Strain clamp X-ray detection device for power transmission line

Abstract

The invention relates to the technical field of ray detection, and discloses a strain clamp X-ray detection device for a power transmission line, which comprises a walking assembly, an imaging assembly, an aircraft and a control assembly, the aircraft can carry the strain clamp X-ray detection device on a split conductor; the walking mechanism is controlled by the control assembly to start to drive the rack to arrive at the position of the strain clamp to be detected, the imaging plate and the X-ray machine are further synchronously adjusted through the adjusting mechanism, so that the strain clamp can be located in a detection position formed between the imaging plate and the X-ray machine, the X-ray machine is controlled to emit X-rays to irradiate the strain clamp, and the strain clamp is detected. Receiving the X-ray by the imaging plate, and forming a strain clamp X-ray film; through continuous adjustment of the adjusting mechanism, the imaging mechanism completes X-ray detection on each strain clamp on the split conductor. In the detection process, the aircraft only needs to fly once, so that the detection operation process is simplified, the time required by the detection work is saved, and the detection work efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of ray detection, and in particular to an X-ray detection device for a tension clamp of a power transmission line. Background Art

[0002] Strain clamps are hardware used to fix conductors to withstand conductor tension and hang the conductors on tension strings or towers. Strain clamps are subjected to high currents and strong pulling forces in transmission lines for a long time. The high-altitude crimping operation is difficult and the crimping quality is difficult to observe. If there are defects such as leakage, undervoltage, and loose aluminum wires, the line will heat abnormally, the crimping will loosen, and even cause line disconnection accidents, which will seriously affect the power transmission and power supply reliability of the line. The hydraulic tension clamps widely used in transmission lines are composed of steel anchors and aluminum tubes, and are crimped together with the steel core and aluminum wire of the conductor. They are no longer disassembled after installation, and their crimping quality directly affects the safety of power transmission. For the "three-span" tension lines of transmission lines, non-destructive testing of tension clamps is required before commissioning and during the operation stage. X-ray detection technology, as an effective detection technology for the crimping quality of tension clamps, has the advantages of fast speed, high precision, and no damage, and has been widely used in the power field.

[0003] The traditional X-ray detection method for tension clamps requires that the power supply to the line be cut off first, and then the qualified operators carry the detection device to climb the tower for installation, and the ground operators remotely control the detection device to perform X-ray detection on the tension clamps; the operators face the risk of falling from heights and ionizing radiation, and the operation is difficult, labor-intensive, and inefficient. The power outage procedures are complicated, and long-term power outages affect residents' lives and industrial production. For this reason, in recent years, drones and robots have begun to carry X-ray detection devices for tension clamp detection. However, when using drones for transportation, the detection device is usually mounted on the line by the drone, or two drones are used to mount the imaging plate and X-ray machine respectively. When using robots for X-ray detection, the robot needs to walk on the wire with the assistance of the drone, and then operate the robotic arm to place the imaging plate and X-ray machine on both sides of the wire to complete the tension clamp detection.

[0004] However, in the existing drone and robot inspection operation schemes, robots are only suitable for single-conductor line scenarios. If encountering multi-split conductor lines, such as the common double-split conductor lines and four-split conductor lines, robots cannot directly complete the tension clamp inspection of these lines in a single time; and when drones face these lines, they can only control the drones to take off and land on different conductors, and then mount the inspection equipment on different conductors to complete the inspection; therefore, the inspection operation process is complicated, time-consuming and the inspection work efficiency is low. Summary of the invention

[0005] The purpose of the present invention is to provide an X-ray detection device for tension clamps of power transmission lines, so as to solve the problems of complicated detection operation process and low detection efficiency when detecting tension clamps on common multi-split lines such as double-split and quadruple-split conductor lines in the prior art.

[0006] In order to achieve the above-mentioned object, the present invention provides a tension clamp X-ray detection device for a power transmission line, which has a first direction and a second direction perpendicular to each other, wherein the first direction is parallel to the extension direction of the conductor, and comprises a traveling assembly, wherein the traveling assembly comprises a frame and a traveling mechanism, wherein the traveling mechanism is mounted on the frame and is used to drive the frame to move along the extension direction of the conductor;

[0007] An imaging assembly, the imaging assembly comprising an imaging mechanism and an adjustment mechanism; the imaging mechanism is located below the frame, the imaging mechanism comprises a detection frame, an imaging plate and an X-ray machine, the imaging plate is horizontally arranged and connected to the top of the detection frame, the X-ray machine is spaced below the imaging plate and connected to the detection frame, the imaging plate and the X-ray machine jointly define a detection position for detecting the tension clamp; the detection frame is connected to the frame through the adjustment mechanism, and the adjustment mechanism is used to adjust the rotation angle of the imaging mechanism around the first direction and the height in the vertical direction;

[0008] an aircraft, the aircraft being disposed above the frame and connected to the frame; and

[0009] A control component is wirelessly connected to the walking mechanism, the adjusting mechanism, the X-ray machine, the imaging plate and the aircraft respectively.

