CN116840272A - X-ray detection device, system and method for transmission line crimping pipe - Google Patents
X-ray detection device, system and method for transmission line crimping pipe Download PDFInfo
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- CN116840272A CN116840272A CN202310837717.0A CN202310837717A CN116840272A CN 116840272 A CN116840272 A CN 116840272A CN 202310837717 A CN202310837717 A CN 202310837717A CN 116840272 A CN116840272 A CN 116840272A
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- 238000001514 detection method Methods 0.000 title claims abstract description 225
- 230000005540 biological transmission Effects 0.000 title claims abstract description 82
- 238000002788 crimping Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000007689 inspection Methods 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 10
- 230000005484 gravity Effects 0.000 claims description 10
- 239000004020 conductor Substances 0.000 claims description 5
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- 230000033001 locomotion Effects 0.000 description 6
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- 230000008859 change Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
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- 238000012800 visualization Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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- G—PHYSICS
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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 discloses an X-ray detection device, a system and a method for a transmission line crimping pipe, which comprise the steps of driving a detection module to reach a detection position through a lifting mechanism; the detection module is driven by the swing mechanism to cover the detection ranges of the crimp tubes on the left side and the right side in the same plane respectively; or the first receiving plate and the second receiving plate are driven to be opened through the opening and closing mechanism, the first receiving plate and the second receiving plate cover the detection range of the crimping pipe, and the angle of the emitter is adjusted through the swinging mechanism so that the emitter is aligned to the first receiving plate or the second receiving plate. The detection position can be adaptively adjusted, the comprehensiveness and the accuracy of detection are guaranteed, the traditional manual tower climbing detection operation is replaced, and the intelligent detection operation level of the transmission line crimping pipe is improved.
Description
Technical Field
The invention relates to the technical field of overhead transmission line detection, in particular to an X-ray detection device, an X-ray detection system and an X-ray detection method for a transmission line crimping pipe.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The overhead transmission line environment is complicated, shaft tower and wire are connected through various gold utensil, and wherein the wire need be connected through drainage line and both sides wire in the strain insulator tower department of passing through, drift along with the time, and drainage line crimping pipe is in the pulling force effect and can change, if appear the crimping is unreal or take off the phenomenon and will cause serious influence to line safety and people's life, and this problem belongs to recessive defect, can't pass the outward appearance inspection after the crimping is accomplished, so in order to reduce the circuit trouble that causes because of the crimping pipe, each research institution has carried out some researches to the inside detection of crimping pipe.
At present, the X-ray is mainly adopted to carry out the internal flaw detection of the crimping pipe, but because of the complicated circuit environment, the crimping pipe is special in position and is positioned between an insulator string and a wire, and the pressure equalizing shielding ring is arranged in the middle of the pressure equalizing shielding ring, although the scheme of carrying a detection device into the circuit environment by using an unmanned aerial vehicle to carry out detection operation is adopted, the requirement on unmanned aerial vehicle operation is very high due to the staggered and crisscross circuit at the crimping pipe position of the drainage wire, applicable places are limited, and in addition, the live working cannot be realized by the unmanned aerial vehicle hoisting detection operation scheme with the current technical level.
Therefore, in an actual scene, the manual carrying detection device is still used for climbing the tower for carrying out electrified detection, because the X-rays have radiation, personnel on the tower need to withdraw a safe distance, the detection device is withdrawn again after the detection is finished, each crimping pipe is repeatedly operated, the workload is large, the detection efficiency is low, and the danger degree is high.
