Variable-pitch strain clamp X-ray detection device and method

Abstract

The invention relates to the technical field of high-altitude strain clamp ray detection, and provides a variable-pitch strain clamp X-ray detection device which comprises a machine body capable of being lifted to the high altitude, and the machine body is provided with an X-ray detection assembly used for detecting a sub-wire and a variable-pitch walking assembly used for driving the machine body to walk on the sub-wire. The variable-pitch walking assembly comprises at least four walking wheels, the four walking wheels are arranged in a square shape and fall on two adjacent sub-wires, the variable-pitch walking assembly further comprises an adjusting structure used for adjusting the distance between the two adjacent walking wheels, and the two adjacent walking wheels are located on the two sub-wires respectively. The invention further provides a variable-pitch strain clamp X-ray detection method. According to the invention, a ground-to-air unmanned detection mode is adopted, the split line in the strain clamp is detected remotely, and meanwhile, a self-walking structure with variable wheel track is adopted, so that the detection requirements of the strain clamps on different numbers of split sub-conductors can be met.

Description

Technical Field

[0001] The invention relates to the technical field of high-altitude tension clamp ray detection, and in particular to a variable-distance tension clamp X-ray detection device and method. Background Art

[0002] The conductor and ground wire of the overhead transmission line are generally connected by crimping fittings such as tension clamps and joint pipes, and the connection method is generally crimping. During the operation of the overhead transmission line, the crimping type tension clamp must not only bear the conductive function of the conductor but also bear the full tension of the conductor. The quality of the crimping of the overhead conductor is very important, which is of great significance to ensure the reliable operation of the line and ensure safe power supply. The crimping quality of the tension clamp is a hidden project, and most of them use X-rays to detect the crimping quality, determine whether there is a broken strand phenomenon, and check whether there are gaps or uneven grayscale distribution in the image inside the crimping tube to determine whether the connection is good, so as to promptly discover potential defects, damage or hidden faults, and ensure the reliable and stable operation of the transmission line. There are differences in the spacing between different numbers of split lines, and self-propelled unmanned detection equipment is not easy to match the detection requirements of split lines with various spacings.

[0003] The unmanned inspection equipment has the function of self-propelled walking on the line. However, due to the different forces on the sub-conductors and the differences in the spacing between different numbers of split wires, the spacing between the sub-conductors varies greatly, resulting in a mismatch between the walking structure and the wheel-track. Different line spacings require the inspection equipment to have walking wheels of adaptable sizes to meet the inspection needs. At the same time, high-altitude operations are greatly disturbed by wind. During the inspection process, the equipment may cause the inspection equipment to fall or even fall, causing damage to the expensive inspection equipment. On the other hand, the clarity of the inspection image may not be guaranteed. Summary of the invention

[0004] The object of the present invention is to provide a variable-distance tension clamp X-ray detection device and method, which can at least solve some of the defects in the prior art.

[0005] To achieve the above-mentioned purpose, an embodiment of the present invention provides the following technical solutions: a variable-distance tension clamp X-ray detection device, comprising a body that can be raised to a high altitude, the body being provided with an X-ray detection component for detecting sub-conductors and a variable-distance walking component for carrying the body to walk on the sub-conductors, the variable-distance walking component comprising at least four walking wheels, the four walking wheels being arranged in a square and falling on two adjacent sub-conductors, the variable-distance walking component also comprising an adjustment structure for adjusting the distance between two adjacent walking wheels, the two adjacent walking wheels being respectively located on two sub-conductors.

[0006] Furthermore, the adjustment structure includes a reciprocating screw on the left, a reciprocating screw on the right, and a driving member for providing driving force, the driving member is coaxially connected to the reciprocating screw on the left through a one-way bearing on the left, and the driving member is coaxially connected to the reciprocating screw on the right through a one-way bearing on the right, the reciprocating screw on the left and the reciprocating screw on the right are both provided with threaded sleeves, and each of the threaded sleeves is provided with the walking wheel.

[0007] Furthermore, the variable-pitch traveling assembly also includes a driving structure for driving the traveling wheels to rise and fall.