[0010] Furthermore, the adjustment mechanism includes two adjustment parts, and the two adjustment parts are symmetrically arranged on both sides of the detection frame in the first direction;

[0011] The adjusting part includes an electric push rod, a lifting seat, a rotating motor, a first bevel gear and a second bevel gear;

[0012] The electric push rod is connected to the frame and extends vertically downward; the output end of the electric push rod is connected to the lifting seat, and the lifting seat is rotatably connected to the detection frame;

[0013] The rotating motor is fixed on the lifting seat and arranged vertically upward; the first bevel gear is connected to the output end of the rotating motor, the first bevel gear and the second bevel gear are meshed and connected, the axial direction of the second bevel gear is parallel to the first direction, and the second bevel gear is fixedly connected to the detection frame.

[0014] Further, the detection frame includes a first connecting portion and two second connecting portions, and the second connecting portions are arranged in a one-to-one correspondence with the adjusting portions;

[0015] The first connection part is arranged horizontally along the first direction, a fixing channel is provided in the first connection part, and the X-ray machine is fixed in the fixing channel; the two second connection parts are respectively arranged on both sides of the first connection part in the first direction;

[0016] The second connecting portion includes a connecting shaft and a clamping member;

[0017] The connecting shaft is extended along the first direction, and its two ends are respectively fixedly connected to the first connecting portion and the second bevel gear;

[0018] The clamping member is vertically arranged, and the bottom of the clamping member is fixedly sleeved on the outer periphery of the connecting shaft and is located between the first connecting portion and the second bevel gear; a fixing position is provided on the top of the clamping member, and the fixing positions of the two clamping members jointly define a fixing opening, and the imaging plate is fixed in the fixing opening.

[0019] Further, the lifting seat includes a lifting portion and an extending portion connected to each other;

[0020] The lifting part is arranged horizontally and connected to the output end of the electric push rod, and the rotary motor is fixed on the lifting part;

[0021] The extension portion is vertically arranged and rotatably sleeved on the outer periphery of the connecting shaft, and the extension portion is arranged between the first connecting portion and the clamping member.

[0022] Further, the walking mechanism comprises at least two groups of walking parts, the at least two groups of walking parts are arranged on the frame at intervals along the first direction, and each group of walking parts comprises two walking parts arranged in parallel and at intervals in the second direction;

[0023] The walking member comprises a walking motor and a walking wheel; the walking motor is mounted on the frame, and the output end of the walking motor is connected to the walking wheel.

[0024] Furthermore, the walking mechanism further comprises clamping parts having the same number as the walking parts, and the clamping parts are arranged in a one-to-one correspondence with the walking parts;

[0025] The clamping part includes a clamping motor and a clamping member, the clamping member is rotatably connected to the frame, and the clamping member and the running wheel jointly define a clamping opening for limiting the relative position of the running wheel and the conductor in the vertical direction; the clamping motor is installed on the frame, and is used to drive the clamping member to rotate relative to the running wheel to open or close the clamping opening.

[0026] Further, it also includes a guide component;

[0027] The guide assembly comprises two guide parts respectively arranged on both sides of the frame in the second direction, the guide parts are arranged on the outer sides of the walking wheel, and the guide parts are used to guide the walking wheel to align with the wire.

[0028] Furthermore, it also includes a landing gear assembly, which includes a pair of support frames, a first fixing block, a second fixing block and a retracting and extending mechanism;

[0029] The first fixing block and the second fixing block are respectively fixed on both sides of the frame in the first direction, and the first fixing block and the second fixing block are both extended along the second direction; a pair of the support frames are arranged opposite to each other along the second direction, a pair of the support frames are respectively rotatably connected to both sides of the first fixing block, and a pair of the support frames are also respectively rotatably connected to both sides of the second fixing block; an angle is formed between the pair of the support frames;

[0030] The retractable mechanism is used to adjust the angle of the included angle.

[0031] Furthermore, the retractable mechanism comprises a first moving block, a second moving block, a retractable member, a guide shaft and a connecting rod;

[0032] The retractable component includes a retractable motor and a screw rod; the retractable motor is mounted on the first fixed block; the screw rod is vertically arranged below the retractable motor and is fixedly connected to the output shaft of the retractable motor; the first moving block is screwed to the screw rod, and both ends of the first moving block are rotatably connected to the support frame through the connecting rod;

[0033] The guide shaft is arranged at the bottom of the second fixed block; the second movable block is slidably sleeved on the outer periphery of the guide shaft; and both ends of the second movable block are rotatably connected to the support frame through the connecting rods.

[0034] Furthermore, the retractable mechanism further includes a guide seat;

[0035] The guide seat is fixedly arranged below the first fixed block and extends in the vertical direction. A mounting cavity is provided in the guide seat, one side of the mounting cavity has an opening, and the screw rod is arranged in the mounting cavity and is rotatably connected to the guide seat.

[0036] The first moving block is movably sleeved on the outer periphery of the guide seat.

