Power transmission line X-ray defect detection device based on unmanned aerial vehicle

Abstract

The invention relates to a power transmission line X-ray defect detection device based on an unmanned aerial vehicle, and belongs to the technical field of detection equipment, the power transmission line X-ray defect detection device is suitable for the unmanned aerial vehicle, the power transmission line X-ray defect detection device comprises a frame body and an imaging plate, the imaging plate is arranged in the frame body, a plurality of vertically arranged supporting rods are uniformly arranged on the upper surface of the frame body, and the bottom ends of the supporting rods are fixedly connected with the frame body; a clamping assembly used for clamping the supporting rod is arranged at the bottom of the unmanned aerial vehicle. Connecting shafts are fixedly arranged on the two opposite sides of the frame body, rotating shafts are arranged at the ends, away from the frame body, of the connecting shafts, and the rotating shafts penetrate through the connecting shafts and are rotationally connected with the connecting shafts; a rotating assembly for driving the rotating shaft to rotate is arranged on the connecting shaft; rollers are mounted at the two ends of the rotating shaft; the outer contours of the rollers are concave in the middle; and a ray machine is carried at the bottom of the unmanned aerial vehicle. The strain clamp detection device has the effect of improving the strain clamp detection efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of detection equipment, and in particular to a power transmission line X-ray defect detection device based on a UAV. BACKGROUND

[0002] A power transmission line is a key component of a power system, and the safe and stable operation thereof is directly related to the reliability of a power grid and power supply quality. A strain clamp is an important connecting component in the power transmission line, and the quality of crimping of the strain clamp directly affects the mechanical strength and electrical performance of the line. Since the crimping of the strain clamp is a concealed project, the traditional detection method cannot intuitively evaluate internal defects, and therefore, non-destructive detection needs to be performed by means of X-ray flaw detection technology.

[0003] With the application of the UAV technology, the existing detection mode usually adopts a single-machine alternating operation process: the UAV needs to be mounted with an imaging plate to take off and place the imaging plate at a designated position of the power transmission line, then return to replace a ray machine, and take off again to perform shooting. After the detection of a single clamp is completed, the UAV needs to return again, and the above-mentioned device dismounting, mounting and take-off process is repeated to complete the work at the next detection point.

[0004] According to the related technology in the above, the single-machine operation mode needs to be repeatedly taken off and landed and the device needs to be replaced, which is time-consuming and laborious, and thus there is a defect that the detection efficiency of the strain clamp is low. SUMMARY

[0005] In order to improve the detection efficiency of the strain clamp, the application provides a power transmission line X-ray defect detection device based on a UAV.

[0006] The power transmission line X-ray defect detection device based on the UAV provided by the application adopts the following technical scheme: A power transmission line X-ray defect detection device based on a UAV, suitable for a UAV, comprising a frame body and an imaging plate, the imaging plate being arranged inside the frame body, a plurality of vertical supporting rods being uniformly arranged on the upper surface of the frame body, and the bottom ends of the supporting rods being fixedly connected with the frame body; a clamping assembly for clamping the supporting rods is arranged at the bottom of the UAV; a connecting shaft is fixedly arranged on each of the opposite sides of the frame body, a rotating shaft is arranged at the end of the connecting shaft away from the frame body, and the rotating shaft penetrates through the connecting shaft and is rotationally connected with the connecting shaft; a rotating assembly for driving the rotating shaft to rotate is arranged on the connecting shaft; a roller is mounted at each end of the rotating shaft, and the outer contour of the roller is in a recessed shape in the middle; and a ray machine is carried on the bottom of the UAV.

[0007] By adopting the above technical solution, the drone can simultaneously carry an imaging plate and an X-ray machine. The drone places the frame on two adjacent power lines, with the rollers overlapping the power lines. The rotating component drives the rollers to move smoothly on the power lines, allowing the imaging plate to reach the set position. This enables the imaging plate and the X-ray machine to work together. After inspecting one tension clamp, the rotating component drives the shaft to move the imaging plate to the next tension clamp for inspection. This eliminates the need for multiple trips to change equipment, thereby improving the inspection efficiency of tension clamps.

[0008] Optionally, rotating rods are fixedly connected to both sides of the imaging plate, and the end of the rotating rod away from the imaging plate is rotatably connected to the frame; a first drive motor is fixedly installed on the frame, and a first gear is fixedly connected to the output shaft of the first drive motor; a second gear is fixedly provided on the rotating rod near the first drive motor, and the first gear meshes with the second gear.

