Nondestructive flaw detection mechanism for linear splicing sleeve of power transmission line

Abstract

The invention discloses a transmission line linear splicing sleeve nondestructive flaw detection mechanism, which solves the technical problem that the transmission line linear splicing sleeve nondestructive flaw detection mechanism carried by an unmanned aerial vehicle is difficult to load, and comprises a rack as well as an airborne hoisting interface, a walking mechanism and an X-ray detection mechanism which are mounted on the rack, the walking mechanism comprises a driving wheel moving along a wire and a driving motor driving the driving wheel to rotate. The X-ray detection mechanism comprises an X-ray transmitter and an X-ray detection imaging receiving plate which are oppositely arranged; the airborne hoisting interface is connected with the hoisting damping mechanism; the hoisting damping mechanism comprises a claw assembly connected with the airborne hoisting interface, a top unmanned aerial vehicle connecting frame connected with the unmanned aerial vehicle, a fixed mounting plate connected with the top unmanned aerial vehicle connecting frame, and a driving assembly movably connected with the fixed mounting plate; the transmission assembly is connected with the driving assembly and the claw assembly; and the damping assembly is connected between the fixed mounting plate and the transmission assembly.

Description

Technical Field

[0001] This invention belongs to the field of power transmission line inspection technology, specifically relating to a non-destructive testing mechanism for straight-line connection pipes of power transmission lines. Background Technology

[0002] Under the influence of natural conditions such as strong winds, icing, lightning, and flashover, power transmission lines may experience problems such as metal fatigue, loosening of connectors, and corrosion aging. In severe cases, this can even lead to faults such as broken conductor strands and damaged connecting pipes, which not only threaten the stable operation of the power transmission system but may also cause large-scale power outages.

[0003] Existing inspection methods include manual tower climbing inspections or visual inspections using drone imagery. However, these methods cannot penetrate the conductor structure itself, making it difficult to detect internal metal damage, cracks, and connection defects in a timely manner, posing safety hazards. While some handheld X-ray inspection devices can achieve X-ray imaging, they require personnel to operate them close to high-voltage areas, posing extremely high risks of electric shock, falls, and radiation exposure. Furthermore, they are inefficient and have limited coverage.

[0004] Therefore, to meet the need for non-destructive testing of the internal condition of straight-line splice pipes in high-altitude power transmission lines, non-destructive testing (NDT) technologies for power transmission line straight-line splice pipes have emerged extensively. To avoid manual tower climbing, current NDT equipment for power transmission line straight-line splice pipes has achieved airborne installation, allowing it to be deployed to or retrieved from the power transmission line by aircraft or other flying vehicles. However, during drone flight, especially during deployment, drones may make attitude adjustments and encounter unexpected situations such as strong winds, causing equipment swaying and making it difficult to maintain drone stability, thus creating difficulties for deployment. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the technical problem to be solved by this invention is to provide a non-destructive testing mechanism for straight-line joint pipes of power transmission lines, thereby solving the technical difficulty of deploying a non-destructive testing mechanism for straight-line joint pipes of power transmission lines on a drone.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A non-destructive testing (NDT) mechanism for straight-line splice pipes in power transmission lines includes a frame, an onboard hoisting interface, a traveling mechanism, and an X-ray inspection mechanism mounted on the frame; wherein,

[0008] The walking mechanism includes a drive wheel that moves along the guide wire and a drive motor that drives the drive wheel to rotate.

[0009] The X-ray detection mechanism includes an X-ray transmitter and an X-ray detection imaging receiver plate arranged opposite to each other;

[0010] The airborne hoisting interface is connected to the hoisting damping mechanism, which includes a claw assembly connected to the airborne hoisting interface, a top drone connection frame connected to the drone, a fixed mounting plate connected to the top drone connection frame, a drive assembly movably connected to the fixed mounting plate, a transmission assembly connecting the drive assembly and the claw assembly, and a damping assembly connected between the fixed mounting plate and the transmission assembly.

[0011] Preferably, the X-ray detection mechanism further includes a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm connected to the X-ray transmitter and an X-ray transmitter joint motor assembly that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm connected to the X-ray detection imaging receiver plate and a receiver plate joint motor assembly that drives the receiver plate support arm to rotate up and down.

[0012] Preferably, the X-ray transmitter support arm has a telescopic structure, and the receiver plate support arm has a telescopic structure; and / or, the X-ray transmitter joint motor assembly has degrees of freedom in the vertical and horizontal directions, and the receiver plate joint motor assembly has degrees of freedom in the vertical and horizontal directions.