[0037] Compared with the prior art, the X-ray detection device for tension clamps of power transmission lines provided by the present invention has the following beneficial effects:

[0038] The present invention provides an X-ray detection device for a tension clamp of a power transmission line, which comprises a walking component, an imaging component, an aircraft and a control component; the control component controls the aircraft to carry the tension clamp X-ray detection device to two conductors above a double-split conductor or a quadruple-split conductor, and then controls the walking mechanism to start through the control component to drive the frame to move along the extension direction of the conductor, thereby adjusting the position of the frame, and then driving the imaging mechanism to move to the vicinity of the tension clamp to be tested; then the adjustment mechanism is controlled to adjust the height of the imaging mechanism in the vertical direction and the angle of rotation around the first direction, so that the tension clamp is located in the detection position formed between the imaging plate and the X-ray machine, and the X-ray machine is controlled to emit X-rays to irradiate the tension clamp, and the components are used to control the X-ray machine to emit X-rays to irradiate the tension clamp. The imaging plate receives X-rays and forms an X-ray film of the tension clamp, thereby completing the X-ray detection of one of the tension clamps; by controlling the adjusting mechanism, the height of the imaging mechanism in the vertical direction and the angle of rotation around the first direction are adjusted again, so that the other tension clamp is located in the detection position formed between the imaging plate and the X-ray machine, and X-ray irradiation is performed to obtain an X-ray film; thus, through the cooperation between the walking mechanism, the adjusting mechanism, the X-ray machine, the imaging plate and the aircraft, the aircraft only needs to fly once and carry the tension clamp X-ray detection device to the conductor, so as to complete the X-ray detection of the tension clamps on the double-split and quad-split conductor lines, thereby simplifying the detection operation process, saving the time required for the detection work, and greatly improving the detection work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a three-dimensional structural diagram of a tension clamp X-ray detection device for a power transmission line according to an embodiment of the present invention;

[0040] Figure 2 It is a three-dimensional structural diagram of an imaging component in an X-ray detection device for a tension clamp of a power transmission line according to an embodiment of the present invention;

[0041] Figure 3 It is a three-dimensional structural diagram of an imaging mechanism in an X-ray detection device for a tension clamp of a power transmission line according to an embodiment of the present invention;

[0042] Figure 4 It is a three-dimensional structural diagram of an imaging mechanism in an X-ray detection device for a tension clamp of a power transmission line according to an embodiment of the present invention;

[0043] Figure 5 It is a three-dimensional structural diagram of a traveling assembly in a tension clamp X-ray detection device for a power transmission line according to an embodiment of the present invention;

[0044] Figure 6It is a three-dimensional structural diagram of a landing gear assembly in a tension clamp X-ray detection device for a power transmission line according to an embodiment of the present invention;

[0045] Figure 7 The present invention is a composition and control schematic diagram of a control component in a tension clamp X-ray detection device for a power transmission line according to an embodiment of the present invention.

[0046] In the figure, 100, a tension clamp X-ray detection device for a power transmission line; 1, a walking assembly; 11, a frame; 12, a walking mechanism; 121, a walking part; 1211, a walking part; 12111, a walking motor; 12112, a walking wheel; 122, a clamping part; 1221, a clamping motor; 1222, a clamping part; 12221, a clamping bracket; 12222, a clamping wheel; 2, an imaging assembly; 21, an imaging mechanism; 210, a detection position; 211, a detection frame; 2111, a first connecting part; 21110, a fixed channel; 2112, a second connecting part; 21121, a connecting shaft; 21122, a clamping part; 212, an imaging plate; 213, an X-ray machine; 22, an adjusting mechanism; 221, an electric push rod; 222, a lifting seat; 2221 , lifting part; 2222, extension part; 223, rotating motor; 224, first bevel gear; 225, second bevel gear; 3, aircraft; 31, flight controller; 32, aircraft motor; 4, landing gear assembly; 41, support frame; 42, first fixed block; 43, second fixed block; 44, retracting mechanism; 441, first moving block; 442, second moving block; 443, retracting member; 4431, retracting motor; 4432, screw rod; 444, guide shaft; 445, connecting rod; 446, guide seat; 5, docking assembly; 6, visual assembly; 200, control assembly; 201, control box; 2011, processor; 202, ground control terminal; 2021, human-computer interaction interface; 2022, communication base station; 7, image processing computer. DETAILED DESCRIPTION

[0047] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0048] like Figure 1 to Figure 6As shown, an X-ray detection device 100 for a tension clamp of a power transmission line according to an embodiment of the present invention has a first direction X and a second direction Y perpendicular to each other, wherein the first direction X is parallel to the extension direction of the wire, and comprises a walking assembly 1, an imaging assembly 2, an aircraft 3 and a control assembly 200; the walking assembly 1 comprises a frame 11 and a walking mechanism 12, wherein the walking mechanism 12 is mounted on the frame 11 and is used to drive the frame 11 to move along the extension direction of the wire; the imaging assembly 2 comprises an imaging mechanism 21 and an adjusting mechanism 22; the imaging mechanism 21 is located below the frame 11, and comprises a detection frame 211, an imaging plate 212 and an X-ray machine 213, wherein the imaging plate 212 is horizontally arranged The detection frame 211 is arranged and connected to the top of the detection frame 211, the X-ray machine 213 is arranged below the imaging board 212 and connected to the detection frame 211, and the imaging board 212 and the X-ray machine 213 jointly define a detection position 210 for detecting the tension clamp; the detection frame 211 is connected to the frame 11 through the adjustment mechanism 22, and the adjustment mechanism 22 is used to adjust the rotation angle of the imaging mechanism 21 around the first direction X and the height in the vertical direction; the aircraft 3 is arranged above the frame 11 and connected to the frame 11; the control component 200 is wirelessly connected to the walking mechanism 12, the adjustment mechanism 22, the X-ray machine 213, the imaging board 212 and the aircraft 3 respectively.

