A flaw detection and repair integrated drone and its working method

Abstract

This invention discloses an integrated flaw detection and repair drone, comprising a drone body, a paint spray nozzle, an X-ray flaw detection device, a rust-removing and grinding disc, an omnidirectional support frame, an electromagnetic adsorption assembly, a storage tank, and an antenna. The omnidirectional support frame is located on both sides of the bottom of the drone body, with the rust-removing and grinding disc mounted on the front of the support frame. The paint spray nozzle is mounted at the center of the front of the drone body, and a storage tank for storing paint is mounted at the center of the lower part of the drone body. Electromagnetic adsorption assemblies are mounted on the left and right sides of the drone body, and an X-ray flaw detection device is mounted at the front of the upper part of the drone body. This invention offers advantages such as high work efficiency, low economic cost, and high safety factor, solving a series of problems associated with manual flaw detection methods, including high economic cost, high risk, and low work efficiency. It achieves excellent rust repair results for marine platforms or ships and has broad application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of flaw detection and repair of marine structures, and in particular to a flaw detection and repair integrated unmanned aerial vehicle and a working method thereof. Background Art

[0002] Due to the harsh marine environment, offshore platforms and ships are prone to rust, cracks on the outer surface and other damage during operation. If these damages cannot be repaired in time, they will seriously affect the service life of offshore platforms and ships. In order to ensure the normal operation of ships and offshore platforms, we need to regularly detect and repair ships and offshore platforms.

[0003] The existing regular maintenance flaw detection mainly relies on manual flaw detection. The characteristics of manual flaw detection are: workers carry bulky flaw detection equipment and work at a height of dozens of meters. This is an extremely dangerous and time-consuming operation. Not only is the economic cost high and the work efficiency low, but the X-ray flaw detection equipment also has radiation to the human body, which seriously endangers the health of the workers. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide an integrated flaw detection and repair UAV, which can solve the corrosion damage problems of offshore platforms and ships while improving the economy, safety and efficiency of the repair work.

[0005] Technical solution: An integrated flaw detection and repair UAV, including a UAV body, a paint spray nozzle, an X-ray flaw detection device, a rust removal and grinding sheet, an omnidirectional support frame, an electromagnetic adsorption component, and a storage box. The UAV body is installed on the top of the omnidirectional support frame, and the opposite sides of the UAV body are respectively slidably connected with an electromagnetic adsorption component, and the two electromagnetic adsorption components are symmetrically arranged. The X-ray flaw detection device is installed at the front end of the upper part of the UAV body, and a paint spray nozzle is provided below it. The paint spray nozzle is installed on the front side of the UAV body. A storage box is installed at the bottom of the UAV body, and the paint spray nozzle is connected to the storage box. The rust removal and grinding sheet is installed on the front side of the omnidirectional support frame below the UAV body, and the rust removal and grinding sheet moves on the omnidirectional support frame.

[0006] Furthermore, the all-round support frame includes a base, a transverse support rod, a vertical support rod, and a transverse rod connecting rod. Two bases are arranged at intervals, and a vertical support rod is fixed on each base. The two vertical support rods are arranged in parallel, and the two ends of the transverse support rod are slidably connected to a corresponding vertical support rod through a transverse rod connecting rod. The rust removal and grinding plate is slidably installed on the transverse support rod through an installation module.

[0007] Furthermore, a slide groove 1 is respectively provided on the two vertical support rods along their length direction, one end of one of the cross bar connecting rods is connected to the slide groove 1 of the corresponding vertical support rod through a slider, a motor 1 is installed at one end of the other cross bar connecting rod, a gear 1 is installed on the output shaft of the motor 1, a pair of racks 1 symmetrically arranged at intervals are fixed in the slide groove 1 of the other vertical support rod, the gear 1 is respectively engaged with the pair of racks 1 between the two, and the motor 1 is connected to the signal of the drone body.

[0008] Furthermore, one end of the mounting module is fixedly connected to the rust removal and polishing sheet by a plurality of fixing screws, and a motor 2 is mounted on the other end of the mounting module, a gear 2 is mounted on the output shaft of the motor 2, a slide groove 2 is provided along the length direction of the transverse support rod, a pair of racks 2 are symmetrically fixed in the slide groove 2, and the gear 2 is respectively engaged with the pair of racks 2, and the motor 2 is connected to the signal of the drone body.

