-core aluminum stranded wire 6.

[0039] Specifically, the sliding frame 1 is the main structure of the flaw detection device, and the whole is a long strip frame, that is, it is a frame structure with a length greater than a height greater than a thickness, and a walking part 2 for moving along the steel core aluminum stranded wire 6 is installed on the top, and the walking part 2 includes a pulley 21, such as Figure 6 and Figure 7 As shown, a groove 211 is formed on the outer wall of the pulley 21 along its circumference. When the pulley 21 cooperates with the steel-core aluminum stranded wire 6, the steel-core aluminum stranded wire 6 is in the groove 211, which can prevent the pulley 21 from being separated from the steel-core aluminum stranded wire 6 to a certain extent. The pulley 21 is installed on the top of the sliding frame 1 through a connecting piece, and the pulley 21 is rotatably connected to the connecting piece. A micro motor for driving the pulley 21 to rotate is also installed on the connecting piece. An imaging plate 3 and an adjusting part 4 are installed inside the sliding frame 1. The adjusting part 4 is used to drive the imaging plate 3 to move to the outside of the sliding frame 1 and can adjust the imaging plate 3 to an imaging position. The imaging position can be one side of the tension clamp 61, as shown in FIG. Figure 2 and Figure 3 As shown, the adjustment part 4 can adopt an existing mechanical arm. Adjusting the position of a plate by means of a mechanical arm is an existing technology and can be directly applied without further elaboration. The difference between this embodiment and the existing technology is that a guide member 5 is also installed on the sliding frame 1. In the process of lifting the sliding frame 1 by an unmanned aerial vehicle and placing it on the steel-core aluminum stranded wire 6, the guide member 5 can assist the unmanned aerial vehicle to adjust the relative positions of the pulley 21 and the steel-core aluminum stranded wire 6, so that the groove 211 on the pulley 21 can be smoothly placed on the steel-core aluminum stranded wire 6. Optionally, the guide member 5 is an inverted V-shaped plate installed on the connecting member, and the plate is staggered with the pulley 21, that is, in the direction in which the sliding frame 1 moves along the steel-core aluminum stranded wire 6, the plate is at the front or rear side of the pulley 21, such as Figures 1 to 4 As shown, the top of the plate is higher than the lowest point in the vertical direction where the groove 211 on the pulley 21 is opened, and the horizontal distance between the corresponding grooves 211 on both sides of the plate is greater than the width of the groove 211, ensuring that when the UAV lifts the sliding frame 1 and moves it to the steel-core aluminum stranded wire 6 on the inner side of the plate, the plate can guide the groove 211 on the pulley 21 to be sleeved on the outside of the steel-core aluminum stranded wire 6; because the lower opening width of the plate is much larger than the width of the groove 211, it is simpler to move the sliding frame 1 until the steel-core aluminum stranded wire 6 is inside the plate than to directly move the steel-core aluminum stranded wire 6 relatively into the groove 211, thereby reducing the difficulty of controlling the UAV. Preferably, the opening width of the plate is greater than the axial size of the pulley 21 itself, so that the plate has a larger guiding range; obviously, in order to make the movement of the sliding frame 1 along the steel-core aluminum stranded wire 6 more stable, the walking part 2 is provided with two groups and is symmetrically installed on the top of the sliding frame 1, as shown Figures 1 to 3 As shown, correspondingly, two groups of guide members 5 are also provided, and are arranged in one-to-one correspondence with the pulleys 21 of the two walking parts 2.

[0040] The flaw detection device provided in the embodiment of the present invention provides an inverted V-shaped guide member 5 on the front or rear side of the pulley 21 on the sliding frame 1. When the UAV suspends the sliding frame 1 and places it on the steel-core aluminum stranded wire 6, it only needs to adjust the relative positions of the guide member 5 and the steel-core aluminum stranded wire 6 so that the steel-core aluminum stranded wire 6 is located on the inner side of the guide member 5. The guide member 5 can guide the entire sliding frame 1 so that the groove 211 of the pulley 21 can be smoothly placed on the position of the steel-core aluminum stranded wire 6, thereby reducing the difficulty of controlling the UAV during the process of suspending the sliding frame 1.

[0041] Furthermore, the walking part 2 further includes a bracket 22 fixed to the top of the sliding frame 1 , the bracket 22 is in an inverted L shape, and the pulley 21 is rotatably connected to the bracket 22 .

