Boiler wall thickness detection arm with origami telescopic rod for unmanned aerial vehicle inspection

Abstract

The embodiment of the invention discloses a boiler wall thickness detection arm with a paper folding telescopic rod for unmanned aerial vehicle inspection, which comprises a supporting structure and a suspension truss, and is characterized in that the suspension truss comprises a connecting assembly, the paper folding telescopic rod and a detector main body device; the paper folding telescopic rod comprises a telescopic rod mechanism and a paper folding telescopic mechanism, the telescopic rod mechanism comprises at least two stages of telescopic rods, the paper folding telescopic mechanism is arranged outside the telescopic rod mechanism in a sleeving mode, and the paper folding telescopic mechanism is formed by sequentially connecting a plurality of regular hexagonal prism paper folding telescopic units end to end; the detector main body device is mounted at the head end of the paper folding telescopic rod; the telescopic rod mechanism is connected with the supporting structure through the connecting assembly. Autonomous stretching of the mechanical arm in the detection process of the unmanned aerial vehicle is achieved, and the requirements for flight precision and stability in the operation process of the mechanical arm of the unmanned aerial vehicle are lowered; the adjustability of the magnetic adsorption force of the detector is realized; the mechanical arm is simple in structure, light in weight and high in efficiency.

Description

Technical field [0001] The present invention relates to a UAV robotic arm, in particular to a UAV inspection having an origami telescopic rod boiler wall thickness detection arm. Background [0002] Large-scale boiler thickness measurement inspection needs to operate in a hot and confined space, dust environment or even hypoxic environment, and manual inspection and maintenance costs are high and work efficiency is low. The unmanned aerial vehicle mounting robot arm and sensor replace some manual patrol thick work to reduce costs and accident rates. The existing UAV robotic arm mostly uses folding or telescopic forms, both in the non-working state, it is hoped that the robotic arm can shrink or fold itself to reduce the overall size of the UAV, so that the centroid of the robotic arm is as close as possible to the UAV centroid, thereby reducing the overturning moment of the aircraft, improving flight stability, which is of great significance to the flexibility and endurance of th...

AI Technical Summary

Problems solved by technology

Existing drone manipulators mostly adopt the form of folding or stretching. In the non-working state, it is hoped that the manipulator can shrink or fold by itself, so as to reduce the overall size of the drone, so that the center of mass of the manipulator is as close as possible to the unmanned space. The center of mass of the drone is close, thereby reducing the overturning moment on the aircraft and improving flight stability, which is of great significance to the flexibility and endurance of the UAV in the non-working state; and when the UAV is in the working state, It is hoped that the robotic arm can be extended or unfolded to expand the operating radius of the drone. This is very important for drones: due to the influence of aerodynamic interference, the drone must not be able to approach the working object without any restrictions. And aerodynamic interference will continue to interfere with the flight stability of the UAV within several times the radius of the UAV's rotor wing, which puts forward quite high requirements for the stability and accuracy of the UAV's near-wall flight

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