[0009] By adopting the above technical solution, the first drive motor drives the rotating rod to rotate through gear transmission, thereby adjusting the angle of the imaging plate so that it is better aligned with the X-ray machine's emission direction, adapting to different irradiation angles and ensuring X-ray imaging quality.

[0010] Optionally, the rotating shaft is hollow inside, and each end of the rotating shaft is provided with a slide rod. The slide rod is arranged along the length direction of the rotating shaft, and one end of the slide rod extends into the rotating shaft and is slidably connected to the rotating shaft. The roller is fixedly installed at the end of the slide rod away from the rotating shaft. The connecting shaft is provided with a moving component for driving the two slide rods to move towards or away from each other.

[0011] By adopting the above technical solution, the extension length of the movable component can be adjusted to adjust the distance between the two rollers, adapting to different distances between two adjacent power lines and enhancing the versatility and stability of the device.

[0012] Optionally, a support plate is rotatably connected to one end of the slide bar near the roller; a fixed plate is fixedly mounted on the connecting shaft, and the fixed plate is parallel to the support plate; a bidirectional lead screw is mounted on the fixed plate, the bidirectional lead screw is arranged along the length of the shaft, and both ends of the bidirectional lead screw pass through the two support plates respectively and are threaded into the support plates; the bidirectional lead screw passes through the fixed plate and is rotatably connected to the fixed plate; a second drive motor is fixedly mounted on the fixed plate; the moving component includes a third gear and a fourth gear, the third gear is fixedly connected to the output shaft of the second drive motor, and the fourth gear is fixedly located in the middle of the bidirectional lead screw, and the third gear and the fourth gear mesh.

[0013] By adopting the above technical solution, the second drive motor drives the bidirectional lead screw to rotate through gear transmission, causing the two support plates on both sides to move towards or away from each other, thereby driving the slide bar and roller to adjust the distance synchronously, achieving precise control of the roller distance. The operation is simple and highly automated.

[0014] Optionally, a synchronous motor is fixedly mounted on the connecting shaft; the rotating assembly includes a fifth gear and a sixth gear, the fifth gear is fixedly connected to the output shaft of the synchronous motor, the sixth gear is fixedly mounted on the rotating shaft, and the fifth gear and the sixth gear mesh.

[0015] By adopting the above technical solution, the synchronous motor drives the rotating shaft to rotate through gear transmission, which in turn drives the roller to rotate, enabling the device to move along the power transmission line, realize continuous detection, and improve work efficiency.

[0016] Optionally, the drone is equipped with a support plate at its bottom; the clamping assembly is provided in multiple sets, corresponding one-to-one with the support rod; each set of the clamping assembly includes two opposing first electric cylinders and two clamping rods, the first electric cylinders are fixedly installed on the lower surface of the support plate, and the clamping rods are respectively fixedly connected to the output shaft of the corresponding first electric cylinder.

[0017] By adopting the above technical solution, the first electric cylinder drives the clamping rod to move in opposite directions, clamping the support rod, realizing the rapid connection and separation of the frame and the drone, and improving loading and unloading efficiency.

[0018] Optionally, clamping grooves are provided on opposite sides of the upper end of the support rod, the clamping grooves penetrate through both sides of the support rod and engage with the clamping rod; limiting plates are fixedly provided on opposite sides of the clamping rod.

[0019] By adopting the above technical solution, the snap-fit ​​between the clamping groove and the clamping rod enhances the connection firmness, the limiting plate prevents the clamping rod from coming out, avoids the frame from loosening during movement or vibration, and improves safety.

[0020] Optionally, the bottom of the support plate is rotatably connected to a vertically arranged connecting rod, and the bottom end of the connecting rod is fixedly connected to a horizontally arranged first auxiliary plate; a second auxiliary plate is provided on the side of the support plate away from the fixed plate, the second auxiliary plate is connected to the support plate, a second electric cylinder is fixedly provided on the side of the second auxiliary plate away from the connecting rod, and a rack is provided on the side of the second auxiliary plate facing the support plate; the output shaft of the second electric cylinder is fixedly connected to one end of the rack; a seventh gear is fixedly connected to the bottom end of the connecting rod, and the rack meshes with the seventh gear; a clamping wheel is provided on the first auxiliary plate, the outer contour of the clamping wheel is concave in the middle; the first auxiliary plate is also provided with a lifting assembly for driving the clamping wheel to rise and fall.