[0013] Preferably, the walking mechanism has two drive wheels, front and rear, wherein the front drive wheel is driven by a front drive motor and the rear drive wheel is driven by a rear drive motor.

[0014] Preferably, the frame is provided with a "Λ"-shaped opening structure.

[0015] Preferably, the frame is installed inside the housing, and the housing has a receiving groove in the middle for accommodating the X-ray detection mechanism, the control system, and the lithium battery unit.

[0016] Preferably, the damping assembly includes a damping rod and a movable seat connected to the upper end of the damping rod. The movable seat is mounted on a fixed mounting plate. A fixed seat that can slide up and down is movably mounted on the outer side of the transmission assembly. The lower end of the damping rod is hinged to the fixed seat.

[0017] Preferably, the drive assembly includes a claw motor and a gearbox, the gearbox is connected to a motor mounting plate, the claw motor is mounted on the motor mounting plate, and a transmission belt assembly is provided between the claw motor and the gearbox.

[0018] Preferably, the transmission assembly includes a fixed sleeve connected to the lower end of the gearbox and a transmission shaft rotatably mounted inside the fixed sleeve. The upper end of the transmission shaft is connected to the output end of the gearbox, and the lower end is connected to the pawl assembly.

[0019] Preferably, a spherical bearing is connected between the gearbox and the fixed mounting plate.

[0020] The present invention, by adopting the above technical solution, has the following beneficial effects:

[0021] An airborne lifting interface connects to a lifting damping mechanism, which includes a claw assembly connected to the airborne lifting interface, a top drone connector connected to the drone, a fixed mounting plate connected to the top drone connector, a drive assembly movably connected to the fixed mounting plate, a transmission assembly connecting the drive assembly and the claw assembly, and a damping assembly connecting the fixed mounting plate and the transmission assembly. The components of the lifting damping mechanism work together to achieve stable docking between the robot and the drone and to prevent swaying during lifting. Specifically, the upper end of the top drone connector precisely matches the drone mount, ensuring reliable connection during lifting; the lower end is fixedly connected to the fixed mounting plate, providing a load-bearing foundation for the entire mechanism. A damping assembly, such as four evenly distributed damping rods, is installed between the fixed mounting plate and the transmission assembly. Movable seats are installed at the bottom of the fixed mounting plate, each hinged to the upper end of a self-restoring damping rod via a pin, allowing the damping rod to flexibly adjust its angle during lifting. The lower end of the self-restoring damping rod is hinged to the fixed seat, forming a stable buffer support. When the hoisted robot sways, multiple damping rods can absorb its vibration energy from various angles, reducing vibration and impact, thereby reducing the robot's swing amplitude and increasing stability, enabling the drone to operate smoothly and allowing the robot to be successfully put into operation.

[0022] In addition, the bottom hook assembly is driven by the drive assembly and transmitted by the transmission assembly to realize the extension and retraction of the hook; the end of the hook can be equipped with a position sensor to monitor the position status of the hook in real time, thereby realizing automatic alignment and locking with the airborne lifting interface, completing the docking without manual assistance, and ensuring the efficiency and safety of the lifting operation.

[0023] Because power transmission lines are long, robots need to be able to move autonomously along them. The airborne non-destructive testing robot for straight-line joint pipes of power transmission lines provided by this invention is equipped with a walking mechanism. The walking mechanism includes a drive wheel that moves along the conductor and a drive motor that drives the drive wheel to rotate, enabling the robot to move self-driven along the conductor direction and move forward and backward on the power transmission line, so as to perform inspections on different length sections of the power transmission line.

[0024] To detect internal defects in straight-line connectors of power transmission lines, the airborne non-destructive testing robot for straight-line connectors of power transmission lines provided by this invention adopts the currently mature X-ray inspection technology. The X-ray inspection mechanism can realize non-destructive testing of internal metal defects in the conductors. The imaging data is transmitted in real time, which can clearly identify internal defects such as steel core cracks and corrosion, accurately determine the internal state of the metal, and avoid the problem that traditional visual inspection cannot penetrate the metal.

