Strain clamp flaw detection device and method

Abstract

The invention relates to the technical field of automatic robots, in particular to a strain clamp flaw detection device and method.The strain clamp flaw detection device comprises a robot body, a driving device is installed at the top of the robot body through an electric push rod, a ray instrument is arranged in the robot body, and a channel communicated with the outside is formed in the robot body; the transmitting end of the ray instrument faces the channel, a first refractor is arranged at the end, close to the ray instrument, in the channel, gears are arranged on the two sides of the robot body, a first sliding rail is arranged on the portion, below the gears, of the robot body, and a toothed plate is arranged on the first sliding rail; and a first sliding groove matched with the first sliding rail is formed in one side of each toothed plate, the ends, away from the robot body, of the two toothed plates are connected through a connecting rod, a limiting device is arranged on the connecting rod, and a telescopic periscope pipeline and a telescopic imaging device are arranged at the positions, located above the gears, of the two sides of the robot body correspondingly.

Description

Technical Field

[0001] The present invention relates to the technical field of automated robots, and in particular to a tension clamp flaw detection device and method. Background Art

[0002] High-voltage transmission lines are critical infrastructure for power transmission. As crucial components connecting high-voltage towers to cables, tension clamps play a crucial role in securing the cables, withstanding mechanical tension, and ensuring reliable electrical connections. The performance and condition of tension clamps are directly related to the safe operation of high-voltage transmission lines. Therefore, regular flaw detection and inspection of tension clamps to identify potential defects such as cracks, corrosion, and wear is crucial for ensuring the safe and stable operation of power grids.

[0003] Traditional methods for inspecting tension clamps rely primarily on manual labor, with workers climbing high-voltage towers and using handheld flaw detection equipment to inspect the clamps. However, this method presents several challenges: 1. High-altitude operations are risky: Manually climbing high-voltage towers for flaw detection is not only labor-intensive but also poses high safety risks and is prone to falling accidents.

[0004] 2. Low detection efficiency: Manual flaw detection requires checking the tension clamps one by one, which is time-consuming and labor-intensive, and cannot meet the inspection needs of large-scale transmission lines.

[0005] 3. Limited detection accuracy: Manual operations have poor stability and consistency and are easily affected by human factors, resulting in insufficient accuracy and reliability of test results.

[0006] With technological advancements, some automated flaw detection devices are beginning to be used for testing tension clamps. For example, a robot suspended from a cable can be used to detect flaws in tension clamps using a combination of a radiographic source and an imaging plate. However, existing flaw detection devices still face several challenges in practical application: 1. Interference from pre-twisted wire: To improve cable strength and service life, pre-twisted wire is wrapped around some cables between high-voltage towers. At the cable's connection to the tension clamp, the pre-twisted wire separates into two strands, located on either side of the clamp and connected to the high-voltage tower via connectors. Due to structural limitations, existing flaw detection robots are unable to effectively cross this scattered area of pre-twisted wire, making it difficult to reach the clamp for flaw detection.

[0007] 2. Robot stability issues: Some improved flaw detection devices feature rotatable arms on either side of the robot body to extend the X-ray source and imaging plate toward the tension clamps. However, due to the heavy weight of the X-ray source, the arms can cause the robot body to tilt on the cable as it moves toward the clamps. This increases the risk of the robot falling from the cable and can also affect the accuracy of the flaw detection results. Summary of the Invention

[0008] The purpose of the embodiments of the present invention is to provide a tension clamp flaw detection device and method to solve the problems existing in the above-mentioned background technology.

