Strain clamp X-ray detection method and system based on unmanned aerial vehicle

Abstract

The invention discloses a strain clamp X-ray detection method and system based on an unmanned aerial vehicle, and the method comprises the following steps: the strain clamp X-ray detection system of the unmanned aerial vehicle is suspended to the central position of a multi-split power transmission line through the unmanned aerial vehicle; the strain clamp X-ray detection system is located at the position, close to the strain clamp, of the power transmission line and keeps hovering; a connecting frame is lapped on a power transmission line to keep the suspension position of the strain clamp X-ray detection system stable; the working position of the ray machine is adjusted in an air pressure adjusting mode, and the ray machine is assisted to be aligned with the strain clamp; the position of the imaging plate is adjusted, and shooting of a ray image is completed through a ray machine. The hovering stability of the unmanned aerial vehicle is improved through the connecting frame, so that the result accuracy of nondestructive testing is improved.

Description

Technical Field

[0001] The present invention relates to the field of non-destructive testing of UAV tension clamps, and in particular to an X-ray detection method and system for UAV-based tension clamps. Background Art

[0002] Tension clamps are critical components in transmission lines that withstand mechanical tension. Internal defects can cause serious accidents such as line breakage and tower collapse. X-ray testing, as a non-destructive testing technology, can penetrate metal casings to visually visualize internal structures.

[0003] When using X-rays for non-destructive testing of tension clamps, operational damage such as fatigue cracks and electrochemical corrosion can be effectively monitored. When the X-ray film shows dark dendritic lines extending along the stress direction, it indicates that fatigue cracks have occurred in the tension clamp. When the X-ray film shows honeycomb-like uneven grayscale areas, it indicates that electrochemical corrosion has occurred in the tension clamp.

[0004] Since the power grid is usually energized when X-ray detection is used, in order to improve the accuracy of operational damage detection, it is necessary to maximize the stability of the detection process. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the existing technology when using drones to perform non-destructive testing on tension clamps, such as poor hovering stability and significant influence of environmental factors. A method and system for X-ray detection of tension clamps based on drones are provided, which improves the hovering stability of the drone through a connecting frame, thereby improving the accuracy of the non-destructive testing results.

[0006] The purpose of the present invention is mainly achieved through the following technical solutions: The X-ray inspection method for tension clamps based on drones includes the following steps: Use a drone to suspend the tension clamp X-ray inspection system to the center of the multi-split transmission line, and then move it so that the tension clamp X-ray inspection system is located near the tension clamp on the transmission line and remains in a hovering position. A connecting frame is used to connect the transmission line to maintain a stable suspension position of the tension clamp X-ray detection system; Use air pressure regulation to adjust the working position of the X-ray machine and assist the X-ray machine to align with the tension clamp; Adjust the position of the imaging plate and complete the shooting of the X-ray image through the X-ray machine.

[0007] At present, when performing radiographic inspection on tension clamps, it has become a common operation method to use drones to suspend radiographic inspection equipment. However, in the existing technology, radiographic inspection is usually carried out by drones, and then the inspection equipment is separated from the drone and the inspection is completed and then recovered. This not only reduces the inspection efficiency, but also makes the safety of the inspection equipment cannot be guaranteed.

[0008] The present invention uses a connecting frame to connect the tension clamp X-ray detection system, and suspends the tension clamp X-ray detection system above the cable, so as to effectively utilize the X-ray machine to complete the shooting of X-ray images. In the present invention, the working position adjustment of the X-ray machine is completed by air pressure adjustment, so as to achieve the purpose of accurately completing the shooting of X-ray images using the X-ray machine.

[0009] The UAV-based tension clamp X-ray detection system includes a body, a connecting frame fixed below the body, a platform fixed below the connecting frame, and stable telescopic end heads fixed to opposite ends of the platform, each of which is provided with an embedded connecting ball; An imaging plate is fixed under one of the embedded connecting balls, and a carrying frame is fixed under the other embedded connecting ball. A ray frame is installed in the carrying frame, and a ray emitting component is provided on the ray frame. The ray emitting component is aligned with the imaging plate.

[0010] Currently, when performing radiographic testing on tension clamps, the range of the radiographic testing is fixed, resulting in inaccurate test results. The present invention uses a stable telescopic end to adjust the spacing between the mounting brackets and the radiographic emitting assembly on both sides of the platform, allowing the mounting brackets and the radiographic emitting assembly to accommodate a wider range of cable spacings, enabling more effective radiographic testing of tension clamps.

[0011] In the present invention, the body is used for flying and carrying and maintaining a suspended state, the connecting frame is used to carry the platform and maintain the stable connection of the platform, the stable telescopic end is used to telescope to adjust the distance between the imaging plate and the ray emitting component, and the embedded connecting ball is used for intermediate connection and maintains stability during the ray detection process.

[0012] In the present invention, the imaging plate and the ray emitting assembly cooperate to effectively obtain ray detection images. In order to adapt to different cable spacings, the present invention adjusts the spacing between the imaging plate and the ray emitting assembly by telescoping the stable telescopic end, thereby adapting to the changing cable spacing. The embedded connecting ball effectively avoids the risk of ray detection stability caused by body shaking while maintaining connection stability.

