CN-121994830-A - X-ray detection method for tension-resistant crimping tube of four-split conductor

CN121994830ACN 121994830 ACN121994830 ACN 121994830ACN-121994830-A

Abstract

The invention discloses an X-ray detection method of a four-split wire tension-resistant crimping tube, which belongs to the field of detection robots and solves the problem of lower detection precision of the existing X-ray detection equipment, the technical proposal for solving the problem is that firstly, a walking robot is carried onto the four-split wire by an unmanned aerial vehicle, then a walking mechanism advances to the tension-resistant crimping tube along the wire, and then the first adjusting component and the second adjusting component adjust the X-ray emitter and the backboard until the tension-resistant crimping pipe is positioned between the X-ray emitter and the backboard, then the X-ray emitter emits X-rays to the tension-resistant crimping pipe, the backboard receives the X-rays, and finally the unmanned aerial vehicle takes down the walking robot from the lead and returns to the ground. The invention is mainly used for improving the detection precision of the X-ray detection equipment.

Inventors

NI HONGYU
HUANG XIAOGUANG
ZHOU XIAOYU
ZHAO FENG
CAI JIDONG
WANG LITING
HAO HOUTANG
WANG WENYUAN
XU XIONG
XU GAOFENG

Assignees

国网浙江省电力有限公司绍兴供电公司

Dates

Publication Date: 20260508
Application Date: 20251229

Claims (10)

1. The utility model provides an X ray detection method of four split conductor strain clamp pipe, its characterized in that includes walking robot and X ray detection device, walking robot is equipped with running gear and hold-down mechanism, X ray detection device includes X light emitter and backplate, and X light emitter passes through first adjusting part and walking robot swing joint, and the backplate passes through second adjusting part and X light emitter swing joint, and second adjusting part includes the second connecting piece that is used for connecting backplate and X light emitter, the detection method includes: S1, the first adjusting component adjusts the traveling direction of the X light emitter towards a traveling robot, and the traveling robot is carried to a four-split guide line by an unmanned aerial vehicle; S2, the pressing mechanism moves to the lower side of the wire and abuts against the wire, and the travelling mechanism moves to the tension-resisting compression joint pipe along the wire; S3, the first adjusting component adjusts the X light emitter to face one side of the Zhang Yajie to be detected, if the tension-resistant crimping pipe is positioned on the upper layer of the four-split wire, the first adjusting component controls the X light emitter to rotate upwards, and the second connecting piece rotates to the lower side of the transmitting head; s4, the X-ray emitter emits X-rays to the tension-resistant compression joint pipe, and the backboard receives the X-rays; s5, the unmanned aerial vehicle takes the walking robot off the lead and returns to the ground.
2. The method for detecting X-rays of a four-split wire tension-resistant crimp tube according to claim 1, wherein the X-ray emitter is provided with an attitude sensor that detects attitude data of the X-ray emitter, and the first adjusting assembly and the second adjusting assembly adjust the X-ray emitter according to the attitude data of the X-ray emitter in S3.
3. The method according to claim 1, wherein in S4, if the length of the tension-resistant crimp tube is greater than the length of the back plate, the X-ray emitter scans one end of the tension-resistant crimp tube, and then the walking robot moves to scan the X-ray emitter for the next part of the tension-resistant crimp tube until the X-ray emitter scans the whole tension-resistant crimp tube.
4. The method for detecting X-rays of a four-split wire tension-resistant crimping tube according to claim 1, wherein in S5, after the X-ray emitter finishes scanning, the first adjusting component and the second adjusting component control the X-ray emitter to return to a walking direction towards the walking robot for carrying by the unmanned aerial vehicle.
5. The method for detecting X-ray of a four-split wire tension-resistant crimping tube according to claim 1, wherein the first adjusting assembly comprises a first output member, a second output member and a first connecting member, the first output member is fixed on the casing, the output end of the first output member is connected with the first connecting member, the first connecting member rotates with the X-ray emitter, the first output member drives the first connecting member to rotate on a horizontal plane, the second output member is fixed on the X-ray emitter, the second output member is in transmission connection with the first connecting member, and the second output member adjusts the elevation angle of the X-ray emitter.
6. The method for detecting the X-ray of the four-split conductor tension-resistant crimping tube according to claim 5, wherein the first connecting piece comprises a connecting rod and connecting arms which are positioned on two sides of the connecting rod and extend downwards, the first connecting piece is of an inverted U shape as a whole, the end parts of the two connecting arms are respectively connected to two sides of the X-ray emitter in a rotating mode, the output end of the first output piece is connected with the middle part of the connecting rod, and the output end of the second output piece is in transmission connection with the end parts of the connecting arms.
7. The method for detecting X-rays of a four-split wire tension-resistant crimping tube according to claim 6, wherein the output end of the second output member is provided with a first adjusting gear, the connecting arm is provided with a hinge end rotatably connected with the X-ray emitter, the hinge end is coaxially provided with a first driven gear, the first adjusting gear is in transmission connection with the first driven gear, and the second output member drives the first driven gear to adjust the pitch angle of the X-ray emitter.
8. The method of claim 1, wherein the second adjusting assembly further comprises a third output member, the third output member is fixed to the X-ray emitter, one end of the second connecting member is connected to the edge of the back plate, the other end of the second connecting member is movably connected to the outer peripheral side of the emitter head, and the third output member drives the second connecting member to rotate around the emitter head.
9. The method for detecting the X-ray of the tension-resistant crimping tube of the four-split conductor according to claim 8, wherein a second driven gear is rotatably connected to the outer peripheral side of the transmitting head, a second adjusting gear in driving connection with the second driven gear is arranged at the output end of the third output member, two ends of the second connecting member are respectively connected with the back plate and the second driven gear, and the second driven gear rotates to drive the second connecting member to rotate around the transmitting head.
10. The method for detecting the X-ray of the tension-resistant crimping tube of the four-split conductor according to claim 9, wherein the second connecting piece comprises a connecting ring and an extension arm, the connecting ring is fixedly connected with the second driven gear and is coaxially arranged, the connecting ring is provided with a through hole for avoiding the transmitting head, two ends of the extension arm are respectively connected with the connecting ring and the back plate, and the extension arm avoids an irradiation range of the transmitting head.

