Four-split strain clamp X-ray detection device and detection method based on unmanned aerial vehicle

Abstract

The invention relates to the technical field of wire detection, and particularly discloses a four-split strain clamp X-ray detection device and method based on an unmanned aerial vehicle, and the device comprises a rack, a walking mechanism, a lifting mechanism, a swing mechanism and a detection mechanism. The device can be used in cooperation with unmanned aerial vehicle hanging to achieve loading and unloading, and through unmanned aerial vehicle hanging, two strain clamps at the upper end of a four-split strain clamp are hung on the walking mechanism of the device; the height of the detection mechanism is controlled through the lifting mechanism; the angle of the detection mechanism is adjusted through the swing mechanism, so that the imaging plate is adjusted to one side of any one strain clamp in the four strain clamps, and the strain clamps in the detection area are detected until detection of the four strain clamps is completed; then the walking mechanism walks for a certain distance along the two strain clamps at the upper end, and then different positions of the four strain clamps are detected; through cooperation of the lifting mechanism and the swing mechanism, switching detection of the four strain clamps is realized, frequent loading and unloading are not needed, and the detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of wire detection, and in particular to an unmanned aerial vehicle-based four-split tension clamp X-ray detection device and a detection method. Background Art

[0002] The four-split tension clamp is a key hardware used to fix and connect four-split conductors in power transmission lines. It is mainly used on tension towers of high-voltage or ultra-high-voltage (such as 220kV, 500kV and above) transmission lines. The four-split tension clamp is usually made of high-strength aluminum alloy or cast steel, which is both lightweight and corrosion-resistant. It contains four independent clamp units, which fix four sub-conductors respectively; each unit consists of a crimping sleeve (crimping conductor), a U-bolt, and an anchor end (connecting an insulator string or a tower); the four-split tension clamp is generally equipped with a grading ring, which can improve the electric field distribution and reduce the corona effect.

[0003] Since high-voltage transmission lines often span across mountains and valleys, have large spans and heavy weight, the main forces pulling the large-span transmission lines are concentrated on the four-split tension clamps. Therefore, the structural strength of the four-split tension clamps is crucial to the transmission reliability of high-voltage transmission lines.

[0004] At present, the defect detection objects of the four-split tension clamp are basically in service, and it is usually necessary to use a drone to hang the four-split tension clamp on the entire device before performing defect detection. For example, a tension clamp drone radiographic detection device disclosed in Chinese patent publication number CN115656229A can realize high-altitude detection after the drone is hung, but its radiographic machine and imaging board are set on the same side of the frame, and the imaging board and the radiation source are located on one side of the line. Each time it goes online, it can only detect the wire on the imaging board side. It is necessary to go online repeatedly to complete the detection of four tension clamps, and the detection efficiency is low.

[0005] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a four-split tension clamp X-ray detection device and detection method based on an unmanned aerial vehicle to solve the above-mentioned problems.

[0007] The four-split tension clamp X-ray detection device based on drone includes:

[0008] The frame has a hanging rod assembly at the upper end for hanging the drone;

[0009] A traveling mechanism, which is arranged on the frame and travels on two tension clamps at the upper end;

[0010] A lifting mechanism, movable on the frame in an up-and-down direction;

[0011] A swing mechanism, driven to rise and fall by the lifting mechanism and capable of swinging around the axial direction of the tension clamp;

[0012] The detection mechanism includes a support frame connected to the output end of the swing mechanism, a ray source arranged at one end of the support frame, and an imaging plate arranged at the other end of the support frame. A detection area is formed between the ray source and the imaging plate. The imaging plate can be adjusted to one side of any one of the four tension clamps to allow the tension clamp to enter the detection area.

[0013] Specifically, the walking mechanism includes a front walking assembly and a rear walking assembly;

[0014] The front travel assembly includes two front brackets and two front travel wheels, the two front travel wheels are rotatably arranged on the two front brackets respectively, and the distance between the two front brackets in the left and right directions is adjustable;

[0015] The rear traveling assembly comprises two rear supports and two rear traveling wheels. The two rear traveling wheels are rotatably arranged on the two rear supports respectively, and the distance between the two rear supports in the left-right direction is adjustable.