[0042] Specifically, the walking part 2 further includes a bracket 22, which is also the connecting member in the above embodiment. The bracket 22 is in an inverted L-shape, that is, the vertical long side is connected to the sliding frame 1, and the pulley 21 is rotatably installed below the short side of the bracket 22. Figure 1 and Figure 2 and Fig.10 As shown, such an arrangement makes it easy to hook the bracket 22 together with the pulley 21 as a whole onto the steel-core aluminum stranded wire 6, so that the pulley 21 can be placed on the steel-core aluminum stranded wire 6. Preferably, a reinforcing rib is also fixed to the top of the sliding frame 1. The reinforcing rib is inclined and connected to the surface of one end of the long side of the bracket 22 close to the bend. The reinforcing rib, the long side of the bracket 22 and the sliding frame 1 form a right triangle to improve the stability of the connection between the bracket 22 and the sliding frame 1.

[0043] Furthermore, the adjusting part 4 includes an adjusting plate 41 slidably installed in the sliding frame 1, the adjusting plate 41 can slide along the width direction of the sliding frame 1, a sliding block 42 is slidably installed on the adjusting plate 41 on one side along the length direction of the sliding frame 1, the sliding block 42 slides on the adjusting plate 41 along the height direction of the sliding frame 1, a rotating seat 43 is rotatably installed on the sliding block 42, the rotating axis of the rotating seat 43 is parallel to the height direction of the sliding frame 1, and the imaging plate 3 is fixedly installed on the rotating seat 43.

[0044] Specifically, the sliding frame 1 includes two horizontal top plates 11 and bottom plates 12 arranged vertically. Figure 2As shown, the top plate 11 and the bottom plate 12 are connected into a whole by two parallel connecting rods 13, and an adjusting plate 41 is slidably installed between the top plate 11 and the bottom plate 12. For the convenience of description, the length direction of the sliding frame 1 is parallel to the direction of the steel-core aluminum stranded wire 6, the width direction of the sliding frame 1 is the axial direction of the pulley 21, and the height direction of the sliding frame 1 is the gravity direction when the sliding frame 1 is suspended below the steel-core aluminum stranded wire 6, that is, the direction perpendicular to both the length direction and the width direction. A first electric push rod 44 is rotatably connected to the connecting rod 13, and one end of the first electric push rod 44 away from the connecting rod 13 is rotatably connected to the adjusting plate 41. When the adjusting plate 41 contacts the connecting rod 13, the first electric push rod 44 is in an inclined state, so that the first electric push rod 44 is extended to drive the adjusting plate 41 to slide along the width direction of the sliding frame 1 between the top plate 11 and the bottom plate 12, and a sliding block 42 is slidably installed on one side of the adjusting plate 41 along the length direction of the sliding frame 1, as shown in FIG. Figure 2 As shown, the sliding block 42 is slidably installed on the left side of the adjustment plate 41, and the sliding block 42 is arranged along the height direction of the sliding frame 1, and the sliding block 42 can slide along the height direction of the sliding frame 1. A second electric push rod 45 is fixedly installed on the adjustment plate 41, and the second electric push rod 45 is installed along the height direction of the sliding frame 1. The output end of the second electric push rod 45 is fixedly connected to the sliding block 42, so that the extension of the second electric push rod 45 can drive the sliding block 42 to slide on the adjustment plate 41 along the height direction of the sliding frame 1. A rotating seat 43 is rotatably installed on the sliding block 42, and the rotating axis of the rotating seat 43 is parallel to the height direction of the sliding frame 1, and a driving motor 421 for driving the rotating seat 43 to rotate is installed on the sliding block 42, as shown in FIG. Figures 2 to 5 As shown, the imaging plate 3 is fixedly mounted on the rotating seat 43. Figure 3 As shown; through the cooperation of the first electric push rod 44, the second electric push rod 45 and the drive motor 421, the imaging plate 3 mounted on the rotating seat 43 is Figure 1 The status shown is adjusted to Figure 3 In the state shown, the X-ray machine can be hoisted by the drone and aimed at the tension clamp 61 for flaw detection. The X-rays (which can be emitted by the drone or the emission mechanism arranged on the other side of the sliding frame 1) are received by the imaging plate 3 and imaged after passing through the tension clamp 61.