[0008] Furthermore, the driving structure includes a driving member, a first gear driven to rotate by the driving member, an arc-shaped slide having teeth, a driving pin fixedly mounted on the arc-shaped slide, and an arc-shaped guide rail having an arc-shaped slide groove, the driving pin is slidably arranged in the arc-shaped slide groove, the bending directions of the arc-shaped slide and the arc-shaped guide rail are consistent and both are bent along the direction of the lifting and lowering of the walking wheel, a plurality of the teeth are arranged in sequence along the bending direction of the arc-shaped slide, the first gear is meshed with the teeth, and the walking wheel is mounted on the driving pin.

[0009] Furthermore, a second arc-shaped slide groove is provided on one side of the arc-shaped slide plate facing the arc-shaped guide rail, and the arc-shaped guide rail cooperates with the second arc-shaped slide groove to limit and guide the arc-shaped slide plate.

[0010] Furthermore, a groove for the sub-conductor to be inserted is arranged around the walking wheel, and the direction of the groove is consistent with the direction of rotation of the hanging wheel.

[0011] Furthermore, an anti-slip strip is provided on the groove wall of the groove.

[0012] Furthermore, it also includes a horizontal calibration component for adjusting the center position of the X-ray detection component between two adjacent sub-conductors.

[0013] Furthermore, it also includes an anti-dropping component for locking the variable-distance traveling component on the sub-conductor.

[0014] The embodiment of the present invention provides another technical solution: a variable distance tension clamp X-ray detection method, used for the above-mentioned device, comprising the following steps:

[0015] S1, use a drone to lift the fuselage to the conductor of the high-altitude tension wire clamp;

[0016] S2, adjusting the position of the travel wheel of the variable pitch travel assembly so that the travel wheel is placed on the sub-conductor;

[0017] S3, the variable-pitch walking assembly moves the X-ray detection assembly to a designated detection position;

[0018] S4, after adjusting the detection posture of the X-ray detection assembly, use the X-ray detection assembly to perform X-ray detection on the split wire in the tension clamp.

[0019] Compared with the prior art, the beneficial effects of the present invention are: the split wires in the tension clamp are remotely detected by adopting a ground-to-air unmanned detection method, and at the same time, a self-propelled structure with a variable wheelbase is adopted to meet the detection requirements of different numbers of split sub-conductors. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A front cross-sectional view of a variable distance tension clamp X-ray detection device provided by an embodiment of the present invention;

[0021] Figure 2 for Figure 1 A magnified schematic diagram of point A;

[0022] Figure 3 A three-dimensional schematic diagram of a carbon fiber platform, a carbon fiber box shell, and a variable-distance travel assembly of a variable-distance tension clamp X-ray detection device provided by an embodiment of the present invention;

[0023] Figure 4 A three-dimensional exploded view of a carbon fiber platform and a horizontal calibration assembly of a variable-distance tension clamp X-ray detection device provided by an embodiment of the present invention;

[0024] Figure 5 A three-dimensional schematic diagram of a carbon fiber box shell, a variable-distance travel component and an anti-slip component of a variable-distance tension clamp X-ray detection device provided by an embodiment of the present invention;

[0025] Figure 6 A three-dimensional exploded view of a carbon fiber box shell, a variable-distance travel component and an anti-slip component of a variable-distance tension clamp X-ray detection device provided in an embodiment of the present invention;

[0026] Figure 7 for Figure 6 An enlarged schematic diagram of point B;

[0027] Figure 8 A three-dimensional exploded view of a variable-distance travel assembly of a variable-distance tension clamp X-ray detection device provided in an embodiment of the present invention;

[0028] Fig. 9 A three-dimensional exploded view of a variable-distance travel component and an anti-slip component of a variable-distance tension clamp X-ray detection device provided in an embodiment of the present invention;

[0029] Fig.10 A three-dimensional schematic diagram of an X-ray detection assembly of a variable-distance tension clamp X-ray detection device provided by an embodiment of the present invention;

[0030] Fig.11 A three-dimensional exploded view of a position adjustment component and an X-ray imaging plate of a variable-distance tension clamp X-ray detection device provided by an embodiment of the present invention;