[0016] Specifically, the walking mechanism further includes a first left-right linkage component and a second left-right linkage component;

[0017] The two front brackets are configured to move in opposite directions or in opposite directions synchronously via the first left-right linkage assembly;

[0018] The two rear brackets can move in opposite directions or in opposite directions synchronously through the second left-right linkage assembly.

[0019] Specifically, the hanging rod assembly includes a first mounting seat fixed to the upper end of the frame, a second mounting seat, and a hanging rod connected between the first mounting seat and the second mounting seat.

[0020] Specifically, the first left-right linkage assembly includes a first front rack fixed to one of the front brackets, a second front rack fixed to the other front bracket, and a first gear rotatably arranged on the first mounting seat, and the first front rack and the second front rack are both meshed and connected with the first gear;

[0021] The hanging rod assembly also includes a first linkage locking structure, which includes a first movable hole provided on the first mounting seat and allowing the hanging rod to move in the up and down direction, and a first latch connected to one end of the hanging rod, wherein the lower end of the first latch can be inserted into the tooth groove of the first gear to clamp the first gear;

[0022] The second left-right linkage assembly includes a first rear rack fixed to one of the rear brackets, a second rear rack fixed to the other rear bracket, and a second gear rotatably arranged on the second mounting seat, and the first rear rack and the second rear rack are both meshed and connected with the second gear;

[0023] The hanging rod assembly also includes a second linkage locking structure, which includes a second movable hole provided on the second mounting seat and allowing the hanging rod to move in the up and down directions, and a second latch connected to the other end of the hanging rod, and the lower end of the second latch can be inserted into the tooth groove of the second gear to clamp the second gear.

[0024] Specifically, the four-split tension clamp X-ray detection device further includes a first guide upper wire mechanism and a second guide upper wire mechanism;

[0025] The first guide wire mechanism comprises a first guide plate and a second guide plate distributed in an eight-shaped manner on the front bracket, a first V-shaped connecting rod hinged between the second guide plate of the first front bracket and the first guide plate of the second front bracket, and the front walking wheel is located at the top between the first guide plate and the second guide plate;

[0026] The second guide line mechanism includes a third guide plate and a fourth guide plate distributed in an eight-shaped shape on the rear bracket, a second V-shaped connecting rod hinged between the fourth guide plate of the first rear bracket and the third guide plate of the second rear bracket, and the rear walking wheel is located at the top between the third guide plate and the fourth guide plate.

[0027] Specifically, the four-split tension clamp X-ray detection device also includes a clamping mechanism, which includes a guide rail fixed to the front bracket, two sliders sliding along the guide rail, a forward and reverse screw drive device for driving the two sliders to move synchronously in opposite directions or synchronously in the left and right directions, and a clamping piece connected to the lower end of the slider, the lower ends of the two sliders are in an eight-shaped shape to clamp the upper part of the tension clamp, and the two clamping pieces are in an inverted eight-shaped shape to clamp the lower part of the tension clamp.

[0028] Specifically, the frame includes guide rods arranged in the up-down direction;

[0029] The lifting mechanism comprises a lifting seat slidably matched with the guide rod, upper and lower running wheels rotatably arranged on the lifting seat and capable of running along the guide rod, and a first driving device fixed to the lifting seat and used for driving the upper and lower running wheels.

[0030] Specifically, the four-split tension clamp X-ray detection device also includes a flipping mechanism, which includes a sleeve connected to the lifting seat and sleeved on the guide rod, a rotating frame rotatable around the sleeve, and a second driving device fixed to the sleeve and used to drive the rotating frame to rotate.

[0031] Specifically, the swing mechanism includes a rotating shaft rotatably arranged on the rotating frame, a third driving device fixed to the supporting frame and used for driving the rotating shaft to rotate, and the other end of the rotating shaft is fixedly connected to the supporting frame.