[0045] Optionally, the pulley 21 and the guide member 5 are staggered along the length direction of the sliding frame 1, and the guide member 5 includes a fixed plate 51 connected to the bracket 22, and a first guide rod 52 and a second guide rod 53 are installed on the fixed plate 51. The first guide rod 52 and the second guide rod 53 are respectively located on both sides of the moving direction of the sliding frame 1.

[0046] Specifically, Figure 7As shown in the figure, the axial direction of the steel core aluminum stranded wire 6 is also the moving direction of the sliding frame 1 (including forward and backward), and the bracket 22 is fixedly connected to a fixing plate 51, the fixing plate 51 is horizontally arranged, and the lower surface of the fixing plate 51 is installed with a first guide rod 52 and a second guide rod 53, the first guide rod 52 and the second guide rod 53 are both inclined, and the first guide rod 52 and the second guide rod 53 together constitute the above-mentioned inverted V-shaped plate; in the cross-sectional view along the steel core aluminum stranded wire 6, that is, Figure 7 In the view, the first guide rod 52 and the second guide rod 53 are respectively located on the left and right sides of the groove 211 on the pulley 21, wherein the distance between the upper ends of the first guide rod 52 and the second guide rod 53 along the axial direction of the pulley 21 is greater than the axial dimension of the groove 211 along the axial direction of the pulley 21, and the distance between the upper ends of the first guide rod 52 and the second guide rod 53 along the axial direction of the pulley 21 is smaller than the axial dimension of the pulley 21 as a whole, so that the guide member 5 has a sufficiently large guiding range. Once the steel-core aluminum stranded wire 6 is within this range, the pulley 21 can be guided by the guide member 5 to the top of the steel-core aluminum stranded wire 6.

[0047] In another embodiment of the present invention, the first guide rod 52 and the second guide rod 53 are staggered along the length direction of the sliding frame 1, the upper end of the first guide rod 52 is connected to the first limit block 521, and the upper end of the second guide rod 53 is connected to the second limit block 531, the first limit block 521 and the second limit block 531 are both C-shaped structures, the first limit block 521 and the second limit block 531 are both rotatably installed on the fixed plate 51, and the bracket 22 is also provided with a driving member 7 that drives the first limit block 521 and the second limit block 531 to rotate towards each other.

[0048] Specifically, when the sliding frame 1 moves along the steel-core aluminum stranded wire 6, the imaging plate 3 is stored inside the sliding frame 1. At this time, the center of gravity of the entire sliding frame 1 is below the pulley 21, so that when the pulley 21 is driven to rotate, the entire sliding frame 1 can stably move forward or backward along the steel-core aluminum stranded wire 6. When the sliding frame 1 moves to a position close to the tension clamp 61, at this time, for the purpose of flaw detection, the imaging plate 3 needs to be adjusted from the inside of the sliding frame 1 to one side of the tension clamp 61, usually to the two sides of the vertical plane where the tension clamp 61 is located. In some cases, the imaging plate 3 also needs to be at a certain distance from the tension clamp 61, so as to facilitate the geometric magnification effect (increasing the distance between the X-ray source and the imaging plate 3). 3) to magnify the image details, which will cause the center of gravity of the sliding frame 1 and the imaging plate 3 to shift; when the sliding frame 1 is in a moving state, the imaging plate 3 is inside the sliding frame 1, and at this time, the pulley 21 is directly above the steel-core aluminum stranded wire 6. When the center of gravity of the sliding frame 1 changes due to the extension of the imaging plate 3, the center of gravity of the sliding frame 1 and the imaging plate 3 as a whole will shift to the side where the imaging plate 3 is located, so that the pulley 21 has the risk of detaching from the steel-core aluminum stranded wire 6; in this embodiment, the upper end of the first guide rod 52 is fixedly connected to the first limit block 521, the upper end of the second guide rod 53 is connected to the second limit block 531, and the upper ends of the first guide rod 52 and the second guide rod 53, that is, At the end where the axial distance between the two is smaller along the pulley 21, the first limit block 521 and the second limit block 531 are both C-shaped structures, and the first limit block 521 and the second limit block 531 are both rotatably mounted on the lower surface of the fixed plate 51. Optionally, the first limit block 521 is formed by a circular ring with an opening radially opened, and the structure of the second limit block 531 is the same as that of the first limit block 521. The widths of the openings on the first limit block 521 and the second limit block 531 are both larger than the diameter of the steel core aluminum stranded wire 6, so that the steel core aluminum stranded wire 6 can move (relative to the pulley 21) to the inner side of the first limit block 521 and the second limit block 531. In addition, the bracket 22 is also equipped with a device that drives the first limit block 521 and the second limit block 531 to move. The driving member 7 for rotating the two limit blocks 531 can be optionally a linear driver (a linear driver is also an electric push rod, which is referred to as a linear driver here for the convenience of distinguishing it from the first electric push rod 44 and the second electric push rod 45). The linear driver is provided with two groups and is respectively provided corresponding to the first guide rod 52 and the second guide rod 53. Both linear drivers are rotationally connected to the bracket 22, and the output ends of the two linear drivers are rotationally connected to the middle parts of the first guide rod 52 and the second guide rod 53 respectively. When the linear driver is extended, the first guide rod 52 is driven to revolve around the central axis of the first limit block 521 as the axis, and the second guide rod 53 is driven to revolve around the central axis of the second limit block 531 as the axis.