[0049] Based on the above technical solution, the tension clamp X-ray detection device 100 includes a walking component 1, an imaging component 2, an aircraft 3 and a control component 200. The control component 200 controls the aircraft 3 to carry the tension clamp X-ray detection device 100 to the two conductors above the double-split conductor or the four-split conductor. Then, the control component 200 controls the walking mechanism 12 to start, driving the frame 11 to move along the extension direction of the conductor, thereby adjusting the position of the frame 11, and then driving the imaging mechanism 21 to move to the vicinity of the tension clamp to be tested; then, the adjustment mechanism 22 is controlled to adjust the height of the imaging mechanism 21 in the vertical direction and the angle of rotation around the first direction X, so that the tension clamp is located in the detection position 210 formed between the imaging plate 212 and the X-ray machine 213. The control component 20 0 controls the X-ray machine 213 to emit X-rays to irradiate the tension clamp, and the imaging plate 212 receives the X-rays and forms an X-ray film of the tension clamp, thereby completing the X-ray detection of one of the tension clamps; controls the adjusting mechanism 22 through the control component 200 to adjust the height of the imaging mechanism 21 in the vertical direction and the angle of rotation around the first direction X again, so that the other tension clamp is located in the detection position 210 formed between the imaging plate 212 and the X-ray machine 213, and performs X-ray irradiation to obtain an X-ray film; thus, the aircraft only needs to fly once and carry the tension clamp X-ray detection device 100 to the conductor, so as to complete the X-ray detection of the tension clamp on the double-split or quadruple-split conductor line, which simplifies the detection operation process, saves the time required for the detection work, and greatly improves the detection work efficiency.

[0050] Furthermore, if Figure 1 to Figure 4As shown, in order to specifically realize the adjustment of the height of the imaging mechanism 21 in the vertical direction and the angle of rotation around the first direction X by the adjustment mechanism 22, the adjustment mechanism 22 includes two adjustment parts, which are symmetrically arranged on both sides of the detection frame 211 in the first direction X to ensure the stability of the imaging mechanism 21 when adjusting the rotation around the first direction X; the adjustment part includes an electric push rod 221, a lifting seat 222, a rotating motor 223, a first bevel gear 224 and a second bevel gear 225; the electric push rod 221 is connected to the frame 11 and extends vertically downward; the output end of the electric push rod 221 is connected to the lifting seat 222, and the lifting seat 222 is rotatably connected to the detection frame 211; through the reciprocating linear motion of the electric push rod 221, the lifting seat 222 can be driven to be lifted and lowered, thereby driving the detection frame 211, the imaging plate 212 and the X-ray machine 213 to move up and down, and then realizing the adjustment of the height of the detection position 210 in the vertical direction. The rotating motor 223 is fixed on the lifting seat 222 and is arranged vertically upward; the first bevel gear 224 is connected to the output end of the rotating motor 223, the first bevel gear 224 and the second bevel gear 225 are meshed and connected, the axial direction of the second bevel gear 225 is parallel to the first direction X, and the second bevel gear 225 is fixedly connected to the detection frame 211; the first bevel gear 224 is driven to rotate by the rotating motor 223, so that the second bevel gear 225 meshed with the first bevel gear 224 rotates along an axis parallel to the first direction, and then drives the detection frame 211 and the imaging plate 212, and the X-ray machine 213 to rotate, thereby adjusting the rotation angle of the detection position 210, so that the tension clamp is located in the detection position 210.

[0051] Furthermore, if Figure 1 to Figure 4As shown, in order to facilitate fixing the imaging plate 212 and the X-ray machine 213 to the detection frame 211, and also facilitate the connection between the adjustment part and the detection frame 211, the detection frame 211 includes a first connection part 2111 and two second connection parts 2112, and the second connection parts 2112 are arranged in a one-to-one correspondence with the adjustment part; the first connection part 2111 is horizontally arranged along the first direction X, and a fixing channel 21110 is opened in the first connection part 2111, and the X-ray machine 213 is fixed in the fixing channel 21110; the two second connection parts 2112 are respectively arranged on both sides of the first connection part 2111 in the first direction X, so as to realize the one-to-one corresponding arrangement of the second connection part 2112 and the adjustment part; the second connection part 21 12 includes a connecting shaft 21121 and a clamping member 21122; the connecting shaft 21121 is extended along the first direction X, and its two ends are respectively fixedly connected to the first connecting portion 2111 and the second bevel gear 225; the clamping member 21122 is vertically arranged, and the bottom of the clamping member 21122 is fixedly sleeved on the outer periphery of the connecting shaft 21121, and the clamping member 21122 is located between the first connecting portion 2111 and the second bevel gear 225, so that the connection between the first connecting portion 2111 and the clamping member 21122 is realized through the connecting shaft 21121, and the connection between the first connecting portion 2111 and the second bevel gear 225 is realized, and the connection between the detection frame 211 as a whole and the second bevel gear 225 is realized. A fixing position is provided on the top of the clamping member 21122 , and the fixing positions of the two clamping members 21122 together define a fixing opening, and the imaging board 212 is fixed in the fixing opening, thereby achieving fixation of the imaging board 212 .