[0021] By adopting the above technical solution, when the roller is connected to the power transmission line, the rack and the seventh gear mesh to drive the connecting rod to rotate, causing the first auxiliary plate to rotate. The first auxiliary plate drives the clamping wheel to move. After the clamping wheel rotates to directly below the roller, the clamping wheel moves up through the lifting assembly to press the power transmission line, thereby enhancing the stability of the device during movement and preventing it from tipping over.

[0022] Optionally, the lifting assembly includes a vertically arranged threaded sleeve and a screw; the bottom end of the threaded sleeve passes through a first auxiliary plate and is rotatably connected to the first auxiliary plate; the screw and the threaded sleeve are threadedly connected, and a lifting plate is fixedly connected to the upper end of the screw, with a clamping wheel rotatably mounted on the lifting plate; a first telescopic rod is fixedly connected between the lifting plate and the first auxiliary plate, and the first telescopic rod is arranged parallel to the screw; an eighth gear is fixedly connected to the bottom end of the threaded sleeve, and a rack meshes with the eighth gear.

[0023] By adopting the above technical solution, after the rack and the seventh gear disengage, the rack and the eighth gear mesh, driving the eighth gear to rotate. The eighth gear drives the threaded sleeve to rotate. Under the guidance of the first telescopic rod, the screw moves upward, and the screw drives the lifting plate to move upward. The lifting plate drives the clamping wheel to move upward, so that the clamping wheel contacts the power transmission line, and the pressure between the clamping wheel and the power transmission line is adjusted to ensure that the clamping wheel is always in close contact with the cable, thus improving the stability of movement.

[0024] Optionally, a positioning plate is fixedly provided on the side of the second auxiliary plate facing the connecting rod, and a third auxiliary plate is provided on both the upper and lower sides of the positioning plate, the third auxiliary plate being parallel to the positioning plate; a clamping plate is provided on the side of each of the third auxiliary plates facing the positioning plate, the two clamping plates being parallel to each other and located at the end of the positioning plate away from the second auxiliary plate; a second telescopic rod and a spring sleeved on the outside of the second telescopic rod are fixedly connected between the clamping plate and the corresponding third auxiliary plate; the side of the clamping plate away from the second auxiliary plate is set as an inclined surface.

[0025] By adopting the above technical solution, during the process of the connecting rod driving the first auxiliary plate to rotate, the first auxiliary plate first contacts the inclined surface of the clamping plate and pushes the two clamping plates to move in opposite directions. The spring is compressed. When the clamping wheel rotates to directly below the roller, the rack and the seventh gear disengage, and the first auxiliary plate contacts the positioning plate. At this time, the two clamping plates clamp and fix the first auxiliary plate, making it difficult for the first auxiliary plate to move arbitrarily.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. The drone is equipped with both an imaging plate and a X-ray machine, enabling it to complete the operation of multiple inspection points in a single takeoff, thereby improving the inspection efficiency of tension clamps; 2. The roller spacing is adjustable to accommodate different distances between adjacent power lines, thereby enhancing the versatility and stability of the device; 3. The clamping components and auxiliary stabilizing structures work together to ensure the stability and smoothness of the device during movement and testing, reducing operational risks. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an X-ray defect detection device for power transmission lines based on an embodiment of this application; Figure 2This is a cross-sectional view of the clamping assembly in the embodiments of this application; Figure 3 This is a structural schematic diagram illustrating the frame in the embodiments of this application; Figure 4 yes Figure 3 A magnified view of part A in the middle; Figure 5 yes Figure 3 A magnified view of part B in the middle section; Figure 6 This is a schematic diagram illustrating the structure of the lifting component in the embodiments of this application.

[0028] In the diagram, 1. UAV; 11. X-ray machine; 12. Support plate; 2. Frame; 21. Imaging plate; 22. Support rod; 221. Clamping groove; 23. Rotating rod; 24. First drive motor; 25. First gear; 26. Second gear; 27. Slide rod; 3. Clamping assembly; 31. First electric cylinder; 32. Clamping rod; 321. Limiting plate; 4. Connecting shaft; 41. Rotating shaft; 42. Roller; 43. Fixing plate; 44. Bidirectional lead screw; 45. Second drive motor; 46. Synchronous motor; 5. Rotating assembly; 51. 52. Fifth gear; 6. Sixth gear; 6. Moving component; 61. Third gear; 62. Fourth gear; 7. Support plate; 71. Connecting rod; 72. First auxiliary plate; 73. Second electric cylinder; 74. Rack; 75. Seventh gear; 76. Clamping wheel; 77. Lifting plate; 78. First telescopic rod; 79. Eighth gear; 8. Second auxiliary plate; 81. Positioning plate; 82. Third auxiliary plate; 83. Clamping plate; 84. Second telescopic rod; 85. Spring; 9. Lifting component; 91. Threaded sleeve; 92. Screw. Detailed Implementation

[0029] The following is in conjunction with the appendix Figures 1-6 This application will be described in further detail.