[0009] Furthermore, the electromagnetic adsorption component includes an electromagnetic suction cup, a coil, a slide rail frame, and a guide rod. The electromagnetic suction cup is fixedly connected to one end of the guide rod. The coil is wound on the outer circumferential surface of the guide rod and is respectively connected to the electromagnetic suction cup and the UAV body electrical signal. The other end of the guide rod is vertically fixed to one end of the slide rail frame. A motor three is installed on the other end of the slide rail frame. A gear three is installed on the output shaft of the motor three. A slide groove three is opened on the side of the UAV body. A pair of racks three are symmetrically fixed in the slide groove three. The gear three is respectively meshed with the pair of racks three between the two. The motor three is connected to the UAV body signal.

[0010] Preferably, a high-power battery and a controller are provided inside the drone body, and an antenna for transmitting signals is provided on the upper part of the drone body.

[0011] Optimally, the paint spray nozzle is connected to the storage box through a leather hose, a solenoid valve is installed on the paint spray nozzle, the solenoid valve is connected to the UAV body signal, the paint spray nozzle is connected to the UAV body through a ball joint structure, the base of the ball joint is hollowed out and through, an extended rod is provided behind the ball head, the extended rod is connected to the internal mechanical arm of the UAV body, the mechanical arm is connected to the UAV body signal, and the paint spray nozzle can achieve 360° rotation spraying by controlling the movement of the mechanical arm in the XYZ direction.

[0012] The best X-ray flaw detection device is the XRS3 portable flaw detector.

[0013] A working method of the above-mentioned integrated flaw detection and repair drone comprises the following steps:

[0014] Step 1: The drone reaches the target sea area through remote control and performs flaw detection tasks;

[0015] Step 2: The drone uses an X-ray flaw detection device to detect rust damage on the surface of the structure;

[0016] Step 3: The drone finds the damaged part and flies statically to the vicinity of the structure, with the rust removal and grinding sheet facing the damaged part. The electromagnetic adsorption component is energized to generate suction, so that the drone is adsorbed on the surface of the structure;

[0017] Step 4: The rust removal and grinding sheet is moved to the rusted part through the sliding support frame to perform rust removal and grinding work;

[0018] Step 5: After polishing is completed, the electromagnetic adsorption component is powered off, so that the drone is detached from the surface of the structure. After the drone flies so that the paint spray nozzle is facing the polishing part, the electromagnetic adsorption component is powered on and adsorbed on the surface of the structure again;

[0019] Step 6: Use the spray nozzle to perform preliminary paint repair on the polished parts;

[0020] Step 7: After spraying is completed, the flaw detection task is completed, the electromagnetic adsorption component is powered off, and the drone flies away from the target sea area.

[0021] Beneficial effects: Compared with other existing technologies, this UAV can be adsorbed on an offshore platform or ship through an electromagnetic adsorption component to ensure the stability of the UAV during operation. The X-ray flaw detection device performs flaw detection on the surface of the structure, reducing the cost of manual flaw detection. The all-round support frame cooperates with the rust removal and grinding sheet for all-round grinding, and the paint spray nozzle performs paint repair, which improves the efficiency during operation. This UAV is characterized by high efficiency, economy, and safety, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 It is a front view of the present invention;

[0024] Figure 3 A top view of the present invention;

[0025] Figure 4 is a side view of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the omnidirectional support frame;

[0027] Figure 6 It is a structural schematic diagram of the electromagnetic adsorption component. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0029] An integrated flaw detection and repair drone, such as Figures 1 to 6As shown, it includes a drone body 1, a paint spray nozzle 2, an X-ray flaw detection device 3, a rust removal and grinding sheet 4, an omnidirectional support frame 5, an electromagnetic adsorption component 6, a storage box 7, an antenna 8, and an installation module 9. The X-ray flaw detection device 3 is an XRS3 type portable flaw detector, and the drone body 1 is an existing drone equipment, which is equipped with a high-power battery, a controller and other devices. The rear end of the upper part of the drone body 1 is provided with an antenna 8 for transmitting signals.