[0052] Furthermore, if Figure 1 to Figure 4 As shown, the lifting seat 222 includes a lifting part 2221 and an extension part 2222 connected to each other; the lifting part 2221 is horizontally arranged and connected to the output end of the electric push rod 221, and the rotating motor 223 is fixed on the lifting part 2221 to facilitate the installation of the rotating motor 223; the extension part 2222 is vertically arranged and rotatably sleeved on the outer periphery of the connecting shaft 21121, so as to realize the rotatable connection between the lifting seat 222 as a whole and the detection frame; the extension part 2222 is arranged between the first connecting part 2111 and the clamping member to ensure the connection reliability between the extension part 2222 and the connecting shaft 21121, and prevent the extension part 2222 from sliding along the connecting shaft 21121 and colliding with the second bevel gear 225.

[0053] Furthermore, if Figure 1 and Figure 5As shown, in order to specifically realize the function that the walking mechanism 12 drives the frame 11 to move along the extension direction of the wire, the walking mechanism 12 includes at least two groups of walking parts 121, at least two groups of walking parts 121 are arranged on the frame 11 at intervals along the first direction X, and each group of walking parts 121 includes two walking parts 1211 arranged in parallel and at intervals in the second direction Y; so as to ensure the stability of the frame 11 when moving on the wire. The walking part 1211 includes a walking motor 12111 and a walking wheel 12112; the walking motor 12111 is installed on the frame 11, and the output end of the walking motor 12111 is connected to the walking wheel 12112, so that when the walking motor 12111 is started, the walking wheel 12112 rotates, thereby driving the frame 11 to move along the extension direction of the wire.

[0054] Furthermore, if Figure 1 and Figure 5 As shown, in order to ensure the stability of the tension clamp X-ray detection device 100 during the movement along the extension direction of the wire and prevent the tension clamp X-ray detection device 100 from tipping over or falling off the wire, the walking mechanism 12 also includes a clamping portion 122 with the same number as the walking member 1211, and the clamping portion 122 is arranged in a one-to-one correspondence with the walking member 1211; the clamping portion 122 includes a clamping motor 1221 and a clamping member 1222, and the clamping member 1222 is rotatably connected to the frame 11, and the clamping member 1222 and the walking wheel 12112 are jointly defined A clamping mouth is formed for limiting the relative position of the running wheel 12112 and the conductor in the vertical direction; the clamping motor 1221 is installed on the frame, and is used to drive the clamping member 1222 to rotate relative to the running wheel 12112 to open or close the clamping mouth, so that when the tension clamp X-ray detection device 100 moves along the extension direction of the conductor, the conductor can be clamped in the clamping mouth to prevent the tension clamp X-ray detection device 100 from tipping over; when the tension clamp X-ray detection device 100 needs to fly away from the conductor, the clamping mouth can be opened to separate from the conductor.

[0055] Preferably, if Figure 1 and Figure 5 As shown, the clamping member 1222 includes a clamping bracket 12221 and a pair of clamping wheels 12222; the pair of clamping wheels 12222 are arranged at intervals along the first direction X and are rotatably connected to the clamping bracket 12221; the clamping bracket 12221 is rotatably connected to the frame 11; a clamping opening is jointly defined by a pair of clamping wheels 12222 and a running wheel 12112, so that when the clamping member clamps the wire, the running wheel 12112 and the clamping wheel 12222 are located above and below the wire, respectively, thereby ensuring smooth movement of the frame 11 on the wire.

[0056] Furthermore, the tension clamp X-ray detection device 100 also includes a guide assembly; the guide assembly includes two guide parts respectively arranged on both sides of the frame 11 in the second direction Y, and the guide parts are arranged on the outer side of the walking wheel 12112, and the guide parts are used to guide the walking wheel 12112 to align with the wire.

[0057] Furthermore, if Figure 1 and Figure 6 As shown, in order to improve the safety of the tension clamp X-ray detection device 100 landing on the ground, the tension clamp X-ray detection device 100 also includes a landing gear assembly 4, which includes a pair of support frames 41, a first fixed block 42, a second fixed block 43 and a retracting mechanism 44; the first fixed block 42 and the second fixed block 43 are respectively fixed on both sides of the frame 11 in the first direction X, and the first fixed block 42 and the second fixed block 43 are both extended along the second direction Y; a pair of the support frames 41 are relatively arranged along the second direction Y, a pair of the support frames 41 are rotatably connected to both sides of the first fixed block 42, and a pair of the support frames 41 are also rotatably connected to both sides of the second fixed block 43; there is an angle between the pair of support frames 41; the retracting mechanism 44 is used to adjust the angle of the angle; so that when the tension clamp X-ray detection device 100 is mounted on the wire, the pair of support frames 41 can be retracted to ensure the smooth mounting of the tension clamp X-ray detection device 100.

