CN110596155A - Detection actuating mechanism of cold cathode X-ray imaging equipment carried by unmanned aerial vehicle - Google Patents
Detection actuating mechanism of cold cathode X-ray imaging equipment carried by unmanned aerial vehicle Download PDFInfo
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- CN110596155A CN110596155A CN201810578568.XA CN201810578568A CN110596155A CN 110596155 A CN110596155 A CN 110596155A CN 201810578568 A CN201810578568 A CN 201810578568A CN 110596155 A CN110596155 A CN 110596155A
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
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Abstract
The invention relates to a detection executing mechanism of an unmanned aerial vehicle carrying cold cathode X-ray imaging device, which comprises an upper connecting rod, a connecting rod brake, a lower connecting rod, an upper sliding frame, a lower sliding frame, a rotating plate, a sliding frame brake, a swinging rod, a fixed plate, a swinging rod brake and the like. The upper connecting rod, the lower connecting rod, the upper sliding frame, the lower sliding frame, the swing rod and the fixing plate form a six-rod mechanism. The fixed plate is fixed with unmanned aerial vehicle, and the motor is fixed with the fixed plate, goes up the sliding rack and fixes with the formation of image board, and the sliding rack is fixed with the X-ray production apparatus down. The upper connecting rod is driven by a motor. The connecting rod brake limits the relative rotation of the upper connecting rod and the lower connecting rod, and the sliding frame brake limits the relative sliding of the upper sliding frame and the lower sliding frame; the swing rod brake limits the relative rotation of the swing rod and the fixed plate. When the positions of the X-ray machine and the imaging plate are adjusted, two brakes of the connecting rod brake, the sliding frame brake and the swing rod brake are braked, and the motor rotates. This mechanism can keep unmanned aerial vehicle focus steady when moving.
Description
Technical Field
The invention relates to the field of X-ray damage detection, in particular to a detection executing mechanism of an unmanned aerial vehicle carrying cold cathode X-ray imaging equipment.
Background
Damage faults of various important wire clamps, porcelain bottles, switches and the like in a high-voltage transmission line can cause line faults and power failure, damage faults of iron towers, guys and the like of large bridges can cause serious accidents of breakage, collapse and the like, and detection is of great importance to guarantee the service safety of the lines and the bridges. And the height of the erection position of the important parts is high, the terrain is dangerous, the span is large, and the detection of the internal damage of the important parts is difficult to complete by traditional routing inspection.
The traditional hot cathode X-ray detection is a relatively common nondestructive detection method, but is not suitable for the rapid detection of parts in overhead lines due to the restriction of the volume and the weight of the equipment. Compared with the traditional hot cathode X-ray, the cold cathode X-ray developed in recent years has shorter imaging time, greatly reduced radiation quantity, small volume, light weight, low energy consumption and long service life. Important parts in the overhead line, iron towers of bridges, guys and the like can be detected by flying of unmanned aerial vehicle carrying equipment.
A detection device for carrying an X-ray machine by an inspection robot is designed by the institute of electric power science of Hebei electric power company, and experiments verify that the X-ray detection technology has good applicability in quality detection of crimping hardware fittings of overhead transmission lines, but the X-ray detection technology has certain difficulty in crossing iron towers. Shenyang agriculture university has designed an unmanned aerial vehicle and has carried on infrared check out test set's system, has detected the circuit.
When unmanned aerial vehicle carried cold cathode X ray imaging device to examine, need arrange wire, fastener, vase, cable etc. in between X-ray machine and the imaging plate, because overhead line easily takes place the horizontal direction when being ventilated and rocks, so X-ray machine should be designed for upper and lower two-layer level with the imaging plate and place. When detecting a component placed obliquely or a stay cable, it is necessary to provide the X-ray machine and the imaging plate with a large-angle inclination capability. In order to detect components of large volume, it is necessary to enable the X-ray machine to vary the separation from the imaging plate. In order to avoid collision of the unmanned aerial vehicle with other objects, the cold cathode X-ray imaging equipment is required to be capable of extending out by a certain angle, namely, the unmanned aerial vehicle is used as an axis to swing by a certain angle. Meanwhile, the unmanned aerial vehicle carrying equipment is considered to keep the gravity center unchanged in the horizontal direction when the mechanism moves, and the number of motors is reduced to reduce the load capacity.