[0009] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: A tension wire clamp flaw detection device includes a robot body, a driving device is installed on the top of the robot body through an electric push rod, a ray instrument is provided inside the robot body, a channel is provided inside the robot body communicating with the outside, the emitting end of the ray instrument is arranged toward the channel, a first refractor is provided at one end of the channel close to the ray instrument, gears are provided on both sides of the robot body, a first slide rail is provided on the robot body below the gear, a tooth plate is provided on the first slide rail, a first slide groove adapted to the first slide rail is provided on one side of the tooth plate, the ends of the two tooth plates away from the robot body are connected by a connecting rod, a limit device is provided on the connecting rod, a telescopic periscope pipe and a telescopic imaging device are respectively provided on both sides of the robot body above the gear, the first refractor can refract X-rays emitted by the emitting end of the ray instrument toward the telescopic periscope pipe, the telescopic periscope pipe can refract X-rays toward the telescopic imaging device, and the telescopic periscope pipe and the telescopic imaging device can be driven by the corresponding gears on both sides of the robot body respectively.

[0010] Preferably, the driving device includes a mounting frame, the bottom side of the middle part of the mounting frame is connected to the electric push rod, the sides of both ends of the mounting frame are respectively provided with a driving wheel and a driven wheel, and one side of the mounting frame is provided with a motor for driving the driving wheel.

[0011] Preferably, the middle diameters of the driving wheel and the driven wheel are smaller than the diameters at both ends, and the diameters of the driving wheel and the driven wheel gradually increase from the middle to the two ends.

[0012] Preferably, curved suspension rods are provided at the tops of both ends of the mounting frame.

[0013] Preferably, the limiting device includes a mounting plate, the mounting plate is provided at the top end of the middle portion of the connecting rod, and a limiting block with a V-shaped structure is provided on the top of the mounting plate.

[0014] Preferably, the telescopic periscope pipe includes a fixed tube, one end of the fixed tube is connected to the channel, a telescopic tube is provided inside the fixed tube, the bottom of the telescopic tube is provided with teeth meshing with a gear, a second refractor is provided inside the end of the fixed tube connected to the channel, a standpipe is provided at the top of the end of the telescopic tube away from the second refractor, the standpipe is connected to the telescopic tube, a third refractor is provided inside the end of the telescopic tube close to the standpipe, an opening is provided on the top of the standpipe close to the telescopic imaging device, a fourth refractor is provided on the top of the standpipe, and tempered glass is provided at the opening.

[0015] Preferably, the telescopic imaging device includes a support plate, a second slide groove is provided on the side of the support plate close to the robot body, a second slide rail adapted to the second slide groove is provided on the side of the robot body, the bottom of the support plate is provided with teeth adapted to the gear, a column is provided on the top of one end of the support plate close to the limiting device, and an imaging plate adapted to the opening is provided on one side of the top of the column.

[0016] Preferably, the telescopic periscope tube and the telescopic imaging device have similar weights, and a torsion spring is provided inside the gear to drive the gear to reset.

[0017] Another object of the present invention is to provide a method for detecting flaws in tension clamps, wherein the hanging rod is installed at the bottom of a drone, the drone drives the robot body to rise to the cable position, the driving wheel and the driven wheel are placed on the cable wrapped with pre-twisted wire at the same time, the electric push rod contracts, the electric push rod drives the robot body to rise, the V-shaped limit block on the limit device contacts the bottom of the cable, the driving wheel and the driven wheel drive the robot body to move toward the tension clamp, and when the V-shaped limit block contacts the scattered part of the pre-twisted wire, under the continued driving of the driving wheel, the limit The reaction force exerted on the positioning device drives the tooth plate to move on the first slide rail toward the other end of the robot body. During the movement of the tooth plate, the tooth plate drives the gear meshing with it to rotate. When the gear rotates, it drives the telescopic periscope and telescopic imaging device meshing with it above to move toward the direction of the tension clamp, ensuring that the telescopic periscope and telescopic imaging device are located on both sides of the tension clamp. X-rays are emitted through the ray meter inside the robot body and are directed to the telescopic imaging device through the telescopic periscope to realize X-ray flaw detection of the tension clamp.