[0058] Furthermore, if Figure 1 and Figure 6 As shown, in order to specifically realize the angle adjustment of the angle between the pair of support frames 41 by the retracting and releasing mechanism 44, the retracting and releasing mechanism 44 includes a first moving block 441, a second moving block 442, a retracting and releasing member 443, a guide shaft 444 and a connecting rod 445; the retracting and releasing member 443 includes a retracting and discharging motor 4431 and a screw rod 4432; the retracting and discharging motor 4431 is installed on the first fixed block 42; the screw rod 4432 is vertically arranged below the retracting and discharging motor 4431 and is connected to the retracting and discharging motor 4431. The output shaft of the discharge machine 4431 is fixedly connected; the first movable block 441 is threadedly connected to the screw rod 4432, and the two ends of the first movable block 441 are rotatably connected to the support frame 41 through the connecting rod 445; the guide shaft 444 is arranged at the bottom of the second fixed block 43; the second movable block 442 is slidably sleeved on the outer periphery of the guide shaft 444; the two ends of the second movable block 442 are rotatably connected to the support frame 41 through the connecting rod 445.

[0059] Furthermore, if Figure 1 and Figure 6As shown, in order to ensure the stability of the first movable block 441 when it moves up and down, the retracting mechanism 44 also includes a guide seat 446; the guide seat 446 is fixedly arranged below the first fixed block 42 and extends along the vertical direction. An installation cavity is opened in the guide seat 446, and one side of the installation cavity has an opening. The screw rod 4432 is arranged in the installation cavity and is rotatably connected to the guide seat 446; the first movable block 441 is movably sleeved on the outer periphery of the guide seat 446.

[0060] Preferably, if Figure 1 As shown, the tension clamp X-ray detection device 100 also includes a docking assembly 5, and the aircraft 3 is connected to the frame 11 via the docking assembly 5; the docking assembly 5 is fixedly connected to the frame 11, and the aircraft 3 and the docking assembly 5 are detachably connected; so that the aircraft 3 can be removed from the frame 11 for maintenance or replacement.

[0061] Preferably, the tension clamp X-ray detection device 100 also includes a visual component, which includes a first camera, a second camera and a third camera; the first camera is used to guide the aircraft to land directly above the wire; the second camera is used to guide the tension clamp X-ray detection device 100 to the tension clamp position; the third camera is used to monitor the tension clamp corresponding to the middle position of the imaging plate 212.

[0062] Preferably, if Figure 7 As shown, in order to facilitate the user to control the tension clamp X-ray detection device 100 on the ground, the control component 200 includes a control box 201 and a ground control terminal 202; the control box 201 includes a box body, a battery and a processor 2011, the battery and the processor 2011 are both arranged in the box body, the battery and the processor 2011 are electrically connected, and the box body is fixedly connected to the frame 11.

[0063] The aircraft 3 includes a flight controller 31 and an aircraft motor 32 , and the flight controller 31 and the aircraft motor 32 are electrically connected.

[0064] The processor 2011 is wirelessly connected to the flight controller 31, the walking motor 12111, the clamping motor 1221, the electric push rod 221 and the rotating motor 223 respectively, so as to realize the respective control of the aircraft 3, the walking part 121, the clamping part 122 and the adjustment mechanism 22. In addition, the processor 2011 is also wirelessly connected to the visual component 6, so as to perform real-time control and adjustment according to the visual component monitoring structure.

[0065] The ground control terminal 202 is provided with a human-machine interaction interface 2021 and a communication base station 2022. The ground control terminal 202 is wirelessly connected to the processor 2011, the imaging board 212 and the X-ray machine 213 through the communication base station 2022; the human-machine interaction interface 2021 facilitates the user to perform control operations.

[0066] Preferably, the tension clamp X-ray detection device 100 also includes an image processing computer 7, which is wirelessly connected to the imaging board 212 and is used to receive the image formed by the imaging board 212 so that the staff can view it and then determine whether the imaging effect meets the requirements.

[0067] Taking a four-split conductor power transmission line as an example, the working process of the present invention is as follows: a pair of the support frames 41 are in an open state, the clamping piece 1222 rotates, the clamping mouth is in an open state, and the tension clamp X-ray detection device 100 is placed on the flat ground below the power transmission line; the flight controller 31 is controlled by the processor 2011 to start the aircraft motor 32, so that the aircraft 3 rises, and during the flight, the retractable discharge motor 4431 is started, so that the first moving block 441 moves, thereby driving the pair of support frames 41 to be retracted.

[0068] The aircraft 3 drives the frame 11 to fly above the four-split conductor where the tension clamp to be tested is located. Under the guidance of the first camera, the movement of the aircraft is controlled to adjust the position and direction of the frame 11 so that the tension clamp X-ray detection device 100 is located as a whole in the middle of the two upper conductors.

[0069] The aircraft 3 is controlled to fall, and under the joint guiding action of the guide part and the support frame 41, the walking wheel 12112 falls on the wire accordingly; the clamping motor 1221 is controlled to drive the clamping member 1222 to rotate to clamp the wire, and the aircraft 3 is controlled to close after clamping the wire.

[0070] Under the guidance of the second camera, the walking wheel 12112 is controlled to drive the frame 11 to move to the position of the tension clamp to be tested of the two upper conductors and stop at this position.