[0025] To ensure precise alignment of X-rays with the straight-line connector tube, the X-ray transmitter and X-ray imaging receiver plate need to be adjustable in position. Therefore, the airborne non-destructive testing robot for straight-line connector tubes of power transmission lines provided by this invention is equipped with a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm connected to the X-ray transmitter and an X-ray transmitter joint motor assembly that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm connected to the X-ray imaging receiver plate and a receiver plate joint motor assembly that drives the receiver plate support arm to rotate up and down. Furthermore, both the X-ray transmitter support arm and the receiver plate support arm have telescopic structures; both the X-ray transmitter joint motor assembly and the receiver plate joint motor assembly have degrees of freedom in the vertical and horizontal directions. Since both the X-ray transmitter support arm and the receiver support arm are telescopic structures, the X-ray transmitter and the X-ray detection imaging receiver can be adjusted in front and behind. Furthermore, the X-ray transmitter joint motor assembly and the receiver joint motor assembly can achieve bidirectional adjustment of vertical lifting and horizontal rotation, ensuring that X-rays penetrate the core area of ​​the connector tube.

[0026] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and accompanying drawings. Attached Figure Description

[0027] The invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of an airborne non-destructive testing robot for straight-line splice pipes of power transmission lines according to the present invention. Figure 2 This is a schematic diagram of the safety locking mechanism in this invention; Figure 3 This is a schematic diagram of the overall structure of the hoisting damping mechanism in this invention; Figure 4 This is a rear view of the hoisting damping mechanism in this invention; Figure 5 This is a frontal sectional view of the hoisting damping mechanism in this invention; Figure 1 and Figure 2In the middle: X-ray detection imaging receiver plate 1, receiver plate support arm 2, receiver plate joint motor assembly 3, airborne hoisting interface 4, control system 5, rear drive wheel 6, wireless transceiver antenna 1 7a, wireless transceiver antenna 2 7b, power transmission line conductor 8, power transmission line conductor segment 1 8a, power transmission line conductor segment 2 8b, safety locking mechanism 9, safety locking motor 10, lithium battery unit 11, X-ray transmitter joint motor assembly 12, X-ray transmitter 13, X-ray transmitter support arm 14, front drive motor 15, linear connecting tube 16, front drive wheel 17, frame 18; right limit photoelectric switch 21, left limit photoelectric switch 22, lead screw 23, right limit sensor 24, right nut slider assembly 25, left nut slider assembly 26, left limit sensor 27, right clamping ring 28, left clamping ring 29, bevel gear 30, locking mechanism bracket 31; Figure 3 and Figure 4 In the middle: First UAV connecting frame 1a, second UAV connecting frame 1b, fixed mounting plate 410, reinforcing beam 411, fixing plate 412, control box 413, motor mounting plate 414, hook motor 415, first movable seat 8a, second movable seat 8b, third movable seat 8c, fourth movable seat 8d, joint bearing 416, gearbox upper cover plate 417, connecting rod bearing 418, gearbox lower cover plate 419, first damping rod 13a, second damping rod 13b, third damping rod 13c, fourth damping rod 13 d, First fixed seat 14a, Third fixed seat 14b, Fixed sleeve 420, First telescopic hook 16a, Second telescopic hook 16b, Third telescopic hook 16c, Fourth telescopic hook 16d, First hook protective shell 17a, Second hook protective shell 17b, First synchronous pulley 431, Transmission belt 432, Second synchronous pulley 433, Worm 421, Worm wheel 422, Transmission rod coupling 423, Transmission rod 424, Turntable coupling 425, Hook transmission upper cover 426, Hook transmission bottom cover 427. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0029] Those skilled in the art will understand that, without conflict, the features in the following embodiments and implementations can be combined with each other.

[0030] The terminology used in this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. For example, terms such as "upper," "lower," "inner," and "outer" that indicate orientation or positional relationship are based solely on the orientation or positional relationship shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device / element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0031] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0032] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0033] The purpose of this invention is to provide an airborne non-destructive testing robot for straight-line splice pipes of power transmission lines, which is applied to non-contact, high-precision imaging inspection of the internal structure of straight-line splice pipes of power transmission lines, solving the technical problems of high human risk, inability to penetrate the pipe, and low efficiency of traditional inspection methods.

[0034] Reference Figures 1 to 2 As shown, the transmission line conductor 8 consists of several transmission line conductor segments, with conductor segment 8a and conductor segment 8b connected by a straight connector 16. This embodiment of the invention provides an airborne non-destructive testing robot for transmission line straight connectors, capable of performing X-ray imaging inspection on transmission line conductors 8a and 8b, as well as the straight connector 16. It includes a frame 18 and an airborne hoisting interface 4 mounted on the frame 18, a walking mechanism, an X-ray inspection mechanism, and a safety locking mechanism. The walking mechanism includes drive wheels that move along the conductor and a drive motor that drives the drive wheels to rotate; the safety locking mechanism includes a clamping ring and a safety locking motor 10 that drives the clamping ring to open and close to clamp or release the conductor; the X-ray inspection mechanism includes an X-ray transmitter 13 and an X-ray imaging receiver 1 arranged opposite each other.

