A UAV-based nondestructive testing robot for four-split conductors of power transmission lines

Abstract

The invention discloses a nondestructive testing robot for four-split conductors of power transmission lines based on drones, which has a rectangular hanger that can be set up on the split conductors and move, an imaging assembly and a ray machine are respectively arranged at the two ends of the rectangular hanger, a machine box is arranged in the middle of the rectangular hanger, and a vertically sliding driving cross frame is respectively arranged on both sides of the rectangular hanger along its moving direction, a roller is arranged at the lower part of the driving cross frame so that it can move on the split conductors, and an expansion support assembly and a transmission assembly are arranged on the driving cross frame. The invention solves the problem that the four-split conductor X-ray camera detection robot in the prior art is easily affected by the environment and easily separated from the four-split conductors, causing the equipment to fall and be damaged.

Description

Technical Field

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

[0002] The existing method of inspecting high-voltage wires is usually to use drones to perform DR imaging inspection on them. However, the equipment that uses drones in conjunction with corresponding structures for inspection is mostly for single-line wire clamps or multi-line wire clamps. If all inspections are required, they need to be hung on different wires for inspection multiple times, thereby reducing the inspection efficiency of split wires. Based on this, the applicant of this patent provides a four-split wire X-ray inspection robot and inspection method based on drones, see Reference 1.

[0003] Reference 1: Chinese patent document with patent publication number CN118549471A.

[0004] Reference 1 discloses a four-split conductor X-ray detection robot based on a drone and a detection method, the robot includes a frame hung on the split conductor and walking along the split conductor, the frame includes a frame body and a frame with a middle portion arranged on the frame body. The frame is provided with a rectangular hanger and positioning parts arranged at the four corners of the lower end of the rectangular hanger, two positioning parts opposite to each other and parallel to the frame are rotatably penetrated with a rotating rod, one end of the rotating rod is provided with a walking roller, one end of the rotating rod is provided with a walking roller, and one end of the rotating rod is provided with a walking roller with a longer length, so as to adapt to the detection scene where the spacing between the split conductors at the same horizontal height of the split conductors is deviated.

[0005] However, the rectangular bracket recorded in Reference 1 uses the weight of the equipment to press on the split conductor to position or move the equipment. Positioning or moving by the weight of the equipment can easily cause the equipment to separate from the split conductor and cause the equipment to fall when encountering strong winds or rain or snow. Summary of the invention

[0006] The purpose of the present invention is to solve the problem in the prior art that the four-split conductor X-ray camera inspection robot is easily affected by the environment and easily separated from the four-split conductor, causing the equipment to fall and be damaged, and to provide a transmission line four-split conductor nondestructive inspection robot based on a drone.

[0007] The present invention solves the deficiencies of the above technical problems and adopts the following technical solutions: a nondestructive testing robot for four split conductors of a power transmission line based on an unmanned aerial vehicle, which comprises: a rectangular hanger that can be set up on the split conductors and move, an imaging assembly and a ray machine are respectively arranged at both ends of the rectangular hanger, a machine box is arranged in the middle of the rectangular hanger, vertically sliding driving cross frames are respectively arranged on both sides of the rectangular hanger along the moving direction thereof, a roller is arranged at the lower part of the driving cross frame so that it can move on the split conductors, and an expansion support assembly and a transmission assembly are arranged on the driving cross frame;

[0008] The transmission assembly is a four-link structure composed of four transmission connecting rods. The hinge shaft at the upper end of the transmission assembly is fixed on the bearing column of the chassis. The two hinge shafts in the middle of the transmission assembly are coaxially connected to the second hinge column. The two second hinge columns are respectively slidably arranged in two horizontal grooves opened on the driving horizontal frame.

[0009] The expansion component is a four-link structure composed of four expansion connecting rods, the hinge shaft at the upper part of the expansion component is fixed on the positioning column of the driving cross frame, and the outer sides of the four expansion connecting rods are rotatably provided with rolling rollers;

[0010] The two transmission connecting rods at the lower part of the transmission assembly are both provided with transmission sliding grooves, and the two expansion connecting rods at the lower part of the expansion assembly are both provided with docking holes, and the docking holes and the transmission sliding grooves are hinged through the first hinge column.