[0071] The electric push rod 221 is controlled to start, so that the imaging plate 212 and the X-ray machine 213 move synchronously, so that the vertical positions of the strain clamp to be tested and the detection position 210 correspond to each other; the rotary motor 223 is controlled to start, so that the first bevel gear 224 and the second bevel gear 225 rotate, thereby driving the imaging plate 212 and the X-ray machine 213 to rotate synchronously by a certain angle, and under the monitoring of the third camera, the strain clamp to be tested is located in the middle position of the detection position 210; the imaging plate 212 and the X-ray machine 213 are started to form an X-ray film; after completing the detection of one of the strain clamps, the rotary motor 223 is controlled to reverse so that the imaging plate 212 and the X-ray machine 213 rotate synchronously in another direction, and the imaging plate 212 and the X-ray machine 213 are started again to form an X-ray film; thereby completing the X-ray detection of the strain clamps on the two upper conductors.

[0072] The rotary motor 223 is controlled to rotate again to reset the imaging plate 212 and the X-ray machine 213 to their original positions; the electric push rod 221 is controlled to start, so that the imaging plate 212 and the X-ray machine 213 move synchronously, so that the vertical positions of the strain clamps to be tested and the detection position 210 on the two lower conductors correspond to each other; the rotary motor 223 is controlled to start, so that the first bevel gear 224 and the second bevel gear 225 rotate, thereby driving the imaging plate 212 and the X-ray machine 213 to rotate synchronously by a certain angle, so that the strain clamp to be tested is located in the middle position of the detection position 210; the imaging plate 212 and the X-ray machine 213 are started to form an X-ray film; after completing the detection of one of the strain clamps, the rotary motor 223 is controlled to reverse so that the imaging plate 212 and the X-ray machine 213 rotate synchronously in another direction, and the imaging plate 212 and the X-ray machine 213 are started again to form an X-ray film; thereby completing the X-ray detection of the strain clamps on the two lower conductors.

[0073] Control the rotating motor 223 to rotate again to reset the imaging plate 212 and the X-ray machine 213 to their original positions; control the clamping motor 1221 to drive the clamping member 1222 to rotate to open the clamping port, control the aircraft 3 to take off, and after the tension clamp X-ray detection device 100 as a whole flies away from the wire, control the discharge and receive motor 4431 to start in the air, so that the first moving block 441 moves, thereby driving a pair of the support frames 41 to open; control the aircraft to land on the ground to complete the entire detection workflow.

[0074] In summary, an embodiment of the present invention provides a strain clamp X-ray detection device 100 for a power transmission line, which includes a walking component 1, an imaging component 2, an aircraft 3 and a control component 200; the control component 200 controls the aircraft 3 to carry the strain clamp X-ray detection device 100 to two conductors above a double-split conductor or a quadruple-split conductor, and then controls the walking mechanism 12 to start through the control component 200, driving the frame 11 to move along the extension direction of the conductor, thereby adjusting the position of the frame 11, and then driving the imaging mechanism 21 to move to the vicinity of the strain clamp to be tested; and then controlling the adjusting mechanism 22 to adjust the height of the imaging mechanism 21 in the vertical direction and the angle of rotation around the first direction X, so that the strain clamp is located in the detection position 210 formed between the imaging plate 212 and the X-ray machine 213. The control component 200 controls the X-ray machine 213 to emit X-rays to irradiate the tension clamp, and the imaging plate 212 receives the X-rays and forms an X-ray film of the tension clamp, thereby completing the X-ray detection of one of the tension clamps; the control component 200 controls the adjustment mechanism 22 to adjust the height of the imaging mechanism 21 in the vertical direction and the angle of rotation around the first direction X again, so that the other tension clamp is located in the detection position 210 formed between the imaging plate 212 and the X-ray machine 213, and X-ray irradiation is performed to obtain an X-ray film; thus, the aircraft only needs to fly once and carry the tension clamp X-ray detection device 100 to the conductor to complete the X-ray detection of the tension clamp on the double-split or quadruple-split conductor line, which simplifies the detection operation process, saves the time required for the detection work, and greatly improves the detection work efficiency.

[0075] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. An X-ray detection device for a tension clamp of a power transmission line, having a first direction and a second direction perpendicular to each other, wherein the first direction is parallel to the extension direction of the conductor, characterized in that: include: A walking assembly, the walking assembly comprising a frame and a walking mechanism, the walking mechanism being mounted on the frame and used to drive the frame to move along the extension direction of the wire; An imaging assembly, the imaging assembly comprising an imaging mechanism and an adjustment mechanism; the imaging mechanism is located below the frame, the imaging mechanism comprises a detection frame, an imaging plate and an X-ray machine, the imaging plate is horizontally arranged and connected to the top of the detection frame, the X-ray machine is spaced below the imaging plate and connected to the detection frame, the imaging plate and the X-ray machine jointly define a detection position for detecting the tension clamp; the detection frame is connected to the frame through the adjustment mechanism, and the adjustment mechanism is used to adjust the rotation angle of the imaging mechanism around the first direction and the height in the vertical direction; An aircraft, the aircraft is arranged above the frame and connected to the frame; as well as A control component is wirelessly connected to the walking mechanism, the adjusting mechanism, the X-ray machine, the imaging plate and the aircraft respectively.