[0013] Furthermore, a distance adjustment component is provided below the ray emitting component, and the distance adjustment component is fixed to the carrying frame; The distance adjustment component is used to adjust the distance between the ray emitting component and the imaging plate; A plurality of first cable clamping assemblies are fixed to the bottom of the mounting frame, and a plurality of second cable clamping assemblies are fixed to the bottom of the imaging plate. The first cable clamping assemblies and the second cable clamping assemblies are both used to clamp cables, and the first cable clamping assemblies and the second cable clamping assemblies have the same structure; A secondary imaging plate that can be rotated to the bottom of the second cable clamping assembly is provided on the imaging plate, and an electric mechanical arm is provided between the carrying frame and the ray frame, and the electric mechanical arm is used to transport the ray frame to the bottom of the first cable clamping assembly.

[0014] Furthermore, the distance adjustment assembly includes a rack, the rack is fixed to the bottom of the ray emitting assembly, a gear is provided below the rack, and the gear is meshed with the rack; A driving motor is provided on the ray frame. A rotating shaft is fixed to the output end of the driving motor. The rotating shaft is connected to the gear and is used to drive the gear to rotate.

[0015] Furthermore, the first cable clamping assembly includes a connecting end, an electric telescopic rod is fixed above the connecting end, and the electric telescopic rod is fixed to the carrying frame; A side inflator is embedded in the side of the connecting end, and an arc-shaped shell is fixed below the connecting end. An inflation connecting pipe is provided in the arc-shaped shell, and the inflation connecting pipe is connected to the side inflator. Inflation enclosure pipes are provided on both sides of the inflation connecting pipe. When inflated, the inflation enclosure pipes can extend from both ends of the arc-shaped shell and enclose the cable. A buckle end is fixed to the end of the inflatable enclosure tube.

[0016] Furthermore, the buckled end includes a first end and a second end, and the first end and the second end are respectively fixed to two ends of the inflatable enclosure tube; A snap-fit ​​magnetic block is fixed in both the first end head and the second end head, and a positioning magnetic block is provided on the end face of the first end head and the end face of the second end head. A rotating motor is provided in the first end head, and a rod body is provided on the rotating motor, which seems to have a limiting end head fixed on the rod body. A limiting groove body is provided in the second end head, and the rod body can be inserted into the second end head and the limiting end head can be rotated to embed into the limiting groove body.

[0017] Furthermore, the ray frame includes an outer frame body, a positioning frame is fixed in the outer frame body, an outer cylinder body is provided on the positioning frame, and the outer cylinder body and the positioning frame are slidably connected via a slider; The outer cylinder is provided with a radiation machine, and a plurality of angle-adjusting bellows are provided on the top of the radiation machine. One end of the angle-adjusting bellows is fixed to the radiation machine, and the other end is fixed to the outer cylinder. A plurality of bottom elastic bearing members are fixed to the bottom of the radiation machine. An air compressor is provided on the top of the outer cylinder for adjusting the longitudinal expansion and contraction of the angle-adjusting bellows. The ray machine is rotatably connected to the outer cylinder.

[0018] In the present invention, the X-ray machine adjusts its angle by extending and retracting the angle-adjusting bellows, thereby ensuring that the X-ray machine is aligned with the tension clamp and generating sufficiently accurate radiographic images. The X-ray stand is used to support the X-ray machine, and the carrying frame is used to support the X-ray stand and adjust its height via an electric robotic arm to match the height of the tension clamp. The air compressor is used to adjust the air pressure within the angle-adjusting bellows, thereby achieving the purpose of longitudinally extending and retracting the X-ray machine's angle. The bottom elastic bearing member is used to support the weight of the X-ray machine and accommodate changes in its angle through its extension and retraction. When the air pressure within the angle-adjusting bellows decreases, the bottom elastic bearing member can effectively restore the X-ray machine to its original position on the X-ray stand.

[0019] Furthermore, the angle adjustment bellows includes a first bellows and a second bellows, the first bellows is located at the transmitting end of the X-ray machine, and the second bellows is located at the tail end of the X-ray machine; The outer cylinder includes a cylinder wall, a connecting pipe is provided in the cylinder wall, the connecting pipe is connected to the air compressor, the connecting pipe is connected to a hose, the hose extends into the cylinder wall, a piston cavity is provided in the cylinder wall, one end of the piston cavity is connected to the first bellows, and the other end is connected to the second bellows; The flexible tube is connected to a telescopic tube, one end of the telescopic tube is fixed to and communicated with the flexible tube, and the other end of the telescopic tube is fixed to a piston head, and the piston head can slide back and forth in the piston cavity.

[0020] Furthermore, the embedded connecting ball includes a spherical shell, a first column is provided on the top of the spherical shell, the upper end of the first column is fixed to the stable telescopic end head, and the lower end of the first column extends into the spherical shell; A second column is provided at the bottom of the spherical shell, the upper end of the second column extends into the spherical shell, and the lower end of the second column is fixed to the imaging plate or the mounting frame; A tension spring is provided between the first column and the second column, and two ends of the tension spring are respectively fixed to the first column and the second column; The spherical shell is filled with elastic filling.

[0021] Furthermore, the connecting frame includes a supporting frame, and a cross support arm is provided on the side of the supporting frame. The cross support arm is fixed to the supporting frame and divides the side of the supporting frame into a plurality of triangular areas.

[0022] In summary, the present invention has the following beneficial effects compared with the prior art: (1) The present invention utilizes a connecting frame to connect the tension clamp X-ray detection system, and suspends the tension clamp X-ray detection system above the cable, thereby effectively utilizing the X-ray machine to complete the shooting of X-ray images. In the present invention, the working position of the X-ray machine is adjusted by air pressure adjustment, thereby achieving the purpose of accurately completing the shooting of X-ray images using the X-ray machine.