[0011] As a further optimization of the UAV-based nondestructive testing robot for four-split conductors of power transmission lines of the present invention: a plurality of reinforcing ribs are arranged between the bearing column and the chassis, and the plurality of reinforcing ribs are arranged around the bearing column.

[0012] As a further optimization of the UAV-based nondestructive testing robot for four-split conductors of power transmission lines of the present invention: tension springs are provided between the opposite ends of the two transverse grooves and the two second hinge columns, and the tensioning force of the two tension springs is less than the weight of the chassis, rectangular hanging machine, imaging assembly and X-ray machine.

[0013] As a further optimization of the UAV-based nondestructive testing robot for four-split conductors of power transmission lines of the present invention: a counterweight block is rotatably provided at the connection between the two expansion connecting rods on the lower side of the expansion assembly.

[0014] As a further optimization of the UAV-based nondestructive testing robot for four-split conductors of power transmission lines of the present invention: the ends of the bearing column and the second hinge column facing away from the rectangular hanger are both provided with limiting plates, and the limiting plates are threadedly connected to the bearing column or the second hinge column.

[0015] As a further optimization of the drone-based nondestructive testing robot for four-split conductors of a power transmission line of the present invention: the rolling roller is made of elastic rubber material.

[0016] As a further optimization of the UAV-based nondestructive testing robot for four-split conductors of power transmission lines of the present invention: a slider is fixedly provided on the side of the driving cross frame facing the rectangular hanger, the slider is arranged at the center of the driving cross frame, and the slider slides in cooperation with a slide rail arranged on the rectangular hanger.

[0017] As a further optimization of the UAV-based nondestructive testing robot for four-split conductors of power transmission lines of the present invention: the outer peripheral surfaces of the rollers and the rolling rollers are provided with uniform grooves.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The present invention arranges a driving cross frame placed on the split conductor as a support, and then can use the rectangular bracket and the weight of the imaging component and the X-ray machine arranged on the vertical bracket to drive the transmission component arranged on the rectangular bracket to contract, that is, shorten the vertical spacing of the four transmission connecting rods that constitute the transmission component, and then the two transmission slide grooves on the lower transmission connecting rod will cooperate with the first hinge column to drive the expansion component to expand, so that the rolling roller arranged on the outside of the expansion component presses the split conductor, so as to stably bind the rectangular bracket to the split conductor, thereby reducing the probability of the rectangular bracket falling from the split conductor.

[0020] Furthermore, the rolling roller arranged on the outside of the expansion component presses the split conductor, which can also make the rectangular bracket shake synchronously with the split conductor, so that the shaking amplitude of the imaging component and the X-ray machine remains relatively consistent with the shaking of the split conductor, thereby stabilizing the image quality of the imaging component and the X-ray machine when taking and detecting the split conductor. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of the state structure of connection or separation according to Embodiment 1 of the present invention;

[0024] Figure 4 This is a schematic diagram of the post-access state structure of Embodiment 1 of the present invention;

[0025] Figure 5 This is a schematic diagram of the state structure of connection or separation according to Embodiment 2 of the present invention;

[0026] Figure 6 This is a schematic diagram of the post-access state structure of Embodiment 2 of the present invention;

[0027] Figure 7 It is a schematic cross-sectional structure diagram of the load-bearing column and the second hinge column of the present invention;

[0028] Figure 8 It is an enlarged structural schematic diagram of the roller and the rolling roller of the present invention;

[0029] Markings in the figure: 1. Imaging component; 2. Split wire; 3. Rectangular bracket; 4. Driving cross frame; 401. Connecting cross groove; 402. Roller; 403. Tension spring; 5. X-ray machine; 6. Transmission component; 601. Transmission connecting rod; 602. Transmission slide groove; 603. Bearing column; 604. Reinforcement rib; 605. First hinge column; 606. Second hinge column; 7. Slide rail; 701 slider; 8. Expansion support component; 801. Expansion support connecting rod; 802. Roller; 803. Docking hole; 804. Positioning column; 805. Counterweight block; 9. Limiting disk; 10. Groove. DETAILED DESCRIPTION

[0030] In order to better understand the present invention, the content of the present invention is further explained below in conjunction with embodiments, but the content of the present invention is not limited to the following embodiments.