[0030] This application discloses an X-ray defect detection device for power transmission lines based on unmanned aerial vehicles (UAVs).

[0031] refer to Figure 1 An X-ray defect detection device for power transmission lines based on unmanned aerial vehicles (UAVs) includes a UAV 1 and a detection mechanism installed on the bottom of the UAV 1. A support plate 12 is fixedly installed on the bottom of the UAV 1. The support plate 12 is horizontally arranged and is made of lightweight aluminum alloy, which ensures the support strength and reduces the load on the UAV 1. An X-ray machine 11 is installed at the center of the lower surface of the support plate 12. A frame 2 is set below the support plate 12. The frame 2 has a rectangular structure and an imaging plate 21 is set inside the frame 2.

[0032] The drone 1 carries the X-ray machine 11 and the frame 2 on the support plate 12 and flies to the power transmission line. The frame 2 is then attached to two adjacent power transmission lines. The support plate 12 and the frame 2 are then separated. The position of the frame 2 is adjusted so that the imaging plate 21 is moved to the set position. The drone 1 drives the X-ray machine 11 to the shooting position to take pictures of the tension clamp.

[0033] refer to Figure 1 and Figure 2 Support rods 22 are fixed on opposite sides of the upper surface of the frame 2. The support rods 22 are made of carbon fiber and are vertically arranged. The upper ends of the support rods 22 are provided with clamping grooves 221 on opposite sides. The clamping grooves 221 penetrate the opposite sides of the support rods 22. Clamping components 3 capable of clamping the support rods 22 are provided on opposite sides of the lower surface of the bearing plate 12.

[0034] The clamping assembly 3 includes two first electric cylinders 31 arranged opposite to each other and two clamping rods 32. The first electric cylinders 31 are fixed to the lower surface of the bearing plate 12. The clamping rods 32 are vertically welded to the output shaft ends of the corresponding first electric cylinders 31. The clamping rods 32 have integrally formed limit plates 321 on both opposite sides. The limit plates 321 are rectangular thin plates and are arranged perpendicular to the clamping rods 32. The size of the clamping groove 221 is adapted to the cross-sectional size of the clamping rods 32.

[0035] During the device mounting phase, the drone 1 hovers directly above the frame 2. After receiving a control signal, the first electric cylinder 31 drives the output shaft to extend, causing the two clamping rods 32 to move towards each other. When the clamping rods 32 align with the clamping grooves 221 of the support rod 22, the first electric cylinder 31 continues to push the clamping rods 32 into the clamping grooves 221 until the limiting plate 321 is tightly attached to the side wall of the support rod 22, completing the fixed connection between the frame 2 and the drone 1. After the frame 2 is attached to two adjacent power lines, the output shaft of the first electric cylinder 31 retracts, causing the clamping rods 32 and the clamping grooves 221 to disengage, releasing the clamping and fixing of the support rod 22, and facilitating the movement of the lower part of the frame 2.

[0036] refer to Figure 1 , Figure 3 and Figure 4 Rotating rods 23 are fixed on both sides of the imaging plate 21. The end of the rotating shaft 41 away from the imaging plate 21 is rotatably connected to the inner wall of the frame 2. A first drive motor 24 is fixed on the upper surface of the frame 2. The first drive motor 24 is a stepper motor. A first gear 25 is fixed on the output shaft of the first drive motor 24. A second gear 26 is fixedly sleeved on the end of the rotating rod 23 near the first drive motor 24. The first gear 25 and the second gear 26 mesh.

[0037] When the angle of the imaging plate 21 needs to be adjusted to match the emission direction of the X-ray machine 11, the first drive motor 24 is powered on and started, and the output shaft drives the first gear 25 to rotate. The first gear 25 drives the second gear 26 to rotate through meshing transmission, which in turn drives the rotating rod 23 to rotate around its own axis. The rotating rod 23 synchronously drives the imaging plate 21 to rotate until the receiving surface of the imaging plate 21 is perpendicular to the X-ray emission direction of the X-ray machine 11. Since a stepper motor is used for driving, the angle of the imaging plate 21 can be precisely adjusted with an adjustment accuracy of up to 0.5 degrees, ensuring that the X-rays can be completely projected onto the imaging plate 21 and improving the clarity of defect imaging.