[0049] During the rotational travel of the first limit block 521 and the second limit block 531, the first guide rod 52 and the second guide rod 53 both have a first state and a second state:

[0050] In the first state, the first guide rod 52 and the second guide rod 53 are both in an inclined state. At this time, the openings of the first limit block 521 and the second limit block 531 are both vertically downward, and the cross-sectional view of the steel core aluminum stranded wire 6 is Figure 7 In the state, the first guide rod 52 and the second guide rod 53 are both in an eight-shaped shape. In this state, the first guide rod 52 and the second guide rod 53 can assist the pulley 21 to form a match with the steel-core aluminum stranded wire 6;

[0051] When in the second state, both the first guide rod 52 and the second guide rod 53 rotate to a vertical state. At this time, the openings of the first limit block 521 and the second limit block 531 are staggered. In the cross-sectional view of the steel-core aluminum stranded wire 6, the first limit block 521 blocks the opening on the second limit block 531, and the second limit block 531 blocks the opening on the first limit block 521. At this time, the steel-core aluminum stranded wire 6 is on the inner side of the first limit block 521 and the second limit block 531. Restricted by the first limit block 521 and the second limit block 531, the pulley 21 will not detach from the steel-core aluminum stranded wire 6.

[0052] In this embodiment, the first guide rod 52 and the second guide rod 53 are staggered along the length direction of the sliding frame 1, so that the first limit block 521 and the second limit block 531 can be rotatably connected to different areas on the fixed plate 51 respectively, so as to avoid interference between the first limit block 521 and the second limit block 531 during rotation.

[0053] Preferably, when the pulley 21 cooperates with the steel core aluminum stranded wire 6 , the central axes of both the first limit block 521 and the second limit block 531 are higher than the central axis of the steel core aluminum stranded wire 6 .

[0054] Specifically, in the above embodiment, in order to avoid friction between the steel-core aluminum stranded wire 6 and the inner walls of the first limit block 521 and the second limit block 531 during the movement of the sliding frame 1, resulting in a large resistance when the sliding frame 1 moves forward or backward on the steel-core aluminum stranded wire 6, the inner diameters of the first limit block 521 and the second limit block 531 are usually made larger than the diameter of the steel-core aluminum stranded wire 6. During the installation process, the steel-core aluminum stranded wire 6 is affected by its own gravity, and the steel-core aluminum stranded wire 6 between the two power towers usually forms a naturally drooping curve, and the tension clamp 61 is usually at the position where the steel-core aluminum stranded wire 6 is connected to the power tower. This causes the sliding frame 1 to climb a slope when moving along the steel-core aluminum stranded wire 6 to the position of the tension clamp 61, and the friction between the pulley 21 and the steel-core aluminum stranded wire 6 is provided only by its own gravity and the overall gravity of the sliding frame 1. , slipping is likely to occur; in this embodiment, when the steel-core aluminum stranded wire 6 is in the groove 211 on the pulley 21 and contacts the pulley 21, the central axes of the first limit block 521 and the second limit block 531 are both higher than the central axis of the steel-core aluminum stranded wire 6. In this way, when the first guide rod 52 and the second guide rod 53 are adjusted from the above-mentioned first state to the second state, the inner walls of the first limit block 521 and the second limit block 531 are close to each other and can contact the lower part of the steel-core aluminum stranded wire 6 in the gravity direction and apply a certain pressure, that is, the first limit block 521 and the second limit block 531 can squeeze the steel-core aluminum stranded wire 6 into the groove 211, increase the friction between the pulley 21 and the steel-core aluminum stranded wire 6, thereby preventing the sliding frame 1 from slipping during climbing. Preferably, the positions corresponding to the groove 211 on the pulley 21 are all made of rubber.