[0030] The drone body 1 is installed on the top of the omnidirectional support frame 5, which includes a base 51, a transverse support rod 52, a vertical support rod 53, and a transverse rod connecting rod 54. Two bases 51 are arranged at intervals, and each base 51 is fixed with a vertical support rod 53. The two vertical support rods 53 are arranged in parallel, and the two ends of the transverse support rod 52 are respectively slidably connected to a corresponding vertical support rod 53 through a transverse rod connecting rod 54. The rust removal and grinding sheet 4 is slidably installed on the transverse support rod 52 through the installation module 9, and the top ends of the two vertical support rods 53 are respectively fixed to the bottom of the drone body 1.

[0031] The rust removal and polishing sheet 4 is installed on the front side of the omnidirectional support frame 5 below the drone body 1 , and the rust removal and polishing sheet 4 can move on the omnidirectional support frame 5 .

[0032] The two vertical support rods 53 are respectively provided with a slide groove 531 along their length direction, one end of one of the cross bar connecting rods 54 is connected to the slide groove 531 of the corresponding vertical support rod 53 through a slider, one end of the other cross bar connecting rod 54 is installed with a motor 1, and a gear 1 is installed on the output shaft of the motor 1, and a pair of racks 1 arranged symmetrically and spaced are fixed in the slide groove 531 of the other vertical support rod 53, and the gear 1 is respectively engaged with the pair of racks 1 between the two, and the motor 1 is connected with the UAV body 1 by signal, and the motor 1 is controlled to start and stop through the UAV body 1. Starting the motor 1 makes the gear 1 rotate, and the gear 1 moves up and down along the rack 1, thereby driving the lateral support rod 52 to move up and down, so that the rust removal and grinding plate 4 can achieve vertical movement along the UAV.

[0033] One end of the mounting module 9 is fixedly connected to the rust removal and polishing sheet 4 by a plurality of fixing screws, and a motor 2 is mounted on the other end of the mounting module 9, and a gear 2 is mounted on the output shaft of the motor 2. A slide groove 2 521 is provided on the transverse support rod 52 along its length direction, and a pair of racks 2 are symmetrically fixed in the slide groove 521, and the gear 2 is respectively engaged with the pair of racks 2. The motor 2 is connected to the UAV body 1 by signal, and the start and stop of the motor 2 is controlled by the UAV body 1. Starting the motor 2 rotates the gear 2, and the gear 2 moves left and right along the rack 2, thereby driving the mounting module 9 to move left and right, so that the rust removal and polishing sheet 4 can move laterally along the UAV.

[0034] In order to further realize the movement of the rust removal and grinding sheet 4 along the front and rear directions of the UAV, the installation module 9 can be designed as a telescopic rod structure with a cylinder. The cylinder is controlled by the UAV body 1 to realize the front and rear extension and retraction of the installation module 9, thereby driving the rust removal and grinding sheet 4 to move along the front and rear directions of the UAV, that is, the rust removal and grinding sheet 4 can realize XYZ movement on the omnidirectional support frame 5.

[0035] An electromagnetic adsorption component 6 is slidably connected to the opposite sides of the drone body 1, and the two electromagnetic adsorption components 6 are symmetrically arranged. A slide groove 3 631 is respectively opened on the opposite sides of the drone body 1. The electromagnetic adsorption component 6 includes an electromagnetic suction cup 61, a coil 62, a slide rail frame 63, and a guide rod 64. The electromagnetic suction cup 61 is fixedly connected to one end of the guide rod 64, the coil 62 is wound on the outer circumferential surface of the guide rod 64 and is respectively connected to the electromagnetic suction cup 61 and the drone body 1 by electrical signals. The other end of the guide rod 64 is vertically fixed to one end of the slide rail frame 63, and a motor 3 is installed on the other end of the slide rail frame 63. A gear 3 is installed on the output shaft of the motor 3. A pair of racks 3 are symmetrically fixed in the slide groove 3 631. The gear 3 is respectively meshed with the pair of racks 3 between the two, and the motor 3 is connected to the drone body 1 by signal. Motor three is controlled by the drone body 1, and under the gear rack transmission, the electromagnetic suction cup 61 can move forward and backward along the drone, thereby adjusting the position of the electromagnetic adsorption component 6 so that it can be adsorbed on a variety of objects. The drone body 1 supplies power to the coil 62, so that the electromagnetic suction cup 61 generates suction for adsorption, thereby ensuring the stability of the drone during operation.

