Multi-split conductor X-ray detection robot based on unmanned aerial vehicle

Abstract

The invention belongs to the technical field of power line detection, and particularly relates to a multi-split conductor X-ray detection robot based on an unmanned aerial vehicle, the multi-split conductor X-ray detection robot comprises a multi-rotor unmanned aerial vehicle, the bottom surface of the multi-rotor unmanned aerial vehicle is fixedly connected with a mounting disc, an X-ray emitting device is arranged below the mounting disc, an automatic adjusting assembly is arranged on the surface of the mounting disc, and the automatic adjusting assembly is connected with the multi-rotor unmanned aerial vehicle. The automatic adjusting assembly comprises a limiting disc used for automatically adjusting the position of the X-ray emitting device, an L-shaped connecting rod, a light ball, a lower connecting rod and a balance weight sleeve. The X-ray emitted by the X-ray emitting device can be adjusted to be in a vertical state, and then the detection precision of the multi-split conductor X-ray detection robot is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of power line detection, and in particular relates to a multi-split conductor X-ray detection robot based on an unmanned aerial vehicle. Background Art

[0002] With the development of the power industry, multi-split conductors are widely used in high-voltage transmission lines. Multi-split conductors have become an important way of long-distance and large-capacity power transmission due to their advantages of effectively reducing corona loss and improving power transmission capacity. Transmission lines are often built across mountains and rivers, and are often affected by natural disasters such as typhoons and ice. Therefore, the inspection of transmission lines has become a very important issue.

[0003] Currently, the most common way to inspect power transmission lines is to use drone inspection. Drone inspection is a new type of inspection method that has emerged in recent years. It is based on multi-rotor drones equipped with X-ray transmitters and X-ray receivers. X-ray detection technology has been widely used in the field of industrial non-destructive testing. It can clearly display the internal structure of objects and detect internal defects. This inspection method has the advantages of low cost and flexibility.

[0004] However, during the detection process, it is necessary to ensure that the X-rays generated by the X-ray generator always remain vertical, which is a key prerequisite for obtaining accurate detection results. This is because only when the X-rays irradiate the wires vertically can the image data received by the X-ray receiving device after penetrating the wires be able to truly and accurately reflect the internal structure of the wires. However, during the flight, the UAV will inevitably be disturbed by various factors such as airflow and terrain and will tilt. Once the UAV tilts, the X-ray generator mounted on it will also tilt, causing the generated X-rays to tilt. This will change the path of the X-rays penetrating the wires, and the images received by the X-ray receiving device will be distorted, seriously affecting the judgment and identification of internal defects in the wires.

[0005] Therefore, a UAV-based multi-split wire X-ray inspection robot was designed to solve the above problems. Summary of the invention

[0006] In order to solve the problems raised in the above background technology, the present invention provides a multi-split wire X-ray inspection robot based on an unmanned aerial vehicle, which can effectively solve the problems raised in the above background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: a multi-split wire X-ray detection robot based on a drone, comprising a multi-rotor drone, a mounting plate is fixedly connected to the bottom surface of the multi-rotor drone, and an X-ray emitting device is arranged below the mounting plate;

[0008] The surface of the mounting plate is provided with an automatic adjustment component, which includes a limit disc, an L-shaped connecting rod, a light ball, a lower connecting rod and a counterweight sleeve for automatically adjusting the position of the X-ray emitting device;

[0009] A manual adjustment assembly is arranged above the optical ball, and the manual adjustment assembly includes an annular cloth friction pad arranged above the optical ball and a first U-shaped plate, a positioning ring, a first connecting plate, a first threaded rod, a first motor, a second U-shaped plate, a second motor, a rectangular block and a second threaded rod for manually adjusting the position of the X-ray emitting device;

[0010] A drive buffer assembly is arranged inside the mounting plate, and the drive buffer assembly includes an embedded block arranged inside the mounting plate, a third motor, a hexagonal insertion rod, a spring and a third threaded rod for applying force to the light ball by moving the embedded block to drive the annular cloth friction pad.