[0035] Based on the existing X-ray inspection principles, the X-ray inspection mechanism adopts mature X-ray inspection technology. During the inspection process, the X-ray transmitter 13 and the X-ray inspection imaging receiver 1 are respectively arranged on both sides of the guide wire, forming a through-beam X-ray imaging structure. The X-ray transmitter 13 emits an X-ray beam that passes through the straight connecting tube 16. The X-ray inspection imaging receiver 1 receives the transmitted image, clearly identifying internal defects in the straight connecting tube, thus improving the accuracy and reliability of the inspection and solving the problems of high risk, high intensity, and strong radiation associated with traditional manual X-ray inspection operations.

[0036] Here, "airborne" refers to a robot that can be directly mounted on an aircraft or other flying vehicle, and can be deployed onto or retrieved from power transmission lines. The airborne non-destructive testing robot for straight-line splice pipes in this embodiment can be deployed and retrieved using drones, eliminating the need for manual tower work. The drone can handle both attachment and retrieval, and remote control enables X-ray inspection. This results in high inspection efficiency, low resource consumption, and long-term operation, solving the problems of low efficiency, high intensity, and safety hazards associated with traditional manual inspection.

[0037] Because power transmission lines are long, robots need to be able to move autonomously along them. The airborne non-destructive testing robot for straight-line joint pipes of power transmission lines provided by this invention is equipped with a walking mechanism, which enables the robot to move self-driven along the direction of the conductor, and to move forward and backward on the power transmission line, so as to carry out testing in different length sections of the power transmission line.

[0038] To detect internal defects in straight-line connectors of power transmission lines, the airborne non-destructive testing robot for straight-line connectors of power transmission lines provided by this invention adopts the currently mature X-ray inspection technology. The X-ray inspection mechanism can realize non-destructive testing of internal metal defects in the conductors. The imaging data is transmitted in real time, which can clearly identify internal defects such as steel core cracks and corrosion, accurately determine the internal state of the metal, and avoid the problem that traditional visual inspection cannot penetrate the metal.

[0039] To ensure operational stability, the airborne non-destructive testing robot for straight-line connection pipes of power transmission lines provided by this invention is also equipped with a safety locking mechanism, which enhances the robot's anti-overturning ability and stability during operation and testing, ensuring that the robot can still operate stably under the influence of external factors such as wind load, and improving the accuracy of detection, anti-interference ability and imaging quality of X-ray detection.

[0040] In addition, the robot is equipped with an outer shell (not shown in the figure). The shell has a rectangular structure and is made of aerospace-grade aluminum, combining lightweight and torsional strength. A recessed compartment in the center of the shell houses the X-ray inspection mechanism, control system 5, and lithium battery unit 11. The compartment is designed with a modular structure for easy disassembly and maintenance of core components. The shell surface undergoes special anti-corrosion treatment and has excellent hydrophobic properties. Brushes along the edges ensure continuous contact between the robot and power transmission lines. Copper wires and shielding mesh are interwoven between moving and stationary components to effectively isolate electromagnetic interference from high-voltage electric fields, ensuring stable operation of internal electronic components. No additional shielding enclosure is needed; the shell's structure and shielding design alone meet anti-interference requirements. It also possesses wind and impact resistance, adapting to complex conditions such as low temperatures, strong winds, rain, and snow during high-altitude operations. The outer shell's compartment houses a control system mounting bracket, on which the control system 5 is fixed. Wireless transceiver antennas 7a and 7b are mounted on the shell for bidirectional communication with the UAV flight control system and ground terminal, transmitting flaw detection data and robot status information in real time. Additionally, the top of the frame is equipped with an airborne hoisting structure, such as a damped airborne hoisting structure, to connect to the drone via a hook, thus addressing the swaying issue during drone deployment and retrieval. A wireless transceiver antenna is used to enable communication between the control system and the ground, allowing for remote control operation of the robot from the ground. It is understood that other existing structures, such as cameras, can also be incorporated to meet the requirements of high-altitude operations.

[0041] The frame 18 is fixed in the middle of the outer shell and is an A-type frame with a "Λ"-shaped opening structure at the bottom. Its main function is to enable the robot to quickly get on and off the line. After the drone carries the robot to the top of the wire, the opening of the frame 18 can automatically align with the wire during the lowering process. The robot can slide in along the opening to complete the wire entry without disassembling the wire or manual assistance, thus solving the problem of cumbersome wire entry in traditional equipment.