[0031] In the accompanying drawings: 1, carbon fiber platform, 2, carbon fiber box shell, 3, detection device, 31, lifting frame, 32, rotating frame, 33, X-ray machine, 34, X-ray imaging plate, 35, servo motor, 4, variable pitch walking assembly, 401, roller frame, 402, walking wheel, 403, rubber anti-slip strip, 404, driving pin, 405, arc-shaped slide plate, 406, first gear, 407, teeth, 408, first stepper motor, 409, second stepper motor, 410, driving rod, 411, reciprocating screw rod, 412, one-way bearing, 413, threaded sleeve, 414, positioning laser head, 415, the third stepper motor, 416, the pulley, 417, the arc slide one, 5, the anti-slip assembly, 51, the limiting wheel, 52, the support rod, 53, the pentagonal rotating cylinder, 54, the fixed tube, 55, the pentagonal rotating rod, 56, the connecting plate, 57, the electric telescopic rod, 6, the horizontal calibration assembly, 61, the transmission rod, 62, the second gear, 63, the rack, 64, the fourth stepper motor, 65, the bevel gear, 66, the limiting guide rail, 67, the limiting slide, 68, the balanced gravity sensor, 7, the anti-slip plate, 8, the tension clamp, 9, the arc guide rail, 10, the arc slide two, 11, the limiting groove. DETAILED DESCRIPTION

[0032] 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.

[0033] See also Figures 1 to 11The embodiment of the present invention provides a variable-distance tension clamp X-ray detection device, including a machine body that can be raised to a high altitude, the machine body is provided with an X-ray detection component for detecting sub-conductors and a variable-distance walking component 4 for carrying the machine body to walk on the sub-conductors, the variable-distance walking component 4 includes at least four walking wheels 402, the four walking wheels 402 are arranged in a square and fall on two adjacent sub-conductors, the variable-distance walking component 4 also includes an adjustment structure for adjusting the distance between two adjacent walking wheels 402, the two adjacent walking wheels 402 are respectively located on two sub-conductors. In this embodiment, the ground-to-air unmanned detection method is adopted to remotely detect the split wires in the tension clamp, and the self-propelled structure with a variable wheelbase is adopted to meet the detection requirements of different numbers of split sub-conductors. Specifically, the device includes a body and multiple components, each of which specifically includes an X-ray detection component, which includes an X-ray machine 33 and an X-ray imaging plate 34, which can use X-rays to detect sub-wires, and a variable-distance walking component, which, in addition to being able to carry the body to walk on the high-altitude sub-wires, also has an adjustment structure and a driving structure, wherein the adjustment structure can adjust the spacing between the walking wheels so that it can be used on two sub-wires with different spacings, which is flexible and changeable, and the driving structure can facilitate the sub-wires to enter the walking wheels. When the body is just lifted to a high altitude, the carbon fiber box shell 2 contacts the sub-wire first. Under the action of the carbon fiber box shell, the walking wheels do not contact the sub-wires temporarily. At this time, the walking wheels are in a suspended state, and the position of the walking wheels can be adjusted by adjusting the structure. After the position is adjusted, the driving structure is used to drive the walking wheels to rise and fall, thereby replacing the carbon fiber box shell 2 to contact the sub-wires. The walking wheels can extend from the carbon fiber box shell 2 to the outside of the carbon fiber box shell 2, and the carbon fiber box shell 2 will be lifted up and no longer contact the sub-wires. In the process of adjusting the position of the walking wheel, the position can be determined by positioning the laser head 414 to ensure that the sub-wire is found accurately. In addition to the above components, there is also a horizontal calibration component 6, which is used to adjust the position of the X-ray detection component, and an anti-slip component 5, which can prevent the sub-wire from slipping out of the walking wheel 402. In addition, there is a calibration component, which can adjust the detection posture of the X-ray detection component, which is more conducive to the detection of the sub-wire. Specifically, the adjustment of the posture can be divided into two parts, one part is to drive the X-ray detection component to rise and fall, and the other part is to drive the X-ray detection component to swing. The direction of the swing is as follows Fig.10 As shown, the X-ray imaging plate 34 can be regarded as the swing plate by rotating with the direction of the extension of the sub-conductor as the rotation axis, and the lifting frame 31 is like the rope of the swing. The X-ray imaging plate 34 and the X-ray machine 33 can swing synchronously, but the difference between the lifting frame 31 and the rope is that the lifting frame 31 cannot be bent. In addition, there is a positioning component that can adjust the movement of the X-ray imaging plate 34 separately, in order to ensure the accuracy of the detection. The following embodiments will specifically refine the structure of each component.