Disclosure of Invention
In order to solve the problems, the invention provides an X-ray detection device, an X-ray detection system and an X-ray detection method for a transmission line crimping pipe, which can adaptively adjust the detection position by adjusting the distance and the angle between a receiving plate and an emitter, ensure the comprehensiveness and the accuracy of detection, replace the traditional manual tower climbing detection operation and improve the intelligent detection operation level of the transmission line crimping pipe.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
in a first aspect, the present invention provides an X-ray detection apparatus for a power transmission line crimping tube, including: the device comprises a detection module, a swinging mechanism and a lifting mechanism;
the detection module comprises a receiving plate and a transmitter, and the receiving plate is connected with the transmitter through a telescopic connecting piece;
the detection module is connected with the swing mechanism so that the detection module covers the detection range of the crimping pipe;
the swing mechanism is connected with the lifting mechanism so that the detection module moves to a detection position.
As an alternative embodiment, the distance between the receiving plate and the transmitter is adjusted by adjusting the length of the connection for accommodating different distances between the upper and lower conductors and the transmitting distance of the transmitter.
As an alternative embodiment, the lifting mechanism comprises a lifting guide rail, a sliding block arranged on the lifting guide rail and a lifting motor for driving the sliding block to move along the lifting guide rail; the swing mechanism is connected with the sliding block, and the detection module is enabled to move from the detection position of the upper lead to the detection position of the lower lead under the driving action of the lifting motor.
As an alternative implementation mode, the swinging mechanism is used for driving the detection module to cover the detection range of the crimp tube on the left side and the right side in the same plane respectively.
In a second aspect, the present invention provides an X-ray detection apparatus for a power transmission line crimping tube, including: the device comprises a detection module, a lifting mechanism and a swinging mechanism;
the detection module is connected with the lifting mechanism so as to enable the detection module to move to a detection position;
the detection module comprises a first receiving plate, a second receiving plate and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected through the opening and closing mechanism, so that the first receiving plate and the second receiving plate cover the detection range of the crimping pipe;
the symmetrical connection part of the first receiving plate and the second receiving plate is connected with the emitter through a telescopic connecting piece;
the transmitter is coupled to the swing mechanism such that the transmitter is aligned with either the first receiving plate or the second receiving plate.
As an alternative embodiment, the opening and closing mechanism comprises a connecting rod and an opening and closing motor for driving the connecting rod to act, the first receiving plate and the second receiving plate are symmetrically connected through a plurality of connecting rods, and positive and negative rotation of the opening and closing motor acts on opening and closing of the first receiving plate and the second receiving plate.
As an alternative embodiment, the distance between the first and second receiving plates and the transmitter is adjusted by adjusting the length of the connection for adapting to different distances between the upper and lower conductors and the transmitting distance of the transmitter.
As an alternative embodiment, the swinging mechanism is used to adjust the angle of the emitter.
As an alternative embodiment, the lifting mechanism comprises a lifting guide rail, a sliding block arranged on the lifting guide rail and a lifting motor for driving the sliding block to move along the lifting guide rail; the detection module is connected with the sliding block, and the detection module is enabled to move from the detection position of the upper lead to the detection position of the lower lead under the driving action of the lifting motor.
In a third aspect, the present invention provides an X-ray detection system for a power transmission line crimp tube, comprising: the robot body and the X-ray detection device of the power transmission line crimping pipe connected with the robot body; the power transmission line crimping tube X-ray detection device adopts the power transmission line crimping tube X-ray detection device according to the first aspect or the second aspect.
As an alternative implementation mode, the transmission line crimping tube X-ray detection device is connected with the robot body through a swing arm, so that the transmission line crimping tube X-ray detection device moves around the robot body in a semi-circle.
As an alternative implementation mode, the transmission line crimping tube X-ray detection device is connected with the robot body through a U-shaped guide rail, so that the transmission line crimping tube X-ray detection device moves in an arc along the U-shaped guide rail.
As an alternative implementation mode, one end of the U-shaped guide rail is arranged on one side of the robot body, and the other end of the U-shaped guide rail is arranged on the other side of the robot body; the U-shaped guide rail comprises a guide groove, a rack and a guide wheel, wherein the rack and the guide wheel are arranged in the guide groove, a guide rail motor is arranged on the X-ray detection device of the transmission line crimping pipe, the tail end of the guide rail motor is connected with a gear, the gear and the rack form torque transmission, and the gear at the tail end of the guide rail motor moves along the U-shaped guide rail under the guidance of the guide wheel.