[0018] The beneficial effects of the embodiments of the present invention are: 1. This device is suspended on the cable to ensure that the driving wheel and the driven wheel are in contact with the cable. The motor drives the driving wheel to rotate on the cable in coordination with the driven wheel to ensure that the robot body is driven to move on the cable. When the robot body moves toward the tension clamp, the limit device first abuts against the pre-twisted wire dispersion. As the driving wheel continues to rotate, the limit device will be affected by the reaction force of the pre-twisted wire dispersion and move closer to the robot body. The limit device will push the tooth plate to slide along the first track. When the tooth plate slides, it meshes with the pre-twisted wire. The engaged gear will rotate, and the telescopic periscope tube and the telescopic imaging device located above the gear and meshing with the gear will extend to both sides of the tension clamp. The distance between the telescopic periscope tube and the telescopic imaging device is greater than the distance between the scattered parts of the tension clamp. When the telescopic periscope tube and the telescopic imaging device are located on both sides of the tension clamp, the ray meter is started, and the X-ray is refracted into the telescopic periscope tube through the first refracting mirror, and the X-ray is refracted to the imaging device through the telescopic periscope tube, thereby realizing the flaw detection of the tension clamp.

[0019] 2. This device places the driving wheel and the driven wheel on the cable, and then when the electric push rod is retracted, it is convenient to lift the drone to the mounting frame. During the lifting process, the V-shaped limit block on the top of the mounting plate can clamp the cable in the V-shaped structure, ensuring that the limit block contacts the cable. By cooperating with the driving wheel and the driven wheel, the stability of the device when moving on the cable is ensured.

[0020] 3. The gear of this device drives the telescopic tube to extend or retract inside the fixed tube. When the mounting plate approaches the robot body, the tooth plate drives the gear to rotate, so the telescopic tube engaged with the gear extends from the inside of the fixed tube, ensuring that the opening at the top of the riser is located on one side of the tension clamp. By starting the ray meter, the X-ray emitted by the ray meter is refracted to the second refractor through the first refractor, and then refracted to the third refractor through the second refractor, and then refracted to the fourth refractor through the third refractor, and finally refracted to the imaging device by the fourth refractor, so as to facilitate the flaw detection of the tension clamp and prevent external debris from entering the riser from the opening at the top of the riser. Therefore, tempered glass is provided at the opening to facilitate the emission of X-rays while preventing external debris from entering and exiting the riser and affecting the flaw detection work.

[0021] 4. While the gears of this device drive the telescopic tube to extend toward the tension clamp, the gears on the other side of the robot body also drive the support plate to extend toward the tension clamp. The top of the column on the support plate is equipped with an imaging plate that matches the height of the top opening of the riser, which facilitates the cooperation with the X-ray instrument to detect the tension clamp.

[0022] 5. The tooth plate of this device is detachably mounted on the first slide rail. When it is necessary to inspect the tension clamp that is not wrapped with pre-twisted wire, the tooth plate can be removed from the first slide rail. At this time, the opening at the top of the riser and the imaging plate are still on both sides of the robot body and will not be blocked by the robot body. This makes it convenient to move the device to the tension clamp by driving the active wheel and the driven wheel. The tension clamp can be inspected by cooperating with the opening on one side of the top of the riser and the imaging plate. Since the ray meter is arranged inside the robot body, the stability of the robot body in moving on the cable can be ensured to avoid tilting, which may cause the device to fall off the cable and cause damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 3 The overall structure of the present invention is shown in FIG. Figure 3 ; Figure 4 The cross-sectional view of the present invention Figure 1 ; Figure 5 The cross-sectional view of the present invention Figure 2 .