[0034] See also Figures 1 to 11 The body includes a carbon fiber platform 1. The front and rear sides of the bottom of the carbon fiber platform 1 are both provided with carbon fiber boxes 2. Both are made of carbon fiber, which can reduce the weight of the body while still having high strength and can cope with harsh high-altitude environments. The bottom of the carbon fiber platform 1 is provided with an X-ray detection component 3. The X-ray detection component 3 includes a lifting frame 31 fixedly connected to the bottom of the carbon fiber platform 1. The inner cavity of the lifting frame 31 is provided with a rotating frame 32. The top of the inner cavity of the rotating frame 32 is fixedly installed with an X-ray machine 33. The bottom of the rotating frame 32 is provided with an X-ray imaging plate 34. The front and rear sides of the rotating frame 32 are both fixedly installed with servo motors 35. The output shaft of the servo motor 35 is fixedly connected to the inner wall of the lifting frame 31.

[0035] See also Figures 1 to 11, the variable distance walking component 4 is refined, the inner cavity of the carbon fiber box shell 2 is provided with a variable distance walking component 4, the variable distance walking component 4 includes roller frames 401 located on both sides of the inner cavity of the carbon fiber box shell 2, the inner cavity of the roller frame 401 is rotatably connected with a walking wheel 402, both sides of the inner wall of the walking wheel 402 are fixedly connected with a rubber anti-skid strip 403, the inner cavity of the carbon fiber box shell 2 is provided with a rotatable driving pin 404, both ends of the driving pin 404 penetrate through both sides of the carbon fiber box shell 2 and are rotatably connected with an arc-shaped slide plate 405, both sides of the carbon fiber box shell 2 are fixedly connected with an arc guide rail 9, and the arc slide plate 405 is provided with a side close to the carbon fiber box shell 2. The arc-shaped slide groove 10 matched with the rail 9 plays a role of limiting and guiding the arc-shaped slide plate 405 through the coordinated use of the arc-shaped guide rail 9 and the arc-shaped slide groove 10, thereby improving the stability of the driving pin 404 and the second stepper motor 409 during the rotation process. The first gear 406 is rotatably connected to both sides of the carbon fiber box shell 2, and a plurality of teeth 407 are fixedly connected to the inner wall of the arc-shaped slide plate 405. The first gear 406 and the teeth 407 are meshed. The left side of the carbon fiber box shell 2 is fixedly installed with a first stepper motor 408, and the two sides of the carbon fiber box shell 2 are fixedly connected with anti-slip plates 7. The first stepper motor 408 is fixedly installed on the surface of the anti-slip plates 7 The output shaft of the first stepper motor 408 is fixedly connected to the first gear 406 located on the left side, and a second stepper motor 409 is arranged on the right side of the carbon fiber box shell 2. The output shaft of the second stepper motor 409 is fixedly connected to the right end of the driving pin 404. The second stepper motor 409 is fixedly connected to the surface of the arc-shaped slide plate 405 located on the right side. A driving rod 410 is arranged in the middle of the inner cavity of the carbon fiber box shell 2. Reciprocating screw rods 411 are arranged at both ends of the driving rod 410. The opposite ends of the two reciprocating screw rods 411 are rotatably connected to the carbon fiber box shell 2 through bearings. One-way bearings 412 are fixedly connected to both ends of the driving rod 410. The inner ring of the one-way bearing 412 It is fixedly connected to the driving rod 410, the outer ring of the one-way bearing 412 is fixedly connected to the reciprocating screw 411, the surface of the reciprocating screw 411 is threadedly connected with a threaded sleeve 413, the top of the roller frame 401 is rotatably connected to the threaded sleeve 413, the bottom of the threaded sleeve 413 is fixedly installed with a positioning laser head 414, and a third stepper motor 415 is fixedly installed on one side of the top of the carbon fiber box shell 2, the output shaft of the third stepper motor 415 and the surface of the driving rod 410 are fixedly connected with a pulley 416, and the two pulleys 416 are connected through belt transmission, and both sides of the carbon fiber box shell 2 are provided with an arc-shaped slide groove 417 that is compatible with the driving pin 404.