In a fourth aspect, the present invention provides a working method of an X-ray detection system for a power transmission line crimping tube, where the power transmission line crimping tube X-ray detection system according to the third aspect is adopted, and the working method includes:
when hoisting the upper line and the lower line, the X-ray detection device of the transmission line crimping pipe rotates to the right side of the robot body along the swing arm or the U-shaped guide rail, and a hanging point of the robot body on the hoisting platform is positioned in the vertical direction of the gravity center;
after the robot is on line, the X-ray detection device of the transmission line crimping pipe rotates to the lower side of the robot body along the swing arm or the U-shaped guide rail, so that the gravity center of the robot body is kept at the moving balance center of the robot;
after the detection position is reached, the X-ray detection device of the power transmission line crimping pipe rotates to the left side of the robot body along the swing arm or the U-shaped guide rail, so that the detection operation of the fixed point position is carried out;
the detection module is driven to reach a detection position by the lifting mechanism;
the detection module is driven by the swing mechanism to cover the detection ranges of the crimp tubes on the left side and the right side in the same plane respectively; or the first receiving plate and the second receiving plate are driven to be opened through the opening and closing mechanism, the first receiving plate and the second receiving plate cover the detection range of the crimping pipe, and the angle of the emitter is adjusted through the swinging mechanism so that the emitter is aligned to the first receiving plate or the second receiving plate.
Compared with the prior art, the invention has the beneficial effects that:
the invention innovatively provides an X-ray detection device for a transmission line crimping pipe, a movable multi-degree-of-freedom X-ray detection system is designed, the problems of narrow operation space and scattered operation targets are solved according to different arrangement modes of strain clamps and detection requirements of complex environments of overhead lines, the relative distance and angle between a receiving plate and an emitter are reasonably distributed, the detection position is adaptively adjusted, the comprehensiveness and accuracy of detection are guaranteed, the advantages of high compactness, high automation degree, high operation efficiency and high reliability are achieved, the traditional manual tower climbing detection operation is replaced, the restriction of power failure is avoided, the safety of operators is protected, the visualization of detection results is achieved, and the intelligent detection operation level of the transmission line crimping pipe is improved.
The invention innovatively provides an X-ray detection system for a transmission line crimping pipe, and designs an overall operation control method for a detection device, and the system is matched with a robot body to change different structural states under different working conditions, so that the balanced and stable operation of the robot in the lifting, walking and detection states is realized, and the safety and reliability of high-altitude operation are ensured.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a side view of an X-ray detection device for a transmission line crimping tube provided in embodiment 1 of the present invention;
fig. 2 is a top view of an X-ray detection device for a transmission line crimping tube provided in embodiment 1 of the present invention;
fig. 3 is a front view of an X-ray detection device for a transmission line crimping tube provided in embodiment 2 of the present invention;
fig. 4 is a side view of an X-ray detection device for a transmission line crimping tube provided in embodiment 2 of the present invention;
fig. 5 (a) -5 (b) are elevation schematic front views of an X-ray detection device for a power transmission line crimping tube provided in embodiment 2 of the present invention;
fig. 6 is a schematic diagram of an X-ray detection system for a transmission line crimping tube provided in embodiment 3 of the present invention;
fig. 7 (a) -7 (c) are schematic diagrams illustrating the positions of the detection devices according to embodiment 3 of the present invention;
fig. 8 (a) -8 (c) are schematic diagrams illustrating the positions of the detection devices according to embodiment 4 of the present invention;
the device comprises 01, an upper wire, 02, a lower wire, 03, a receiving plate, 03-1, a first receiving plate, 03-3, a second receiving plate, 04, a connecting piece, 05, a sliding block, 06, a lifting mechanism, 06-1, a lifting motor, 06-2, a lifting limiter, 06-3, a lifting guide rail, 07, a swinging mechanism, 07-1, a swinging limiter, 07-2, a swinging motor, 08, a transmitter, 09, a right wire, 10, a left wire, 11, an opening and closing mechanism, 11-1, an opening and closing limiter, 11-2, an opening and closing motor, 12, a connecting rod, 13, a swinging arm, 13-1, a swinging arm motor, 13-2, a swinging arm limiter, 14, a U-shaped guide rail, 15, a guide rail motor, 16, a guide wheel, 17, a lifting platform, 18, a robot body, 19 and a quick-dismantling structure.