Related technical files of a three-degree-of-freedom actuating mechanism driven by a single motor in the unmanned aerial vehicle carrying detection equipment are not found.
Disclosure of Invention
The invention aims to provide a detection actuating mechanism of an unmanned aerial vehicle carrying cold cathode X-ray imaging device, which is driven by a single motor, a brake limits movement, realizes movement in three directions at different moments, and simultaneously keeps the position of the center of gravity in the horizontal direction unchanged in the movement process.
The invention adopts the following technical scheme to realize the purpose: the device comprises an upper connecting rod, a connecting rod brake, a lower connecting rod, an upper sliding frame, a rotating plate, a lower sliding frame, a sliding frame brake, a swinging rod, a fixed plate, a swinging rod brake, an upper sliding block, an interval adjusting rod, a lower sliding block, a balancing weight and a scissor fork mechanism. The upper connecting rod, the lower connecting rod, the upper sliding frame, the lower sliding frame, the swing rod and the fixing plate form a six-rod mechanism. The fixed plate is fixed with unmanned aerial vehicle, and the motor is fixed with the fixed plate, goes up the sliding rack and fixes with the formation of image board, and the sliding rack is fixed with the X-ray production apparatus down. The upper connecting rod is driven by a motor. The connecting rod brake limits the relative rotation of the upper connecting rod and the lower connecting rod, and the sliding frame brake limits the relative sliding of the upper sliding frame and the lower sliding frame; the swing rod brake limits the relative rotation of the swing rod and the fixed plate. When the positions of the X-ray machine and the imaging plate are adjusted, two brakes of the connecting rod brake, the sliding frame brake and the swing rod brake are braked, and the motor rotates.
Unmanned aerial vehicle carry cold cathode X ray imaging device's detection actuating mechanism, its characterized in that connecting rod stopper, carriage stopper, pendulum rod stopper are electromagnetic braking ware.
Unmanned aerial vehicle carry cold cathode X ray imaging device's detection actuating mechanism, its characterized in that the motor does not take place to rotate when the outage.
Drawings
Fig. 1 is a schematic front structural view of a detection actuator of an unmanned aerial vehicle carrying a cold cathode X-ray imaging device according to the invention.
Fig. 2 is a schematic diagram of the back structure of the detection actuator of the unmanned aerial vehicle carrying the cold cathode X-ray imaging device.
Fig. 3 is a sectional view of the upper link, the lower link, and the link stopper in fig. 1 in an assembled state.
FIG. 4 is a schematic diagram of an equivalent structure of a detection actuator of an unmanned aerial vehicle carrying cold cathode X-ray imaging device, wherein a connecting rod brake, a sliding frame brake and a swing rod brake are not powered on.
Fig. 5 is a schematic diagram of an equivalent structure of an unmanned aerial vehicle carrying a detection actuator of a cold cathode X-ray imaging device of the invention when a connecting rod brake is energized and a sliding frame brake and a swing rod brake are not energized.
FIG. 6 is a schematic diagram of an equivalent structure of an unmanned aerial vehicle carrying a sliding frame brake of a detection executing mechanism of a cold cathode X-ray imaging device of the invention when the sliding frame brake is electrified and a swing rod brake and a connecting rod brake are not electrified.
Fig. 7 is a simplified diagram of an equivalent structure of an unmanned aerial vehicle carrying a detection actuator of a cold cathode X-ray imaging device of the present invention when a swing link brake is energized and a carriage brake and a link brake are not energized.
FIG. 8 is a simplified diagram of a connection structure of a scissor mechanism, a swing link and a counterweight in a detection executing mechanism of an unmanned aerial vehicle carrying cold cathode X-ray imaging device.