[0023] (2) In the present invention, the imaging plate and the ray emitting assembly cooperate to effectively obtain ray detection images. In order to adapt to different cable spacings, the present invention adjusts the spacing between the imaging plate and the ray emitting assembly by telescoping the stable telescopic end, thereby adapting to the changing cable spacing. The embedded connecting ball effectively avoids the risk of ray detection stability caused by body shaking while maintaining connection stability.

[0024] (3) In the present invention, the X-ray machine is pushed to adjust the angle of the X-ray machine by the extension and contraction of the angle adjustment bellows, thereby ensuring that the X-ray machine is aligned with the tension clamp, thereby achieving the purpose of generating sufficiently accurate X-ray images. The carrying frame is used to carry the X-ray machine, and the air compressor is used to adjust the air pressure in the angle adjustment bellows, thereby achieving the purpose of longitudinal extension and contraction to push and adjust the angle of the X-ray machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings: Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a side view of the present invention; Figure 3 It is a side view from another perspective of the present invention; Figure 4 This is a schematic structural diagram of the ray emission assembly of the present invention; Figure 5 This is a schematic structural diagram of a first cable clamping assembly according to the present invention; Figure 6 This is a schematic diagram of the buckle end structure of the present invention; Figure 7 This is a schematic diagram of the structure of the embedded connecting ball of the present invention; The accompanying drawings of the present invention represent: 1. body; 2. camera; 3. stable telescopic end; 4. ray frame; 5. ray emission assembly; 6. distance adjustment assembly; 7. first cable clamping assembly; 8. second cable clamping assembly; 9. imaging plate; 10. embedded connecting ball; 11. platform; 12. connecting frame; 13. auxiliary imaging plate; 14. carrying frame; 15. electric manipulator; 121. cross support arm; 122. bearing frame; 41. positioning frame; 42. air compressor; 43. outer frame; 44. angle adjustment bellows; 45. outer cylinder; 46. slider; 47. ray machine; 48. bottom elastic bearing member; 49. driving motor; 441. first bellows; 442. second bellows; 451. cylinder wall; 452. connecting pipe; 453. hose; 454. telescopic pipe; 455. piston head; 61. rotating shaft; 62. rack; 63. gear Wheel; 71. Connecting end; 72. Side inflator; 73. Inflating connecting pipe; 74. Snap-fit ​​end; 75. Inflating enclosure pipe; 76. Arc-shaped shell; 741. First end; 742. Snap-fit ​​magnetic block; 743. Rotating motor; 744. Rod; 745. Positioning magnetic block; 746. Limiting end; 747. Limiting slot; 748. Second end; 101. First column; 102. Tension spring; 103. Second column; 104. Elastic filling; 105. Spherical shell. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0027] Example 1: The X-ray inspection method for tension clamps based on drones includes the following steps: Use a drone to suspend the tension clamp X-ray inspection system to the center of the multi-split transmission line, and then move it so that the tension clamp X-ray inspection system is located near the tension clamp on the transmission line and remains in a hovering position. The connecting frame 12 is used to connect to the transmission line to keep the suspension position of the tension clamp X-ray detection system stable; Use air pressure regulation to adjust the working position of the X-ray machine 47 and assist the X-ray machine 47 to align with the tension clamp; The position of the imaging plate 9 is adjusted, and the radiographic image is taken by the radiographic machine 47 .

[0028] In this embodiment, the drone transports the tension clamp X-ray detection system to the tension clamp to be inspected. For multi-split transmission lines, the spacing between cables is not fixed. In this embodiment, the tension clamp X-ray detection system is suspended at the tension clamp and hovered, and the tension clamp X-ray detection system is adjusted so that the tension clamp to be inspected is within the detection range. The position of the X-ray machine 47 is adjusted by air pressure regulation and aligned with the tension clamp, thereby completing the shooting of the X-ray image.

[0029] Based on the captured X-ray images, the state of fatigue cracks can be judged by observing the width of the dendritic dark lines extending along the stress direction, and the depth of electrochemical corrosion can be obtained by the density change rate of the honeycomb grayscale uneven area, thereby judging the degree of operational damage to the tension clamp. Based on the degree of operational damage to the tension clamp, it can be effectively judged whether the tension clamp needs to be repaired or replaced.

[0030] Example 2: like Figures 1 to 7 As shown, the UAV-based tension clamp X-ray detection system includes a body 1, a connecting frame 12 is fixed below the body 1, a platform 11 is fixed below the connecting frame 12, and stable telescopic end heads 3 are fixed at opposite ends of the platform 11, and each of the stable telescopic end heads 3 is provided with an embedded connecting ball 10; An imaging plate 9 is fixed under one of the embedded connecting balls 10, and a carrying frame 14 is fixed under the other embedded connecting ball 10. A ray frame 4 is installed in the carrying frame 14, and a ray emitting component 5 is provided on the ray frame 4. The ray emitting component 5 is aligned with the imaging plate 9.