[0036] See also Figures 1 to 11, the anti-slip component 5 is refined, the inner cavity of the carbon fiber box shell 2 is provided with an anti-slip component 5, the anti-slip component 5 includes a limiting wheel 51 located below the walking wheel 402, a tension clamp 8 is provided between the walking wheel 402 and the limiting wheel 51 on the same side, the front and rear sides of the bottom of the carbon fiber box shell 2 are provided with a plurality of limiting grooves 11 adapted to the tension clamp 8, the walking wheel 402 and the limiting wheel 51 are in rolling contact with the surface of the tension clamp 8, one side of the limiting wheel 51 is rotatably connected to a support rod 52, the top end of the support rod 52 is fixedly connected to a pentagonal rotating cylinder 53, the surface of the threaded sliding sleeve 413 is fixedly connected to a fixed tube 54, the pentagonal rotating cylinder 53 is rotatably connected to the inner cavity of the fixed tube 54, the inner cavity of the carbon fiber box shell 2 is rotatably connected to a pentagonal rotating rod 55, and the pentagonal rotating cylinder 53 is slidably connected to the pentagonal rotating rod 55. The surface of the angle rotating rod 55 and the center of the surface of the pentagonal rotating rod 55 are fixedly connected with a connecting plate 56, and the opposite side of the two carbon fiber box shells 2 is rotatably connected with an electric telescopic rod 57, and the output end of the electric telescopic rod 57 is rotatably connected to the connecting plate 56. Through the setting of the anti-detachment component 5, the support rod 52 and the limiting wheel 51 are used in coordination to limit and guide the cable surface, thereby improving the stability of the walking wheel 402 during the displacement process on the cable surface. At the same time, after the carbon fiber platform 1 reaches the designated detection position, the electric telescopic rod 57 and the connecting plate 56 are used in coordination to drive the pentagonal rotating rod 55 and the pentagonal rotating cylinder 53 to rotate, so that the limiting wheel 51 can be tightly pressed on the bottom of the cable, thereby improving the stability of the radiation detection device during the detection process.

[0037] See also Figures 1 to 11, the horizontal calibration component 6 is refined. The top of the carbon fiber platform 1 is provided with a horizontal calibration component 6. The horizontal calibration component 6 includes a transmission rod 61 rotatably connected to the inner cavity of the carbon fiber platform 1. The front end and the rear end of the transmission rod 61 are fixedly connected to the second gear 62. A rack 63 is fixedly connected to one side of the top of the carbon fiber box shell 2. The rack 63 is meshed with the second gear 62. A fourth stepper motor 64 is fixedly installed at the center of the top of the carbon fiber platform 1. The output shaft of the fourth stepper motor 64 and the surface of the transmission rod 61 are fixedly connected with a bevel gear 65. The two bevel gears 65 are meshed. Balanced gravity sensors 68 are fixedly installed on both sides of the top of the carbon fiber box shell 2. Two limiting guide rails 66 are fixedly connected to the side away from the rack rail 63, and limiting slide grooves 67 adapted to the limiting guide rails 66 are provided on the front and rear sides of the bottom of the carbon fiber platform 1. Through the setting of the horizontal calibration component 6, the second gear 62 can be rotated under the driving of the fourth stepping motor 64 and the coordinated use of the bevel gear 65 and the transmission rod 61, so that the second gear 62 can be displaced on the top of the rack rail 63, thereby driving the carbon fiber platform 1 to be displaced as a whole on the top of the carbon fiber box shell 2, so that the radiation detection device can be calibrated before walking on the cable, thereby improving the stability of the radiation detection device when reaching and walking on the cable.