[0055] Furthermore, sliding seats 511 are provided at positions corresponding to the first limit block 521 and the second limit block 531 on the fixed plate 51, and each sliding seat 511 slides along the width direction of the sliding frame 1. Rubber blocks 524 are provided inside the first limit block 521 and the second limit block. A blocking rod 522 is fixedly connected to one end of the first guide rod 52 close to the first limit block 521, and the blocking rod 522 extends to the side where the second guide rod 53 is located. Elastic members 8 are provided at positions corresponding to the sliding seats 511 on the fixed plate 51, and the elastic members 8 maintain the relative position of the corresponding sliding seats 511 and the fixed plate 51.

[0056] Specifically, since the imaging plate 3 is extended outward from the sliding frame 1, the center of gravity of the entire sliding frame 1 will change, and the sliding frame 1 is only suspended under the steel-core aluminum stranded wire 6 by two pulleys 21 placed on the steel-core aluminum stranded wire 6. The change of the center of gravity will cause the sliding frame 1 to tilt and shake, affecting the position adjustment of the imaging plate 3 relative to the tension clamp 61, resulting in the imaging plate 3 being unable or difficult to adjust to face the tension clamp 61. Figure 3In this embodiment, two sets of sliding seats 511 are slidably mounted on the fixed plate 51, and the first limit block 521 and the second limit block 531 are respectively rotatably connected to a set of sliding seats 511, the sliding seat 511 is square, the inner cavity of the sliding seat 511 is cylindrical, and the lower part of the sliding seat 511 is provided with a notch, such as Figure 7 and Figure 8 As shown, the steel core aluminum stranded wire 6 can enter the interior of the sliding seat 511 through the notch, and the first limit block 521 is fixedly connected to the end surface of the sliding seat 511 corresponding to the first limit block 521 with an arc-shaped clamping block, and the first limit block 521 is rotatably connected to its corresponding sliding seat 511 through the arc-shaped clamping block, and the central axis of the arc-shaped clamping block coincides with the central axis of the first limit block 521, and the connection method of the second limit block 531 and its corresponding sliding seat 511 is the same as that of the first limit block 521, which will not be repeated; in addition, in this embodiment, a stop rod 522 is fixedly connected to one end of the first guide rod 52 close to the first limit block 521, such as Fig. 9 As shown, the blocking rod 522 extends to the side where the second guide rod 53 is located, and the fixing plate 51 is also provided with an elastic member 8 for maintaining the relative position of the sliding seat 511 and the fixing plate 51. In this way, when the first limit block 521 and the second limit block 531 are driven to rotate, so that the first guide rod 52 and the second guide rod 53 are adjusted from the first state to the second state, the blocking rod 522 on the first guide rod 52 contacts the second guide rod 53. During the process in which the first limit block 521 and the second limit block 531 continue to be driven, the first guide rod 52 is restricted by the blocking rod 522 and takes the blocking rod 522 as a fulcrum. The first limit block 521 is pried to cause the first limit block 521 to drive its corresponding sliding seat 511 to slide on the fixed plate 51. Similarly, under the restriction of the stop rod 522, the second guide rod 53 uses the stop rod 522 as a fulcrum to pry the second limit block 531 to cause the second limit block 531 to drive its corresponding sliding seat 511 to slide on the fixed plate 51. Since the first guide rod 52 and the second guide rod 53 rotate in opposite directions, the sliding directions of the two sliding seats 511 on the fixed plate 51 are opposite, so that the central axes of the first limit block 521 and the second limit block 531 no longer overlap (at Figure 7 At this time, the rubber block 524 arranged on the inner side of the first limit block 521 and the second limit block 531 holds the steel core aluminum stranded wire 6 tightly, thereby locking the sliding frame 1 as a whole under the steel core aluminum stranded wire 6 to prevent the sliding frame 1 from tilting due to the change of the center of gravity; preferably, the rubber block 524 on the inner side of the first limit block 521 and the second limit block 531 is staggered along the circumferential direction of the inner cavity of the first limit block 521, such as Figure 8As shown in the figure, the rubber block 524 arranged on the inner wall of the first limit block 521 is located on the side of the inner wall of the first limit block 521 close to the first guide rod 52, and the rubber block 524 on the inner wall of the second limit block 531 is located on the side of the inner wall of the second limit block 531 close to the second guide rod 53. When the first limit block 521 and the second limit block 531 drive their corresponding sliding seats 511 to slide, the rubber blocks 524 on the inner sides of the first limit block 521 and the second limit block 531 respectively contact the outer walls on both sides of the steel core aluminum stranded wire 6 opposite to each other, so as to enhance the clamping effect of the first limit block 521 and the second limit block 531 on the steel core aluminum stranded wire 6.