Detailed Description
The invention is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms also are intended to include the plural forms, and furthermore, it is to be understood that the terms "comprises" and "comprising" and any variations thereof are intended to cover non-exclusive inclusions, such as, for example, processes, methods, systems, products or devices that comprise a series of steps or units, are not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or inherent to such processes, methods, products or devices.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
As shown in fig. 1, this embodiment provides an X-ray detection device for a transmission line crimping tube, including: the device comprises a detection module, a swinging mechanism and a lifting mechanism;
the detection module comprises a receiving plate and a transmitter, and the receiving plate is connected with the transmitter through a telescopic connecting piece;
the detection module is connected with the swing mechanism so that the detection module covers the detection range of the crimping pipe;
the swing mechanism is connected with the lifting mechanism so that the detection module moves to a detection position.
In the present embodiment, the distance between the receiving plate 03 and the transmitter 08 is adjusted by adjusting the length of the connector 04 for accommodating the upper and lower wires 01 and 02 of different distances and the transmitting distance of the transmitter 08.
The detection module is connected with the swinging mechanism 07 through the connecting piece 04, and the detection module is enabled to swing rotationally under the driving action of the swinging mechanism 07, so that the receiving plate 03 covers the detection range of the left lead 10, the right lead 9 and the crimping tube, as shown in fig. 2.
As an alternative embodiment, the swing mechanism 07 is provided with a swing limiter 07-1 to avoid overrun of the motion.
As an alternative embodiment, the swing mechanism 07 employs a swing motor 07-2.
In this embodiment, the lifting mechanism 6 includes a lifting guide rail 06-3, a slider 05 disposed on the lifting guide rail 06-3, and a lifting motor 06-1 driving the slider 05 to move along the lifting guide rail 06-3;
the swinging mechanism 07 is connected with the sliding block 05, and the detection module moves up and down under the driving action of the lifting motor 06-1, so that the detection module moves from the detection position of the upper lead 1 to the detection position of the lower lead 2, as shown in fig. 1.
As an alternative embodiment, the lifting mechanism 6 is provided with a lifting limiter 06-2 to avoid overrun of the movement.
It will be appreciated that the transmission modes of the swinging mechanism and the lifting mechanism are not specifically described, basically conventional gear transmission, screw transmission or link transmission, and the transmission modes can be reasonably selected according to the allowable dimensional space, and are not limited herein.
In the embodiment, after the receiving plate and the emitter are fixedly connected, the receiving plate is connected with the swinging mechanism, and the swinging mechanism is connected with the lifting mechanism; the detection module reaches the detection position of the upper wire through the lifting mechanism, the detection of the wire strain clamps on the left side and the right side is completed through left-right swinging, and the detection module descends to the detection position of the lower wire through the lifting mechanism, and the detection of the wire strain clamps on the left side and the right side of the lower wire is completed through left-right swinging; the detection module can move up and down to finish the detection of the strain clamps of the upper and lower wires, and the detection of the strain clamps on the left side and the right side in the same plane is finished through swinging. The receiving plate adopts a single plate, accessories are fewer, the whole weight is lighter, only two actions of swinging and lifting are needed, and the control is simpler; in order to prevent the receiving plate from being damaged, the receiving plate can be folded and retracted when being stored, transported and on-line and off-line at ordinary times, and the distance between the transmitter and the receiving plate is adjustable.