[0042] In some embodiments, the walking mechanism includes two drive wheels, respectively mounted at the front and rear ends of the frame 18. The front drive wheel 17 is driven by a front drive motor 15, and the rear drive wheel 6 is driven by a rear drive motor (not shown in the figure). Specifically, a rotating shaft can be set in the middle of the drive wheels, with a reducer mounted on the shaft. One end of the shaft is connected to the drive motor, which drives the drive wheels to rotate synchronously, enabling the robot to move self-driven along the conductor direction. Additionally, the surfaces of the front and rear drive wheels are covered with an anti-slip rubber layer, with arc-shaped grooves formed in the rubber layer. This structure allows the robot to move smoothly along the power transmission line, preventing slippage even on inclined sections of the conductor or in windy conditions, ensuring the stability of continuous flaw detection operations. Furthermore, equipotential contact elements are installed at the contact points between the drive wheels and the conductor to ensure that the robot maintains an equipotential state with the conductor during operation, reducing the risk of arc discharge.

[0043] In some embodiments, the safety locking mechanism includes a lead screw 23 and a nut-slider assembly connected to the lead screw. The nut-slider assembly is connected to a retainer. The safety locking motor drives the lead screw to rotate, which in turn drives the nut-slider assembly to slide and move the retainer to clamp or release the wire.

[0044] Specifically, the lead screw 23 has a left lead screw section and a right lead screw section with opposite directions of rotation, and the left lead screw section and the right lead screw section are respectively connected to the left nut slider assembly 26 and the right nut slider assembly 25. The left nut slider assembly 26 and the right nut slider assembly 25 are respectively connected to the left clamping ring 29 and the right clamping ring 28. The left clamping ring 29 and the right clamping ring 28 cooperate to clamp or loosen the wire.

[0045] Specifically, the safety locking motor 10 is located below the lead screw 23, and the motor shaft is perpendicular to the lead screw. A bevel gear set is provided between the motor shaft and the lead screw, and the inner wall of the retaining ring is provided with an anti-slip pad layer.

[0046] Furthermore, the safety locking mechanism also includes a left limit sensor 27 connected to the left nut slider assembly and a left limit photoelectric switch 22 fixedly disposed corresponding to the left limit sensor; the safety locking mechanism also includes a right limit sensor 24 connected to the right nut slider assembly and a right limit photoelectric switch 21 fixedly disposed corresponding to the right limit sensor.

[0047] The aforementioned safety locking motor 10, lead screw 23, left limit photoelectric switch 22, and right limit photoelectric switch 21 are mounted on the locking mechanism bracket 31. The lead screw 23 is horizontally supported on the locking mechanism bracket 31 via bearings. Left and right nut slider assemblies are symmetrically fitted onto both ends of the lead screw. Left and right retaining rings are respectively fixed below the left and right nut slider assemblies. Left and right limit photoelectric switches are correspondingly mounted at both ends of the locking mechanism bracket 31. Left and right limit sensing plates are respectively fixed to the outside of the left and right nut slider assemblies. The safety locking motor can be a stepper motor. The stepper motor drives the bevel gear 30 to rotate. When the lead screw rotates forward, the left and right nut slider assemblies move towards each other, and the left and right retaining rings clamp the wire. When the lead screw rotates in reverse, the left and right nut slider assemblies move in the opposite direction, and the left and right retaining rings release the wire. When the left and right nut slider assemblies reach their limit positions, the control system 5 immediately cuts off the power to the stepper motor to prevent the clamping ring from over-clamping and damaging the wires or the slider from overtraveling and damaging the lead screw. This ensures that the robot operates without shaking or displacement during flaw detection, preventing blurred X-ray images. When movement is required, the clamping ring releases, without affecting the travel path of the walking mechanism.

[0048] like Figure 2As shown, the X-ray detection mechanism further includes a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm 14 connected to the X-ray transmitter and an X-ray transmitter joint motor assembly 12 that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm 2 connected to the X-ray detection imaging receiver plate and a receiver plate joint motor assembly 3 that drives the receiver plate support arm to rotate up and down. The X-ray transmitter support arm 14 and the receiver plate support arm 2 are equipped with telescopic structures; the X-ray transmitter joint motor assembly 12 has degrees of freedom in the vertical and horizontal directions, and the receiver plate joint motor assembly 3 has degrees of freedom in the vertical and horizontal directions.

