Separated mounting device for X-ray detector of unmanned aerial vehicle

Abstract

The invention discloses a separation type mounting device for an X-ray detector of an unmanned aerial vehicle, which comprises an anti-interference communication controller arranged above an outer frame, a suspension mechanism arranged above the anti-interference communication controller, driving mechanisms symmetrically arranged on two sides of the outer frame, and a rotation detection mechanism comprising a rotation frame, a servo motor, a ray emitter and a receiving plate, a rotating frame is arranged inside the outer frame, servo motors are symmetrically arranged at the lower ends of the two sides of the outer frame, a ray emitter is arranged in the middle of the lower side of the rotating frame, and a receiving plate is arranged on the upper side of the rotating frame; the suspension mechanism is arranged to be matched with the X-ray detection structure suitable for the strain clamp of the multi-split conductor, accurate positioning and installation can be carried out through the unmanned aerial vehicle carrying device, intelligent automatic detection is achieved through remote control, safety and reliability are achieved, and meanwhile through the rotatable ray transmitter and the receiving plate, the detection efficiency is improved. Omnibearing detection of the strain clamp of the multi-split conductor can be realized, the operation and detection level of the multi-split conductor is improved, and the operation intensity of personnel is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power transmission line detection, and in particular to a separate mounting device for an unmanned aerial vehicle (UAV) X-ray detector. Background Art

[0002] The tension clamp is an important connecting hardware for high-voltage transmission lines. Once it breaks, it will cause the line to trip and power outage, affecting the safe and stable operation of the power grid. During construction acceptance or regularly checking the crimping quality of the tension clamp will help to discover safety hazards in a timely manner.

[0003] X-ray inspection technology can detect internal defects that are invisible to the naked eye, but traditional X-ray inspection requires power outages and manual tower climbing. The process is cumbersome and workers need to carry equipment to a new location, which poses a risk of falling from a height and can also cause damage from ionizing radiation.

[0004] The technology of using drones to carry X-rays to inspect single conductors has developed rapidly, which has improved the ability to inspect the crimping quality of line tension clamps. However, for complex multi-split conductor tension clamps, the installation position and space of the X-ray inspection device are limited due to obstruction by equalizing rings, adjacent sub-conductors, etc. Therefore, the present invention proposes a separate mounting device for a drone X-ray detector to solve the problems existing in the prior art. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to propose a separate mounting device for an unmanned aerial vehicle X-ray detector. The separate mounting device for an unmanned aerial vehicle X-ray detector can be used to set a suspension mechanism to cooperate with an X-ray detection structure suitable for a multi-split conductor tension clamp. The device can be accurately positioned and installed using an unmanned aerial vehicle carrying device, and can be remotely controlled to achieve intelligent automatic detection. There is no need for manual tower climbing for detection, which is safe and reliable. At the same time, through a rotatable ray transmitter and receiving plate, all-round detection of multi-split conductor tension clamps can be achieved, thereby improving the inspection level of multi-split conductors, reducing the operating intensity of personnel, and ensuring safe and stable operation of the line.

[0006] To achieve the purpose of the present invention, the present invention is implemented through the following technical solutions: a separate mounting device for an unmanned aerial vehicle X-ray detector, comprising an outer frame, an anti-interference communication controller, a suspension mechanism, a driving mechanism and a rotation detection mechanism, wherein an anti-interference communication controller is fixedly arranged on the top of the outer frame, and remote control can be achieved through remote remote control communication control between the anti-interference communication controller and an external remote controller, and stability, flexibility and reliability are all improved; a suspension mechanism is arranged above the anti-interference communication controller for cooperating with an external carrier unmanned aerial vehicle for mounting; driving mechanisms are symmetrically arranged on both sides of the outer frame for driving the device to move on the transmission line; the rotation detection mechanism comprises a rotating frame, a servo motor, a ray emitter and a receiving plate; a rotating frame is arranged on the inner side of the outer frame, servo motors are symmetrically arranged on the lower ends of both sides of the outer frame, a ray emitter is arranged in the middle of the lower side of the rotating frame, and a receiving plate is arranged on the upper side of the rotating frame.

[0007] A further improvement is that the output end of the servo motor passes through the outer frame and is connected to the rotating frame for transmission, the servo motors on both sides rotate synchronously, and the ray transmitter head faces upwards towards the receiving plate.