[0057] Optionally, the elastic member 8 includes a guide rod 81 fixedly connected to the sliding seat 511, on which a spring 82 is mounted, and positions corresponding to the guide rod 81 on the fixed plate 51 are fixedly connected to the limit plate 83, and one end of the guide rod 81 away from the sliding seat 511 passes through the corresponding limit plate 83, and one end of the guide rod 81 passing through the limit plate 83 forms a ring along its own axial direction. When the sliding seat 511 is driven by the first limit block 521 or the second limit block 531 to slide on the fixed plate 51, the corresponding guide rod 81 is pushed to move synchronously and the spring 82 is squeezed to deform. When the first guide rod 52 or the second guide rod 53 is driven to recover to the first state, the spring 82 pushes the sliding seat 511 to slide in the opposite direction on the fixed plate 51, so that the central axes of the first limit block 521 and the second limit block 531 can coincide again.

[0058] In another embodiment of the present invention, the driving member 7 includes an electric push rod 71 fixedly connected to the bracket 22, the output end of the electric push rod 71 is fixedly connected to the extrusion plate 72, and the fixing plate 51 is respectively provided with adjusting members 9 corresponding to the first guide rod 52 and the second guide rod 53. When the electric push rod 71 drives the extrusion plate 72 to move downward, the adjusting member 9 drives the first guide rod 52 to revolve around the central axis of the first limit block 521, and the other adjusting member 9 drives the second guide rod 53 to revolve around the central axis of the second limit block 531.

[0059] Furthermore, the adjusting member 9 includes an adjusting rod 91 slidably mounted on the fixed plate 51, the lower end of the adjusting rod 91 is fixedly connected to a push rod 92, the first guide rod 52 and the second guide rod 53 are slidably connected to the position corresponding to the push rod 92, the push rod 92 is rotatably connected to the corresponding slide block 523, the upper end of the adjusting rod 91 is fixedly connected to a guide block 93, the guide block 93 has a guide slope, a long groove 721 matching the guide block 93 is opened on the extrusion plate 72, the guide slope contacts one end of the long groove 721, and an elastic member 8 is also provided on the fixed plate 51 corresponding to the guide block 93.

[0060] Preferably, the guide block 93 is a right-angled trapezoid, and the right-angled side of the guide block 93 is fixedly connected to the upper end of the adjustment rod 91 .

[0061] Specifically, the driving member 7 includes an electric push rod 71 mounted on the bracket 22. Figure 6 and Figure 7 As shown, the output end of the electric push rod 71 is fixed with an extrusion plate 72, which is located above the fixed plate 51 and is arranged parallel to the fixed plate 51. An adjusting rod 91 is slidably installed on the fixed plate 51. The adjusting rod 91 is arranged along the height direction of the sliding frame 1. The lower ends of the adjusting rods 91 are fixed with push rods 92, which are arranged parallel to the fixed plate 51. Two sets of push rods 92 are arranged on the outside of the first guide rod 52 and the second guide rod 53, that is, Figure 7 The right side of the first guide rod 52 and the left side of the second guide rod 53 in the view, and the first guide rod 52 and the second guide rod 53 are both slidably mounted with a slider 523, the slider 523 slides along the length direction of the first guide rod 52 or the second guide rod 53, the top plate 11 is rotatably connected to the corresponding slider 523, the upper end of the adjustment rod 91 passes through the upper part of the fixed plate 51 and is fixedly connected with a guide block 93, preferably, the guide block 93 is a right-angled trapezoid, and its right-angled side is fixedly connected to the upper end of the adjustment rod 91 (the guide block 93 is composed of a long side, The fixing plate 51 is provided with a guide groove 512 for the adjustment rod 91 to slide, and the extrusion plate 72 is provided with a long groove 721 for the guide block 93 to pass through, and the hypotenuse of the guide block 93 is in contact with one end of the long groove 721. In addition, the fixing plate 51 is also provided with an elastic member 8 corresponding to the guide block 93. The connection between the elastic member 8 and the fixing plate 51 and the guide block 93 is the same as the connection between the elastic member 8 and the fixing plate 51 and the sliding seat 511, which will not be repeated.