[0011] As a preferred embodiment of a multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, a limiting disk is arranged below the mounting disk, and a plurality of L-shaped connecting rods in a ring array are fixedly connected to the outer ring surface of the limiting disk, and one end of the L-shaped connecting rod away from the limiting disk is fixedly connected to the mounting disk, and a light ball is arranged in a spherical groove opened inside the limiting disk, and a lower connecting rod is arranged between the light ball and the X-ray emitting device, and the two ends of the lower connecting rod are respectively fixedly connected to the X-ray emitting device and the light ball.

[0012] As a preferred embodiment of the multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, a counterweight sleeve is sleeved on the surface of the lower connecting rod, the counterweight sleeve is fixedly connected to the lower connecting rod, and the light ball is rotatably connected to the limit disc.

[0013] As a preferred embodiment of a multi-split wire X-ray detection robot based on a drone of the present invention, a first U-shaped plate is arranged below the mounting plate, a second U-shaped plate is arranged inside the first U-shaped plate, a rectangular block is arranged inside the second U-shaped plate, first connecting plates are fixedly connected on both sides of the rectangular block, and the ends of the two first connecting plates away from the rectangular block are fixedly connected to the inside of a positioning ring, and an annular cloth friction pad is fixedly connected to the inside of the positioning ring.

[0014] As a preferred embodiment of a multi-split wire X-ray detection robot based on a drone of the present invention, two symmetrically arranged L-shaped side slides are fixedly connected to the upper surface of the second U-shaped plate, and the two L-shaped side slides are respectively inserted into side slots opened on the surface of the first U-shaped plate, and the L-shaped side slides are slidably connected to the first U-shaped plate.

[0015] As a preferred embodiment of a multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, a first threaded rod is inserted into a second threaded hole opened on the surface of the second U-shaped plate, the first threaded rod is threadedly connected to the second U-shaped plate, second bearings are respectively installed in the circular grooves opened on both sides of the first U-shaped plate, both ends of the first threaded rod are respectively inserted inside the second bearings, the first threaded rod is rotatably connected to the first U-shaped plate through the second bearing, a first motor is installed on one side of the first U-shaped plate, and the end of the output shaft of the first motor is fixedly connected to one end of the first threaded rod.

[0016] As a preferred embodiment of the multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, a second threaded rod is inserted into the first threaded hole opened inside the rectangular block, the second threaded rod and the rectangular block are threadedly connected, first bearings are respectively installed in the two circular grooves opened on both sides of the second U-shaped plate, the two ends of the second threaded rod are respectively inserted in the two first bearings, the second threaded rod is rotatably connected through the first bearing and the second U-shaped plate, a second motor is installed on one side of the second U-shaped plate, and the end of the output shaft of the second motor is fixedly connected to one end of the second threaded rod.

[0017] As a preferred embodiment of the multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, a plurality of spherical frosted grooves are provided on the surface of the light ball, and a plurality of frosted balls are fixedly connected to the bottom surface of the annular cloth friction pad.

[0018] As a preferred embodiment of a multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, an embedding block is inserted in the embedding groove opened on the bottom surface of the mounting plate, a third threaded rod is inserted in the third threaded hole opened in the embedding block, the third threaded rod and the embedding block are threadedly connected, a third bearing is sleeved on the top of the third threaded rod, a second connecting rod is fixedly connected to the surface of the outer ring of the third bearing, an end of the second connecting rod away from the third bearing is fixedly connected to the mounting plate, the third threaded rod is rotatably connected through the third bearing and the second connecting rod, a hexagonal insertion rod is inserted in the hexagonal slot opened in the top of the third threaded rod, the hexagonal insertion rod and the third threaded rod are slidably connected, a third motor is arranged above the third threaded rod, the third motor is installed inside the mounting plate, and the end of the output shaft of the third motor is fixedly connected to the top of the hexagonal insertion rod.