[0032] A method for detecting a four-split tension clamp comprises the following steps:

[0033] S1 hangs the boom of the drone on the hanging rod assembly, and through the drone hanging, enables the walking mechanism to walk on the two tension wire clamps at the upper end;

[0034] S2 controls the height of the detection mechanism through the lifting mechanism;

[0035] S3 adjusts the angle of the detection mechanism through the swing mechanism so that the imaging plate is adjusted to one side of any one of the four tension clamps;

[0036] S4: turning on the radiation source, forming a detection area between the radiation source and the imaging plate, and detecting the tension clamp in the detection area.

[0037] Beneficial effects of the present invention:

[0038] The four-split tension clamp X-ray detection device and detection method of the present application can be cooperated with drone suspension to achieve online and offline operation. Through drone suspension, the walking mechanism of the device hangs the two tension clamps on the upper end of the four-split tension clamps; the height of the detection mechanism is controlled by the lifting mechanism; and the angle of the detection mechanism is adjusted by the swing mechanism, so that the imaging plate is adjusted to the side of any one of the four tension clamps, and the tension clamps in the detection area are detected until the detection of the four tension clamps is completed; then the walking mechanism walks a certain distance along the two tension clamps at the upper end, and then detects the four tension clamps at different positions; through the cooperation of the lifting mechanism and the swing mechanism, the switching detection of the four tension clamps is realized, without the need for frequent online and offline operation, thereby improving the detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The three-dimensional X-ray detection device of the four-split tension clamp based on the drone of this application Figure 1 ;

[0040] Figure 2 The three-dimensional X-ray detection device of the four-split tension clamp based on the drone of this application Figure 2 ;

[0041] Figure 3 for Figure 2 A magnified view of part A;

[0042] Figure 4 for Figure 2 A magnified view of part B;

[0043] Figure 5 for Figure 2 Enlarged view of part C;

[0044] Figure 6 A three-dimensional diagram of the frame, the hanging rod assembly, the walking mechanism, the first thread guide mechanism and the second thread guide mechanism of the present application;

[0045] Figure 7 for Figure 6 A magnified view of part D in the middle;

[0046] Figure 8 A three-dimensional diagram of the lifting mechanism, swing mechanism, detection mechanism, and flip mechanism of the present application;

[0047] Fig. 9 The structure of the four-split tension clamp X-ray detection device for the present application is a schematic diagram of the tension clamp detection process Figure 1 ;

[0048] Fig.10 The structure of the four-split tension clamp X-ray detection device for the present application is a schematic diagram of the tension clamp detection process Figure 2 ;

[0049] Fig.11 The structure of the four-split tension clamp X-ray detection device for the present application is a schematic diagram of the tension clamp detection process Figure 3 .

[0050] The accompanying drawings are marked as follows: frame 10, guide rod 11, walking mechanism 20, front walking assembly 21, front bracket 211, front walking wheel 212, rear walking assembly 22, rear bracket 221, rear walking wheel 222, first left and right linkage assembly 23, first front rack 231, second front rack 232, first gear 233, second left and right linkage assembly 24, first rear rack 241, second rear rack 242, second gear 243, lifting mechanism 30, lifting seat 31, up and down walking wheels 32, first driving device 33, swinging mechanism 40, rotating shaft 41, third driving device 42, detection mechanism 50, carrier frame 51, ray source 52, imaging plate 53, hanging rod assembly 60, first A mounting seat 61, a second mounting seat 62, a hanging rod 63, a first interlocking locking structure 64, a first movable hole 641, a first latch 642, a second interlocking locking structure 65, a second movable hole 651, a second latch 652, a tension spring 66, a first thread-guiding mechanism 71, a first guide plate 711, a second guide plate 712, a first V-shaped connecting rod 713, a second thread-guiding mechanism 72, a third guide plate 721, a fourth guide plate 722, a second V-shaped connecting rod 723, a clamping mechanism 80, a guide rail 81, a slider 82, a forward and reverse screw driving device 83, a clamping piece 84, a flipping mechanism 90, a sleeve 91, a rotating frame 92, a second driving device 93, and a tension clamp 100. DETAILED DESCRIPTION