In the figure: the device comprises an unmanned aerial vehicle 1, a motor 2, an upper connecting rod 3, a connecting rod brake 4, a lower connecting rod 5, an upper sliding frame 6, a rotating plate 7, a lower sliding frame 8, a sliding frame brake 9, an upper sliding block 10, a swinging rod 11, a fixed plate 12, a swinging rod brake 13, an interval adjusting rod 14, a lower sliding block 15, a balancing weight 16, a scissor fork mechanism 17, a brake disc 4-1, an adjusting screw 4-2, a magnetic yoke assembly 4-3, a set screw 4-4, a spring 4-5, an armature 4-6 and a mounting screw 4-7.
Detailed description of the preferred embodiments
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
As shown in fig. 1, the detection executing mechanism of the unmanned aerial vehicle carrying cold cathode X-ray imaging device of the invention comprises an upper connecting rod 3, a connecting rod brake 4, a lower connecting rod 5, an upper sliding frame 6, a rotating plate 7, a lower sliding frame 8, a sliding frame brake 9, an upper sliding block 10, a swinging rod 11, a fixed plate 12, a swinging rod brake 13, a spacing adjusting rod 14, a lower sliding block 15, a balancing weight 16 and a scissor mechanism 17. The upper connecting rod 3, the lower connecting rod 5, the upper sliding frame 6, the lower sliding frame 8, the swing rod 11 and the fixing plate 12 form a six-rod mechanism. Fixed plate 12 is fixed with unmanned aerial vehicle 1, and motor 2 is fixed with fixed plate 12, goes up sliding frame 6 fixed with the imaging plate, and lower sliding frame 8 is fixed with the X-ray production apparatus. The upper link 3 is driven by the motor 2. The link stopper 4 restricts relative rotation of the upper link 3 and the lower link 5, and the carriage stopper 9 restricts relative sliding of the upper carriage 6 and the lower carriage 8. The swing link stopper 13 limits the relative rotation of the swing link 11 and the fixed plate 12, as shown in fig. 2.
The connecting rod brake 4, the sliding frame brake 9 and the swing rod brake 13 have the same structure. As one example, the connecting rod brake 4 is shown in FIG. 3, and the connecting rod brake 4 is composed of a brake disc 4-1, an adjusting screw 4-2, a magnetic yoke assembly 4-3, a set screw 4-4, a spring 4-5, an armature 4-6 and a mounting screw 4-7. The brake disc 4-1 is fixed on the lower connecting rod 5 by the mounting screws 4-7, the magnetic yoke component 4-3 is fixed on the upper connecting rod 3 by the fastening screws 4-4, and the adjusting screw 4-2 is fixed with the brake disc 4-1 and the magnetic yoke component 4-3. A spring 4-5 connects the armature 4-6 with the yoke assembly 4-3, and the armature 4-6 can slide along the adjusting screw 4-2.
The working principle and the process of the detection actuating mechanism of the cold cathode X-ray imaging equipment carried by the unmanned aerial vehicle are as follows:
the working principles of the link brake 4, the carriage brake 9, and the swing brake 13 are the same, and the link brake 4 will be described as an example. When the magnetic yoke assembly 4-3 is electrified, the magnetic yoke assembly 4-3 generates magnetic force to attract the armature 4-6, so that the armature 4-6 is separated from the brake disc 4-1, and the upper connecting rod 3 and the lower connecting rod 5 can rotate relatively. When the magnetic yoke assembly 4-3 is powered off, the magnetic force disappears, the armature 4-6 and the brake disc 4-1 are extruded by the thrust of the spring 4-5 to generate friction force, and the torque generated by the friction is transmitted to the upper connecting rod 3 through the adjusting screw 4-2, the magnetic yoke assembly 4-3 and the set screw 4-4, so that the upper connecting rod 3 and the lower connecting rod 5 stop relative movement under the action of the friction force.
When the X-ray machine and the imaging plate work, the connecting rod brake 4, the sliding frame brake 9 and the swing rod brake 13 are kept in a power-off state, the executing mechanism cannot move at the moment, and a schematic diagram of an equivalent mechanism is shown in figure 4.