[0019] As a preferred embodiment of a multi-split wire X-ray detection robot based on an unmanned aerial vehicle of the present invention, shaft rods are respectively inserted into the multiple axial holes opened on the bottom surface of the embedded block, the shaft rods are slidably connected to the embedded block, a spring is sleeved on the surface of the shaft rod, the two ends of the spring are respectively fixedly connected to the embedded block and the first U-shaped plate, and the bottom end of the shaft rod is fixedly connected to the upper surface of the first U-shaped plate.

[0020] Compared with the prior art, the invention has the following beneficial effects: the invention has a scientific and reasonable structure and is safe and convenient to use:

[0021] 1. An automatic adjustment component is provided. During the flight of the multi-rotor UAV, the light ball can rotate inside the spherical groove by relying on the gravity of the counterweight sleeve and the X-ray transmitter. Therefore, when the multi-rotor UAV is tilted, the X-rays emitted by the X-ray transmitter are always in a vertical state, thereby achieving the effect of automatically straightening the X-rays emitted by the X-ray transmitter.

[0022] 2. A manual adjustment component is provided. When the annular cloth friction pad and the optical ball are fitted together and the frosting ball is inserted into the spherical frosting groove, the operation of the first motor and the second motor is controlled by an external controller, so that the first threaded rod and the second threaded rod can be rotated. The rotation of the first threaded rod can make the second U-shaped plate drive the rectangular block to slide along the direction of the first threaded rod. The rotation of the second threaded rod can make the rectangular block move along the direction of the second threaded rod, thereby driving the optical ball to rotate inside the spherical groove. The operation of the second motor and the first motor is controlled by an external controller to realize manual adjustment of the X-ray emitted by the X-ray emitting device to a vertical state, thereby ensuring the detection accuracy of the multi-split conductor X-ray detection robot.

[0023] 3. A driving buffer component is provided, and the operation of the third motor is controlled by external control. The operation of the third motor drives the hexagonal insertion rod to rotate, and then drives the third threaded rod to rotate, so as to achieve the effect of adjusting the height of the embedded block. When the embedded block moves, the first U-shaped plate is driven vertically by the spring, so that the annular cloth friction pad can fit the surface of the light ball bead, and the force applied to the light ball bead can be adjusted under the action of the spring, so as to ensure the effect of manual adjustment to drive the light ball bead to rotate, avoid the situation that the light ball bead slides on the surface of the annular cloth friction pad during the movement of the annular cloth friction pad, and improve the convenience of the multi-split wire X-ray detection robot during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 For the present invention Figure 1 Sectional view at AA in the middle;

[0027] Figure 3 For the present invention Figure 2 The enlarged view of point A in the middle;

[0028] Figure 4 It is a schematic diagram of the structure of the L-shaped connecting rod and the spherical groove in the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the lower connecting rod and the light ball in the present invention;

[0030] Figure 6 It is a schematic structural diagram of the third threaded rod and the hexagonal insert rod in the present invention;

[0031] Figure 7 It is a structural schematic diagram of the embedded block and the first U-shaped plate in the present invention;

[0032] Figure 8 It is a schematic diagram of the structure of the shaft rod and the spring in the present invention;

[0033] Fig. 9 It is a schematic diagram of the structure of the L-shaped side sliding plate and the second U-shaped plate in the present invention;

[0034] Fig.10 It is a structural schematic diagram of the rectangular block and the first connecting plate in the present invention;

[0035] Fig.11 It is a schematic diagram of the structure of the annular cloth friction pad and the positioning ring in the present invention;

[0036] In the figure:

[0037] 1. Multi-rotor drone; 2. Mounting plate; 3. X-ray transmitter;

[0038] 4. Automatic adjustment assembly; 41. L-shaped connecting rod; 42. Limiting disc; 43. Spherical groove; 44. Light ball; 45. Lower connecting rod; 46. Counterweight sleeve;