[0031] <Example 1>

[0032] like Figure 1 As shown, a fall-proof four-split conductor X-ray inspection robot based on a drone is provided with a rectangular hanger 3 which is arranged on a chassis and moves on the split conductor 2, and an imaging component 1 and a X-ray machine 5 are respectively provided on both sides of the rectangular hanger 3 along the width direction of the split conductor 2, the imaging component 1 and the X-ray machine 5 can cooperate with each other to inspect different positions of the split conductor 2, and multiple split conductors 2 can be inspected each time, and as the rectangular hanger 3 moves on the split conductor 2, the imaging component 1 and the X-ray machine 5 can perform a more comprehensive inspection on the longer split conductor 2.

[0033] Transmission components 6 are provided on both side surfaces of the rectangular hanger 3 in the length direction of the split conductors 2. The centers of the two transmission components 6 are connected to drive cross frames 4, and the drive cross frames 4 are connected to expansion components 8. After the drive cross frames 4 are close to the rectangular hanger 3, the transmission components 6 can be compressed to shorten the vertical distance under the support of the rectangular hanger 3. The vertical distance of the transmission components 6 is compressed to expand the drive expansion components 8 horizontally to contact with the multiple split conductors 2 to position the rectangular hanger 3, so as to reduce the possibility of the rectangular hanger 3, the imaging component 1 and the X-ray machine 5 falling from the multiple split conductors 2.

[0034] The driving cross frame 4 slides vertically, and a roller 402 is provided on the lower side of the driving cross frame 4. The roller 402 can reduce the friction between the driving cross frame 4 and the split conductor 2 to assist the driving cross frame 4 to move stably on the two split conductors 2 on the upper side, and then cooperate with the movement of the rectangular hanger 3 to detect different positions of the split conductor 2.

[0035] A slider 701 is fixedly provided at the center of one side of the driving cross frame 4 facing the rectangular bracket 3. The slider 701 slides with a slide rail 702 provided on the chassis, and the cross-sections of the slider 701 and the slide rail 702 are both T-shaped, so that the driving cross frame 4 can slide vertically stably to assist the staff in controlling the drone, and pass the expansion link 801 between the two upper split conductors 2 to facilitate the subsequent expansion link 801 to be deployed, thereby stably positioning the rectangular bracket 3, the imaging component 1 and the X-ray machine 5 on the split conductor 2.

[0036] The transmission assembly 6 includes a bearing column 603 fixed on the chassis and a diamond-shaped four-bar linkage composed of four transmission links 601. The bearing column 603 is hinged at the joint of the top of the diamond-shaped four-bar linkage. The two transmission links 601 at the lower end are each provided with a transmission slide 602. The two transmission slides 602 are each provided with a first hinge column 605 hinged to the expansion support assembly 8. The connection between the two upper transmission links 601 and the two lower transmission links 601 is provided with a second hinge column 606. The two hinge columns 606 are respectively arranged in two connecting transverse grooves 401 opened on the driving cross frame 4. When the driving cross frame 4 moves toward the bearing column 603, the diamond four-bar linkage will drive the two second hinge columns 606 to move away from each other in the two connecting transverse grooves 401 under the support of the bearing column 603. Then the vertical distance of the diamond four-bar linkage will be shortened to achieve compression. At the same time, the two first hinge columns 605 will be driven away from each other through the two transmission slide grooves 602 to drive the expansion support assembly 8 to expand and press the split conductor 2.

[0037] A plurality of reinforcing ribs 604 are provided between the support column 603 and the connection between the chassis. The plurality of reinforcing ribs 604 are arranged around the support column 603. The arrangement of the reinforcing ribs 604 can maintain the stability of the support column 603 fixed to the chassis, that is, maintain the stability of the relative positions of the driving cross frame 4, the transmission assembly 6 and the expansion support assembly 8.

[0038] The expansion assembly 8 includes a positioning column 804 arranged at the center of the driving cross frame 4 and a four-diamond four-link mechanism composed of four expansion links 801. The two expansion links 801 on the upper side are each provided with a docking hole 803. The two docking holes 803 are symmetrically arranged with the positioning column 804 as the center. The two docking holes 803 are respectively rotatably connected to the two first hinge columns 605. When the two first hinge columns 605 are driven away from each other by the transmission slide 602, the two first hinge columns 605 will cooperate with the two docking holes 803 to drive the two expansion links 801 on the upper side to expand with the positioning column 804 as the center, and at the same time, it will also drive the two expansion links 801 on the lower side to expand synchronously, and then the outer sides of the four expansion links 801 can all touch the split wire 2, that is, the rectangular bracket 3, the imaging assembly 1 and the X-ray machine 5 can be stably positioned by cooperating with the four split wires 2 arranged in a rectangle through the four expansion links 801.