[0031] In this embodiment, the body 1 is used for flight support, and the connecting frame 12 below the body 1 is used to maintain the stability of the platform 11. When the body 1 is hovering, the body 1 may shake or move. The connection of the connecting frame 12 can ensure the stability of the connection between the body 1 and the platform 11, avoiding the problem of falling apart during hovering. The stable telescopic end heads 3 at both ends of the platform 11 can effectively adjust the distance between the imaging plate 9 and the ray emitting assembly 5 through their own telescopic action. The embedded connecting ball 10 is located between the imaging plate 9 and the stable telescopic end heads 3 or between the ray emitting assembly 5 and the stable telescopic end heads 3. Therefore, when the body 1 shakes, the force is transmitted to the platform 11 through the connecting frame 12 and then to the embedded connecting ball 10 through the platform 11 and the stable telescopic end heads 3. The embedded connecting ball 10 effectively disperses the force through its own spherical structure, and effectively buffers the external force through the built-in buffer structure of the embedded connecting ball 10, thereby reducing the impact of external force on the imaging plate 9 and / or the ray emitting assembly 5, thereby improving the accuracy of radiographic detection.

[0032] Furthermore, a distance adjustment component 6 is provided below the ray emitting component 5, and the distance adjustment component 6 is fixed to the carrying frame 14; The distance adjustment component 6 is used to adjust the distance between the ray emitting component 5 and the imaging plate 9; A plurality of first cable clamping assemblies 7 are fixed to the bottom of the mounting frame 14, and a plurality of second cable clamping assemblies 8 are fixed to the bottom of the imaging plate 9. The first cable clamping assemblies 7 and the second cable clamping assemblies 8 are both used to clamp cables, and the first cable clamping assemblies 7 and the second cable clamping assemblies 8 have the same structure; A secondary imaging plate 13 is provided on the imaging plate 9 and can be rotated to the bottom of the second cable clamping assembly 8. An electric mechanical arm 15 is provided between the carrying frame 14 and the ray frame 4. The electric mechanical arm 15 is used to transport the ray frame 4 to the bottom of the first cable clamping assembly 7.

[0033] In this embodiment, the distance adjustment component 6 is used to adjust the distance between the ray emitting component 5 and the imaging plate 9. Based on the adjustment of the stable telescopic end head 3, the position of the ray emitting component 5 can be effectively readjusted, so that the ray emitting component 5 can emit X-rays to the imaging plate 9 at an appropriate position, thereby achieving the purpose of obtaining clearer and more accurate radiographic images.

[0034] In this embodiment, the stable telescopic end 3 will not be adjusted again after the adjustment is completed, so that the overall stability of this embodiment can be maintained by grabbing the cable. In this embodiment, the cable is clamped by the first cable clamping component 7 to maintain the stable position of the mounting frame 14, and the cable is clamped by the second cable clamping component 8 to maintain the stable position of the imaging board 9. The stability of the imaging board 9 and the mounting frame 14 can effectively assist the body 1 to maintain a stable position and reduce shaking.

[0035] When the stable telescopic end head 3 is extended to its longest length, the stable telescopic end head 3 and the platform 11 as a whole should be able to completely span the multi-split cables that need to be tested.

[0036] Since the first cable clamping assembly 7 and the second cable clamping assembly 8 have the same structure, the joint action of the first cable clamping assembly 7, the second cable clamping assembly 8 and the platform 11 can effectively ensure that the overall stability of this embodiment is enhanced, and the stability of the ray emission path can be continuously maintained during the ray detection process, so that the ray image can be obtained more stably, and the ray image can be used to determine the defects of the tension clamp.

[0037] In this embodiment, the first cable clamping assembly 7 and the second cable clamping assembly 8 adopt an insulating structure at the contact position with the cable, or there is an insulating section between the first cable clamping assembly 7 and the second cable clamping assembly 8, thereby ensuring that the first cable clamping assembly 7 and the second cable clamping assembly 8 will not affect the normal power transmission of high voltage or even ultra-high voltage multi-split conductors.

[0038] In actual application, this embodiment has the following application states: In the first state, this embodiment can make the imaging plate 9 and the ray emitting assembly 5 be located on both sides of the tension clamp by hovering the drone body 1, thereby bringing the tension clamp into the range of radiation detection; in the second state, this embodiment can, on the basis of the drone body 1 hovering, use the connection frame 12 and the platform 11 as a top support to hang this embodiment on part of the cable, so that the imaging plate 9 and the ray emitting assembly 5 in this embodiment can be arranged on both sides of the tension clamp in a more stable state, thereby bringing the tension clamp into the range of radiation detection; in the third state In this state, the present embodiment can utilize the clamping effect of the first cable clamping component 7 and the second cable clamping component 8 to clamp the cable, thereby providing an additional support point for the present embodiment. At this time, if the tension clamp is located between the imaging plate 9 and the ray emitting component 5, ray detection can be performed directly. If the imaging plate 9 and the ray emitting component 5 are located above the tension clamp and the tension clamp is out of the ray detection range, the electric manipulator 15 is started and / or the auxiliary imaging plate 13 is folded to adjust the ray detection area downward, so as to effectively bring the tension clamp into the ray detection range.

[0039] Furthermore, the distance adjustment component 6 includes a rack 62, which is fixed to the bottom of the ray emitting component 5. A gear 63 is provided below the rack 62, and the gear 63 is engaged with the rack 62. The ray frame 4 is provided with a driving motor 49 . A rotating shaft 61 is fixed to an output end of the driving motor 49 . The rotating shaft 61 is connected to the gear 63 and is used to drive the gear 63 to rotate.

[0040] In this embodiment, the driving motor 49 drives the rotating shaft 61 to rotate, and the rotating shaft 61 drives the gear 63 to rotate, and the gear 63 pushes the rack 62 to reciprocate, thereby achieving the purpose of using the rack 62 to drive the ray emitting component 5 to reciprocate. The ray machine 47 in the ray emitting component 5 is in a sliding connection state, so it can slide back and forth under the action of the gear 63 and the rack 62.