[0039] 5. Manual adjustment assembly; 51. First threaded hole; 52. First U-shaped plate; 53. Positioning ring; 54. First connecting plate; 55. Ring-shaped cloth friction pad; 56. Side slot; 57. L-shaped side slide plate; 58. First threaded rod; 59. First motor; 510. Second U-shaped plate; 511. Second motor; 512. Rectangular block; 513. Frosted ball; 514. Spherical frosted groove; 515. Second threaded rod; 516. First bearing; 517. Second bearing; 518. Second threaded hole;

[0040] 6. Drive buffer assembly; 61. Embedding groove; 62. Third motor; 63. Hexagonal insert rod; 64. Second connecting rod; 65. Third bearing; 66. Hexagonal slot; 67. Third threaded hole; 68. Shaft hole; 69. Shaft rod; 610. Spring; 611. Third threaded rod; 612. Embedding block. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The standard parts used in this application can all be purchased from the market, and special-shaped parts can be customized according to the instructions and drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, and bonding in the existing technology, and the components used for circuit connection are all conventional models in the existing technology.

[0043] At the same time, in order to clearly express the connection relationship and working principle between the components and highlight the key points, the drawings in the specification are organized and drawn in the form of simple diagrams. One simple diagram can correspond to a variety of materials and actual external structural shapes.

[0044] Example: Figure 1-Figure 11 As shown, the present invention provides a technical solution, a multi-split wire X-ray detection robot based on a drone, comprising a multi-rotor drone 1, a mounting plate 2 is fixedly connected to the bottom surface of the multi-rotor drone 1, and an X-ray emitting device 3 is arranged below the mounting plate 2;

[0045] An automatic adjustment component 4 is arranged on the surface of the mounting disk 2, and the automatic adjustment component 4 includes a limit disk 42, an L-shaped connecting rod 41, a light ball 44, a lower connecting rod 45 and a counterweight sleeve 46. A limit disk 42 is arranged below the mounting disk 2, and a plurality of L-shaped connecting rods 41 in a circular array are fixedly connected to the outer ring surface of the limit disk 42, and one end of the L-shaped connecting rod 41 away from the limit disk 42 is fixedly connected to the mounting disk 2, and a light ball 44 is arranged in a spherical groove 43 opened inside the limit disk 42, and a lower connecting rod 45 is arranged between the light ball 44 and the X-ray emitting device 3, and the two ends of the lower connecting rod 45 are respectively fixedly connected to the X-ray emitting device 3 and the light ball 44.

[0046] A counterweight sleeve 46 is sleeved on the surface of the lower connecting rod 45 , the counterweight sleeve 46 and the lower connecting rod 45 are fixedly connected, and the optical ball 44 and the limiting disc 42 are rotatably connected.

[0047] A manual adjustment component 5 is arranged above the optical ball 44, and the manual adjustment component 5 includes a first U-shaped plate 52, a positioning ring 53, a first connecting plate 54, an annular cloth friction pad 55, an L-shaped side slide plate 57, a first threaded rod 58, a first motor 59, a second U-shaped plate 510, a second motor 511, a rectangular block 512, a frosting ball 513, a first bearing 516, a second bearing 517, and a second threaded rod 515. A first U-shaped plate 52 is arranged below the mounting plate 2, a second U-shaped plate 510 is arranged inside the first U-shaped plate 52, a rectangular block 512 is arranged inside the second U-shaped plate 510, first connecting plates 54 are fixedly connected on both sides of the rectangular block 512, and the ends of the two first connecting plates 54 away from the rectangular block 512 are fixedly connected to the inside of the positioning ring 53, and an annular cloth friction pad 55 is fixedly connected to the inside of the positioning ring 53.

[0048] Two symmetrically arranged L-shaped side slides 57 are fixedly connected to the upper surface of the second U-shaped plate 510. The two L-shaped side slides 57 are respectively inserted into the side slots 56 opened on the surface of the first U-shaped plate 52. The L-shaped side slides 57 are slidably connected to the first U-shaped plate 52.