[0024] In the figure: 1. Robot body; 2. Electric push rod; 3. Mounting frame; 4. Driving wheel; 5. Driven wheel; 6. Motor; 7. Suspension rod; 8. First slide rail; 9. First slide groove; 10. Tooth plate; 11. Connecting rod; 12. Mounting plate; 13. Imaging plate; 14. Limit block; 15. Gear; 16. Fixed tube; 17. Telescopic tube; 18. Teeth; 19. Vertical tube; 20. Opening; 21. First refractor; 22. Second refractor; 23. Third refractor; 24. Fourth refractor; 25. X-ray instrument; 26. Support plate; 27. Second slide groove; 28. Second slide rail; 29. Column. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Example 1 A tension clamp flaw detection device, such as Figure 1-Figure 5As shown, it includes a robot body 1, a driving device is installed on the top of the robot body 1 through an electric push rod 2, a ray meter 25 is provided inside the robot body 1, a channel communicating with the outside is provided inside the robot body 1, the emission end of the ray meter 25 is arranged toward the channel, a first refractor 21 is provided at one end of the channel close to the ray meter 25, gears 15 are provided on both sides of the robot body 1, a first slide rail 8 is provided on the robot body 1 below the gear 15, a tooth plate 10 is provided on the first slide rail 8, and a tooth plate 10 is provided on one side of the tooth plate 10 that is adapted to the first slide rail 8 The first slide groove 9, the two ends of the tooth plates 10 away from the robot body 1 are connected by a connecting rod 11, and a limit device is provided on the connecting rod 11. A telescopic periscope pipe and a telescopic imaging device are respectively provided on both sides of the robot body 1 above the gear 15. The first refractor 21 can refract the X-ray emitted by the emitting end of the ray meter 25 toward the telescopic periscope pipe, and the telescopic periscope pipe can refract the X-ray toward the telescopic imaging device. The telescopic periscope pipe and the telescopic imaging device can be driven by the corresponding gears 15 on both sides of the robot body 1 respectively.

[0027] By hanging the device on the cable, it is ensured that the driving wheel 4 and the driven wheel 5 are in contact with the cable, and the motor 6 drives the driving wheel 4 to rotate in coordination with the driven wheel 5 on the cable, ensuring that the robot body 1 is driven to move on the cable. When the robot body 1 moves toward the tension clamp, the limit device first abuts against the pre-twisted wire dispersion. As the driving wheel 4 continues to rotate, the limit device will be affected by the reaction force of the pre-twisted wire dispersion and move closer to the robot body 1. The limit device will push the tooth plate 10 to slide along the first track. When the tooth plate 10 slides, it engages with it. The gear 15 will rotate, and the telescopic periscope pipe and the telescopic imaging device located above the gear 15 and meshing with the gear 15 will extend to both sides of the tension clamp. The distance between the telescopic periscope pipe and the telescopic imaging device is greater than the distance between the scattered parts of the tension clamp. When the telescopic periscope pipe and the telescopic imaging device are located on both sides of the tension clamp, the ray meter 25 is started, and the X-ray is refracted into the telescopic periscope pipe through the first refractor 21, and the X-ray is refracted through the telescopic periscope pipe to the imaging device, thereby realizing the flaw detection of the tension clamp.

[0028] The driving device includes a mounting frame 3, the bottom side of the middle portion of the mounting frame 3 is connected to the electric push rod 2, and the sides of the two ends of the mounting frame 3 are respectively provided with a driving wheel 4 and a driven wheel 5. A motor 6 for driving the driving wheel 4 is provided on one side of the mounting frame 3. The diameter of the middle portion of the driving wheel 4 and the driven wheel 5 is smaller than the diameter of the two ends, and the diameter of the driving wheel 4 and the driven wheel 5 gradually increases from the middle portion to the two ends.

[0029] By suspending the driving wheel 4 and the driven wheel 5 on the cable, it is convenient to drive the robot body 1 to move back and forth on the cable under the operation of the motor 6; since the diameters of the driving wheel 4 and the driven wheel 5 gradually increase from the middle to the two ends, it is ensured that the middle parts of the driving wheel 4 and the driven wheel 5 have an annular groove, which makes it convenient to clamp the cable in the annular grooves on the driving wheel 4 and the driven wheel 5, thereby preventing the robot body 1 from falling off the cable.

[0030] The tops of both ends of the mounting frame 3 are provided with curved hanging rods 7 .

[0031] The provided hanging rod 7 facilitates the robot body 1 to be hung on the bottom of the drone through the hanging rod 7, and the drone is used to lift the device onto the cable to perform flaw detection on the tension clamp.