[0041] Furthermore, the first cable clamping assembly 7 includes a connecting end 71, an electric telescopic rod is fixed above the connecting end 71, and the electric telescopic rod is fixed to the carrying frame 14; A side inflator 72 is embedded in the side of the connecting end 71. A curved housing 76 is fixed below the connecting end 71. An inflation connecting pipe 73 is provided in the curved housing 76. The inflation connecting pipe 73 is connected to the side inflator 72. Inflatable enclosure pipes 75 are provided on both sides of the inflation connecting pipe 73. When inflated, the inflation enclosure pipes 75 can extend from both ends of the curved housing 76 and enclose the cable. A snap-fit ​​terminal 74 is fixed to the end of the inflatable enclosure tube 75 .

[0042] In this embodiment, the side inflator 72 in the first cable clamping assembly 7 can fill the gas in the inflatable enclosure tube 75 by inflating the inflatable connecting tube 73, so that the inflatable enclosure tube 75 expands and encloses the cable. On the basis of enclosing the cable, it can effectively fit the cable to achieve the purpose of clamping the cable. After being filled with gas, the inflatable enclosure tube 75 in this embodiment can enclose the cable from both sides of the arc-shaped shell 76. After enclosed, the snap-fit ​​end 74 at the end of the inflatable enclosure tube 75 can complete the snap-fit ​​connection, so that it can be more stable during the X-ray detection process. In this embodiment, both the first cable clamping assembly 7 and the second cable clamping assembly 8 are provided with multiple ones, so that more support points can be obtained on the cable.

[0043] Furthermore, the buckle end 74 includes a first end 741 and a second end 748, and the first end 741 and the second end 748 are respectively fixed to the two ends of the inflatable enclosure tube 75; A snap-fit ​​magnetic block 742 is fixed in both the first end head 741 and the second end head 748, and a positioning magnetic block 745 is provided on the end face of the first end head 741 and the end face of the second end head 748. A rotating motor 743 is provided in the first end head 741, and a rod body 744 is provided on the rotating motor 743. It seems that a limiting end head 746 is fixed on the rod body 744. A limiting groove body 747 is provided in the second end head 748, and the rod body 744 can be inserted into the second end head 748 and the limiting end head 746 is rotated to embed into the limiting groove body 747.

[0044] In this embodiment, the first end 741 and the second end 748 in the snap-fit ​​end 74 can be aligned and magnetically attached to each other under the action of the positioning magnetic block 745, and then the snap-fit ​​magnetic block 742 is used to complete the snapping of the first end 741 and the second end 748 and utilize magnetic magnetic connection. After the first end 741 and the second end 748 are snapped together, the rod body 744 is inserted into the second end 748 and carries the limiting end 746 into the second end 748. At this time, by rotating the motor 743 to rotate the rod body 744, the limiting end 746 can be embedded in the limiting groove 747, thereby realizing the plug-in fixation of the first end 741 and the second end 748, which can make the connection of the snap-fit ​​end 74 more stable, and can ensure that the imaging plate 9 and the ray emitting component 5 work more stably when subjected to external force, reducing the influence of external factors.

[0045] In practical applications of this embodiment, the embodiment is first transported to the location to be inspected by the body 1. At this time, the connection frame 12 ensures the overall stability of the embodiment. When facing a single cable, the body 1 is used to hover and the ray emitting assembly 5 and the imaging plate 9 are used to perform radiographic inspection on the tension clamp. When facing multiple split cables, first adjust the telescopic length of the stable telescopic end 3 so that the combined width of the platform 11 and the stable telescopic end 3 can adapt to the spacing of the cables. At this time, if the X-ray detection can be completed by hovering the body 1, then perform the X-ray detection directly. If there is a stability problem in the X-ray detection, first determine the specific distribution position of the cable. If the X-ray detection can be completed by mounting the platform 11 and the connecting frame 12 on the cable as a whole, then complete the X-ray detection by mounting the platform 11 on the cable. If the platform 11 cannot meet the conditions for mounting, then clamp or bind the cable through the first cable clamping component 7 and the second cable clamping component 8, and use the electric mechanical arm 15 to adjust the specific position of the X-ray emitting component 5, and use the folding method to adjust the specific position of the secondary imaging plate 13. On this basis, complete the acquisition of the X-ray image through the X-ray emitting component 5 and the imaging plate 9.

[0046] The electric robotic arm 15 in this embodiment adopts the electric robotic arm 15 in the prior art that can carry the ray frame 4 to the side or bottom of the first cable clamping assembly 7, so as to ensure that this embodiment can be mass-produced. The folding of the secondary imaging plate 13 is achieved by means of an electric rotating shaft in the prior art, thereby controlling the secondary imaging plate 13 to be folded at an angle of at least 180 degrees, thereby ensuring that the rays emitted after the position and angle of the ray machine 47 are adjusted can be irradiated onto the imaging plate 9 or the secondary imaging plate 13.

[0047] When the first cable clamping assembly 7 and the second cable clamping assembly 8 are clamping or binding the cable, the connecting end 71 is first aligned with the cable, and the length of the electric telescopic rod is adjusted so that the arc-shaped housing 76 can be placed on the cable. At this time, the side inflator 72 is turned on, and the inflatable enclosure tube 75 can be inflated and enclose the cable. Since the inflatable enclosure tube 75 is an inflatable inflatable pipe, the inflatable enclosure tube 75 can adapt to the enclosure of cables of different diameters within a certain range; After the inflatable enclosure tube 75 encloses the cable, the first end 741 and the second end 748 in the buckled end 74 are docked and adsorbed to each other through magnetic attraction, and then the rotating motor 743 is turned on to rotate the rod body 744 to complete the connection operation of the limiting end 746 and embed it into the limiting groove body 747, thereby realizing the grasping of the cable and achieving the purpose of obtaining the overall support point of this embodiment.