When the X-ray machine and the imaging plate need to be inclined by a large angle, the connecting rod brake 4 is powered on, and the sliding frame brake 9 and the swing rod brake 13 are powered off. At this time, the upper sliding frame 6 and the lower sliding frame 8 have no relative movement, the swing link 11 and the fixed plate 12 have no relative movement, the execution mechanism is changed from a six-bar mechanism to a four-bar mechanism, and the schematic diagram of the equivalent mechanism is shown in fig. 5. The motor 2 rotates to enable the upper connecting rod 3 and the lower connecting rod 5 to move, the lower connecting rod 5 pushes the upper sliding frame 6, the upper sliding frame 6 and the lower sliding frame 8 rotate around the hinged position of the lower sliding frame 8 and the swing rod 11, and the purpose of large-angle inclination is achieved. Simultaneously, the axle pulling on 11 upper portions of pendulum rod or promote scissors fork mechanism 17, make scissors fork mechanism 17 pulling or promote balancing weight 16 and move in the horizontal direction, the focus of balancing weight 16 and go up sliding bracket (6), rotor plate (7), lower sliding bracket (8), the ratio of the centrobaric rate of motion of X-ray machine, the formation of image board combination is unchangeable, after setting for the weight of balancing weight 16, can make unmanned aerial vehicle, actuating mechanism, the whole focus of check out test set keep unchangeable in the horizontal direction.
When the distance between the X-ray machine and the imaging plate is required, the sliding frame brake 9 is powered on, and the connecting rod brake 4 and the swing rod brake 13 are powered off. At this time, the upper connecting rod 3 and the lower connecting rod 5 do not move relatively, the swinging rod 11 and the fixing plate 12 do not move relatively, the executing mechanism is changed into a four-bar mechanism from a six-bar mechanism, and a schematic diagram of an equivalent mechanism is shown in fig. 6. The motor 2 rotates the upper connecting rod 3 to drive the lower connecting rod 5, so that the lower connecting rod 5 pushes or pulls the upper sliding frame 6 to slide relative to the lower sliding frame 8, and the purpose of adjusting the distance between the X-ray machine and the imaging plate is achieved. Meanwhile, the ratio of the movement speeds of the upper sliding frame 6 and the lower sliding frame 8 is unchanged under the constraint of the spacing adjusting rod 14, so that the center of gravity is kept on the axis of the hinged connection of the swing rod 11 and the rotating plate 7.
When the X-ray machine and the imaging plate need to extend out for a certain distance, namely the swing rod 11 rotates for a certain angle relative to the fixed plate 12, the swing rod brake 13 is powered on, and the connecting rod brake 4 and the sliding frame brake 9 are powered off. At this time, there is no relative movement between the upper link 3 and the lower link 5, there is no relative movement between the upper sliding frame 6 and the lower sliding frame 8, the execution mechanism is changed from a six-bar mechanism to a four-bar mechanism, and the schematic diagram of the equivalent mechanism is shown in fig. 7. The motor 2 rotates to drive the component formed by the upper connecting rod 3 and the lower connecting rod 5 to rotate, and further drives the component formed by the upper sliding frame 6 and the lower sliding frame 8 to move, so that the swing rod 11 swings by a certain angle, and the purpose that the X-ray machine and the imaging plate extend out of the unmanned aerial vehicle 1 by a certain distance is achieved.
In order to save time and avoid influencing other parameters when one parameter is adjusted, the sequence of adjusting the distance between the X-ray machine and the imaging plate, adjusting the rotation angle of the swing rod 11 and adjusting the inclination angle of the X-ray machine and the imaging plate is adopted according to the priority in the actual work.
Claims (6)
1. Unmanned aerial vehicle carries cold cathode X ray imaging device's detection actuating mechanism, including last connecting rod (3), connecting rod stopper (4), lower connecting rod (5), go up sliding stand (6), rotor plate (7), lower sliding stand (8), carriage stopper (9), pendulum rod (11), fixed plate (12), pendulum rod stopper (13), last slider (10), interval regulation pole (14), lower slider (15), balancing weight (16), scissor fork mechanism (17). The six-rod mechanism is characterized in that the upper connecting rod (3), the lower connecting rod (5), the upper sliding frame (6), the lower sliding frame (8), the swing rod (11) and the fixing plate (12) form the six-rod mechanism. Fixed plate (12) are fixed with unmanned aerial vehicle (1), and motor (2) are fixed with fixed plate (12), go up sliding rack (6) and imaging plate fixed, and lower sliding rack (8) are fixed with the X-ray production apparatus. The upper connecting rod (3) is driven by the motor (2). The connecting rod brake (4) limits the relative rotation of the upper connecting rod (3) and the lower connecting rod (5), and the sliding frame brake (9) limits the relative sliding of the upper sliding frame (6) and the lower sliding frame (8); the swing rod brake (13) limits the relative rotation of the swing rod (11) and the fixed plate (12).