[0038] refer to Figure 1 , Figure 3 and Figure 5 The frame 2 has connecting shafts 4 fixed to its opposite sides by bolts. The connecting shafts 4 are horizontally rectangular. A rotating shaft 41 is provided at the end of the connecting shaft 4 away from the frame 2. The rotating shaft 41 is horizontally positioned and its length direction is perpendicular to the direction of movement of the frame 2. The rotating shaft 41 is cylindrical and hollow inside. Both ends of the rotating shaft 41 are provided with sliding rods 27. The sliding rods 27 are cylindrical and one end extends into the rotating shaft 41, sliding along the length direction of the rotating shaft 41. A support plate 7 is rotatably connected to the end of the sliding rod 27 away from the rotating shaft 41. The support plate 7 is a rectangular metal plate and is perpendicular to the sliding rod 27. A roller 42 is provided on the side of the support plate 7 facing the conversion path. The sliding rod 27 passes through the roller 42 and the sliding rod 27 and the roller 42 are fixedly connected. The outer contour of the roller 42 is an arc with a concave center, which is adapted to the circular cross-section of the power transmission line.

[0039] Two fixed plates 43 are fixed on the upper surface of the connecting shaft 4. The fixed plates 43 are parallel to the support plates 7. A bidirectional lead screw 44 is provided at the fixed plate 43. The length direction of the bidirectional lead screw 44 is parallel to the length direction of the rotating shaft 41. The threads at both ends of the bidirectional lead screw 44 are opposite. The bidirectional lead screw 44 passes through the two fixed plates 43 and is rotatably connected to the fixed plates 43. The two ends of the bidirectional lead screw 44 pass through the support plates 7 on both sides respectively. The bidirectional lead screw 44 and the support plates 7 are threadedly connected. A second drive motor 45 is fixed at the upper end of one of the two fixed plates 43. The second drive motor 45 is a servo motor. A moving component 6 is provided at the second drive motor 45 for driving the two support plates 7 to move towards or away from each other.

[0040] The moving component 6 includes a third gear 61 and a fourth gear 62. The third gear 61 is fixedly connected to the output shaft of the second drive motor 45. The fourth gear 62 is disposed between two fixed plates 43. A bidirectional lead screw 44 passes through the fourth gear 62. The bidirectional lead screw 44 and the fourth gear 62 are fixedly connected. The third gear 61 and the fourth gear 62 mesh.

[0041] When the device needs to adapt to transmission lines with different spacing, the second drive motor 45 is powered on and started, and the output shaft drives the third gear 61 to rotate. The third gear 61 drives the fourth gear 62 to rotate through meshing transmission, which in turn drives the bidirectional lead screw 44 to rotate around its own axis. Since the threads at both ends of the bidirectional lead screw 44 have opposite directions of rotation, the support plates 7 on both sides move towards or away from each other along the length direction of the bidirectional lead screw 44 under the action of thread engagement. The support plates 7 simultaneously drive the slide bar 27 to slide in the rotating shaft 41, thereby adjusting the spacing between the rollers 42 on both sides. When the spacing of the rollers 42 is consistent with the spacing of the transmission line, the second drive motor 45 stops working, and at this time the rollers 42 can be smoothly attached to the surface of the transmission line.

[0042] refer to Figure 1 , Figure 3 and Figure 5 A synchronous motor 46 is fixedly mounted on the outer wall of the connecting shaft 4. The synchronous motor 46 is a servo motor with a braking function. A rotating assembly 5 is provided on the connecting shaft 4 to drive the rotating shaft 41 to rotate. The rotating assembly 5 includes a fifth gear 51 and a sixth gear 52. The fifth gear 51 is fixedly connected to the output shaft of the synchronous motor 46. The sixth gear 52 is fixedly sleeved on the rotating shaft 41, and the fifth gear 51 and the sixth gear 52 mesh with each other.

[0043] When the device needs to be moved along the power line to the next detection point, the synchronous motor 46 is powered on and started, and the output shaft drives the fifth gear 51 to rotate. The fifth gear 51 drives the sixth gear 52 to rotate through meshing transmission, which in turn drives the rotating shaft 41 to rotate around its own axis. The rotating shaft 41 synchronously drives the slide rods 27 and rollers 42 at both ends to rotate. Since the rollers 42 are in contact with the surface of the power line, the rotation of the rollers 42 is converted into the linear movement of the device along the power line. The synchronous motor 46 can control the moving speed of the device by adjusting the speed, and the braking function can make the device stop immediately after reaching the detection point, ensuring that the imaging plate 21 can be accurately aligned with the detection position of the tension clamp.