[0062] When the electric push rod 71 extends and pushes the extrusion plate 72 to move toward the fixed plate 51, the guide block 93 is restricted by the long slot 721, and will push the adjustment rod 91 to slide toward the middle of the fixed plate 51 along the width direction of the sliding frame 1, so that the adjustment rod 91 drives the push rod 92 to move toward the corresponding first guide rod 52 or second guide rod 53, and pushes the first guide rod 52 or the second guide rod 53 to rotate. In this process, the spring 82 of the elastic member 8 corresponding to the guide block 93 is deformed and accumulates force. When the electric push rod 71 drives the extrusion plate 72 to move down until the short side of the guide block 93 contacts the inner wall of the long slot 721, the first limit block 521 and the second limit block The blocks 531 are staggered with each other and hold the steel-core aluminum stranded wire 6 tightly; and when the electric push rod 71 shortens and pulls the extrusion plate 72 away from the fixed plate 51, the guide block 93 slides in the opposite direction and resets under the drive of the corresponding spring 82, and at the same time, the top rod 92 pulls the corresponding first guide rod 52 or the second guide rod 53 to rotate to the first state through the slider 523; in this way, a single electric push rod 71 is used to drive the first guide rod 52 and the second guide rod 53 to rotate synchronously, reducing the use of the driving member 7, and when the short side of the guide block 93 moves to contact the inner wall of the long groove 721, the direction of the force applied by the guide block 93 to the extrusion plate 72 is parallel to the extrusion plate 72, that is, Figure 7 The horizontal direction in the view can reduce the reaction force on the electric push rod 71, so that the electric push rod 71 can maintain the extended state for a long time, so that the first limit block 521 and the second limit block 531 can maintain the steel core aluminum stranded wire 6 for a long time.

[0063] The present invention also proposes a flaw detection method using the above device, the steps of which are as follows:

[0064] Step 1: Use a drone to lift the sliding frame 1, hang the sliding frame 1 on the steel-core aluminum stranded wire 6, and place the pulley 21 on the steel-core aluminum stranded wire 6. In the first step, the first guide rod 52 and the second guide rod 53 remain in the first state;

[0065] Step 2: The remote control sliding frame 1 moves along the steel core aluminum stranded wire 6 to the position of the tension clamp 61, and unfolds the imaging plate 3 to one side of the tension clamp 61 and directly opposite to it. Before controlling the movement of the sliding frame 1, the third electric push rod 71 is extended and drives the first guide rod 52 and the second guide rod 53 to rotate to the second state. When the sliding frame 1 moves to a position close to the tension clamp 61, the third electric push rod 71 continues to extend and drives the first guide rod 52 and the second guide rod 53 to continue to rotate, so that the central axes of the first limit block 521 and the second limit block 531 are gradually staggered and the steel core aluminum stranded wire 6 is tightly held, and finally the imaging plate 3 is unfolded;

[0066] Step 3: The drone lifts the X-ray transmitter again and flies to the other side of the tension clamp 61, so that the X-ray transmitter faces the tension clamp 61 and the imaging plate 3, and keeps the drone in a hovering state;

[0067] Step 4: The X-ray transmitter emits X-rays to the tension clamp 61. The X-rays penetrate the tension clamp 61 and are received by the imaging board 3. The imaging board 3 is connected to the background processor to send data to the processor.