[0039] The four expansion links 801 are rotatably provided with rolling rollers 802 on the sides away from each other. The rolling rollers 802 can reduce the friction between the expansion links 801 and the split conductors 2, so that the expansion links 801 can move with the movement of the rectangular hanger 3 on the split conductors 2. The rolling rollers 802 are made of elastic rubber, and the elastic deformation of the rolling rollers 802 can adapt to the split conductors 2 set at different intervals within a certain range.

[0040] like Figure 8 As shown, the outer circumference of the roller 402 and the rolling roller 802 are provided with a plurality of grooves 10, and the grooves 10 are evenly distributed. The grooves 10 can increase the elastic deformation of the roller 402 and the rolling roller 802 when the roller 402 and the rolling roller 802 roll on the split conductor 2, thereby improving the ability of the roller 402 and the rolling roller 802 to adapt to the split conductors 2 with different spacing distributions.

[0041] like Figure 7 As shown, the end faces of the second hinge column 606 and the supporting column 603 facing away from the rectangular bracket 3 are both threadedly connected with a limiting plate 9, which can maintain the stability of the connection structure of the second hinge column 606 and the supporting column 603, and can also be easily disassembled by the staff, and then replace the transmission components 6 and expansion components 8 of different sizes to adapt to the split conductors 2 with different spacing distributions.

[0042] like Figure 3 As shown, during specific use, the expansion component 8 can first pass through between the two split conductors 2 on the upper side to enter between the multiple split conductors 2, and then assist the staff to control the UAV to a certain extent, and accurately adjust the relative position of the rectangular bracket 3 at high altitudes. At the same time, when the crosswind is too strong, the UAV can be positioned to a certain extent, reducing the probability of the UAV falling and being completely damaged due to environmental factors. When the position offset of the UAV is too large, it can save the staff from repeatedly controlling the UAV and debugging the rectangular bracket 3 to the corresponding position.

[0043] like Figure 4As shown, as the driving cross frame 4 is supported by the upper split wire 2, it overcomes the weight required to be borne by the driving cross frame 4 and moves upward, and the rectangular hanger 3, the imaging component 1 and the X-ray machine 5 are driven downward by their own weight, the two second hinge columns 606 will move away from each other, and then drive the four transmission connecting rods 601 supported by the bearing column 603 to shrink, and then the two first hinge columns 605 on the lower side will be driven by the two transmission slide grooves 602 to expand the diamond quadrilateral mechanism composed of four expansion connecting rods 801, and then push the four corresponding rolling rollers 802 to press the corresponding four split wires 2 to stably position the rectangular hanger 3 on the multiple split wires 2 to prevent the rectangular hanger 3, the imaging component 1 and the X-ray machine 5 from falling from the multiple split wires 2, and at the same time, the rectangular hanger 3, the imaging component 1 and the X-ray machine 5 can shake synchronously with the multiple split wires 2 to reduce the relative shaking of the split wires 2 and the imaging component 1 and the X-ray machine 5, which causes the imaging component 1 and the X-ray machine 5 to shoot and detect image quality degradation.

[0044] <Example 2>

[0045] like Figure 2 and Figure 5 As shown, this embodiment is basically the same as embodiment 1, and is different from embodiment 1 in that a tensioning spring 403 is provided in each of the two connecting transverse grooves 401, and the two ends of the tensioning spring 403 are respectively connected to the outer inner wall of the connecting transverse groove 401 and the second hinge column 606. The tensioning spring 403 can drive the two second hinge columns 606 to move away from each other when driving the horizontal frame 4 to move upward, thereby reducing the situation where the second hinge column 606 and the inner wall of the connecting transverse groove 401 are locked due to excessive friction, and at the same time can maintain the stability of the four expansion connecting rods 801 being stretched open.

[0046] A counterweight 805 is provided at the hinge at the lower end of the diamond-shaped four-bar mechanism composed of four expansion links 801. The counterweight 805 can overcome the excess elastic force of the tensioning spring 403, that is, overcome the redundancy of the elastic force of the tensioning spring 403, to keep the four expansion links 801 in a long strip state, so that the staff can control the drone and insert the four expansion links 801 into the center of the four split conductors 2 to realize the lifting of the rectangular bracket 3.