[0008] Further improvements are: the suspension mechanism includes a fixed plate, a positioning through-slot, a clamping plate, a positioning clamping block, a two-way cylinder, a fixed seat and a clamping and positioning mechanism; a fixed plate is fixedly arranged on the middle part of the upper side of the anti-interference communication controller, a positioning through-slot is arranged on the fixed plate, clamping plates are symmetrically arranged on both sides of the fixed plate, positioning clamping blocks are fixedly arranged on the opposite sides of the clamping plate and correspond to the positioning through-slot to achieve positioning clamping, a two-way cylinder is arranged between the upper sides of the clamping plates, a fixed seat is fixedly arranged on the two-way cylinder, and a clamping and positioning mechanism is arranged on the fixed seat to be fixedly connected to the external drone.

[0009] Further improvements are: the clamping and positioning mechanism includes a sliding groove, a bidirectional screw, a positioning splint and a clamping rubber block, the sliding groove is symmetrically arranged above the fixed seat, the positioning splint is arranged in the sliding groove through the bidirectional screw, the bidirectional screw passes through the positioning splint and is adapted to its thread, two groups of positioning splints are arranged on different thread sections of the bidirectional screw, and clamping rubber blocks are fixed on the opposite sides of the positioning splint.

[0010] A further improvement is that a three-dimensional camera is arranged on the front side of the fixing seat and the front side of the upper part of the outer frame through a rotating pan-tilt system.

[0011] Further improvements are: the driving mechanism includes lateral slats, roller grooves, driving rollers and driving motors, the lateral slats are symmetrically fixed on both sides of the outer frame, the roller grooves are arranged on the lower side of the lateral slats, driving rollers are symmetrically arranged at both ends of the roller grooves through rotating shafts, and a driving motor is arranged on the side of the middle part of the lateral slats.

[0012] A further improvement is that the output end of the driving motor extends into the roller groove and is connected to the side surfaces of the driving rollers at both ends through a transmission belt. The driving roller is a concave roller structure to achieve positioning and clamping with the transmission line.

[0013] The beneficial effects of the present invention are as follows: by setting a suspension mechanism in conjunction with an X-ray detection structure suitable for multi-split conductor tension clamps, the present invention can utilize an unmanned aerial vehicle-mounted device for precise positioning and installation, and through remote control, realize intelligent automatic detection, without the need for manual tower climbing for detection, which is safe and reliable; at the same time, through a rotatable ray transmitter and receiving plate, all-round detection of multi-split conductor tension clamps can be realized, solving the drawbacks of traditional single-conductor detection devices, improving the level of multi-split conductor operation and inspection, reducing the intensity of personnel operation, and ensuring safe and stable operation of the line. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the front view of the present invention.

[0015] Figure 2 It is a front cross-sectional view of the present invention.

[0016] Figure 3 It is a partial cross-sectional view of the suspension mechanism of the present invention from the side.

[0017] Figure 4 This is a schematic diagram of the cooperation between the suspension mechanism of the present invention and an external UAV.

[0018] Among them: 1. outer frame; 2. anti-interference communication controller; 3. rotating frame; 4. servo motor; 5. ray transmitter; 6. receiving plate; 7. fixing plate; 8. positioning through-slot; 9. clamping plate; 10. positioning clamping block; 11. bidirectional cylinder; 12. fixing seat; 13. sliding groove; 14. bidirectional screw; 15. positioning clamping plate; 16. clamping rubber block; 17. rotating pan-tilt head; 18. three-dimensional camera; 19. lateral slats; 20. roller groove; 21. driving roller; 22. driving motor; 23. transmission belt. DETAILED DESCRIPTION

[0019] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0020] according to Figure 1-Figure 4As shown, this embodiment provides a separate mounting device for an unmanned aerial vehicle X-ray detector, including an outer frame 1, an anti-interference communication controller 2, a suspension mechanism, a driving mechanism and a rotation detection mechanism. The anti-interference communication controller 2 is fixedly arranged on the top of the outer frame 1. Through the remote control communication control between it and an external remote controller, remote control can be achieved, and the stability, flexibility and reliability are all improved. A suspension mechanism is arranged above the anti-interference communication controller 2 for cooperating with an external carrier unmanned aerial vehicle for mounting. Driving mechanisms are symmetrically arranged on both sides of the outer frame 1 for driving the device to move on the transmission line. The rotation detection mechanism includes a rotating frame 3, a servo motor 4, a ray emitter 5 and a receiving plate 6. The rotating frame 3 is arranged on the inner side of the outer frame 1, and the servo motors 4 are symmetrically arranged on the lower ends of both sides of the outer frame 1. A ray emitter 5 is arranged in the middle of the lower side of the rotating frame 3, and a receiving plate 6 is arranged on the upper side of the rotating frame 3.