[0049] A first threaded rod 58 is inserted into a second threaded hole 518 opened on the surface of the second U-shaped plate 510, and the first threaded rod 58 is threadedly connected to the second U-shaped plate 510. Second bearings 517 are respectively installed in the circular grooves opened on both sides of the first U-shaped plate 52, and both ends of the first threaded rod 58 are respectively inserted inside the second bearings 517. The first threaded rod 58 is rotatably connected to the first U-shaped plate 52 through the second bearings 517. A first motor 59 is installed on one side of the first U-shaped plate 52, and the end of the output shaft of the first motor 59 is fixedly connected to one end of the first threaded rod 58.

[0050] A second threaded rod 515 is inserted into the first threaded hole 51 opened inside the rectangular block 512, and the second threaded rod 515 and the rectangular block 512 are threadedly connected. First bearings 516 are respectively installed in the two circular grooves opened on both sides of the second U-shaped plate 510, and the two ends of the second threaded rod 515 are respectively inserted in the two first bearings 516. The second threaded rod 515 is rotatably connected to the second U-shaped plate 510 through the first bearing 516. A second motor 511 is installed on one side of the second U-shaped plate 510, and the end of the output shaft of the second motor 511 is fixedly connected to one end of the second threaded rod 515.

[0051] A plurality of spherical frosted grooves 514 are formed on the surface of the optical ball 44 , and a plurality of frosted balls 513 are fixedly connected to the bottom surface of the annular cloth friction pad 55 .

[0052] The interior of the mounting plate 2 is provided with a driving buffer assembly 6, which includes a third motor 62, a hexagonal insert rod 63, a second connecting rod 64, a third bearing 65, a shaft rod 69, an embedding block 612, a spring 610 and a third threaded rod 611. An embedding groove 61 provided on the bottom surface of the mounting plate 2 is provided with an embedding block 612, a third threaded hole 67 provided inside the embedding block 612 is provided with a third threaded rod 611, the third threaded rod 611 is threadedly connected to the embedding block 612, a third bearing 65 is sleeved on the top of the third threaded rod 611, and the outer surface of the third bearing 65 is provided with a third threaded hole 67 provided inside the embedding block 612. A second connecting rod 64 is fixedly connected to the surface of the ring, and one end of the second connecting rod 64 away from the third bearing 65 is fixedly connected to the mounting disk 2. The third threaded rod 611 is rotatably connected to the second connecting rod 64 through the third bearing 65. A hexagonal insertion rod 63 is inserted into the hexagonal insertion rod 63 at the top of the third threaded rod 611. The hexagonal insertion rod 63 and the third threaded rod 611 are slidably connected. A third motor 62 is arranged above the third threaded rod 611. The third motor 62 is installed inside the mounting disk 2, and the end of the output shaft of the third motor 62 is fixedly connected to the top of the hexagonal insertion rod 63.

[0053] Axles 69 are respectively inserted into the multiple axial holes 68 opened on the bottom surface of the embedded block 612. The axle rods 69 and the embedded block 612 are slidably connected. A spring 610 is sleeved on the surface of the axle rod 69. The two ends of the spring 610 are respectively fixedly connected to the embedded block 612 and the first U-shaped plate 52. The bottom end of the axle rod 69 is fixedly connected to the upper surface of the first U-shaped plate 52.

[0054] Working principle:

[0055] The multi-split conductor X-ray detection robot also includes an X-ray receiving device, a positioning and attitude control system, and a data processing and transmission system. The multi-rotor drone 1 has good maneuverability and stability, and can fly flexibly in a complex power transmission line environment. The multi-rotor drone 1 is equipped with a battery with sufficient power to ensure that the entire detection robot can complete the detection task of a certain length of power transmission line after one charge. At the same time, the multi-rotor drone 1 is provided with multiple mounting points for the X-ray receiving device and other related equipment. The X-ray transmitting device 3 includes an X-ray generator and a protective device. The X-ray generator is used to generate X-rays. According to the material and structural characteristics of the multi-split conductor, the energy and intensity of the X-rays can be adjusted to ensure that the X-rays can penetrate the conductors and form a clear image on the receiving device. The X-ray receiving device adopts a flat-panel detector with the characteristics of high resolution, high sensitivity and rapid response. It can quickly and accurately receive the X-rays that pass through the conductors and convert them into electrical signals or digital signals. The flat-panel detector is connected to the drone platform through a mechanical structure, and its position and angle can be adjusted according to the detection requirements to ensure that the best image can be received. X-ray imaging, positioning and attitude control system: It is composed of global positioning system GPS, inertial measurement unit IMU, laser radar and attitude control algorithm. GPS is used to obtain the position information of the detection robot in the air. IMU measures the attitude angle pitch angle, roll angle and yaw angle of the detection robot in real time. Laser radar is used to detect the distance and relative position between the detection robot and the wire. The attitude control algorithm adjusts the flight attitude and position of the UAV platform in real time according to the data collected by GPS, IMU and laser radar. The data processing and transmission system includes data acquisition module, image processing module and wireless transmission module. The data acquisition module is connected to the flat-panel detector and is responsible for collecting the X-ray image data received by the flat-panel detector. The image processing module pre-processes the collected image data, such as noise reduction, enhancement, correction, etc., and then uses the image recognition algorithm to analyze the internal structure of the wire in the image, identify whether there are defects such as broken strands and wear, and mark the location, size and type of the defects. The wireless transmission module transmits the processed detection data to the ground control center in real time so that the operator can understand the internal condition of the wire in time.

[0056] Before the multi-split conductor X-ray inspection robot is used, the operator plans the flight route and inspection points of the multi-rotor drone 1 in the ground control center according to the geographical information of the transmission line and the inspection task requirements, connects the X-ray emitting device 3 through the automatic adjustment component 4 and the manual adjustment component 5 under the mounting plate 2 to ensure that the connection is firm, checks whether the X-ray generator and the protective device of the X-ray emitting device 3 are working properly, adjusts the energy and intensity parameters of the X-ray generator according to the material and structure of the wire to be inspected, calibrates the positioning and attitude control system to ensure that the global positioning system GPS, the inertial measurement unit IMU and the laser radar can accurately collect the position, attitude and distance information, starts the data processing and transmission system, checks whether the data acquisition module, the image processing module and the wireless transmission module are working properly, and establishes a data connection with the ground control center;

[0057] When the multi-split conductor X-ray inspection robot is in use, the operator sends a take-off command through the ground control center, and the multi-rotor UAV 1 carrying the inspection equipment takes off according to the preset flight route and flies to the multi-split conductor area to be inspected. When approaching the conductor to be inspected, the positioning and attitude control system adjusts the flight attitude and position of the UAV in real time according to the data collected by GPS, IMU and laser radar;

[0058] During the flight of the multi-rotor drone 1, due to the gravity of the counterweight sleeve 46 and the X-ray emitting device 3, the light ball 44 rotates in the spherical groove 43 of the limiting disc 42. When the multi-rotor drone 1 tilts, the X-rays emitted by the X-ray emitting device 3 can always be in a vertical state, thereby realizing automatic straightening of the X-rays.