[0044] refer to Figure 3 , Figure 5 and Figure 6 A vertically arranged connecting rod 71 is rotatably connected to the bottom of the support plate 7. The connecting rod 71 is cylindrical, and a horizontally arranged first auxiliary plate 72, which is a rectangular metal plate, is fixedly sleeved at the bottom end of the connecting rod 71. A second auxiliary plate 8, which is an L-shaped metal plate, is fixedly connected to the side of the support plate 7 away from the fixed plate 43. A second electric cylinder 73 is fixedly mounted on the side of the second auxiliary plate 8 away from the connecting rod 71. A rack 74 is provided on the side of the second auxiliary plate 8 facing the connecting rod 71. The length direction of the rack 74 is parallel to the length direction of the double-acting lead screw 44. The output shaft of the second electric cylinder 73 is fixedly connected to one end of the rack 74. A seventh gear 75 is fixedly sleeved at the bottom end of the connecting rod 71, and the seventh gear 75 meshes with the rack 74.

[0045] A vertically and horizontally positioned positioning plate 81 is welded to the side of the second auxiliary plate 8 facing the connecting rod 71. The positioning plate 81 is a rectangular metal plate. Third auxiliary plates 82 are provided on both the upper and lower sides of the positioning plate 81. The third auxiliary plates 82 are rectangular metal plates, arranged parallel to the positioning plate 81, and are fixedly connected to the second auxiliary plate 8. Each third auxiliary plate 82 has a clamping plate 83 on the side facing the positioning plate 81. The two clamping plates 83 and 82 are parallel to each other and located at the end of the positioning plate 81 away from the second auxiliary plate 8. A second telescopic rod 84 and a spring 85 are fixed between the clamping plate 83 and the corresponding third auxiliary plate 82, with the spring 85 sleeved on the outside of the second telescopic rod 84. The side of the clamping plate 83 away from the second auxiliary plate 8 is set as an inclined surface with an angle of 45 degrees to facilitate the insertion of the first auxiliary plate 72.

[0046] After the roller 42 is placed on the surface of the power transmission line, the second electric cylinder 73 is activated. The rack 74 of the second electric cylinder 73 moves towards the connecting rod 71. The rack 74 drives the seventh gear 75 to rotate, the seventh gear 75 drives the connecting rod 71 to rotate, and the connecting rod 71 drives the first auxiliary plate 72 to rotate. During the rotation of the first auxiliary plate 72, one end of the first auxiliary plate 72 first contacts the inclined surface of the clamping plate 83 and pushes the two clamping plates 83 to move in opposite directions. Under the guidance of the second telescopic rod 84, the spring 85 is compressed. After the first auxiliary plate 72 contacts the positioning plate 81, the positioning plate 81 prevents the first auxiliary plate 72 from continuing to rotate. At the same time, the clamping plates 83 on both sides clamp and fix the first auxiliary plate 72 through the pushing force of the spring 85. At this time, the rack 74 and the seventh gear 75 disengage.

[0047] refer to Figure 3 , Figure 5 and Figure 6 The first auxiliary plate 72 is provided with a clamping wheel 76. The outer contour of the clamping wheel 76 is an arc with a concave center, which is consistent with the concave arc of the roller 42. The first auxiliary plate 72 is provided with a lifting assembly 9 for driving the clamping wheel 76 to rise and fall.

[0048] The lifting assembly 9 includes a threaded sleeve 91 and a screw 92. The threaded sleeve 91 is vertically arranged, and its bottom end passes through the first auxiliary plate 72. The threaded sleeve 91 and the first auxiliary plate 72 are rotatably connected. An eighth gear 79 is fixedly sleeved on the bottom end of the threaded sleeve 91. The rack 74 and the eighth gear 79 are meshed and matched. The upper end of the screw 92 and the threaded sleeve 91 are threadedly connected. A lifting plate 77 is fixedly mounted on the upper end of the screw 92. The lifting plate 77 is horizontally arranged. A clamping wheel 76 is rotatably connected to the upper surface of the lifting plate 77. A first telescopic rod 78 is fixed between the lifting plate 77 and the first auxiliary plate 72. The first telescopic rod 78 is composed of multiple rod sections that are sleeved together and slidably connected to each other.