[0032] The limiting device includes a mounting plate 12 , which is disposed at the top end of the middle portion of the connecting rod 11 . A limiting block 14 with a V-shaped structure is disposed on the top of the mounting plate 12 .

[0033] When the cost-reducing device of the drone is lifted onto the cable, the driving wheel 4 and the driven wheel 5 are placed on the cable, and then the electric push rod 2 is retracted, so that the drone can be lifted toward the mounting frame 3. During the lifting process, the V-shaped limit block 14 on the top of the mounting plate 12 can clamp the cable in the V-shaped structure, ensuring that the limit block 14 is in contact with the cable, and by cooperating with the driving wheel 4 and the driven wheel 5, the stability of the device when moving on the cable is ensured.

[0034] The telescopic periscope pipe includes a fixed tube 16, one end of which is connected to the channel, a telescopic tube 17 is provided inside the fixed tube 16, and teeth 18 meshing with the gear 15 are provided at the bottom of the telescopic tube 17. A second refractor 22 is provided inside the end of the fixed tube 16 connected to the channel, a standpipe 19 is provided at the top of the end of the telescopic tube 17 away from the second refractor 22, the standpipe 19 is connected to the telescopic tube 17, a third refractor 23 is provided inside the end of the telescopic tube 17 close to the standpipe 19, an opening 20 is provided at the top of the standpipe 19 close to the telescopic imaging device, a fourth refractor 24 is provided at the top of the standpipe 19, and tempered glass is provided at the opening 20.

[0035] The gear 15 drives the telescopic tube 17 to extend or retract inside the fixed tube 16. When the mounting plate 12 approaches the robot body 1, the gear plate 10 drives the gear 15 to rotate, so that the telescopic tube 17 engaged with the gear 15 extends from the inside of the fixed tube 16, ensuring that the opening 20 at the top of the vertical tube 19 is located on one side of the tension clamp. By starting the ray meter 25, the X-ray emitted by the ray meter 25 is refracted to the second refractor 22 through the first refractor 21, and then refracted to the third refractor 23 through the second refractor 22, and then refracted to the fourth refractor 24 through the third refractor 23, and finally refracted to the imaging device by the fourth refractor 24, so as to facilitate the flaw detection of the tension clamp and prevent external debris from entering the vertical tube 19 from the opening 20 at the top of the vertical tube 19. Therefore, tempered glass is provided at the opening 20 to facilitate the emission of X-rays while preventing external debris from entering and exiting the vertical tube 19 and affecting the flaw detection work.

[0036] The telescopic imaging device includes a support plate 26, a second slide groove 27 is provided on the side of the support plate 26 close to the robot body 1, a second slide rail 28 adapted to the second slide groove 27 is provided on the side of the robot body 1, the bottom of the support plate 26 is provided with teeth 18 adapted to the gear 15, and a column 29 is provided on the top of one end of the support plate 26 close to the limiting device, and an imaging plate 13 adapted to the opening 20 is provided on one side of the top of the column 29.

[0037] While the gear 15 drives the telescopic tube 17 to extend toward the tension clamp, the gear 15 on the other side of the robot body 1 also drives the support plate 26 to extend toward the tension clamp. The top of the column 29 on the support plate 26 is provided with an imaging plate 13 that is highly adapted to the top opening 20 of the vertical tube 19, which is convenient for cooperation with the X-ray instrument 25 to perform flaw detection on the tension clamp.

[0038] The telescopic periscope tube and the telescopic imaging device have similar weights, and a torsion spring is provided inside the gear 15 to drive the gear 15 to reset.

[0039] Since the telescopic periscope tube and the telescopic imaging device have similar weights, and the telescopic periscope tube and the telescopic imaging device are respectively arranged on both sides of the robot body 1, the stability of the robot body 1 when walking on the cable and inspecting the tension clamp can be ensured, and the robot body 1 is prevented from tilting when inspecting the tension clamp, which affects the results of the inspection of the tension clamp; since a torsion spring is provided inside the gear 15, the gear 15 can be reset when the robot body 1 is away from the tension clamp, and when the wheel is reset and rotated, it can drive the tooth plate 10 to extend again, and at the same time drive the telescopic tube 17 to retract into the fixed tube 16, and ensure that the imaging plate 13 is close to the robot body 1 again.