[0048] When it is necessary to disengage, the rod body 744 is rotated to unlock the limit end 746 and the limit groove body 747, and the inflatable enclosure tube 75 is deflated, and the buckling end 74 can be unlocked by pulling, thereby realizing the separation of the first cable clamping assembly 7 and the second cable clamping assembly 8 from the cable.

[0049] Furthermore, the ray frame 4 includes an outer frame body 43, a positioning frame 41 is fixed in the outer frame body 43, an outer cylinder 45 is provided on the positioning frame 41, and the outer cylinder 45 is slidably connected to the positioning frame 41 via a slider 46; A radiation machine 47 is provided within the outer cylinder 45. A plurality of angle-adjusting bellows 44 are provided on the top of the radiation machine 47. One end of the angle-adjusting bellows 44 is fixed to the radiation machine 47, and the other end is fixed to the outer cylinder 45. A plurality of bottom elastic bearing members 48 are fixed to the bottom of the radiation machine 47. An air compressor 42 is provided on the top of the outer cylinder 45. The air compressor 42 is used to adjust the longitudinal expansion and contraction of the angle-adjusting bellows 44. The ray machine 47 is rotatably connected to the outer cylinder 45 .

[0050] In this embodiment, the X-ray frame 4 is defined by an outer frame 43 as an overall frame, and the outer frame 43 is connected to the carrying frame 14 by an electric robotic arm 15. The electric robotic arm 15 can extend the outer frame 43 out of the carrying frame 14 and transport the outer frame 43 to the side or bottom of the first cable clamping assembly 7, so that the X-ray machine 47 can obtain the X-ray emission space above the carried cable on the basis of obtaining the X-ray emission space on the side and below the cable, thereby preventing the tension clamp from leaving the X-ray detection range.

[0051] The positioning frame 41 is used to position the outer cylinder 45 at a specific position. The sliding connection between the outer cylinder 45 and the positioning frame 41 can effectively change the distance between the outer cylinder 45 and the imaging plate 9, thereby achieving the purpose of adjusting the distance between the X-ray machine 47 and the imaging plate 9. The rack 62 in the distance adjustment component 6 can be directly fixed on the outer cylinder 45, thereby achieving the purpose of using the gear 63 to drive the outer cylinder 45 to reciprocate.

[0052] The X-ray machine 47 in the outer cylinder 45 is connected to the outer cylinder 45 through an angle adjustment bellows 44. The angle adjustment bellows 44 is located at the top of the X-ray machine 47, so that the direction of the X-ray machine 47 can be changed by pulling the top. The bottom elastic bearing member 48 at the bottom of the X-ray machine 47 can bear the weight of the X-ray machine 47, and can cooperate with the angle adjustment bellows 44 to push and pull the X-ray machine 47 to achieve the change of the direction angle of the X-ray machine 47. At the same time, the bottom elastic bearing member 48 can also ensure the bottom bearing stability of the X-ray machine 47. When the angle adjustment bellows 44 fails, it can also protect the X-ray machine 47 from shock damage, and can also provide more stable bottom support for the X-ray machine 47 when there is no need to adjust the angle.

[0053] In this embodiment, the air compressor 42 is used to change the air pressure in the angle adjustment bellows 44, thereby controlling the longitudinal extension length thereof. Since the angle adjustment bellows 44 is arranged away from the center position of the X-ray machine 47, the angle adjustment bellows 44 can be used to push and pull the X-ray machine 47 in an eccentric position, thereby changing the direction of the X-ray machine 47 and completing the change of the emission angle of the X-ray machine 47. In this way, the X-ray machine 47 can emit rays at more angles to the tension clamp, thereby obtaining more X-ray images at different angles, making the X-ray detection results more accurate and the judgment of the status of the tension clamp clearer.

[0054] In this embodiment, the height of the outer frame 43 is controlled by the electric manipulator 15, so that the X-ray machine 47 has a larger detection space in terms of height. The air compressor 42 changes the angle to adjust the air pressure in the bellows 44, thereby changing the emission angle of the X-ray machine 47, so that the X-ray machine 47 can adjust the detection angle in more directions in terms of the emission angle; The combination of the imaging plate 9 and the auxiliary imaging plate 13 can effectively increase the range of radiation exposure, thereby obtaining more radiation detection results.

[0055] This embodiment can ensure the stability of the radiation detection by using more radiation detection methods such as the body 1 hovering, cable carrying, cable clamping, etc., thereby achieving the purpose of obtaining more stable radiation detection results.

[0056] Furthermore, the angle adjustment bellows 44 includes a first bellows 441 and a second bellows 442 , wherein the first bellows 441 is located at the transmitting end of the X-ray machine 47 , and the second bellows 442 is located at the tail end of the X-ray machine 47 ; The outer cylinder 45 includes a cylinder wall 451, a connecting pipe 452 is provided in the cylinder wall 451, the connecting pipe 452 is connected to the air compressor 42, the connecting pipe 452 is connected to a hose 453, the hose 453 extends into the cylinder wall 451, and a piston cavity is provided in the cylinder wall 451. One end of the piston cavity is connected to the first bellows 441, and the other end is connected to the second bellows 442. The hose 453 is connected to a telescopic tube 454 . One end of the telescopic tube 454 is fixed to and communicates with the hose 453 , and the other end of the telescopic tube 454 is fixed to a piston head 455 . The piston head 455 can slide back and forth in the piston cavity.