[0049] After the seventh gear 75 disengages from the rack 74, the second electric cylinder 73 continues to drive the rack 74 to move, and the rack 74 meshes with the eighth gear 79; the rack 74 drives the eighth gear 79 to rotate, which in turn drives the threaded sleeve 91 to rotate around its own axis; since the screw 92 is threadedly engaged with the threaded sleeve 91, and the first telescopic rod 78 restricts the rotation of the lifting plate 77, the rotation of the threaded sleeve 91 is converted into the vertical upward motion of the screw 92; the screw 92 simultaneously drives the lifting plate 77 and the clamping wheel 76 to rise until the recess of the clamping wheel 76 is in close contact with the surface of the power transmission line; at this time, the clamping wheel 76 cooperates with the roller 42 above to clamp the power transmission line from the upper and lower sides, forming a double fixing structure, which effectively prevents the device from tipping over due to wind or vibration during the testing process and ensures the stability of the testing operation.

[0050] The implementation principle of the UAV-based X-ray defect detection device for power transmission lines in this application embodiment is as follows: UAV 1 uses clamping assembly 3 to clamp the support rod 22 of frame 2, transporting frame 2 to the vicinity of the power transmission line; rotating assembly 5 drives rollers 42 to move on the power transmission line, causing frame 2 to slide along the power transmission line to the tension clamp position; moving assembly 6 adjusts the spacing of rollers 42 to adapt to different line spacings; imaging plate 21 adjusts its angle via first drive motor 24 to align with X-ray machine 11; auxiliary stabilizing structures such as clamping wheels 76 press against the power transmission line to prevent tipping; after detection, rotating assembly 5 continues to drive rollers 42 to move to the next detection point, achieving continuous detection. This eliminates the need for multiple equipment changes, thereby improving detection efficiency.

[0051] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A UAV-based X-ray defect detection device for power transmission lines, applicable to UAVs (1), characterized in that: The device includes a frame (2) and an imaging plate (21). The imaging plate (21) is located inside the frame (2). Multiple vertically arranged support rods (22) are evenly arranged on the upper surface of the frame (2). The bottom end of the support rods (22) is fixedly connected to the frame (2). The bottom of the drone (1) is equipped with a clamping assembly (3) for clamping the support rods (22). The frame (2) is fixedly equipped with connecting shafts (4) on both sides. The end of the connecting shaft (4) away from the frame (2) is equipped with a rotating shaft (41). The rotating shaft (41) passes through the connecting shaft (4) and is rotatably connected to the connecting shaft (4). The connecting shaft (4) is equipped with a rotating assembly (5) for driving the rotating shaft (41) to rotate. Rollers (42) are installed at both ends of the rotating shaft (41). The outer contour of the rollers (42) is concave in the middle. The bottom of the drone (1) is equipped with a ray machine (11).

2. The UAV-based X-ray defect detection device for power transmission lines according to claim 1, characterized in that: The imaging plate (21) is fixedly connected to rotating rods (23) on both sides. The end of the rotating rod (23) away from the imaging plate (21) is rotatably connected to the frame (2). A first drive motor (24) is fixedly installed on the frame (2). A first gear (25) is fixedly connected to the output shaft of the first drive motor (24). A second gear (26) is fixedly provided on the rotating rod (23) near the first drive motor (24). The first gear (25) and the second gear (26) mesh with each other.

3. The UAV-based X-ray defect detection device for power transmission lines according to claim 1, characterized in that: The rotating shaft (41) is hollow inside, and each end of the rotating shaft (41) is provided with a slide rod (27). The slide rod (27) is arranged along the length direction of the rotating shaft (41), and one end of the slide rod (27) extends into the rotating shaft (41) and is slidably connected to the rotating shaft (41). The roller (42) is fixedly installed at the end of the slide rod (27) away from the rotating shaft (41). The connecting shaft (4) is provided with a moving component (6) for driving the two slide rods (27) to move towards each other or away from each other.

4. The UAV-based X-ray defect detection device for power transmission lines according to claim 3, characterized in that: The slide bar (27) is rotatably connected to a support plate (7) at one end near the roller (42); a fixed plate (43) is fixedly provided on the connecting shaft (4), and the fixed plate (43) is parallel to the support plate (7); a bidirectional lead screw (44) is installed on the fixed plate (43), the bidirectional lead screw (44) is arranged along the length direction of the rotating shaft (41), and the two ends of the bidirectional lead screw (44) pass through the two side support plates (7) respectively and are threadedly engaged with the support plates (7); the bidirectional lead screw (44) passes through the fixed plate (43) and is rotatably connected to the fixed plate (43); a second drive motor (45) is fixedly installed on the fixed plate (43); the moving component (6) includes a third gear (61) and a fourth gear (62), the third gear (61) is fixedly connected to the output shaft of the second drive motor (45), and the fourth gear (62) is fixedly set in the middle of the bidirectional lead screw (44), and the third gear (61) and the fourth gear (62) mesh.