When the wire or the pressure welding pipe is detected, the receiving plate is positioned at the detection position, the transmitter transmits continuous X-ray pulses towards the receiving plate, X-rays penetrate through the object to be detected and then form images on the receiving plate, the receiving plate transmits image data to the ground display equipment in a wireless mode, and the internal condition of the detection target can be judged through analyzing the image data. It can be understood that the detectors on the market at present are all based on this principle and will not be described in detail.
Example 2
As shown in fig. 3-4, the present embodiment provides an X-ray detection device for a transmission line crimping tube, including: the device comprises a detection module, a lifting mechanism and a swinging mechanism;
the detection module is connected with the lifting mechanism so as to enable the detection module to move to a detection position;
the detection module comprises a first receiving plate, a second receiving plate and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected through the opening and closing mechanism, so that the first receiving plate and the second receiving plate cover the detection range of the crimping pipe;
the symmetrical connection part of the first receiving plate and the second receiving plate is connected with the emitter through a telescopic connecting piece;
the transmitter is coupled to the swing mechanism such that the transmitter is aligned with either the first receiving plate or the second receiving plate.
In this embodiment, the opening and closing mechanism 11 includes a connecting rod 12 and an opening and closing motor 11-2 for driving the connecting rod 12 to act; the first receiving plate 03-1 and the second receiving plate 03-2 are symmetrically connected through a plurality of connecting rods 12, and the opening and closing actions of the first receiving plate 03-1 and the second receiving plate 03-2 are realized through the forward and reverse rotation of the opening and closing motor 11-2.
As an alternative embodiment, the opening and closing mechanism 11 is provided with an opening and closing limiter 11-1 to avoid overrun of the movement.
In this embodiment, the distance between the two receiving plates and the transmitter is adjusted by adjusting the length of the connector for accommodating the upper and lower wires of different distances and the transmitting distance of the transmitter.
In this embodiment, the emitter 08 is connected to the swinging mechanism 07, and under the driving action of the swinging mechanism 07, the angle of the emitter 08 is adjusted, so that the emitter 08 is aligned to the first receiving plate 03-1 or the second receiving plate 03-2 on the left and right sides respectively, and the detection of the wires and the crimping pipes on the left and right sides is realized.
As an alternative embodiment, the swing mechanism 07 is provided with a swing limiter 07-1 to avoid overrun of the motion.
As an alternative embodiment, the swing mechanism 07 employs a swing motor 07-2.
In this embodiment, the lifting mechanism 06 comprises a lifting guide rail 06-3, a sliding block 05 arranged on the lifting guide rail 06-3, and a lifting motor 06-1 driving the sliding block 05 to move along the lifting guide rail 06-3;
the detection module is connected with the sliding block, and the detection module moves up and down along the lifting guide rail under the driving action of the lifting motor, so that the detection module moves from the detection position of the upper lead to the detection position of the lower lead, as shown in fig. 5 (a) -5 (b).
As an alternative embodiment, the lifting mechanism is provided with a lifting limiter 06-2 to avoid overrun of the movement.
It will be appreciated that the transmission modes of the swinging mechanism, the opening and closing mechanism and the lifting mechanism are not specifically described, basically conventional gear transmission, screw transmission or connecting rod transmission, and the transmission modes can be reasonably selected according to the allowable dimensional space, and are not limited herein.
In the embodiment, two receiving plates are adopted and can be connected in an opening and closing manner, when the receiving plates are not detected, the receiving plates are folded, the occupied space is reduced, the whole structure is compact, damage in the wire feeding process is avoided, when the receiving plates are opened during detection, the receiving plates on the two sides correspond to the left and right wire strain clamps respectively, and the left and right strain clamps are detected through swinging the transmitter; meanwhile, the lifting mechanism drives the detection module to reach the detection positions of the upper strain clamp and the lower strain clamp.