[0057] In this embodiment, the first bellows 441 and the second bellows 442 can complete the angle adjustment of the X-ray machine 47 by pushing and pulling the emitting end of the X-ray machine 47 and the tail end of the X-ray machine 47, and the telescopic state of the first bellows 441 is opposite to the telescopic state of the second bellows 442, so that the specific position of the angle adjustment can be more accurately controlled, so that the direction of the X-ray machine 47 is within a more accurate control range.

[0058] In this embodiment, the connecting pipe 452 in the cylinder wall 451 is used to connect the hose 453 and the air compressor 42. The hose 453 expands when inflated and shrinks when deflated. The telescopic tube 454 extends when inflated and contracts when deflated, thereby driving the piston head 455 to reciprocate in the piston chamber. When the piston head 455 approaches the first bellows 441, the air pressure in the first bellows 441 increases, and the air pressure in the second bellows 442 decreases, so that the second bellows 442 slightly lifts the tail end of the X-ray machine 47, achieving the downward adjustment of the X-ray machine 47. When the piston head 455 moves close to the second bellows 442, the air pressure in the first bellows 441 decreases, and the air pressure in the second bellows 442 increases, so that the first bellows 441 can slightly lift the emitting end of the X-ray machine 47, achieving the upward adjustment of the X-ray machine 47.

[0059] In this embodiment, the air compressor 42 can also be replaced by a hydraulic pump, and replaced with hydraulic adjustment of the expansion and contraction of the first bellows 441 and the expansion and contraction of the second bellows 442, thereby enhancing the bearing capacity of the angle adjustment, and the adjustment angle can be controlled more accurately when using hydraulic adjustment.

[0060] Furthermore, the embedded connecting ball 10 includes a ball shell 105, and a first column 101 is provided on the top of the ball shell 105. The upper end of the first column 101 is fixed to the stable telescopic end 3, and the lower end of the first column 101 extends into the ball shell 105; A second column 103 is provided at the bottom of the spherical shell 105. The upper end of the second column 103 extends into the spherical shell 105, and the lower end of the second column 103 is fixed to the imaging plate 9 or the mounting frame 14. A tension spring 102 is provided between the first column 101 and the second column 103 , and both ends of the tension spring 102 are fixed to the first column 101 and the second column 103 respectively; The spherical shell 105 is filled with elastic filling 104 .

[0061] In this embodiment, the embedded connecting ball 10 is located between the stable telescopic end head 3 and the imaging plate 9 or between the stable telescopic end head 3 and the mounting frame 14, so the embedded connecting ball 10 is used to connect and maintain the stability of the connection. In this embodiment, the first column 101 and the stable telescopic end head 3 are fixed, and the second column 103 is fixed to the imaging plate 9 or the mounting frame 14, so as to achieve the establishment of the connection state. The tension spring 102 between the first column 101 and the second column 103 can connect the first column 101 and the second column 103, and when the overall shaking and vibration problems occur in this embodiment, the distance between the first column 101 and the second column 103 can be stretched, and the shaking and vibration are consumed during the stretching process, thereby avoiding the continued effect of shaking and vibration. On this basis, the tension spring 102 can pull the first column 101 and the second column 103 back to their original positions; The elastic filler 104 can convert the external force received into elastic force and disperse it to the spherical shell 105, so that the external force causing the instability factor can be effectively dispersed, thereby protecting the overall stability of this embodiment.

[0062] Under the action of the embedded connecting ball 10 of this embodiment, the overall stability of the mounting frame 14 and the imaging plate 9 can be effectively maintained, thereby ensuring the accuracy of obtaining radiographic images during the radiographic detection process and ensuring the clarity of the radiographic images.

[0063] Furthermore, the connecting frame 12 includes a supporting frame 122 , and a cross support arm 121 is provided on the side of the supporting frame 122 . The cross support arm 121 is fixed to the supporting frame 122 and divides the side of the supporting frame 122 into a plurality of triangular areas.

[0064] In this embodiment, the connecting frame 12 carries the entire weight through the supporting frame 122, but the supporting frame 122 is prone to deformation or shaking under the action of external force. Therefore, this embodiment provides a cross support arm 121 on the side of the supporting frame 122. The cross support arm 121 is used to divide the side of the supporting frame 122 into several triangular areas. The stability of the triangular areas is used to enhance the stability of the supporting frame 122 itself, thereby avoiding the problem of violent shaking of the supporting frame 122 during the X-ray detection process and enhancing the overall stability of this embodiment during the suspension process.

[0065] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. The X-ray detection method for tension clamps based on drones is characterized by: The following steps are involved: Use a drone to suspend the tension clamp X-ray inspection system to the center of the multi-split transmission line, and then move it so that the tension clamp X-ray inspection system is hovering near the tension clamp on the transmission line; A connecting frame is used to connect the transmission line to maintain a stable suspension position of the tension clamp X-ray detection system; Use air pressure regulation to adjust the working position of the X-ray machine and assist the X-ray machine to align with the tension clamp; Adjust the position of the imaging plate and complete the shooting of the X-ray image through the X-ray machine.