[0040] The tooth plate 10 of this device is detachably mounted on the first slide rail 8. When it is necessary to inspect the tension clamp that is not wrapped with pre-twisted wire, the tooth plate 10 is removed from the first slide rail 8. At this time, the opening 20 at the top of the riser 19 and the imaging plate 13 are still on both sides of the robot body 1 and will not be blocked by the robot body 1. It is convenient to move the device to the tension clamp by driving the active wheel 4 and the driven wheel 5, and inspect the tension clamp by cooperating with the opening 20 on one side of the top of the riser 19 and the imaging plate 13. Since the ray meter 25 is arranged inside the robot body 1, it can ensure the stability of the robot body 1 in moving on the cable, and avoid tilting, which causes the device to fall off the cable and cause damage.

[0041] Example 2 On the basis of embodiment 1, a method for detecting flaws in tension clamps is provided, wherein the suspension rod 7 is installed at the bottom of a drone, the drone drives the robot body 1 to rise to the cable position, the driving wheel 4 and the driven wheel 5 are placed on the cable wound with the pre-twisted wire at the same time, the electric push rod 2 contracts, the electric push rod 2 drives the robot body 1 to rise, the V-shaped limit block 14 on the limit device contacts the bottom of the cable, the driving wheel 4 and the driven wheel 5 drive the robot body 1 to move toward the tension clamp, and when the V-shaped limit block 14 contacts the scattered part of the pre-twisted wire, under the continued driving of the driving wheel 4, the reaction force applied to the limit device drives the tooth plate 10 in the first The tooth plate 10 moves on the slide rail 8 toward the other end of the robot body 1. During the movement of the tooth plate 10, the tooth plate 10 drives the gear 15 meshing with it to rotate. When the two gears 15 rotate, they respectively drive the telescopic tube 17 and the support plate 26 meshing with it above to move toward the direction of the tension clamp, ensuring that the opening 20 at the top of the column 29 and the imaging plate 13 are located on both sides of the tension clamp. X-rays are emitted through the ray meter 25 inside the robot body 1, and the X-rays are refracted by the first refractor 21, the second refractor 22, the third refractor 23 and the fourth refractor 24 inside the telescopic periscope to shoot the X-rays toward the imaging plate 13, thereby realizing X-ray flaw detection of the tension clamp.

[0042] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the spirit and scope of protection of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present invention.

Claims

1. A tension clamp flaw detection device, comprising a robot body (1), characterized in that: The top of the robot body (1) is provided with a driving device through an electric push rod (2), a ray meter (25) is provided inside the robot body (1), a channel communicating with the outside is provided inside the robot body (1), the emission end of the ray meter (25) is arranged toward the channel, a first refractor (21) is provided at one end of the channel close to the ray meter (25), both sides of the robot body (1) are provided with gears (15), a first slide rail (8) is provided on the robot body (1) below the gear (15), a tooth plate (10) is provided on the first slide rail (8), and one side of the tooth plate (10) is provided with a gear adapted to the first slide rail (8). The first slide groove (9) is provided, and the ends of the two tooth plates (10) away from the robot body (1) are connected by a connecting rod (11), and a limiting device is provided on the connecting rod (11). A telescopic periscope pipe and a telescopic imaging device are respectively provided above the gear (15) on both sides of the robot body (1). The first refractor (21) can refract the X-ray emitted by the emitting end of the ray meter (25) toward the telescopic periscope pipe, and the telescopic periscope pipe can refract the X-ray toward the telescopic imaging device. The telescopic periscope pipe and the telescopic imaging device can be driven by the corresponding gears (15) on both sides of the robot body (1).