[0049] Based on the above structural configuration, the airborne non-destructive testing robot for straight-line splice pipes in power transmission lines achieves bidirectional adjustment by setting up a receiver plate joint motor assembly 3 and an X-ray transmitter joint motor assembly 12, which drive the receiver plate support arm 2 and the X-ray transmitter support arm 14, eliminating the need for additional linear module mechanisms or independent drive units. The extension and retraction adjustment of the support arms can precisely align the straight-line splice pipes 16 at different positions. Combined with the self-driven movement of the walking mechanism along the conductor, it can achieve continuous non-destructive testing of multiple straight-line splice pipes, improving the testing efficiency of straight-line splice pipes and enabling clear identification of defects such as cracks, corrosion, and fractures in the steel core inside the pipe through X-ray penetration imaging, accurately determining the internal condition of the metal.

[0050] To address the technical challenge of deploying a drone-mounted non-destructive testing (NDT) mechanism for straight-line pipe connections in power transmission lines, the airborne hoisting interface 4 is connected to a hoisting damping mechanism. For example... Figures 3 to 5 As shown, the hoisting damping mechanism includes a claw assembly connected to an airborne hoisting interface, a top drone connection frame connected to a drone, a fixed mounting plate 410 connected to the top drone connection frame, a drive assembly movably connected to the fixed mounting plate, a transmission assembly connecting the drive assembly and the claw assembly, and a damping assembly connected between the fixed mounting plate and the transmission assembly.

[0051] In one implementation, the damping element is a damping rod, specifically four damping rods: a first damping rod 13a, a second damping rod 13b, a third damping rod 13c, and a fourth damping rod 13d. Therefore, multiple damping elements can provide damping from multiple angles, absorbing vibration energy. The damping rods can employ mature existing technologies to provide damping, and should automatically return to their original state after the external force disappears.

[0052] To connect the damping components to the fixed mounting plate, in some embodiments, the fixed mounting plate 410 is provided with rotatable movable seats for connecting the damping rods. Corresponding to the first damping rod 13a, the second damping rod 13b, the third damping rod 13c, and the fourth damping rod 13, there are four movable seats: first movable seat 8a, second movable seat 8b, third movable seat 8c, and fourth movable seat 8d. The upper end of each damping rod is connected to the movable seat, which can be installed using a pin and a retaining spring. The movable seat can move in a circular motion, and the lower end is locked with a retaining spring to prevent vertical movement.

[0053] The transmission assembly includes a fixed sleeve 420, with a fixed seat slidably connected to the outside of the fixed sleeve. Four fixed seats are provided, two of which are shown in the figure: a first fixed seat 14a connected to the first damping rod 13a, and a third fixed seat 14b connected to the third damping rod 13c. Each fixed seat has a U-shaped portion protruding radially outward. The lower end of the damping rod is hinged and installed within the U-shaped portion, also using a pin and snap ring. The four fixed seats are combined and fixed to the fixed sleeve via clamps. Two fixed seats are integrally connected to a half-clamp, and the other two fixed seats are integrally connected to a half-clamp. The two half-clamps are bolted and fixed to the fixed sleeve.

[0054] The movable seat allows the damping rods to flexibly adjust their angle during hoisting. The lower end of the self-restoring damping rod is hinged to the fixed seat, forming a stable buffer support. Based on the principle and characteristics of damping rods, when a stressed object changes from equilibrium to non-equilibrium under the action of force, the damping rod intervenes to convert the force change into damping force, slowing down the change in the moving object and effectively suppressing vibration or swaying. A fixed sleeve distributes the force to four damping rods. Their intervention effectively reduces the impact of forces from various angles on the suspended equipment. When the hoisted robot sways, multiple damping rods can absorb its vibration energy from various angles, reducing vibration and impact, thus reducing the robot's sway amplitude and increasing stability, enabling the drone to operate smoothly and allowing the robot to be successfully deployed.

[0055] The system includes two top-mounted drone connection frames: a first drone connection frame 1a and a second drone connection frame 1b. Structurally, each frame comprises a top edge, sides, and a bottom edge, forming an overall U-shape. The top edge has upper fixing holes for bolt connection to the drone, while the bottom edge has lower fixing holes for bolt connection to a mounting plate. The mounting plate is a long plate, and the two top-mounted drone connection frames are correspondingly fixed to the top surfaces of both sides of the mounting plate.

[0056] In this embodiment, the driving assembly includes a hook motor 415 and a gearbox. The hook assembly includes at least two telescopic hooks evenly distributed circumferentially and a transmission rod 424 that drives the telescopic hooks to extend and retract. The output shaft of the motor is connected to the input end of the gearbox, and the output end of the gearbox is connected to the hook assembly via the transmission rod 424. The telescopic hooks are extended and retracted by driving the gearbox. A stepper motor is preferably used as the motor. The fixed sleeve 420 is hollow inside, and the transmission rod passes through the inside of the fixed sleeve, ensuring that the transmission rod can rotate normally without any resistance.