[0051] The present invention provides a four-split tension clamp X-ray detection device and detection method based on an unmanned aerial vehicle. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0052] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] Please refer to Figures 1 to 11 The four-split tension clamp X-ray detection device based on drone of this embodiment includes:

[0054] The frame 10 has a hanging rod assembly 60 at the upper end for hanging the drone;

[0055] A traveling mechanism 20 is provided on the frame 10 and travels on two tension clamps 100 at the upper end;

[0056] The lifting mechanism 30 can move on the frame 10 in the up and down directions;

[0057] The swing mechanism 40 is driven to rise and fall by the lifting mechanism 30 and can swing around the axial direction of the tension clamp 100;

[0058] The detection mechanism 50 includes a carrier frame 51 connected to the output end of the swing mechanism 40, a ray source 52 arranged at one end of the carrier frame 51, and an imaging plate 53 arranged at the other end of the carrier frame 51. A detection area is formed between the ray source 52 and the imaging plate 53. The imaging plate 53 can be adjusted to the side of any one of the four tension clamps 100 to allow the tension clamp 100 to enter the detection area.

[0059] The four-split tension clamp X-ray detection device of the present embodiment can be used in conjunction with drone suspension to achieve online and offline operation. Before going online, the drone's boom is hung on the hanging rod assembly 60, and the device's walking mechanism 20 is hung on the two tension clamps 100 at the upper ends of the four-split tension clamps through drone suspension; then the height of the detection mechanism 50 is controlled by the lifting mechanism 30; then the angle of the detection mechanism 50 is adjusted by the swing mechanism 40, so that the imaging plate 53 is adjusted to the side of any one of the four tension clamps 100; the ray source 52 is turned on, and a detection area is formed between the ray source 52 and the imaging plate 53, and the tension clamps 100 in the detection area are detected until the detection of the four tension clamps 100 is completed; then the walking mechanism 20 walks a certain distance along the two tension clamps 100 at the upper end, and then detects the four tension clamps 100 at different positions; the present application realizes the switching detection of the four tension clamps 100 through the cooperation of the lifting mechanism 30 and the swing mechanism 40, without the need for frequent online and offline operation, thereby improving the detection efficiency.

[0060] Please refer to Figure 1 The walking mechanism 20 includes a front walking component 21 and a rear walking component 22. The arrangement of the front and rear walking components improves the stability of the detection device moving along the tension clamp 100.

[0061] For further information, please refer to Figure 6 The front travel assembly 21 includes two front brackets 211 and two front travel wheels 212. The two front travel wheels 212 are rotatably arranged on the two front brackets 211 respectively. The spacing between the two front brackets 211 along the left and right directions is adjustable to adapt to the travel of the tension clamp 100 with different line spacings.

[0062] For further information, please refer to Figure 6 The rear traveling assembly 22 includes two rear supports 221 and two rear traveling wheels 222. The two rear traveling wheels 222 are rotatably disposed on the two rear supports 221 respectively. The spacing between the two rear supports 221 along the left-right direction is adjustable to adapt to the traveling of the tension clamp 100 with different line spacings.

[0063] As a preferred embodiment, Figure 5 and Figure 7 As shown, the walking mechanism 20 of this embodiment also includes a first left-right linkage component 23 and a second left-right linkage component 24; the two front brackets 211 are moved synchronously in the opposite direction or in the opposite direction through the first left-right linkage component 23. Through the design of the first left-right linkage component 23, the two front brackets 211 can be automatically centered when adjusting their positions along the left-right direction, so that the centers of the two remain unchanged; the two rear brackets 221 are moved synchronously in the opposite direction or in the opposite direction through the second left-right linkage component 24; through the design of the second left-right linkage component 24, the two rear brackets 221 can be automatically centered when adjusting their positions along the left-right direction, so that the centers of the two remain unchanged.

[0064] Please refer to Figure 1 The hanging rod assembly 60 of this embodiment includes a first mounting seat 61 fixed to the upper end of the frame 10, a second mounting seat 62, and a hanging rod 63 connected between the first mounting seat 61 and the second mounting seat 62. The two ends of the hanging rod 63 are rotatably connected to the first mounting seat 61 and the second mounting seat 62 respectively, so as to facilitate rotation and storage.