2. A tension wire clamp flaw detection device according to claim 1, characterized in that: The driving device comprises a mounting frame (3), the bottom side of the middle portion of the mounting frame (3) is connected to the electric push rod (2), the sides of both ends of the mounting frame (3) are respectively provided with a driving wheel (4) and a driven wheel (5), and a motor (6) for driving the driving wheel (4) is provided on one side of the mounting frame (3).

3. A tension wire clamp flaw detection device according to claim 2, characterized in that: The diameters of the middle portions of the driving wheel (4) and the driven wheel (5) are both smaller than the diameters at both ends, and the diameters of the driving wheel (4) and the driven wheel (5) gradually increase from the middle portions to the two ends.

4. A tension wire clamp flaw detection device according to claim 3, characterized in that: The tops of both ends of the mounting frame (3) are provided with curved hanging rods (7).

5. A tension clamp flaw detection device according to claim 4, characterized in that: The limiting device comprises a mounting plate (12), the mounting plate (12) being arranged at the top end of the middle portion of the connecting rod (11), and a limiting block (14) with a V-shaped structure being provided on the top of the mounting plate (12).

6. A tension wire clamp flaw detection device according to claim 5, characterized in that: The telescopic periscope pipe comprises a fixed tube (16), one end of the fixed tube (16) is connected to the channel, a telescopic tube (17) is provided inside the fixed tube (16), a tooth (18) meshing with a gear (15) is provided at the bottom of the telescopic tube (17), a second refractor (22) is provided inside the end of the fixed tube (16) connected to the channel, a stand tube (19) is provided at the top of the end of the telescopic tube (17) away from the second refractor (22), the stand tube (19) is connected to the telescopic tube (17), a third refractor (23) is provided inside the end of the telescopic tube (17) close to the stand tube (19), an opening (20) is provided at the top of the stand tube (19) close to the telescopic imaging device, a fourth refractor (24) is provided at the top of the stand tube (19), and tempered glass is provided at the opening (20).

7. A tension wire clamp flaw detection device according to claim 6, characterized in that: The telescopic imaging device comprises a support plate (26), a second slide groove (27) is provided on a side of the support plate (26) close to the robot body (1), a second slide rail (28) adapted to the second slide groove (27) is provided on the side of the robot body (1), a tooth (18) adapted to the gear (15) is provided on the bottom of the support plate (26), a column (29) is provided on the top of one end of the support plate (26) close to the limiting device, and an imaging plate (13) adapted to the opening (20) is provided on one side of the top of the column (29).

8. A tension clamp flaw detection device according to claim 7, characterized in that: The telescopic periscope pipe and the telescopic imaging device have similar weights, and a torsion spring for driving the gear (15) to reset is provided inside the gear (15).

9. A method for detecting a tension clamp flaw, characterized in that: The tensile wire clamp flaw detection device according to any one of claims 1 to 8 is used for flaw detection, wherein the hanging rod (7) is installed at the bottom of a drone, the drone drives the robot body (1) to rise to the cable position, the driving wheel (4) and the driven wheel (5) are placed on the cable wound with the pre-twisted wire at the same time, the electric push rod (2) contracts, the electric push rod (2) drives the robot body (1) to rise, the V-shaped limit block (14) on the limit device contacts the bottom of the cable, the driving wheel (4) and the driven wheel (5) drive the robot body (1) to move toward the tensile wire clamp, and when the V-shaped limit block (14) contacts the scattered part of the pre-twisted wire, the driving wheel (4) continues to move. Under the drive, the reaction force received by the limiting device drives the tooth plate (10) to move on the first slide rail (8) toward the other end of the robot body (1). During the movement of the tooth plate (10), the tooth plate (10) drives the gear (15) engaged therewith to rotate. When the gear (15) rotates, it drives the telescopic periscope and the telescopic imaging device engaged therewith above to move toward the direction of the tension clamp, ensuring that the telescopic periscope and the telescopic imaging device are located on both sides of the tension clamp. X-rays are emitted through the ray meter (25) inside the robot body (1), and the X-rays are directed to the telescopic imaging device through the telescopic periscope, thereby realizing X-ray flaw detection of the tension clamp.

Images