2. The detection actuator of an unmanned aerial vehicle carrying cold cathode X-ray imaging device according to claim 1, wherein the connecting rod brake (4), the sliding frame brake (9) and the swing rod brake (13) are all electromagnetic brakes.
3. The detection actuator of a cold cathode X-ray imaging device carried by a drone according to claim 1, characterized in that the motor (2) does not rotate when de-energized.
4. The detection actuator of an unmanned aerial vehicle carrying cold cathode X-ray imaging device according to claim 1, wherein the axis of the swing link (11) hinged to the rotating plate (7) passes through the center of gravity of the combination of the upper sliding frame (6), the rotating plate (7), the lower sliding frame (8), the X-ray machine and the imaging plate.
5. The detection actuator of an unmanned aerial vehicle carrying cold cathode X-ray imaging device according to claim 1, wherein the length ratio of the upper half part to the lower half part of the distance adjusting rod (14) is equal to the weight ratio of the X-ray machine to the imaging plate.
6. The detection actuator of the unmanned aerial vehicle carrying cold cathode X-ray imaging device of claim 1, wherein all structural rods are made of light insulating materials such as engineering plastics.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810578568.XA CN110596155B (en) | 2018-05-25 | 2018-05-25 | Detection actuating mechanism of cold cathode X-ray imaging equipment carried by unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810578568.XA CN110596155B (en) | 2018-05-25 | 2018-05-25 | Detection actuating mechanism of cold cathode X-ray imaging equipment carried by unmanned aerial vehicle |
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| CN110596155A true CN110596155A (en) | 2019-12-20 |
| CN110596155B CN110596155B (en) | 2022-06-24 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114088743A (en) * | 2021-11-18 | 2022-02-25 | 国网湖南省电力有限公司 | Multi-split conductor splicing sleeve live-line flaw detection system and application method thereof |
| CN115508388A (en) * | 2022-10-25 | 2022-12-23 | 河南四达电力设备股份有限公司 | Automatic crimping intelligent aerial work platform and work method for linear splicing sleeve and strain clamp |
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| CN106114858A (en) * | 2016-06-28 | 2016-11-16 | 安徽扫宝智能科技有限公司 | A kind of communication line fire rescue aircraft |
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| CN107600444A (en) * | 2017-08-24 | 2018-01-19 | 长光卫星技术有限公司 | Three Degree Of Freedom underloading boat, which is taken the photograph, uses stabilized platform |
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| CN201626554U (en) * | 2009-12-07 | 2010-11-10 | 深圳市大疆创新科技有限公司 | Three-freedom-degree inertia stabilization aerial photography cradle head |
| CN106114858A (en) * | 2016-06-28 | 2016-11-16 | 安徽扫宝智能科技有限公司 | A kind of communication line fire rescue aircraft |
| CN106742008A (en) * | 2017-01-03 | 2017-05-31 | 北京大白科技有限公司 | A kind of airborne six degree of freedom head based on Stewart parallel institutions |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114088743A (en) * | 2021-11-18 | 2022-02-25 | 国网湖南省电力有限公司 | Multi-split conductor splicing sleeve live-line flaw detection system and application method thereof |
| CN115508388A (en) * | 2022-10-25 | 2022-12-23 | 河南四达电力设备股份有限公司 | Automatic crimping intelligent aerial work platform and work method for linear splicing sleeve and strain clamp |
| CN115508388B (en) * | 2022-10-25 | 2024-01-09 | 河南四达电力设备股份有限公司 | Automatic crimping intelligent aerial work platform and work method for linear splicing sleeve and strain clamp |
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| CN110596155B (en) | 2022-06-24 |
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