[0065] For further information, please refer to Figure 7 The first left-right linkage assembly 23 of this embodiment includes a first front rack 231 fixed to one of the front brackets 211, a second front rack 232 fixed to the other front bracket 211, and a first gear 233 rotatably arranged on the first mounting seat 61. The first front rack 231 and the second front rack 232 are both meshed and connected with the first gear 233. The first front rack 231, the second front rack 232 and the first gear 233 cooperate to achieve synchronous opposite or reverse movement of the two front brackets 211, and the structure is ingenious.

[0066] In addition, if Figure 7As shown, the hanging rod assembly 60 of the present embodiment further includes a first linkage locking structure 64, which includes a first movable hole 641 provided on the first mounting seat 61 and for the hanging rod 63 to move in the up-down direction, and a first latch 642 connected to one end of the hanging rod 63, and the lower end of the first latch 642 can be inserted into the tooth groove of the first gear 233 to clamp the first gear 233; during the on-line and off-line process of the detection device, due to the pulling of the drone, the hanging rod 63 can move up along the first movable hole 641, thereby driving the first latch 642 to move up and exit the tooth groove of the first gear 233, thereby realizing the linkage unlocking of the first linkage locking structure 64, Since the first interlocking locking structure 64 is in an unlocked state, the two front brackets 211 of the front walking component 21 can move left and right. Therefore, when the drone hangs the entire detection device, the two front brackets 211 can adjust the spacing according to the line spacing of the two tension clamps 100 at the upper end, thereby adaptively hanging the line; after the hanging line is completed, the drone's boom is unhooked and separated from the hanging rod 63, and under the action of gravity, the lower end of the first pin 642 is inserted into the tooth groove of the first gear 233 to clamp the first gear 233 to achieve locking. The two front brackets 211 of the front walking component 21 cannot move left and right, thereby improving walking stability and having an ingenious structure.

[0067] Furthermore, in order to ensure that the first latch 642 can lock the tooth groove of the first gear 233, a tension spring 66 for pulling the hanging rod 63 downward can be provided on one side of the first mounting seat 61. By pulling the tension spring 66, the end of the hanging rod 63 can be automatically reset downward.

[0068] For further information, please refer to Figure 5 The second left-right linkage assembly 24 of this embodiment includes a first rear rack 241 fixed to one of the rear brackets 221, a second rear rack 242 fixed to the other rear bracket 221, and a second gear 243 rotatably arranged on the second mounting seat 62. The first rear rack 241 and the second rear rack 242 are both meshed and connected with the second gear 243. The first rear rack 241, the second rear rack 242 and the second gear 243 cooperate to achieve synchronous opposite or reverse movement of the two rear brackets 221, and the structure is ingenious.

[0069] In addition, if Figure 5 As shown, the hanging rod assembly 60 of the present embodiment also includes a second linkage locking structure 65, which includes a second movable hole 651 provided on the second mounting seat 62 and for the hanging rod 63 to move in the up and down directions, and a second latch 652 connected to the other end of the hanging rod 63. The lower end of the second latch 652 can be inserted into the tooth groove of the second gear 243 to clamp the second gear 243. The working principle of the second linkage locking structure 65 is similar to the working principle of the above-mentioned first linkage locking structure 64, which will not be repeated below.

[0070] The four-split tension clamp X-ray detection device also includes a first guide online mechanism 71 and a second guide online mechanism 72; the first guide online mechanism 71 includes a first guide plate 711, a second guide plate 712, and a first V-shaped connecting rod 713 hinged between the second guide plate 712 of the first front bracket 211 and the first guide plate 711 of the second front bracket 211, which are distributed in an eight-shaped manner. The front walking wheel 212 is located at the top between the first guide plate 711 and the second guide plate 712; through the guiding effect of the eight-shaped first guide plate 711 and the second guide plate 712, the front walking wheel 212 can quickly hang on the tension clamp 100.