The X-ray detection device for the transmission line crimping tube, which is proposed in the above embodiment 1 and embodiment 2, can be used for detecting 500kV four-split conductors and 220kV horizontal double-split conductors; the spacing of the 500kV four-split wires is 450 x 450mm and 500 x 500mm, and the spacing of the 220kV horizontal double-split wires is 400mm, 500mm and 600 mm.
Example 3
The embodiment provides an X-ray detection system for an electric transmission line crimping tube, which comprises a robot body and an X-ray detection device for the electric transmission line crimping tube, wherein the X-ray detection device is connected with the robot body and is described in embodiment 1 or embodiment 2; the detection device is connected with the robot body through a swing arm, so that the detection device moves around the robot body in a semi-circular mode. Fig. 6 is a schematic diagram of a detection system in which the detection device of embodiment 2 is connected to a robot body.
When hoisting the upper line and the lower line, the detection device rotates to the right side of the robot body 18 through the swing arm 13, the hanging point of the robot body on the hoisting platform 17 is positioned in the vertical direction of the gravity center, and at the moment, the detection device plays a role of counterweight, as shown in fig. 7 (c);
after the robot is on line, the detection device rotates to the lower side of the robot body 18 through the swing arm 13, so that the gravity center of the robot body is kept at the moving balance center of the robot, as shown in fig. 7 (b);
when the detection position is reached, the detection device rotates to the left side of the robot body 18 through the swing arm 13, and the fixed point position detection operation is performed, as shown in fig. 7 (a).
As an alternative embodiment, the swing arm 13 is driven by a swing arm motor 13-1, and can be driven by a worm gear, and a swing arm limiter 13-2 is also arranged to avoid overrun of motion.
In the embodiment, the end of the detection device is provided with a quick-dismantling structure 19, firstly, the whole structure of the robot is prevented from being oversized or irregular in shape, so that the robot is convenient to transport; and secondly, the detection device is used as an independent module, and can be assembled and applied with other robot bodies, so that the practicability of the detection device is enhanced.
Example 4
The embodiment provides an X-ray detection system for an electric transmission line crimping tube, which comprises a robot body and an X-ray detection device for the electric transmission line crimping tube, wherein the X-ray detection device is connected with the robot body and is described in embodiment 1 or embodiment 2; the detection device is connected with the robot body through the U-shaped guide rail, so that the detection device moves along the U-shaped guide rail in an arc mode.
In this embodiment, one end of the U-shaped rail 14 is disposed on one side of the robot body 18, and the other end is disposed on the other side of the robot body 18, so that the U-shaped rail 14 covers both front and rear sides of the robot body 18.
In this embodiment, the U-shaped guide rail 14 includes a guide groove and a rack and guide wheel 16 disposed in the guide groove;
the detection device is provided with a guide rail motor 15, the tail end of the guide rail motor 15 is connected with a gear, the gear and the rack form moment transmission, and the gear at the tail end of the guide rail motor 15 moves along the U-shaped guide rail 14 under the guidance of a guide wheel 16.
When hoisting on the upper line and the lower line, the detection device rotates to the right side of the robot body along the U-shaped guide rail, the hanging point of the robot body on the hoisting platform 17 is positioned in the vertical direction of the gravity center, and at the moment, the detection device plays a role of counterweight, as shown in fig. 8 (c);
after the robot is on line, the detection device rotates to the lower side of the robot body along the U-shaped guide rail, so that the gravity center of the robot body is kept at the moving balance center of the robot, as shown in fig. 8 (b);
after reaching the detection position, the detection device rotates to the left side of the robot body along the U-shaped guide rail, so that the fixed point position detection operation is performed, as shown in fig. 8 (a);
in order to meet the stability of the robot during lifting, moving and detecting, the detection device is required to complete rotation in one period through the U-shaped guide rail.
In the embodiment, the end of the detection device is provided with a quick-dismantling structure 19, firstly, the whole structure of the robot is prevented from being oversized or irregular in shape, so that the robot is convenient to transport; and secondly, the detection device is used as an independent module, and can be assembled and applied with other robot bodies, so that the practicability of the detection device is enhanced.