[0036] The X-ray flaw detection device 3 is installed at the front end of the upper part of the drone body 1, and a paint spray nozzle 2 is provided below it. The paint spray nozzle 2 is installed on the front side of the drone body 1. A material storage box 7 is installed at the bottom of the drone body 1, and the paint spray nozzle 2 is connected to the material storage box 7.

[0037] The paint spray head 2 is connected to the storage box 7 through a leather hose. A solenoid valve is installed on the paint spray head 2. The solenoid valve is connected to the drone body 1 by signal. The paint spray head 2 is connected to the drone body 1 through a ball joint structure. The base of the ball joint is hollowed out and through. An extended rod is provided behind the ball head. The extended rod is connected to the internal mechanical arm of the drone body 1. The mechanical arm is connected to the drone body 1 by signal. By controlling the movement of the mechanical arm in the XYZ direction, the paint spray head 2 can achieve 360° rotation painting.

[0038] The interior of the drone body 1 is provided with a high-power battery, a control panel and other devices. The control panel integrates an operating system of an all-round support frame 5, a rust removal and grinding sheet 4, a paint spray nozzle 2, an electromagnetic adsorption component 6 and an X-ray flaw detection device 3. The upper part of the drone body 1 is provided with an antenna 8 for transmitting signals, and remote control commands are received through the antenna 8 for transmitting signals to perform flaw detection operations.

[0039] The working method of the above-mentioned integrated flaw detection and repair drone includes the following steps:

[0040] Step 1: The drone reaches the target sea area through remote control and performs flaw detection tasks;

[0041] Step 2: The drone uses an X-ray flaw detection device to detect rust damage on the surface of the structure while flying;

[0042] Step 3: The drone finds the damaged part and flies statically to the vicinity of the structure, with the rust removal and grinding sheet facing the damaged part. The coil is energized to make the electromagnetic suction cup generate suction. Motor 3 starts the electromagnetic suction cup to move closer to the surface of the structure. Through cooperation with the drone body, the entire drone is adsorbed on the surface of the structure through the two electromagnetic suction cups at the front end.

[0043] Step 4: Use the drone body to control motor 1, motor 2 and the installation module to move the rust removal and grinding sheet to the rusted area to perform rust removal and grinding work;

[0044] Step 5: After polishing is completed, the electromagnetic adsorption component is powered off, so that the drone is detached from the surface of the structure. After the drone flies so that the paint spray nozzle is facing the polishing part, the electromagnetic adsorption component is powered on and adsorbed on the surface of the structure again;

[0045] Step 6: Control the robotic arm to drive the paint spray nozzle to perform preliminary paint repair on the polished part;

[0046] Step 7: After spraying is completed, the flaw detection task is completed, the electromagnetic adsorption component is powered off, and the drone flies away from the target sea area.