[0071] The second guiding thread-up mechanism 72 includes a third guide plate 721 and a fourth guide plate 722 distributed in an eight-shaped pattern on the rear bracket 221, a second V-shaped connecting rod 723 hinged between the fourth guide plate 722 of the first rear bracket 221 and the third guide plate 721 of the second rear bracket 221, and the rear walking wheel 222 is located at the top between the third guide plate 721 and the fourth guide plate 722; through the guiding effect of the eight-shaped third guide plate 721 and the fourth guide plate 722, the rear walking wheel 222 can quickly hang on the tension clamp 100.

[0072] The four-split tension clamp X-ray detection device also includes a clamping mechanism 80, which includes a guide rail 81 fixed to the front bracket 211, two sliders 82 sliding along the guide rail 81, a forward and reverse screw drive device 83 for driving the two sliders 82 to move synchronously in opposite directions or synchronously in reverse directions along the left and right directions, and a clamping piece 84 connected to the lower end of the slider 82. The lower ends of the two sliders 82 are in an eight-shaped shape to clamp the upper part of the tension clamp 100, and the two clamping pieces 84 are in an inverted eight-shaped shape to clamp the lower part of the tension clamp 100 to prevent the device from falling.

[0073] Please refer to Figure 2 and Figure 3 The frame 10 includes a guide rod 11 arranged along the up and down direction; the lifting mechanism 30 includes a lifting seat 31 slidably matched with the guide rod 11, an up and down walking wheel 32 rotatably arranged on the lifting seat 31 and capable of walking along the guide rod 11, and a first driving device 33 fixed to the lifting seat 31 and used to drive the up and down walking wheels 32. The first driving device 33 can adopt a combination structure of a right-angle motor, a driving wheel, a driven wheel, and a transmission belt. The right-angle motor drives the driving wheel to rotate, and the transmission belt drives the driven wheel to walk along the guide rod 11. The structure is compact and occupies little space.

[0074] Due to the obstruction of the equalizing ring at the end of the tension clamp 100, the entire machine cannot be moved to the end position of the tension clamp 100 for defect detection, resulting in the ends of the four tension clamps 100 cannot be detected. In order to solve this problem, Figure 1 and Figure 8As shown, the four-split tension clamp X-ray detection device of this embodiment also includes a flip mechanism 90, which includes a sleeve 91 connected to the lifting seat 31 and sleeved on the guide rod 11, a rotating frame 92 that can rotate around the sleeve 91, and a second driving device 93 fixed to the sleeve 91 and used to drive the rotating frame 92 to rotate; when it is necessary to detect the end of the tension clamp 100, as shown in FIG. Fig.11 As shown, the second driving device 93 can be used to drive the rotating frame 92 to rotate 180°, so that the detection mechanism 50 is adjusted to one side of the end of the tension clamp 100 to detect the ends of the four tension clamps 100.

[0075] For further information, please refer to Figure 3 The swing mechanism 40 includes a rotating shaft 41 rotatably arranged on the rotating frame 92, and a third driving device 42 fixed to the supporting frame 51 and used for driving the rotating shaft 41 to rotate. The other end of the rotating shaft 41 is fixedly connected to the supporting frame 51. The third driving device 42 can adopt a combined structure of a right-angle motor, a driving wheel, a driven wheel, and a transmission belt. The driving wheel is driven to rotate by the right-angle motor, and the driven wheel and the rotating shaft 41 are driven by the transmission belt to rotate, thereby driving the supporting frame 51 to swing. The structure is compact and occupies little space.

[0076] This embodiment also discloses a method for detecting a four-split tension clamp, comprising the following steps:

[0077] S1 hangs the boom of the drone on the hanger assembly 60, and through the drone hanging, the walking mechanism 20 can walk on the two tension clamps 100 at the upper end;

[0078] S2 controls the height of the detection mechanism 50 through the lifting mechanism 30;

[0079] S3: adjusting the angle of the detection mechanism 50 through the swing mechanism 40 so that the imaging plate 53 is adjusted to the side of any one of the four tension clamps 100;

[0080] S4: Turn on the ray source 52, a detection area is formed between the ray source 52 and the imaging plate 53, and the tension clamp 100 in the detection area is detected;

[0081] S6 The walking mechanism 20 walks a certain distance along the two tension clamps 100 at the upper end, and then detects the four tension clamps 100 at different positions.