[0038] See also Fig.11 , the positioning assembly is refined, and the positioning assembly includes a first electric telescopic rod 71 installed at the bottom of the right side of the lifting frame 31, and the right end of the right X-ray imaging plate 34 is fixedly connected to an oblique push piece 72, the first electric telescopic rod 71 is rotatably connected to the lifting frame 31, and the output end of the first electric telescopic rod 71 is rotatably connected to the oblique push piece 72, and a first rotating rod 75 is rotatably connected between the two X-ray imaging plates 34, and a first stepping motor 76 is fixedly installed on the surface of the left X-ray imaging plate 34, and the left end of the first rotating rod 75 passes through one side of the X-ray imaging plate 34 and is fixedly connected to the output shaft of the first stepping motor 76, and both sides of the surface of the first rotating rod 75 are fixedly connected to driving gears 77, and both sides of the bottom of the X-ray imaging plate 34 are fixed A gear rail 78 is fixedly connected, and the driving gear 77 is meshed with the gear rail 78. The opposite sides of the two X-ray imaging plates 34 are fixedly connected to the limiting guide rail 73. Both sides of the X-ray imaging plate 34 are provided with limiting slide grooves 74. The limiting guide rail 73 is slidably connected to the inner cavity of the limiting slide groove 74. Through the coordinated use of the limiting guide rail 73 and the limiting slide groove 74, the X-ray imaging plate 34 is limited and guided, and the stability of the X-ray imaging plate 34 during the sliding process is improved. At the same time, with the drive of the first stepper motor 76, the coordinated use of the first rotating rod 75, the driving gear 77 and the gear rail 78, the X-ray imaging plate 34 can be pushed forward and backward, so that the X-ray imaging plate 34 can reach the specified imaging position, thereby improving the accuracy of the imaging position.

[0039] See also Figures 1 to 11 The embodiment of the present invention also provides a high-altitude tension wire clamp wire ray detection system, including a drone and the above-mentioned device, wherein the body has a hoisting end connected to the drone. In this embodiment, the device can be hoisted to high altitude operation in conjunction with a drone. In addition, the drone can be a separate unmanned drone, or the drone can be directly designed with wings to fly to high altitude for autonomous operation. Both methods are possible, and this embodiment does not limit this.

[0040] See also Figures 1 to 11 , an embodiment of the present invention also provides a method for detecting the X-ray of the conductor of a high-altitude tension wire clamp, which is used for the above-mentioned device, and includes the following steps: S1, using a drone to lift the body to the conductor of the high-altitude tension wire clamp; S2, adjusting the position of the walking wheel of the variable pitch walking assembly to place the walking wheel on the sub-conductor; S3, the variable pitch walking assembly moves the X-ray detection assembly to a designated detection position; S4, after adjusting the detection posture of the X-ray detection assembly, the X-ray detection assembly is used to perform X-ray detection on the split wire in the tension wire clamp. In this embodiment, a ground-to-air unmanned detection method is adopted to remotely detect the split wire in the tension wire clamp, and a self-propelled structure with a variable wheelbase is adopted to meet the detection requirements of different numbers of split sub-conductors.

[0041] Preferably, in this method, detection can also be achieved through the cooperation of a horizontal calibration component, a positioning component, an anti-slip component, etc.

[0042] The following is the detailed detection method:

[0043] Step 1: When the ray detection device is in use, the carbon fiber platform 1 is first lifted to the top of the cable by a large load-carrying drone, so that the limiting groove 11 is engaged with the surface of the cable. Then, the third stepper motor 415 is turned on and the driving rod 410 is driven to rotate with the cooperation of the pulley 416 and the belt. During the rotation of the driving rod 410, the reciprocating screw rod 411 on the left is driven to rotate through the left one-way bearing 412. During the rotation of the reciprocating screw rod 411, the threaded sleeve 413 is driven to slide on the surface of the reciprocating screw rod 411 through its surface thread. , so that the threaded sleeve 413 drives the roller frame 401, the running wheel 402 and the limiting wheel 51 to move, and in the process of the running wheel 402 moving, drives the positioning laser head 414 to move synchronously, and finds the cable position through the positioning laser head 414. After the positioning laser head 414 and the cable position are aligned and calibrated, the third stepper motor 415 rotates in the opposite direction, driving the reciprocating screw rod 411 on the right side to rotate, so that the running wheel 402 on the right side can be aligned and calibrated. After the running wheels 402 on both sides are aligned and calibrated, the third stepper motor 415 stops running;

[0044] When the driving rod 410 drives the reciprocating screw rod 411 to rotate, due to the one-way locking effect of the one-way bearing 412, when the driving rod 410 rotates in the forward direction, the driving rod 410 drives the reciprocating screw rod 411 to rotate through the left one-way bearing 412, at this time, the inner and outer rings of the one-way bearing 412 on the left rotate at the same time, and the inner ring of the one-way bearing 412 on the right rotates along with the driving rod 410, and its outer ring and the reciprocating screw rod 411 on the right remain stationary. When the driving rod 410 rotates in the reverse direction, the driving rod 410 drives the reciprocating screw rod 411 to rotate through the right one-way bearing 412, at this time, the inner and outer rings of the one-way bearing 412 on the right rotate at the same time, and the inner ring of the one-way bearing 412 on the left rotates along with the driving rod 410, and its outer ring and the reciprocating screw rod 411 on the left remain stationary;