Example 5
The embodiment provides a working method of the transmission line crimping tube X-ray detection system, which comprises the following steps:
when hoisting the upper line and the lower line, the X-ray detection device of the transmission line crimping pipe rotates to the right side of the robot body along the swing arm or the U-shaped guide rail, and a hanging point of the robot body on the hoisting platform is positioned in the vertical direction of the gravity center;
after the robot is on line, the X-ray detection device of the transmission line crimping pipe rotates to the lower side of the robot body along the swing arm or the U-shaped guide rail, so that the gravity center of the robot body is kept at the moving balance center of the robot;
after the detection position is reached, the X-ray detection device of the power transmission line crimping pipe rotates to the left side of the robot body along the swing arm or the U-shaped guide rail, so that the detection operation of the fixed point position is carried out;
the detection module is driven to reach a detection position by the lifting mechanism;
the detection module is driven by the swing mechanism to cover the detection ranges of the crimp tubes on the left side and the right side in the same plane respectively; or the first receiving plate and the second receiving plate are driven to be opened through the opening and closing mechanism, the first receiving plate and the second receiving plate cover the detection range of the crimping pipe, and the angle of the emitter is adjusted through the swinging mechanism so that the emitter is aligned to the first receiving plate or the second receiving plate.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (14)
1. An X-ray detection device for a transmission line crimping tube, comprising: the device comprises a detection module, a swinging mechanism and a lifting mechanism;
the detection module comprises a receiving plate and a transmitter, and the receiving plate is connected with the transmitter through a telescopic connecting piece;
the detection module is connected with the swing mechanism so that the detection module covers the detection range of the crimping pipe;
the swing mechanism is connected with the lifting mechanism so that the detection module moves to a detection position.
2. The X-ray inspection apparatus for a power transmission line crimping tube according to claim 1, wherein the distance between the receiving plate and the emitter is adjusted by adjusting the length of the connector for accommodating different distances between the upper and lower conductors and the emission distance of the emitter.
3. The X-ray inspection device for a power transmission line crimping tube according to claim 1, wherein the lifting mechanism comprises a lifting guide rail, a sliding block arranged on the lifting guide rail and a lifting motor for driving the sliding block to move along the lifting guide rail; the swing mechanism is connected with the sliding block, and the detection module is enabled to move from the detection position of the upper lead to the detection position of the lower lead under the driving action of the lifting motor.
4. The X-ray inspection device for a crimp tube of an electrical transmission line according to claim 1, wherein the swinging mechanism is used for driving the inspection module to cover the inspection ranges of the crimp tube on the left and right sides in the same plane, respectively.
5. An X-ray detection device for a transmission line crimping tube, comprising: the device comprises a detection module, a lifting mechanism and a swinging mechanism;
the detection module is connected with the lifting mechanism so as to enable the detection module to move to a detection position;
the detection module comprises a first receiving plate, a second receiving plate and a transmitter; the first receiving plate and the second receiving plate are symmetrically connected through the opening and closing mechanism, so that the first receiving plate and the second receiving plate cover the detection range of the crimping pipe;
the symmetrical connection part of the first receiving plate and the second receiving plate is connected with the emitter through a telescopic connecting piece;
the transmitter is coupled to the swing mechanism such that the transmitter is aligned with either the first receiving plate or the second receiving plate.
6. The X-ray detection device for a transmission line crimping tube according to claim 5, wherein the opening and closing mechanism comprises a connecting rod and an opening and closing motor for driving the connecting rod to act, the first receiving plate and the second receiving plate are symmetrically connected through a plurality of connecting rods, and positive and negative rotation of the opening and closing motor acts on opening and closing of the first receiving plate and the second receiving plate.
7. The X-ray inspection apparatus for a power transmission line crimping tube according to claim 5, wherein the distance between the first receiving plate and the second receiving plate and the emitter is adjusted by adjusting the length of the connector for adapting to different distances between the upper wire and the lower wire and the emission distance of the emitter.