[0047] like Figure 6 As shown, the counterweight block 805 can press the connection between the two expansion links 801 on the lower side, and then when the two expansion links 801 press the split conductors 2, the pressure of the counterweight block 805 is transmitted to the corresponding two split conductors 2, thereby maintaining the connection stability between the expansion link 801 and the split conductors 2, improving the limiting effect of the expansion link 801 on the rectangular bracket 3, the imaging component 1 and the X-ray machine 5, so as to reduce the probability of the equipment falling.

[0048] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A non-destructive testing robot for four-split conductors of a power transmission line based on an unmanned aerial vehicle, comprising: a rectangular bracket (3) which can be set up on a split conductor (2) and can be moved, an imaging component (1) and a X-ray machine (5) are respectively arranged at two ends of the rectangular bracket (3), and a machine box is arranged in the middle of the rectangular bracket (3), characterized in that: The rectangular hanger (3) is provided with vertically sliding drive cross frames (4) on both sides along the moving direction thereof, and the lower part of the drive cross frame (4) is provided with rollers (402) that enable the drive cross frame (4) to move on the split conductor (2), and the drive cross frame (4) is provided with an expansion support assembly (8) and a transmission assembly (6); The transmission assembly (6) is a four-link structure composed of four transmission connecting rods (601), the hinge shaft at the upper end of the transmission assembly (6) is fixed on the bearing column (603) of the chassis, the two hinge shafts in the middle of the transmission assembly (6) are coaxially connected to the second hinge column (606), and the two second hinge columns (606) are respectively slidably arranged in two transverse grooves (401) opened on the driving cross frame (4); The expansion component (8) is a four-link structure composed of four expansion connecting rods (801), the hinge shaft at the upper part of the expansion component (8) is fixed on the positioning column (804) of the driving cross frame (4), and the outer sides of the four expansion connecting rods (801) are rotatably provided with rolling rollers (802); The two transmission connecting rods (601) at the lower part of the transmission assembly (6) are both provided with a transmission sliding groove (602), and the two expansion connecting rods (801) at the lower part of the expansion assembly (8) are both provided with a docking hole (803), and the docking hole (803) and the transmission sliding groove (602) are hingedly connected through a first hinge column (605).

2. A UAV-based nondestructive testing robot for four-split conductors of power transmission lines as claimed in claim 1, characterized in that: A plurality of reinforcing ribs (604) are provided between the bearing column (603) and the chassis, and the plurality of reinforcing ribs (604) are arranged around the bearing column (603).

3. The UAV-based nondestructive testing robot for four-split conductors of a power transmission line as claimed in claim 1, characterized in that: Tension springs (403) are provided between the opposite ends of the two transverse grooves (401) and the two second hinge pillars (606), and the tensioning force of the two tension springs (403) is less than the weight of the chassis, the rectangular hook, the imaging assembly (1) and the X-ray machine (5).

4. The UAV-based nondestructive testing robot for four-split conductors of a power transmission line as claimed in claim 1, characterized in that: A counterweight block (805) is rotatably provided at the connection point of the two expansion connecting rods (801) on the lower side of the expansion assembly (8).

5. The UAV-based nondestructive testing robot for four-split conductors of power transmission lines as claimed in claim 1, characterized in that: The ends of the bearing column (603) and the second hinge column (606) facing away from the rectangular hanger (3) are both provided with a limiting plate (9), and the limiting plate (9) is threadedly connected to the bearing column or the second hinge column (606).

6. The UAV-based nondestructive testing robot for four-split conductors of power transmission lines as claimed in claim 1, characterized in that: The rolling roller (802) is made of elastic rubber material.

7. The UAV-based nondestructive testing robot for four-split conductors of power transmission lines as claimed in claim 1, characterized in that: A slider (701) is fixedly provided on the side of the driving cross frame (4) facing the rectangular hanging frame (3); the slider (701) is arranged at the center of the driving cross frame (4), and the slider (701) is slidably matched with a slide rail (702) arranged on the rectangular hanging frame (3).

8. The UAV-based nondestructive testing robot for four-split conductors of power transmission lines as claimed in claim 1, characterized in that: The outer circumferences of the roller (402) and the rolling roller (802) are both provided with uniform grooves (10).

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