An unmanned aerial vehicle ultrasonic flaw detection device and a method of using the same
By designing an ultrasonic flaw detection device for UAVs and adopting a clamping and fixing mechanism and automatic coupling fluid addition technology, the problems of stable fixation and data acquisition quality of UAVs in high-altitude structural flaw detection were solved, and efficient flaw detection of objects of different shapes and materials was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- TIANJIN UNIV
- Filing Date
- 2023-12-21
- Publication Date
- 2026-06-05
AI Technical Summary
When existing UAVs conduct structural flaw detection at high altitudes, it is difficult to achieve stable fixation of high-altitude structures and automatic addition of coupling fluid, and they are severely affected by weather conditions, resulting in poor data acquisition quality.
An ultrasonic flaw detection device for unmanned aerial vehicles (UAVs) was designed, comprising a clamping and fixing mechanism, an image transmission module, an ultrasonic detection module, and a power supply and central control module. The UAV is fixed by magnetic suction, mechanical claws, or suction cups, and coupling fluid is automatically added using a linear electric servo motor and spring structure to achieve optimal impedance matching between the ultrasonic probe and the surface of the object under test.
It enables stable fixation of objects of different shapes and materials and automatic addition of coupling fluid, improving the accuracy of data acquisition and the degree of system automation, and reducing dependence on weather conditions.
Smart Images
Figure CN117734981B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and more specifically to an ultrasonic flaw detection device for UAVs and its usage method. Background Technology
[0002] With industrial development and the needs of production and daily life, more and more devices and structures are appearing in the sky. Measuring structural and material defects in the sky is crucial for ensuring the safety of engineering structures such as buildings, bridges, and aircraft. The presence of structural and material defects can lead to structural damage or failure; therefore, timely and accurate measurement can help identify problems and take appropriate remedial measures.
[0003] Timely measurement is beneficial not only for safety assessment: by detecting structural and material defects, their impact on structural strength and stability can be assessed, providing a basis for the safety of engineering structures; it also helps with preventive maintenance: regular measurements can detect problems early, allowing for timely maintenance measures to avoid further damage or failure; and it also helps save costs: accurate measurements can help determine the scope and cost of repair measures and avoid unnecessary maintenance expenses.
[0004] Currently, common measurement methods for high school structures include: 1. Visual inspection: Engineers or professionals directly observe and inspect the structural surface to look for obvious structural and material defects such as cracks and corrosion. 2. Non-destructive testing (NDT): Using various techniques, such as ultrasonic waves, X-rays, and magnetic particle testing, to inspect the structure and detect internal defects or damage. 3. Vibration monitoring: Using sensors and data acquisition systems to measure the vibration characteristics of the structure to assess its stability and health status.
[0005] As a commonly used auxiliary tool, drones can provide the following assistance in acquiring signals from high-altitude structures: 1. High-altitude photography: Drones can carry cameras or other sensor devices to acquire image data of structures at high altitudes for subsequent analysis and measurement. 2. Point cloud measurement: Using devices such as laser scanners, drones can acquire point cloud data of buildings or other structures for measuring their shape and dimensions. 3. Thermal imaging: Drones can carry thermal imaging cameras to detect thermal damage or hidden defects in structures by measuring the temperature distribution on the target surface. Using drones for measurement is not only safe and efficient, but also ensures data accuracy due to the precision sensors they often carry.
[0006] Currently, drones are generally used to measure buildings and engineering structures, such as pipes and walls. They are used to take aerial photos to obtain building image data for monitoring buildings, as well as for monitoring and evaluating engineering structures such as bridges, large equipment, and power transmission lines.
[0007] Currently, the methods of using drones for assisted measurement either involve directly acquiring information through high-altitude photography or by carrying sensor equipment such as ultrasonic flaw detectors to directly and closely contact the structure under test to obtain internal structural information. Directly acquiring high-altitude structural information through photography has drawbacks, including only showing the surface of the structure and failing to capture internal information, resulting in insufficient detail and data richness. Using sensor equipment such as ultrasonic flaw detectors also often presents challenges in addressing the issue of adding coupling fluid to ultrasonic flaw detectors at high altitudes. Furthermore, drone-based detection is dependent on weather conditions; strong winds, rain, snow, and other adverse weather conditions can affect the drone's flight performance, reducing the contact quality between the probe and the surface of the structure under test, ultimately impacting the quality of data acquisition. Summary of the Invention
[0008] To address the shortcomings of the aforementioned technical solutions, the present invention aims to provide an ultrasonic flaw detection device for unmanned aerial vehicles (UAVs).
[0009] The purpose of this invention is to provide a method for using the above-mentioned ultrasonic flaw detection device for unmanned aerial vehicles.
[0010] The objective of this invention is achieved through the following technical solution.
[0011] An ultrasonic flaw detection device for unmanned aerial vehicles (UAVs) includes an UAV, a clamping and fixing mechanism, an image transmission module, an ultrasonic detection module, a power supply and central control module, and a positioning module.
[0012] The clamping and fixing mechanism is installed on the UAV; the image transmission module and the positioning module can transmit the image information and location information of the UAV in real time, which facilitates the user to assist the UAV in flight positioning; the power supply and central control module is used to power the entire device and control the entire device.