[0082] Furthermore, in step S4, if it is necessary to detect the end of the tension clamp 100, the second driving device 93 can be used to drive the rotating frame 92 to rotate 180°, and the detection mechanism 50 can be adjusted to one side of the end of the tension clamp 100, and the ends of the four tension clamps 100 can be detected respectively.

[0083] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A four-split tension clamp X-ray detection device based on drone, characterized in that: include: A frame (10) is provided with a hanging rod assembly (60) at the upper end for hanging the drone; A traveling mechanism (20) is provided on the frame (10) and travels on two tension clamps (100) at the upper end; A lifting mechanism (30) movable on the frame (10) in an up-down direction; A swing mechanism (40) driven to rise and fall by the lifting mechanism (30) and capable of swinging around the axial direction of the tension clamp (100); The detection mechanism (50) comprises a support frame (51) connected to the output end of the swing mechanism (40), a ray source (52) arranged at one end of the support frame (51), and an imaging plate (53) arranged at the other end of the support frame (51); a detection area is formed between the ray source (52) and the imaging plate (53); the imaging plate (53) can be adjusted to the side of any one of the four tension clamps (100) so that the tension clamp (100) enters the detection area.

2. The UAV-based four-split tension clamp X-ray detection device according to claim 1 is characterized in that: The walking mechanism (20) comprises a front walking assembly (21) and a rear walking assembly (22); The front travel assembly (21) comprises two front brackets (211) and two front travel wheels (212), the two front travel wheels (212) are rotatably disposed on the two front brackets (211) respectively, and the spacing between the two front brackets (211) in the left-right direction is adjustable; The rear traveling assembly (22) comprises two rear supports (221) and two rear traveling wheels (222); the two rear traveling wheels (222) are rotatably disposed on the two rear supports (221) respectively; and the spacing between the two rear supports (221) in the left-right direction is adjustable.

3. The UAV-based four-split tension clamp X-ray detection device according to claim 2 is characterized in that: The walking mechanism (20) further comprises a first left-right linkage component (23) and a second left-right linkage component (24); The two front brackets (211) are configured to move synchronously in opposite directions or in opposite directions via the first left-right linkage assembly (23); The two rear supports (221) are able to move synchronously in opposite directions or in opposite directions via the second left-right linkage assembly (24).

4. The UAV-based four-split tension clamp X-ray detection device according to claim 3 is characterized in that: The hanging rod assembly (60) comprises a first mounting seat (61) fixed to the upper end of the frame (10), a second mounting seat (62), and a hanging rod (63) connected between the first mounting seat (61) and the second mounting seat (62).

5. The UAV-based four-split tension clamp X-ray detection device according to claim 4 is characterized in that: The first left-right linkage assembly (23) comprises a first front rack (231) fixed to one of the front brackets (211), a second front rack (232) fixed to the other front bracket (211), and a first gear (233) rotatably arranged on the first mounting seat (61), and the first front rack (231) and the second front rack (232) are both meshedly connected to the first gear (233); The hanging rod assembly (60) further comprises a first linkage locking structure (64), the first linkage locking structure (64) comprising a first movable hole (641) provided on the first mounting seat (61) and allowing the hanging rod (63) to move in the up and down directions, and a first latch (642) connected to one end of the hanging rod (63), wherein the lower end of the first latch (642) can be inserted into the tooth groove of the first gear (233) to clamp the first gear (233); The second left-right linkage assembly (24) comprises a first rear rack (241) fixed to one of the rear brackets (221), a second rear rack (242) fixed to the other rear bracket (221), and a second gear (243) rotatably disposed on the second mounting seat (62), and the first rear rack (241) and the second rear rack (242) are both meshedly connected with the second gear (243); The hanging rod assembly (60) also includes a second interlocking locking structure (65), which includes a second movable hole (651) provided on the second mounting seat (62) and allowing the hanging rod (63) to move in the up and down directions, and a second latch (652) connected to the other end of the hanging rod (63), and the lower end of the second latch (652) can be inserted into the tooth groove of the second gear (243) to clamp the second gear (243).