5. The UAV-based X-ray defect detection device for power transmission lines according to claim 1, characterized in that: A synchronous motor (46) is fixedly mounted on the connecting shaft (4); the rotating assembly (5) includes a fifth gear (51) and a sixth gear (52). The fifth gear (51) is fixedly connected to the output shaft of the synchronous motor (46), and the sixth gear (52) is fixedly mounted on the rotating shaft (41). The fifth gear (51) and the sixth gear (52) mesh with each other.

6. The UAV-based X-ray defect detection device for power transmission lines according to claim 1, characterized in that: The drone (1) is equipped with a support plate (12) at its bottom; the clamping assembly (3) is provided in multiple sets, corresponding one-to-one with the support rod (22); each set of the clamping assembly (3) includes two first electric cylinders (31) arranged opposite to each other and two clamping rods (32). The first electric cylinders (31) are fixedly installed on the lower surface of the support plate (12), and the clamping rods (32) are respectively fixedly connected to the output shaft of the corresponding first electric cylinder (31).

7. The UAV-based X-ray defect detection device for power transmission lines according to claim 6, characterized in that: The upper end of the support rod (22) has a clamping groove (221) on both sides, the clamping groove (221) passes through both sides of the support rod (22) and engages with the clamping rod (32); the clamping rod (32) has a limiting plate (321) fixedly provided on both sides.

8. The UAV-based X-ray defect detection device for power transmission lines according to claim 4, characterized in that: The bottom of the support plate (7) is rotatably connected to a vertically arranged connecting rod (71), and the bottom end of the connecting rod (71) is fixedly connected to a horizontally arranged first auxiliary plate (72); the side of the support plate (7) away from the fixed plate (43) is provided with a second auxiliary plate (8), the second auxiliary plate (8) is connected to the support plate (7), the side of the second auxiliary plate (8) away from the connecting rod (71) is fixedly provided with a second electric cylinder (73), and the side of the second auxiliary plate (8) facing the support plate (7) is provided with a rack (74); the output shaft of the second electric cylinder (73) is fixedly connected to one end of the rack (74), the bottom end of the connecting rod (71) is fixedly connected with a seventh gear (75), and the rack (74) meshes with the seventh gear (75); the first auxiliary plate (72) is provided with a clamping wheel (76), the outer contour of the clamping wheel (76) is concave in the middle; the first auxiliary plate (72) is also provided with a lifting assembly (9) for driving the clamping wheel (76) to rise and fall.

9. The UAV-based X-ray defect detection device for power transmission lines according to claim 8, characterized in that: The lifting assembly (9) includes a vertically arranged threaded sleeve (91) and a screw (92); the bottom end of the threaded sleeve (91) passes through the first auxiliary plate (72) and is rotatably connected to the first auxiliary plate (72); the screw (92) and the threaded sleeve (91) are threadedly connected, and a lifting plate (77) is fixedly connected to the upper end of the screw (92), and a clamping wheel (76) is rotatably installed on the lifting plate (77); a first telescopic rod (78) is fixedly connected between the lifting plate (77) and the first auxiliary plate (72), and the first telescopic rod (78) is arranged parallel to the screw (92); an eighth gear (79) is fixedly connected to the bottom end of the threaded sleeve (91), and a rack (74) meshes with the eighth gear (79).

10. The UAV-based X-ray defect detection device for power transmission lines according to claim 8, characterized in that: A positioning plate (81) is fixedly provided on the side of the second auxiliary plate (8) facing the connecting rod (71). A third auxiliary plate (82) is provided on both the upper and lower sides of the positioning plate (81). The third auxiliary plate (82) is parallel to the positioning plate (81). A clamping plate (83) is provided on the side of each third auxiliary plate (82) facing the positioning plate (81). The two clamping plates (83) are parallel to each other and located at the end of the positioning plate (81) away from the second auxiliary plate (8). A second telescopic rod (84) and a spring (85) sleeved on the outside of the second telescopic rod (84) are fixedly connected between the clamping plate (83) and the corresponding third auxiliary plate (82). The side of the clamping plate (83) away from the second auxiliary plate (8) is set as an inclined surface.

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