[0021] The output end of the servo motor 4 passes through the outer frame 1 and is connected to the rotating frame 3 for transmission. The servo motors 4 on both sides rotate synchronously, and the emitting head of the ray emitter 5 faces upwards towards the receiving plate 6 .

[0022] The suspension mechanism includes a fixed plate 7, a positioning through-slot 8, a clamping plate 9, a positioning clamping block 10, a two-way cylinder 11, a fixed seat 12 and a clamping and positioning mechanism. A fixed plate 7 is fixedly arranged in the middle of the upper side of the anti-interference communication controller 2, and a positioning through-slot 8 is arranged on the fixed plate 7. Clamping plates 9 are symmetrically arranged on both sides of the fixed plate 7. Positioning clamping blocks 10 are fixedly arranged on the opposite sides of the clamping plate 9 and are adapted to the positioning through-slot 8 to achieve positioning clamping. A two-way cylinder 11 is arranged between the upper sides of the clamping plates 9, and a fixed seat 12 is fixedly arranged on the two-way cylinder 11. A clamping and positioning mechanism is arranged on the fixed seat 12 and fixedly connected to an external UAV. The fixed plate and the clamping plate are split structures, which are first fixed to the UAV through the clamping and positioning mechanism, and then the UAV is controlled to carry the lower structure and the fixed plate positioning and clamping adaptation to achieve the mounting of the detection structure.

[0023] The clamping and positioning mechanism includes a sliding groove 13, a bidirectional screw 14, a positioning clamping plate 15 and a clamping rubber block 16. The sliding groove 13 is symmetrically arranged above the fixed seat 12. The positioning clamping plate 15 is arranged in the sliding groove 13 through the bidirectional screw 14. The bidirectional screw passes through the positioning clamping plate and is adapted to its thread. The positioning clamping plate is provided with two groups of bidirectional screw thread segments in different directions. The opposite side of the positioning clamping plate 15 is fixedly provided with a clamping rubber block 16 for clamping and fixing with the drone, as shown in the attached manual. Figure 4 shown.

[0024] A three-dimensional camera 18 is movably provided on the front side of the fixing seat 12 and the front side of the upper part of the outer frame 1 via a rotating platform 17 .

[0025] A three-dimensional camera can detect the distance information of the shooting space and obtain the three-dimensional spatial coordinates of each point in the image. This type of camera uses different technical principles to measure spatial distance. Common technologies include structured light, time-of-flight (TOF) and binocular stereo vision.

[0026] In this application, the three-dimensional camera on the front side of the suspension mechanism can achieve accurate matching of the X-ray detection device and the installation point, and the three-dimensional camera on the front side of the outer frame can obtain different rotation directions of the ray transmitter and the receiving plate for detection; at the same time, the cooperation of the two three-dimensional cameras can determine whether it is mounted in the operable position on the cable according to the three-dimensional position relationship of the three objects of the drone, the mounting device, and the cable.

[0027] The driving mechanism includes lateral slats 19, roller grooves 20, driving rollers 21 and driving motors 22. The lateral slats 19 are symmetrically fixed on both sides of the outer frame 1, the roller grooves 20 are arranged on the lower side of the lateral slats 19, the driving rollers 21 are symmetrically arranged at both ends of the roller grooves 20 through the rotating shaft, and the driving motor 22 is arranged on the side of the middle part of the lateral slats 19.

[0028] The output end of the driving motor 22 extends into the roller groove 20 and is connected to the side surfaces of the driving rollers 21 at both ends through a transmission belt 23. The driving roller is a concave roller structure to achieve positioning and clamping with the transmission line.