Claims

1. An integrated flaw detection and repair drone, characterized by: The invention comprises an unmanned aerial vehicle (UAV) body (1), a spray paint nozzle (2), an X-ray flaw detection device (3), a rust removal polishing sheet (4), an omnidirectional support frame (5), an electromagnetic adsorption component (6), and a material storage box (7). The UAV body (1) is mounted on the top of the omnidirectional support frame (5). Two opposite sides of the UAV body (1) are respectively slidably connected with an electromagnetic adsorption component (6). The two electromagnetic adsorption components (6) are symmetrically arranged. The X-ray flaw detection device (3) is mounted on the front end of the upper part of the UAV body (1). A spray paint nozzle (2) is arranged below the spray paint nozzle (3). The spray paint nozzle (2) is mounted on the front side of the UAV body (1). A material storage box (7) is mounted on the bottom of the UAV body (1). The spray paint nozzle (2) is connected to the material storage box (7). The rust removal polishing sheet (4) is mounted on the front side of the omnidirectional support frame (5) below the UAV body (1). The rust removal polishing sheet (4) moves on the omnidirectional support frame (5). The omnidirectional support frame (5) comprises a base (51), a transverse support rod (52), a vertical support rod (53), and a transverse rod connecting rod (54); two bases (51) are provided at intervals; a vertical support rod (53) is fixed to each base (51); the two vertical support rods (53) are arranged in parallel; two ends of the transverse support rod (52) are slidably connected to a corresponding vertical support rod (53) via a transverse rod connecting rod (54); and the rust removal and polishing sheet (4) is slidably mounted on the transverse support rod (52) via a mounting module (9); The two vertical support rods (53) are respectively provided with a slide groove (531) along their length direction, one end of one crossbar connecting rod (54) is connected to the slide groove (531) of the corresponding vertical support rod (53) through a slider, one end of the other crossbar connecting rod (54) is installed with a motor, the output shaft of the motor is installed with a gear, a pair of racks 1 arranged symmetrically and spaced apart are fixed in the slide groove (531) of the other vertical support rod (53), the gear is respectively meshed with the pair of racks 1 between the two, and the motor is connected to the drone body (1) by signal; The electromagnetic adsorption component (6) comprises an electromagnetic suction cup (61), a coil (62), a slide rail frame (63), and a guide rod (64). The electromagnetic suction cup (61) is fixedly connected to one end of the guide rod (64). The coil (62) is wound around the outer peripheral surface of the guide rod (64) and is respectively connected to the electromagnetic suction cup (61) and the UAV body (1) by electrical signals. The other end of the guide rod (64) is vertically fixed to one end of the slide rail frame (63). A motor three is installed on the other end of the slide rail frame (63). A gear three is installed on the output shaft of the motor three. A slide groove three (631) is opened on the side of the UAV body (1). A pair of racks three are fixed symmetrically in the slide groove three (631). The gear three is respectively meshed with the pair of racks three between the pair of racks three. The motor three is connected to the UAV body (1) by signals.

2. The integrated flaw detection and repair UAV according to claim 1, characterized in that: One end of the mounting module (9) is fixedly connected to the rust removal and polishing sheet (4) by means of a plurality of fixing screws, and the other end of the mounting module (9) is mounted with a second motor, and a second gear is mounted on the output shaft of the second motor. A second slide groove (521) is provided on the transverse support rod (52) along its length direction, and a pair of second racks are fixed symmetrically in the second slide groove (521). The second gear is respectively engaged with the pair of second racks between the two, and the second motor is connected to the drone body (1) by signal.

3. The integrated flaw detection and repair UAV according to claim 1, characterized in that: A high-power battery and a controller are arranged inside the drone body (1), and an antenna (8) for transmitting signals is arranged on the upper part of the drone body (1).

4. The integrated flaw detection and repair UAV according to claim 1, characterized in that: The paint spray nozzle (2) is connected to the material storage box (7) through a leather hose. A solenoid valve is installed on the paint spray nozzle (2). The solenoid valve is connected to the drone body (1) by signal. The paint spray nozzle (2) is connected to the drone body (1) through a ball joint structure. The base of the ball joint is hollowed out and penetrated. An extended rod is arranged behind the ball joint. The extended rod is connected to a mechanical arm inside the drone body (1). The mechanical arm is connected to the drone body (1) by signal. By controlling the movement of the mechanical arm in the XYZ direction, the paint spray nozzle (2) can realize 360° rotation spraying.

5. The integrated flaw detection and repair UAV according to claim 1, characterized in that: The X-ray flaw detection device (3) is a XRS3 portable flaw detector.

6. A working method of the flaw detection and repair integrated drone as claimed in any one of claims 1 to 5, characterized in that The following steps are involved: Step 1: The drone reaches the target sea area through remote control and performs flaw detection tasks; Step 2: The drone uses an X-ray flaw detection device to detect rust damage on the surface of the structure; Step 3: The drone finds the damaged part and flies statically to the vicinity of the structure, with the rust removal and grinding sheet facing the damaged part. The electromagnetic adsorption component is energized to generate suction, so that the drone is adsorbed on the surface of the structure; Step 4: The rust removal and grinding sheet is moved to the rusted part through the sliding support frame to perform rust removal and grinding work; Step 5: After polishing is completed, the electromagnetic adsorption component is powered off, so that the drone is detached from the surface of the structure. After the drone flies so that the paint spray nozzle is facing the polishing part, the electromagnetic adsorption component is powered on and adsorbed on the surface of the structure again; Step 6: Use the spray nozzle to perform preliminary paint repair on the polished parts; Step 7: After spraying is completed, the flaw detection task is completed, the electromagnetic adsorption component is powered off, and the drone flies away from the target sea area.

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