[0057] Specifically, the gearbox includes an upper cover plate 417 and a lower cover plate 419, which are fixedly arranged to form the gearbox housing. Inside, a worm gear mechanism is provided, including a worm 421 and a worm wheel 422 for meshing transmission. The worm wheel 422 is connected to a transmission rod 424 via a transmission rod coupling 423. The worm gear mechanism is suitable for compact environments, such as in this embodiment. When the lead angle of the worm is less than the equivalent friction angle between the meshing teeth, the worm gear mechanism has self-locking properties. This characteristic is crucial in devices requiring anti-reverse operation; when the control box is not activated, the worm gear locks the gear set, significantly reducing wobbling. For the worm to rotate within the gearbox, two connecting rod bearings 418 are added to both sides of the gearbox to support the worm, allowing it to rotate easily. The upper end of the fixed sleeve is connected to the lower cover plate of the gearbox.

[0058] Furthermore, screw holes are provided in the gearbox housing for screw connection to fix the motor mounting plate 414. The motor mounting plate is located on one side of the width of the fixed mounting plate, and the upper part of the motor mounting plate is located in the space above the fixed mounting plate, where the hook motor is installed. One end of the hook motor is connected to the upper part of the motor mounting plate and is located directly above the fixed mounting plate, allowing for some movement. During outdoor operations, situations with temporarily high wind speeds may occur. Therefore, an opening design is made at the lower end of the motor mounting plate to ensure the stability of the hoisted equipment while increasing the exhaust volume, reducing unnecessary wind resistance, and avoiding increased energy consumption during drone flight.

[0059] In addition, to reduce the lateral installation dimensions, a belt drive assembly is used to transmit power between the output shaft of the stepper motor and the worm gear. The belt drive assembly includes a first synchronous pulley 431, a second synchronous pulley 433, and a drive belt 432. The first synchronous pulley is connected to the output shaft of the hook motor, the second synchronous pulley is connected to the worm gear, and the drive belt connects the first and second synchronous pulleys. The entire belt drive assembly extends diagonally downwards, thus the transmission method of the synchronous pulleys and the drive belt significantly saves lateral installation space.

[0060] A spherical plain bearing 416 connects the gearbox to the fixed mounting plate. The spherical plain bearing has two parts: the upper part connects to the fixed mounting plate, and the lower part connects to the gearbox cover plate, allowing the drive assembly and transmission assembly to move relative to the fixed mounting plate. The spherical plain bearing features high load capacity, impact resistance, corrosion resistance, wear resistance, self-aligning properties, and good lubrication, enabling the gearbox and transmission assembly to rotate and oscillate at any angle, thus ensuring the damping mechanism functions effectively. The spherical plain bearing can withstand radial and axial loads of up to 40 kg and can rotate and oscillate within a specified range.

[0061] Based on typical application scenarios, to enhance corrosion resistance, the components selected for the device, including the top drone connector, mounting plate, and damping rod, are all made of aerospace-grade aluminum. This allows for flexible operation in outdoor weather and provides good hydrophobicity, preventing water accumulation. Furthermore, the design prioritizes lightweight construction without compromising strength. This is achieved through multiple slots within a reasonable range, with reinforcing ribs added to weak points to effectively resist torsion. For example, multiple slots are present on the mounting plate and the top drone connector. Additionally, a reinforcing beam 411 is provided on the bottom surface of the mounting plate, and the upper end of the spherical bearing is mounted on the reinforcing beam 411. This ensures that the mounting plate will not deform under stress.

[0062] In this embodiment, four telescopic hooks are provided: a first telescopic hook 16a, a second telescopic hook 16b, a third telescopic hook 16c, and a fourth telescopic hook 16d. The hook assembly also includes a hook drive upper cover 426 and a hook drive lower cover 427. The hook drive upper cover 426 has drive grooves evenly distributed circumferentially, and the hook drive lower cover 427 has sliding grooves evenly distributed circumferentially, extending radially. The telescopic hook has a sliding part and a drive part. The sliding part slides along the sliding groove, and the drive part is connected to the drive groove. The transmission rod is connected to the hook drive upper cover 426 via a turntable coupling 425, driving the hook drive upper cover 426 to rotate and driving the drive part through the drive groove, causing the sliding part to slide along the sliding groove, thus achieving telescopic extension. The transmission rod can rotate in both directions, controlled by a stepper motor. When rotating forward, the telescopic hook extends; when rotating in reverse, the telescopic hook retracts. Of course, it is understandable that the hook drive upper cover 426 and the hook drive bottom cover 427 can be interchanged. The structure of the drive groove can refer to existing technology, such as an arc groove.