[0059] When automatic straightening cannot meet the high-precision detection requirements, it can be adjusted through the manual adjustment component 5. First, the third motor 62 in the driving buffer component 6 is controlled by an external controller to run. The third motor 62 drives the hexagonal insertion rod 63 to rotate. The hexagonal insertion rod 63 is inserted into the hexagonal slot 66 at the top of the third threaded rod 611, thereby driving the third threaded rod 611 to rotate. The third threaded rod 611 is threadedly connected with the embedding block 612. When rotating, the height of the embedding block 612 is adjusted. When moving, the embedding block 612 drives the first U-shaped plate 52 to move vertically through the spring 610 and the shaft 69, so that the annular cloth friction pad 55 fits the surface of the light ball 44. At the same time, under the action of the spring 610, the action applied to the light ball 44 can be adjusted. Apply force to prevent the light ball 44 from sliding on the surface of the annular cloth friction pad 55 during movement. At this time, the frosted ball 513 on the annular cloth friction pad 55 is inserted into the spherical frosted groove 514 on the surface of the light ball 44. The first motor 59 and the second motor 511 are controlled by an external controller to operate. The first motor 59 drives the first threaded rod 58 to rotate, so that the second U-shaped plate 510 drives the rectangular block 512 to slide along the direction of the first threaded rod 58. The second motor 511 drives the second threaded rod 515 to rotate, so that the rectangular block 512 moves along the direction of the second threaded rod 515, thereby driving the light ball 44 to rotate in the spherical groove 43, and manually adjust the X-rays emitted by the X-ray emitting device 3 to a vertical state to ensure detection accuracy;

[0060] The X-ray emitting device 3 is started, and the X-ray generator generates X-rays, which are irradiated onto the wire to be inspected. After the X-rays penetrate the wire, they are received by the X-ray receiving device. The flat-panel detector converts the received X-rays into electrical signals or digital signals. The data acquisition module collects the signals output by the flat-panel detector and transmits them to the image processing module. The image processing module preprocesses and analyzes the collected image data, identifies whether there are defects inside the wire, and marks the defects. The wireless transmission module transmits the processed detection data to the ground control center in real time. The operator can view the internal condition and detection results of the wire in real time on the monitoring screen of the ground control center. The detection robot detects each detection point of the multi-split wire in turn according to the preset flight route. After completing the detection of a section of the line, it automatically flies to the adjacent detection area to continue the detection.

Claims

1. A multi-split wire X-ray inspection robot based on an unmanned aerial vehicle, comprising a multi-rotor unmanned aerial vehicle (1), a mounting plate (2) being fixedly connected to the bottom surface of the multi-rotor unmanned aerial vehicle (1), and an X-ray emitting device (3) being arranged below the mounting plate (2); Features: An automatic adjustment component (4) is arranged on the surface of the mounting plate (2), and the automatic adjustment component (4) comprises a limit disc (42) for automatically adjusting the position of the X-ray emitting device (3), an L-shaped connecting rod (41), a light ball (44), a lower connecting rod (45) and a counterweight sleeve (46); A manual adjustment component (5) is arranged above the optical ball (44), and the manual adjustment component (5) comprises an annular cloth friction pad (55) arranged above the optical ball (44) and a first U-shaped plate (52), a positioning ring (53), a first connecting plate (54), a first threaded rod (58), a first motor (59), a second U-shaped plate (510), a second motor (511), a rectangular block (512) and a second threaded rod (515) for manually adjusting the position of the X-ray emitting device (3); A drive buffer assembly (6) is arranged inside the mounting plate (2), and the drive buffer assembly (6) comprises an embedded block (612) arranged inside the mounting plate (2), a third motor (62), a hexagonal insertion rod (63), a spring (610) and a third threaded rod (611) for applying a force to the light ball (44) by moving the embedded block (612) to drive the annular cloth friction pad (55).

2. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A limiting disc (42) is arranged below the mounting plate (2), and a plurality of L-shaped connecting rods (41) in a ring array are fixedly connected to the outer ring surface of the limiting disc (42), and one end of the L-shaped connecting rod (41) away from the limiting disc (42) is fixedly connected to the mounting plate (2), and a light ball (44) is arranged in a spherical groove (43) opened inside the limiting disc (42), and a lower connecting rod (45) is arranged between the light ball (44) and the X-ray emitting device (3), and the two ends of the lower connecting rod (45) are respectively fixedly connected to the X-ray emitting device (3) and the light ball (44).

3. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A counterweight sleeve (46) is sleeved on the surface of the lower connecting rod (45), the counterweight sleeve (46) and the lower connecting rod (45) are fixedly connected, and the optical ball (44) and the limiting disc (42) are rotatably connected.

4. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A first U-shaped plate (52) is arranged below the mounting plate (2), a second U-shaped plate (510) is arranged inside the first U-shaped plate (52), a rectangular block (512) is arranged inside the second U-shaped plate (510), first connecting plates (54) are fixedly connected to both sides of the rectangular block (512), one end of the two first connecting plates (54) away from the rectangular block (512) is fixedly connected to the inside of a positioning ring (53), and an annular cloth friction pad (55) is fixedly connected to the inside of the positioning ring (53).

5. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: The upper surface of the second U-shaped plate (510) is fixedly connected to two symmetrically arranged L-shaped side slide plates (57), and the two L-shaped side slide plates (57) are respectively inserted into side slots (56) opened on the surface of the first U-shaped plate (52), and the L-shaped side slide plates (57) are slidably connected to the first U-shaped plate (52).

6. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A first threaded rod (58) is inserted into a second threaded hole (518) opened on the surface of the second U-shaped plate (510), and the first threaded rod (58) is threadedly connected to the second U-shaped plate (510). Second bearings (517) are respectively installed in circular grooves opened on both sides of the first U-shaped plate (52), and two ends of the first threaded rod (58) are respectively inserted into the inside of the second bearings (517). The first threaded rod (58) is rotatably connected to the first U-shaped plate (52) through the second bearings (517). A first motor (59) is installed on one side of the first U-shaped plate (52), and the end of the output shaft of the first motor (59) is fixedly connected to one end of the first threaded rod (58).

7. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: A second threaded rod (515) is inserted into the first threaded hole (51) opened inside the rectangular block (512); the second threaded rod (515) and the rectangular block (512) are threadedly connected; first bearings (516) are respectively installed in the two circular grooves opened on both sides of the second U-shaped plate (510); the two ends of the second threaded rod (515) are respectively inserted into the two first bearings (516); the second threaded rod (515) is rotatably connected to the second U-shaped plate (510) through the first bearings (516); a second motor (511) is installed on one side of the second U-shaped plate (510); and the end of the output shaft of the second motor (511) is fixedly connected to one end of the second threaded rod (515).

8. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: The surface of the optical ball (44) is provided with a plurality of spherical frosted grooves (514), and the bottom surface of the annular cloth friction pad (55) is fixedly connected with a plurality of frosted balls (513).

9. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: An embedding block (612) is inserted into the embedding groove (61) formed on the bottom surface of the mounting plate (2); a third threaded rod (611) is inserted into the third threaded hole (67) formed inside the embedding block (612); the third threaded rod (611) and the embedding block (612) are threadedly connected; a third bearing (65) is sleeved on the top of the third threaded rod (611); a second connecting rod (64) is fixedly connected to the surface of the outer ring of the third bearing (65); an end of the second connecting rod (64) away from the third bearing (65) is fixed to the mounting plate (2). The third threaded rod (611) is rotatably connected to the second connecting rod (64) through a third bearing (65); a hexagonal insertion rod (63) is inserted into a hexagonal insertion slot (66) opened at the top of the third threaded rod (611); the hexagonal insertion rod (63) and the third threaded rod (611) are slidably connected; a third motor (62) is arranged above the third threaded rod (611); the third motor (62) is installed inside the mounting plate (2); and the end of the output shaft of the third motor (62) is fixedly connected to the top of the hexagonal insertion rod (63).

10. The multi-split wire X-ray inspection robot based on a drone according to claim 1, characterized in that: Axle rods (69) are respectively inserted into the multiple axial holes (68) opened on the bottom surface of the embedded block (612); the axle rods (69) and the embedded block (612) are slidably connected; a spring (610) is sleeved on the surface of the axle rod (69); the two ends of the spring (610) are respectively fixedly connected to the embedded block (612) and the first U-shaped plate (52); the bottom end of the axle rod (69) is fixedly connected to the upper surface of the first U-shaped plate (52).

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