2. The X-ray detection device for tension clamps according to claim 1, characterized in that: The adjustment mechanism comprises two adjustment parts, and the two adjustment parts are symmetrically arranged on both sides of the detection frame in the first direction; The adjusting part includes an electric push rod, a lifting seat, a rotating motor, a first bevel gear and a second bevel gear; The electric push rod is connected to the frame and extends vertically downward; the output end of the electric push rod is connected to the lifting seat, and the lifting seat is rotatably connected to the detection frame; The rotating motor is fixed on the lifting seat and arranged vertically upward; the first bevel gear is connected to the output end of the rotating motor, the first bevel gear and the second bevel gear are meshed and connected, the axial direction of the second bevel gear is parallel to the first direction, and the second bevel gear is fixedly connected to the detection frame.

3. The X-ray detection device for tension clamps according to claim 2, characterized in that: The detection frame comprises a first connecting portion and two second connecting portions, and the second connecting portions are arranged in a one-to-one correspondence with the adjusting portions; The first connection part is arranged horizontally along the first direction, a fixing channel is provided in the first connection part, and the X-ray machine is fixed in the fixing channel; the two second connection parts are respectively arranged on both sides of the first connection part in the first direction; The second connecting portion includes a connecting shaft and a clamping member; The connecting shaft is extended along the first direction, and its two ends are respectively fixedly connected to the first connecting portion and the second bevel gear; The clamping member is vertically arranged, and the bottom of the clamping member is fixedly sleeved on the outer periphery of the connecting shaft and is located between the first connecting portion and the second bevel gear; a fixing position is provided on the top of the clamping member, and the fixing positions of the two clamping members jointly define a fixing opening, and the imaging plate is fixed in the fixing opening.

4. The X-ray detection device for tension clamps according to claim 3, characterized in that: The lifting seat comprises a lifting part and an extending part connected to each other; The lifting part is arranged horizontally and connected to the output end of the electric push rod, and the rotary motor is fixed on the lifting part; The extension portion is vertically arranged and rotatably sleeved on the outer periphery of the connecting shaft, and the extension portion is arranged between the first connecting portion and the clamping member.

5. The X-ray detection device for tension clamps according to claim 1, characterized in that: The walking mechanism comprises at least two groups of walking parts, which are arranged on the frame at intervals along the first direction, and each group of walking parts comprises two walking parts which are arranged parallel and at intervals in the second direction; The walking member comprises a walking motor and a walking wheel; the walking motor is mounted on the frame, and the output end of the walking motor is connected to the walking wheel.

6. The X-ray detection device for tension clamps according to claim 5, characterized in that: The walking mechanism further comprises the same number of clamping parts as the walking parts, and the clamping parts are arranged in a one-to-one correspondence with the walking parts; The clamping part includes a clamping motor and a clamping member, the clamping member is rotatably connected to the frame, and the clamping member and the running wheel jointly define a clamping opening for limiting the relative position of the running wheel and the conductor in the vertical direction; The clamping motor is mounted on the frame and is used to drive the clamping member to rotate relative to the running wheel to open or close the clamping opening.

7. The X-ray detection device for tension clamps according to claim 6, characterized in that: Also included is a guide assembly; The guide assembly comprises two guide parts respectively arranged on both sides of the frame in the second direction, the guide parts are arranged on the outer sides of the walking wheel, and the guide parts are used to guide the walking wheel to align with the wire.

8. The X-ray detection device for tension clamps according to claim 1, characterized in that: Also included is a landing gear assembly, the landing gear assembly including a pair of support frames, a first fixing block, a second fixing block and a retracting and extending mechanism; The first fixing block and the second fixing block are respectively fixed on both sides of the frame in the first direction, and the first fixing block and the second fixing block are both extended along the second direction; a pair of the support frames are arranged opposite to each other along the second direction, a pair of the support frames are respectively rotatably connected to both sides of the first fixing block, and a pair of the support frames are also respectively rotatably connected to both sides of the second fixing block; an angle is formed between the pair of the support frames; The retractable mechanism is used to adjust the angle of the included angle.

9. The X-ray detection device for tension clamps according to claim 8, characterized in that: The retractable mechanism comprises a first moving block, a second moving block, a retractable member, a guide shaft and a connecting rod; The retractable component includes a retractable motor and a screw rod; the retractable motor is mounted on the first fixed block; the screw rod is vertically arranged below the retractable motor and is fixedly connected to the output shaft of the retractable motor; the first moving block is screwed to the screw rod, and both ends of the first moving block are rotatably connected to the support frame through the connecting rod; The guide shaft is arranged at the bottom of the second fixed block; the second movable block is slidably sleeved on the outer periphery of the guide shaft; and both ends of the second movable block are rotatably connected to the support frame through the connecting rods.

10. The X-ray detection device for tension clamps according to claim 9, characterized in that: The retractable mechanism also includes a guide seat; The guide seat is fixedly arranged below the first fixed block and extends in the vertical direction. A mounting cavity is provided in the guide seat, one side of the mounting cavity has an opening, and the screw rod is arranged in the mounting cavity and is rotatably connected to the guide seat. The first moving block is movably sleeved on the outer periphery of the guide seat.

Images