8. The X-ray inspection device for a power transmission line crimping tube of claim 5, wherein said swinging mechanism is used to adjust the angle of the emitter.
9. The X-ray inspection device for a power transmission line crimping tube according to claim 5, wherein the lifting mechanism comprises a lifting guide rail, a sliding block arranged on the lifting guide rail, and a lifting motor for driving the sliding block to move along the lifting guide rail; the detection module is connected with the sliding block, and the detection module is enabled to move from the detection position of the upper lead to the detection position of the lower lead under the driving action of the lifting motor.
10. An electrical transmission line crimp tube X-ray detection system, comprising: the robot body and the X-ray detection device of the power transmission line crimping pipe connected with the robot body; the transmission line crimping tube X-ray detection device adopts the transmission line crimping tube X-ray detection device of any one of claims 1-4 or claims 5-9.
11. The transmission line jumper X-ray detection system of claim 10, wherein the transmission line jumper X-ray detection device is coupled to the robot body via a swing arm such that the transmission line jumper X-ray detection device moves semi-circularly around the robot body.
12. The X-ray inspection system of an electrical power transmission line crimping tube of claim 10, wherein the electrical power transmission line crimping tube X-ray inspection device is connected to the robot body via a U-shaped rail such that the electrical power transmission line crimping tube X-ray inspection device moves in an arc along the U-shaped rail.
13. The X-ray inspection system for a power transmission line crimping tube of claim 12 wherein one end of said U-shaped rail is disposed on one side of the robot body and the other end is disposed on the other side of the robot body; the U-shaped guide rail comprises a guide groove, a rack and a guide wheel, wherein the rack and the guide wheel are arranged in the guide groove, a guide rail motor is arranged on the X-ray detection device of the transmission line crimping pipe, the tail end of the guide rail motor is connected with a gear, the gear and the rack form torque transmission, and the gear at the tail end of the guide rail motor moves along the U-shaped guide rail under the guidance of the guide wheel.
14. A method of operating an electrical line jumper X-ray detection system, comprising:
when hoisting the upper line and the lower line, the X-ray detection device of the transmission line crimping pipe rotates to the right side of the robot body along the swing arm or the U-shaped guide rail, and a hanging point of the robot body on the hoisting platform is positioned in the vertical direction of the gravity center;
after the robot is on line, the X-ray detection device of the transmission line crimping pipe rotates to the lower side of the robot body along the swing arm or the U-shaped guide rail, so that the gravity center of the robot body is kept at the moving balance center of the robot;
after the detection position is reached, the X-ray detection device of the power transmission line crimping pipe rotates to the left side of the robot body along the swing arm or the U-shaped guide rail, so that the detection operation of the fixed point position is carried out;
the detection module is driven to reach a detection position by the lifting mechanism;
the detection module is driven by the swing mechanism to cover the detection ranges of the crimp tubes on the left side and the right side in the same plane respectively; or the first receiving plate and the second receiving plate are driven to be opened through the opening and closing mechanism, the first receiving plate and the second receiving plate cover the detection range of the crimping pipe, and the angle of the emitter is adjusted through the swinging mechanism so that the emitter is aligned to the first receiving plate or the second receiving plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310837717.0A CN116840272A (en) | 2023-07-10 | 2023-07-10 | X-ray detection device, system and method for transmission line crimping pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310837717.0A CN116840272A (en) | 2023-07-10 | 2023-07-10 | X-ray detection device, system and method for transmission line crimping pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116840272A true CN116840272A (en) | 2023-10-03 |
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ID=88168625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310837717.0A Pending CN116840272A (en) | 2023-07-10 | 2023-07-10 | X-ray detection device, system and method for transmission line crimping pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116840272A (en) |
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2023
- 2023-07-10 CN CN202310837717.0A patent/CN116840272A/en active Pending
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