6. The UAV-based four-split tension clamp X-ray detection device according to claim 2 is characterized in that: The four-split tension clamp X-ray detection device further comprises a first upper line guiding mechanism (71) and a second upper line guiding mechanism (72); The first thread-guiding mechanism (71) comprises a first guide plate (711), a second guide plate (712) and a first V-shaped connecting rod (713) which are distributed in an eight-shaped manner on the front bracket (211) and are hinged between the second guide plate (712) of the first front bracket (211) and the first guide plate (711) of the second front bracket (211); the front walking wheel (212) is located at the top between the first guide plate (711) and the second guide plate (712); The second upper line guiding mechanism (72) comprises a third guide plate (721) and a fourth guide plate (722) which are distributed in an eight-shaped manner on the rear bracket (221), and a second V-shaped connecting rod (723) which is hinged between the fourth guide plate (722) of the first rear bracket (221) and the third guide plate (721) of the second rear bracket (221); the rear walking wheel (222) is located at the top between the third guide plate (721) and the fourth guide plate (722).

7. The UAV-based four-split tension clamp X-ray detection device according to claim 2 is characterized in that: The four-split tension clamp X-ray detection device also includes a clamping mechanism (80), which includes a guide rail (81) fixed to the front bracket (211), two sliders (82) sliding along the guide rail (81), a forward and reverse screw drive device (83) for driving the two sliders (82) to move synchronously in opposite directions or synchronously in opposite directions along the left and right directions, and a clamping member (84) connected to the lower end of the slider (82), the lower ends of the two sliders (82) clamp the upper part of the tension clamp (100) in an eight-shaped shape, and the two clamping members (84) clamp the lower part of the tension clamp (100) in an inverted eight-shaped shape.

8. The UAV-based four-split tension clamp X-ray detection device according to claim 1 is characterized in that: The frame (10) comprises a guide rod (11) arranged in an up-down direction; The lifting mechanism (30) comprises a lifting seat (31) slidably matched with the guide rod (11), upper and lower running wheels (32) rotatably arranged on the lifting seat (31) and capable of running along the guide rod (11), and a first driving device (33) fixed to the lifting seat (31) and used for driving the upper and lower running wheels (32).

9. The UAV-based four-split tension clamp X-ray detection device according to claim 8 is characterized in that: The four-split tension clamp X-ray detection device also includes a flip mechanism (90), the flip mechanism (90) including a shaft sleeve (91) connected to the lifting seat (31) and sleeved on the guide rod (11), a rotating frame (92) rotatable around the shaft sleeve (91), and a second driving device (93) fixed to the shaft sleeve (91) and used for driving the rotating frame (92) to rotate; The swing mechanism (40) comprises a rotating shaft (41) rotatably arranged on the rotating frame (92), and a third driving device (42) fixed to the supporting frame (51) and used for driving the rotating shaft (41) to rotate; the other end of the rotating shaft (41) is fixedly connected to the supporting frame (51).

10. A method for detecting a four-split tension clamp, characterized in that: The four-split tension clamp X-ray detection device based on a drone as described in any one of claims 1 to 9 is used, comprising the following steps: S1: Hanging the suspension rod of the drone on the suspension rod assembly (60), and hanging the drone so that the walking mechanism (20) can walk on the two tension wire clamps (100) at the upper end; S2 controls the height of the detection mechanism (50) through the lifting mechanism (30); S3: adjusting the angle of the detection mechanism (50) through the swing mechanism (40) so that the imaging plate (53) is adjusted to the side of any one of the four tension clamps (100); S4: turning on the radiation source (52), forming a detection area between the radiation source (52) and the imaging plate (53), and detecting the tension clamp (100) in the detection area.

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