[0029] When the separate mounting device for the unmanned aerial vehicle X-ray detector is used, the lower structure of the fixing seat is first fixed to the lower part of the carrying unmanned aerial vehicle through the clamping and positioning mechanism, and then the lower clamping plate and the fixing plate are clamped and positioned by controlling the unmanned aerial vehicle. Then, the unmanned aerial vehicle carrying device can be used to take off, and two sets of three-dimensional cameras are used to accurately position and place the lower structure on the transmission line, and the driving rollers on both sides are placed on the transmission line, and the driving motor drives it to move;

[0030] During inspection, the servo motor controls the rotation and adjustment of the rotating frame, and the ray transmitter and the receiving board perform corresponding inspections, and adjust the rotation angle of the rotating frame in turn to realize the inspection of different transmission line tension clamps. After the inspection is completed, the device is reset, and the drone takes off, positions and clamps it, then lifts it away from the transmission line and then unloads it.

[0031] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A separate mounting device for an unmanned aerial vehicle X-ray detector, characterized in that: The invention comprises an outer frame (1), an anti-interference communication controller (2), a suspension mechanism, a driving mechanism and a rotation detection mechanism. The anti-interference communication controller (2) is arranged above the outer frame (1), the suspension mechanism is arranged above the anti-interference communication controller (2), the driving mechanisms are symmetrically arranged on both sides of the outer frame (1), the rotation detection mechanism comprises a rotating frame (3), a servo motor (4), a ray emitter (5) and a receiving plate (6), the rotating frame (3) is arranged on the inner side of the outer frame (1), the servo motors (4) are symmetrically arranged at the lower ends of both sides of the outer frame (1), the ray emitter (5) is arranged in the middle of the lower side of the rotating frame (3), and the receiving plate (6) is arranged on the upper side of the rotating frame (3).

2. The detachable mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The output end of the servo motor (4) passes through the outer frame (1) and is connected to the rotating frame (3) for transmission. The servo motors (4) on both sides rotate synchronously. The ray emitter (5) has its emitting head facing upwards towards the receiving plate (6).

3. The detachable mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The suspension mechanism comprises a fixing plate (7), a positioning through-groove (8), a clamping plate (9), a positioning clamping block (10), a bidirectional cylinder (11), a fixing seat (12) and a clamping positioning mechanism. A fixing plate (7) is provided in the middle of the upper side of the anti-interference communication controller (2). The fixing plate (7) is provided with a positioning through-groove (8). Clamping plates (9) are symmetrically provided on both sides of the fixing plate (7). Positioning clamping blocks (10) are provided on the opposite sides of the clamping plates (9) and are correspondingly matched with the positioning through-groove (8). A bidirectional cylinder (11) is provided between the upper sides of the clamping plates (9). A fixing seat (12) is provided on the bidirectional cylinder (11). The fixing seat (12) is provided with a clamping positioning mechanism and is fixedly connected to an external drone.

4. The detachable mounting device for an unmanned aerial vehicle X-ray detector according to claim 3, characterized in that: The clamping and positioning mechanism comprises a sliding groove (13), a bidirectional screw (14), a positioning clamping plate (15) and a clamping rubber block (16); the sliding groove (13) is symmetrically arranged above the fixing seat (12); a positioning clamping plate (15) is arranged in the sliding groove (13) via the bidirectional screw (14); and a clamping rubber block (16) is arranged on the opposite side of the positioning clamping plate (15).

5. The detachable mounting device for an unmanned aerial vehicle X-ray detector according to claim 3, characterized in that: The front side of the fixing seat (12) and the front side of the upper part of the outer frame (1) are both provided with three-dimensional cameras (18) via a rotating pan-tilt platform (17).

6. The detachable mounting device for an unmanned aerial vehicle X-ray detector according to claim 1, characterized in that: The driving mechanism comprises lateral slats (19), roller grooves (20), driving rollers (21) and a driving motor (22); the lateral slats (19) are symmetrically arranged on both sides of the outer frame (1); the roller grooves (20) are arranged on the lower side of the lateral slats (19); driving rollers (21) are symmetrically arranged at both ends of the roller grooves (20); and the driving motor (22) is arranged on the side of the middle part of the lateral slats (19).

7. The detachable mounting device for an unmanned aerial vehicle X-ray detector according to claim 6, characterized in that: The output end of the driving motor (22) extends into the roller groove (20) and is connected to the side surfaces of the driving rollers (21) at both ends through a transmission belt (23) for transmission.

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