[0045] Step 2, at this time, the four walking wheels 402 are all aligned and calibrated, and the limiting wheel 51 moves accordingly, so that the walking wheels 402 and the limiting wheel 51 are respectively located above and below the cable, and then the first stepper motor 408 is turned on and drives the first gear 406 on the left side to rotate. During the rotation of the first gear 406, the arc-shaped slide plate 405 is driven to rotate through the teeth 407 meshing therewith, and the arc-shaped slide plate 405 drives the driving pin 404 to slide in the inner cavity of the teeth 407 during the rotation, so that the driving pin 404 can simultaneously drive the roller frame 401 to rotate, and the roller frame 401 drives the walking wheel 402 to rotate downward during the rotation, so that the bottom of the walking wheel 402 is lower than the inner wall of the limiting groove 11, and the walking wheel 402 is sleeved on the surface of the cable. Until the roller frame 401 rotates into place, the walking wheel 402 uses the cable as a support platform to lift the carbon fiber platform 1 and the carbon fiber box shell 2 upward, so that the inner wall of the limiting groove 11 is out of contact with the cable surface;

[0046] Step 3, then, the carbon fiber platform 1 is sensed by the balanced gravity sensor 68 to give the gravity on both sides of the top of the carbon fiber box shell 2, and the gravity difference on both sides is obtained, and then the fourth stepper motor 64 is turned on by the motor controller, and the fourth stepper motor 64 drives the transmission rod 61 to rotate through the two bevel gears 65, and the transmission rod 61 drives the second gear 62 to rotate during the rotation process, and the second gear 62 is displaced on the surface of the gear rail 63 meshing with it during the rotation process, so that the carbon fiber platform 1 is displaced as a whole, so that the carbon fiber platform 1 slides on the top of the carbon fiber box shell 2, and then the carbon fiber platform 1 can drive the X-ray machine 33 to the center position of the two walking wheels 402, which is also the center position of the two cables. The torque conversion algorithm used here is as follows:

[0047] Gravity difference algorithm: calculate the difference between the signals on both sides ΔS = S1-S2;

[0048] If ΔS>0, it means that the gravity on the left side is greater than that on the right side;

[0049] If ΔS < 0, it means that the gravity on the right side is greater than that on the right side;

[0050] If ΔS = 0, it means that the gravity on both sides is balanced;

[0051] During operation: ΔS≠0, when S1>S2, it rotates forward; when S2>S1, it rotates reversely until ΔS=0, then it stops;

[0052] Step 4, then, the second stepper motor 409 is turned on and drives the driving pin 404 to rotate, and the driving pin 404 drives the walking wheel 402 to walk on the surface of the cable. After the walking wheel 402 reaches the tension clamp 8, since the connection between the tension clamp 8 and the cable has a certain slope, the walking wheel 402 acts on the end of the tension clamp 8 through the rubber anti-slip strip 403 during the rotation process, so that the walking wheel 402 can climb to the surface of the tension clamp 8. Until the carbon fiber platform 1 reaches the designated detection position, the electric telescopic rod 57 is turned on and pushes the connecting plate 56 downward to rotate, so that the pentagonal rotating rod 55 rotates and drives the pentagonal rotating cylinder 53 to rotate in the inner cavity of the fixed tube 54. At the same time, the support rod 52 drives the limiting wheel 51 to rotate, so that the limiting wheel 51 squeezes the bottom of the cable obliquely upward, thereby limiting and locking the detection position of the carbon fiber platform 1;

[0053] Step 5. Finally, the lifting frame 31 drives the X-ray machine 33 and the X-ray imaging plate 34 to the specified detection position through the rotating frame 32, and rotates the X-ray machine 33 and the X-ray imaging plate 34 through the servo motor 35 to determine the X-ray imaging position. Then, the X-ray machine 33 and the X-ray imaging plate 34 are used in coordination to perform X-ray imaging detection on the cables inside the tension clamp 8.