Description

X-ray detection method for tension-resistant crimping tube of four-split conductor Technical Field The invention discloses an X-ray detection method for a tension-resistant crimping tube of a four-split conductor, and belongs to the technical field of detection robots. Background Under the action of natural conditions such as strong wind, icing, thunder and lightning, pollution flashover and the like, the four-split wires of the high-voltage transmission line are used as key connecting parts, and the problems of metal fatigue, loosening of connecting parts, corrosion and aging and the like can occur at the four-split wires and the connecting parts of the four-split wires, and even the faults such as wire strand breakage, split wire inner core breakage, connecting pipe breakage and the like are caused in serious cases, so that the stable operation of a transmission system is threatened, and large-range power failure accidents can be caused. The existing detection means mainly rely on manual tower climbing inspection or unmanned aerial vehicle image shooting for visual inspection, but the methods cannot penetrate through a wire structure body, so that metal damage, cracks and connection defects inside the four-split wire are difficult to discover in time, and potential safety hazards exist. Although perspective imaging can be realized by other handheld X-ray detection equipment, the traditional X-ray detection equipment has the following problems that the gesture adjustment precision is low, the full circumference and multi-pitch angle detection of a lead cannot be covered, the disassembly and the assembly are complex, the maintenance and the upgrading are difficult, and the traditional X-ray detection equipment cannot meet the live working requirements in an outdoor complex environment. Disclosure of Invention The invention aims to solve the problem of lower detection precision of the existing X-ray detection equipment, and provides an X-ray detection method for a four-split wire tension-resistant crimping tube, so that the detection precision of the X-ray detection equipment is improved. The technical problems are solved, and the invention adopts the following technical scheme: The utility model provides an X ray detection method of four split conductor strain clamp pipe, includes walking robot and X ray detection device, walking robot is equipped with running gear and hold-down mechanism, X ray detection device includes X light emitter and backplate, and X light emitter passes through first adjusting part and walking robot swing joint, and the backplate passes through second adjusting part and X light emitter swing joint, and second adjusting part is including the second connecting piece that is used for connecting backplate and X light emitter, detection method includes: S1, the first adjusting component adjusts the traveling direction of the X light emitter towards a traveling robot, and the traveling robot is carried to a four-split guide line by an unmanned aerial vehicle; S2, the pressing mechanism moves to the lower side of the wire and abuts against the wire, and the travelling mechanism moves to the tension-resisting compression joint pipe along the wire; S3, the first adjusting component adjusts the X light emitter to face one side of the Zhang Yajie to be detected, if the tension-resistant crimping pipe is positioned on the upper layer of the four-split wire, the first adjusting component controls the X light emitter to rotate upwards, and the second connecting piece rotates to the lower side of the transmitting head; s4, the X-ray emitter emits X-rays to the tension-resistant compression joint pipe, and the backboard receives the X-rays; s5, the unmanned aerial vehicle takes the walking robot off the lead and returns to the ground. The beneficial effects of the invention are as follows: According to the invention, the unmanned aerial vehicle is utilized to carry the walking robot onto the four-split wire, compared with the traditional mode of manually climbing the wire to carry out detection equipment installation, the efficiency of equipment deployment is greatly improved, the time and difficulty of manual operation at high altitude are reduced, labor cost is reduced, the early preparation time of the whole detection process is shortened, in addition, the orientation of the X-ray emitter can be flexibly adjusted through the first adjusting component, the X-ray emitter can face the walking direction in the initial stage so as to facilitate equipment transportation and positioning, the X-ray emitter can face the side of the to-be-detected Zhang Yajie pipe accurately in the detection stage, the X-ray emitter can be controlled to correspondingly rotate through the first adjusting component no matter the upper layer or the lower layer Zhang Yajie pipe, the X-ray can be accurately irradiated to the detection part, the detection accuracy is improved, the second adjusting component can rotate to a prop