2. The UAV-based X-ray detection system for tension clamps is characterized by: The machine comprises a body, a connecting frame is fixed below the body, a platform is fixed below the connecting frame, stable telescopic ends are fixed at opposite ends of the platform, and each of the stable telescopic ends is provided with an embedded connecting ball; An imaging plate is fixed under one of the embedded connecting balls, and a carrying frame is fixed under the other embedded connecting ball. A ray frame is installed in the carrying frame, and a ray emitting component is provided on the ray frame. The ray emitting component is aligned with the imaging plate.

3. The UAV-based X-ray detection system for tension clamps according to claim 2, characterized in that: A distance adjustment component is provided below the ray emitting component, and the distance adjustment component is fixed to the carrying frame; The distance adjustment component is used to adjust the distance between the ray emitting component and the imaging plate; A plurality of first cable clamping assemblies are fixed to the bottom of the mounting frame, and a plurality of second cable clamping assemblies are fixed to the bottom of the imaging plate. The first cable clamping assemblies and the second cable clamping assemblies are both used to clamp cables, and the first cable clamping assemblies and the second cable clamping assemblies have the same structure; A secondary imaging plate that can be rotated to the bottom of the second cable clamping assembly is provided on the imaging plate, and an electric mechanical arm is provided between the carrying frame and the ray frame, and the electric mechanical arm is used to transport the ray frame to the bottom of the first cable clamping assembly.

4. The UAV-based X-ray detection system for tension clamps according to claim 3 is characterized in that: The distance adjustment assembly includes a rack fixed to the bottom of the ray emitting assembly, and a gear is provided below the rack, the gear meshing with the rack; A driving motor is provided on the ray frame. A rotating shaft is fixed to the output end of the driving motor. The rotating shaft is connected to the gear and is used to drive the gear to rotate.

5. The UAV-based X-ray detection system for tension clamps according to claim 3 is characterized in that: The first cable clamping assembly includes a connecting end, an electric telescopic rod is fixed above the connecting end, and the electric telescopic rod is fixed to the carrying frame; A side inflator is embedded in the side of the connecting end, and an arc-shaped shell is fixed below the connecting end. An inflation connecting pipe is provided in the arc-shaped shell, and the inflation connecting pipe is connected to the side inflator. Inflation enclosure pipes are provided on both sides of the inflation connecting pipe. When inflated, the inflation enclosure pipes can extend from both ends of the arc-shaped shell and enclose the cable. A buckle end is fixed to the end of the inflatable enclosure tube.

6. The UAV-based X-ray detection system for tension clamps according to claim 5, characterized in that: The buckled end includes a first end and a second end, and the first end and the second end are respectively fixed to two ends of the inflatable enclosure tube; A snap-fit ​​magnetic block is fixed in both the first end head and the second end head, and a positioning magnetic block is provided on the end face of the first end head and the end face of the second end head. A rotating motor is provided in the first end head, and a rod body is provided on the rotating motor, which seems to have a limiting end head fixed on the rod body. A limiting groove body is provided in the second end head, and the rod body can be inserted into the second end head and the limiting end head can be rotated to embed into the limiting groove body.

7. The UAV-based X-ray detection system for tension clamps according to claim 2, characterized in that: The ray frame includes an outer frame body, a positioning frame is fixed in the outer frame body, an outer cylinder body is provided on the positioning frame, and the outer cylinder body and the positioning frame are slidably connected via a slider; The outer cylinder is provided with a radiation machine, and a plurality of angle-adjusting bellows are provided on the top of the radiation machine. One end of the angle-adjusting bellows is fixed to the radiation machine, and the other end is fixed to the outer cylinder. A plurality of bottom elastic bearing members are fixed to the bottom of the radiation machine. An air compressor is provided on the top of the outer cylinder for adjusting the longitudinal expansion and contraction of the angle-adjusting bellows. The ray machine is rotatably connected to the outer cylinder.

8. The UAV-based X-ray detection system for tension clamps according to claim 7, characterized in that: The angle adjustment bellows includes a first bellows and a second bellows, wherein the first bellows is located at the transmitting end of the X-ray machine, and the second bellows is located at the tail end of the X-ray machine; The outer cylinder includes a cylinder wall, a connecting pipe is provided in the cylinder wall, the connecting pipe is connected to the air compressor, the connecting pipe is connected to a hose, the hose extends into the cylinder wall, a piston cavity is provided in the cylinder wall, one end of the piston cavity is connected to the first bellows, and the other end is connected to the second bellows; The flexible tube is connected to a telescopic tube, one end of the telescopic tube is fixed to and communicated with the flexible tube, and the other end of the telescopic tube is fixed to a piston head, and the piston head can slide back and forth in the piston cavity.

9. The UAV-based X-ray detection system for tension clamps according to claim 2, characterized in that: The embedded connecting ball includes a spherical shell, a first column is provided on the top of the spherical shell, the upper end of the first column is fixed to the stable telescopic end head, and the lower end of the first column extends into the spherical shell; A second column is provided at the bottom of the spherical shell, the upper end of the second column extends into the spherical shell, and the lower end of the second column is fixed to the imaging plate or the mounting frame; A tension spring is provided between the first column and the second column, and two ends of the tension spring are respectively fixed to the first column and the second column; The spherical shell is filled with elastic filling.

10. The UAV-based tension clamp X-ray detection system according to claim 2, characterized in that: The connecting frame includes a supporting frame, and a cross supporting arm is provided on the side of the supporting frame. The cross supporting arm is fixed to the supporting frame and divides the side of the supporting frame into a plurality of triangular areas.

Images