[0068] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A device for performing electrical flaw detection by using a drone in conjunction with a slide robot, comprising a sliding frame on which a walking part, an imaging plate, and an adjusting part for adjusting the position and angle of the imaging plate are mounted, characterized in that: The walking part includes a pulley rotatably installed on the top of the sliding frame, and the sliding frame is provided with a guide member matching the pulley. When the drone lifts the sliding frame and places it on the steel-core aluminum stranded wire, the guide member assists the pulley to cooperate with the steel-core aluminum stranded wire; the adjusting part includes an adjusting plate slidably installed in the sliding frame, and the adjusting plate can slide along the width direction of the sliding frame. A sliding block is slidably installed on the adjusting plate on one side along the length direction of the sliding frame. The sliding block slides on the adjusting plate along the height direction of the sliding frame. A rotating seat is rotatably installed on the sliding block, and the rotating axis of the rotating seat is parallel to the height direction of the sliding frame, and the imaging plate is fixedly installed on the rotating seat; the walking part also includes a bracket fixedly connected to the top of the sliding frame, the bracket is in an inverted L shape, and the pulley is rotatably connected to the bracket; the pulley and the guide member are staggered along the length direction of the sliding frame, and the guide member includes a fixed plate connected to the bracket, and a first guide rod and a second guide rod are installed on the fixed plate. The guide rod and the second guide rod are respectively located on both sides of the moving direction of the sliding frame; the first guide rod and the second guide rod are staggered along the length direction of the sliding frame, and the upper end of the first guide rod is connected to the first limit block, and the upper end of the second guide rod is connected to the second limit block, the first limit block and the second limit block are both C-shaped structures, the first limit block and the second limit block are both rotatably installed on the fixed plate, and the bracket is also provided with a driving member that drives the first limit block and the second limit block to rotate towards each other; the positions of the fixed plate corresponding to the first limit block and the second limit block are provided with sliding seats, and each sliding seat slides along the width direction of the sliding frame, and rubber blocks are provided inside the first limit block and the second limit block, and a blocking rod is fixedly connected to one end of the first guide rod close to the first limit block, and the blocking rod extends to the side where the second guide rod is located, and the positions of the fixed plate corresponding to the sliding seats are provided with elastic members, and the elastic members maintain the relative position of the corresponding sliding seats and the fixed plate.

2. The device for performing electrical flaw detection using a drone in conjunction with a slide rail robot according to claim 1 is characterized in that: When the pulley cooperates with the steel core aluminum stranded wire, the central axes of the first limiting block and the second limiting block are both higher than the central axis of the steel core aluminum stranded wire.

3. The device for performing electrical flaw detection using a drone in cooperation with a slide rail robot according to claim 2, characterized in that: The elastic member includes a guide rod fixedly connected to the sliding seat, on which a spring is mounted, and positions corresponding to the guide rod on the fixed plate are fixedly connected to limit plates, one end of the guide rod away from the sliding seat passes through the corresponding limit plate, and one end of the guide rod passing through the limit plate forms a ring along its own axial direction.

4. The device for performing electrical flaw detection using a drone in conjunction with a slide rail robot according to claim 1, characterized in that: The driving member includes an electric push rod fixedly connected to the bracket, an extrusion plate is fixedly connected to the output end of the electric push rod, and adjusting members are respectively installed on the fixed plate corresponding to the first guide rod and the second guide rod. When the electric push rod drives the extrusion plate to move downward, the adjusting member drives the first guide rod to revolve around the central axis of the first limit block, and the other adjusting member drives the second guide rod to revolve around the central axis of the second limit block.

5. A method for flaw detection using the device for electrical flaw detection using the unmanned aerial vehicle described in any one of claims 1 to 4 in cooperation with a slide rail robot, characterized in that: S1: Use a drone to lift the sliding frame, hang the sliding frame on the steel-core aluminum stranded wire, and place the pulley on the steel-core aluminum stranded wire; S2: The remote control sliding frame moves along the steel core aluminum stranded wire until the sliding frame moves to the position where the tension clamp is located, and then the adjustment part is controlled to drive the imaging plate to unfold, so that the imaging plate is on one side of the tension clamp and the imaging plate is directly opposite to the tension clamp; S3: The drone lifts the X-ray transmitter again and flies to the other side of the tension clamp, so that the X-ray transmitter faces the tension clamp and the imaging plate, and keeps the drone in a hovering state; S4: The X-ray transmitter emits X-rays to the tension clamp, the X-rays penetrate the tension clamp and are received by the imaging board, and the imaging board feeds back data to the background.

Images