[0063] To enhance the appearance and protect the mechanical claws, a protective shell was designed, consisting of two split shells: a first claw protective shell 17a and a second claw protective shell 17b, which are fixed with two screws to enclose the claw assembly.

[0064] In addition, the stepper motor has been given a waterproof housing, and the gearbox is also treated with a sealed structure to prevent water from seeping through gaps and causing the internal worm gear mechanism to rust and become unusable.

[0065] The hoisting damping mechanism is controlled by a control box 413, which is located on one side of the length of the fixed mounting plate. The control box has a rectangular structure, and both ends are fixed by a fixing plate 412. The fixing plate has an L-shaped structure and is secured with bolts. Both sides of the width of the fixed mounting plate have protrusions for mounting movable seats.

[0066] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art should understand that the invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the invention will be included within the scope of the claims.

Claims

1. A non-destructive testing mechanism for straight-line splice pipes in power transmission lines, characterized in that, This includes the frame, as well as the airborne hoisting interface, traveling mechanism, and X-ray inspection mechanism mounted on the frame; among which, The walking mechanism includes a drive wheel that moves along the guide wire and a drive motor that drives the drive wheel to rotate. The X-ray detection mechanism includes an X-ray transmitter and an X-ray detection imaging receiver plate arranged opposite to each other; The airborne hoisting interface is connected to the hoisting damping mechanism, which includes a claw assembly connected to the airborne hoisting interface, a top drone connection frame connected to the drone, a fixed mounting plate connected to the top drone connection frame, a drive assembly movably connected to the fixed mounting plate, a transmission assembly connecting the drive assembly and the claw assembly, and a damping assembly connected between the fixed mounting plate and the transmission assembly.

2. The non-destructive testing mechanism for straight-line splice pipes in transmission lines according to claim 1, characterized in that, The X-ray detection mechanism further includes a transmitter adjustment component and a receiver plate adjustment component. The transmitter adjustment component includes an X-ray transmitter support arm connected to the X-ray transmitter and an X-ray transmitter joint motor assembly that drives the X-ray transmitter support arm to move. The receiver plate adjustment component includes a receiver plate support arm connected to the X-ray detection imaging receiver plate and a receiver plate joint motor assembly that drives the receiver plate support arm to rotate up and down.

3. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 2, characterized in that, The X-ray transmitter support arm is provided with a telescopic structure, and the receiver plate support arm is provided with a telescopic structure; and / or, the X-ray transmitter joint motor assembly is provided with degrees of freedom in the vertical and horizontal directions, and the receiver plate joint motor assembly is provided with degrees of freedom in the vertical and horizontal directions.

4. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 1, characterized in that, The walking mechanism has two drive wheels, one in front and one in back. The front drive wheel is driven by a front drive motor, and the rear drive wheel is driven by a rear drive motor.

5. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 1, characterized in that, The frame is equipped with a "Λ"-shaped opening structure.

6. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 1, characterized in that, The frame is installed inside the housing, and the housing has a receiving groove in the middle for accommodating the X-ray detection mechanism, the control system, and the lithium battery unit.

7. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 1, characterized in that, The damping assembly includes a damping rod and a movable seat connected to the upper end of the damping rod. The movable seat is mounted on a fixed mounting plate. A fixed seat that can slide up and down is movably mounted on the outer side of the transmission assembly. The lower end of the damping rod is hinged to the fixed seat.

8. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 1, characterized in that, The drive assembly includes a claw motor and a gearbox. The gearbox is connected to a motor mounting plate, the claw motor is mounted on the motor mounting plate, and a transmission belt assembly is provided between the claw motor and the gearbox.

9. The non-destructive testing mechanism for straight-line splice pipes in transmission lines according to claim 8, characterized in that, The transmission assembly includes a fixed sleeve connected to the lower end of the gearbox and a transmission shaft rotatably installed inside the fixed sleeve. The upper end of the transmission shaft is connected to the output end of the gearbox, and the lower end is connected to the pawl assembly.

10. The non-destructive testing mechanism for straight-line splice pipes of transmission lines according to claim 8, characterized in that, A spherical bearing connects the gearbox to the fixed mounting plate.

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