[0054] To sum up: the variable-distance tension clamp sub-conductor X-ray detection device and method, through the setting of the variable-distance walking component 4, makes the X-ray detection device adapt to the detection of cables with different spacings, and enables the carbon fiber box shell 2 to have the ability to walk on the line. Through the coordinated use of the carbon fiber box shell 2 and the horizontal calibration component 6, the center of gravity of the X-ray detection device is located between the two cables. At the same time, through the setting of the anti-slip component 5, the X-ray detection device is stabilized after walking and in place. Finally, through the setting of the X-ray detection component 3, the cables are inspected, which can achieve the purpose of adapting to different cable spacing detection, automatic calibration of the center of gravity and stable and reliable operation.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A variable distance tension clamp X-ray detection device, characterized in that: The invention comprises a machine body which can be raised to a high altitude, wherein the machine body is provided with an X-ray detection component for detecting sub-conductors and a variable-distance walking component for carrying the machine body to walk on the sub-conductors, wherein the variable-distance walking component comprises at least four walking wheels, wherein the four walking wheels are arranged in a square shape and fall on two adjacent sub-conductors, and the variable-distance walking component further comprises an adjustment structure for adjusting the distance between two adjacent walking wheels, wherein the two adjacent walking wheels are respectively located on two sub-conductors.

2. The variable distance tension clamp X-ray detection device according to claim 1, characterized in that: The adjustment structure includes a reciprocating screw on the left, a reciprocating screw on the right, and a driving member for providing driving force. The driving member is coaxially connected to the reciprocating screw on the left through a one-way bearing on the left, and the driving member is coaxially connected to the reciprocating screw on the right through a one-way bearing on the right. The reciprocating screw on the left and the reciprocating screw on the right are both provided with threaded sleeves, and each of the threaded sleeves is provided with the walking wheel.

3. The variable distance tension clamp X-ray detection device according to claim 1, characterized in that: The variable-pitch traveling assembly also includes a driving structure for driving the traveling wheels to rise and fall.

4. The variable distance tension clamp X-ray detection device according to claim 3, characterized in that: The driving structure includes a driving member, a first gear driven to rotate by the driving member, an arc-shaped slide having teeth, a driving pin fixedly mounted on the arc-shaped slide, and an arc-shaped guide rail having an arc-shaped slide groove, the driving pin is slidably arranged in the arc-shaped slide groove, the bending directions of the arc-shaped slide and the arc-shaped guide rail are consistent and both are bent along the direction of the lifting and lowering of the traveling wheel, a plurality of the teeth are arranged in sequence along the bending direction of the arc-shaped slide, the first gear is meshed with the teeth, and the traveling wheel is mounted on the driving pin.

5. The variable distance tension clamp X-ray detection device according to claim 4, characterized in that: A second arc-shaped slide groove is provided on one side of the arc-shaped slide plate facing the arc-shaped guide rail, and the arc-shaped guide rail cooperates with the second arc-shaped slide groove to limit and guide the arc-shaped slide plate.

6. The variable distance tension clamp X-ray detection device according to claim 1, characterized in that: The walking wheel is provided with a groove for the sub-conductor to be inserted, and the direction in which the groove surrounds is consistent with the direction in which the hanging wheel rotates.

7. The variable distance tension clamp X-ray detection device according to claim 6, characterized in that: An anti-slip strip is arranged on the groove wall of the groove.

8. The variable distance tension clamp X-ray detection device according to claim 1, characterized in that: It also includes a horizontal calibration component for adjusting the center position of the X-ray detection component between two adjacent sub-conductors.

9. The variable distance tension clamp X-ray detection device according to claim 1, characterized in that: It also includes an anti-dropping assembly for locking the variable-distance traveling assembly on the sub-conductor.

10. A variable distance tension clamp X-ray detection method, characterized in that: The device according to any one of claims 1 to 9 comprises the following steps: S1, use a drone to lift the fuselage to the conductor of the high-altitude tension wire clamp; S2, adjusting the position of the travel wheel of the variable pitch travel assembly so that the travel wheel is placed on the sub-conductor; S3, the variable-pitch walking assembly moves the X-ray detection assembly to a designated detection position; S4, after adjusting the detection posture of the X-ray detection assembly, use the X-ray detection assembly to perform X-ray detection on the split wire in the tension clamp.

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