[0013] The ultrasonic detection module includes an ultrasonic probe, a fixing component, a liquid storage tube, a piston shaft, a spring, a limiting connecting block, and a linear electric servo motor. The actuating end of the linear electric servo motor is connected to one end of the piston shaft through the limiting connecting block. The other end of the piston shaft is slidably mounted at the rear end of the liquid storage tube, where a flange is provided. The spring is sleeved on the piston shaft and is engaged between the flange and the limiting connecting block. The liquid storage tube is connected to the ultrasonic probe through the fixing component. An outlet check valve and an inlet check valve are installed on the liquid storage tube. The outlet check valve is connected to an outlet pipe, the other end of which is placed on the ultrasonic probe. The inlet check valve is connected to a liquid storage bottle through an inlet pipe.
[0014] In the above technical solution, the clamping and fixing mechanism includes a cylindrical connector, a mechanical claw, an electromagnet, and a driver. One end of the connector is mounted on the middle plate of the UAV, and the other end is hinged to the end of the mechanical claw through a connecting plate. The electromagnet is mounted on the mechanical claw, and the driver is mounted on the mechanical claw to drive the mechanical claw to clamp or open.
[0015] In the above technical solution, the mechanical gripper includes a left mechanical gripper and a right mechanical gripper. The left mechanical gripper includes a first connecting rod, a second connecting rod, a third connecting rod, and a clamping claw. One end of the first connecting rod is hinged to the turntable, and the other end is hinged to one end of the clamping claw. One end of the second connecting rod is hinged to the turntable, and the other end is hinged to the third connecting rod. The other end of the third connecting rod is hinged to the bend of the clamping claw. The left and right mechanical grippers are symmetrically arranged along the axis of the connecting member.
[0016] In the above technical solution, there are two first connecting rods, which are symmetrically arranged vertically. The ends of both connecting rods are hinged to one side of the connecting disk, and their front ends are hinged to the rear end of the clamping claw. The rear end of the clamping claw is located between the two first connecting rods. There are also two second connecting rods, which are symmetrically arranged vertically. The end of the upper second connecting rod is hinged to the upper surface of the connecting disk, and the end of the lower second connecting rod is hinged to the lower surface of the connecting disk. The front ends of the two second connecting rods are hinged to the end of a third connecting rod, which is located between the two first connecting rods. Between the second connecting rods, there are two third connecting rods. The front ends of the two third connecting rods are hinged to the bend of the mechanical gripper. The mechanical gripper is located between the two third connecting rods. The driver is installed on the lower surface of one of the lower first connecting rods. The right mechanical gripper has the same structure as the left mechanical gripper. The left and right mechanical grippers are symmetrically arranged along the axis of the cylindrical connecting member. The driver drives the first connecting rod to move, causing the gripper to clamp the object to be measured. The electromagnet is installed at the lower end of the gripper of the right mechanical gripper. The electromagnet is connected to the power supply and central control module.
[0017] In the above technical solution, the clamping and fixing mechanism includes a rectangular electromagnet, a ring electromagnet, a fixed base, and a connector. One end of the connector is installed on the middle plate of the UAV, and the other end is hinged to the rear surface of the fixed base. The rectangular electromagnet and the ring electromagnet are installed on the front surface of the fixed base. The ring electromagnet is located below the rectangular electromagnet. The rectangular electromagnet and the ring electromagnet are connected to the power supply and the central control module.
[0018] In the above technical solution, the clamping and fixing mechanism includes a suction cup, a connector and an air pump. One end of the connector is installed on the middle plate of the UAV, and the other end is connected to the rear of the suction cup. The suction cup is connected to the air pump through an air duct. The air pump extracts the gas in the suction cup, so that the suction cup is adsorbed on a non-magnetic metal surface.
[0019] The method of using the above-mentioned ultrasonic flaw detection device for unmanned aerial vehicles includes the following steps:
[0020] Step 1: After the clamping and fixing mechanism clamps and fixes the UAV, the ultrasonic detection module starts to work. The action rod of the linear electric servo motor extends and pushes the limiting connecting block to move forward. The limiting connecting block compresses the spring, and the spring pushes the liquid storage tube to move forward through the flange. The liquid storage tube pushes the ultrasonic probe forward through the fixing component until the probe is attached to the surface of the pipe to be detected.
[0021] Step 2: The linear electric servo motor's actuator stick continues to extend. At this time, the ultrasonic probe cannot move forward. The spring is compressed between the flange and the limiting connecting block. The piston shaft enters the liquid storage tube. The outlet check valve opens and the inlet check valve closes. The coupling liquid stored in the liquid storage tube drips onto the ultrasonic probe through the outlet pipe. Under the action of the liquid surface tension, the coupling liquid will completely wet the ultrasonic probe, so that the ultrasonic probe and the wall of the tube under test achieve the best impedance matching.
[0022] Step 3: When the piston on the piston shaft contacts the liquid outlet check valve, the spring is just compressed to its shortest length and cannot be compressed further. The linear electric servo motor movement is hindered and stops extending. The coupling fluid addition process ends. Ultrasonic thickness measurement / flaw detection process is then performed using an ultrasonic probe.
[0023] Step 4: After the detection of the detection site is completed, the remote-controlled linear electric servo motor's action rod retracts backward, the spring extends, and the limit connecting block is driven by the spring force to move the piston axis backward. Under the action of atmospheric pressure, the liquid outlet check valve closes and the liquid inlet check valve opens. The liquid in the storage bottle flows into the storage pipe through the liquid inlet pipe and the liquid inlet check valve, realizing the replenishment process of the coupling fluid. When the ultrasonic probe leaves the surface of the pipe wall, the clamping and fixing mechanism stops working, and the drone flies away.
[0024] The advantages and beneficial effects of this invention are as follows:
[0025] 1. The ultrasonic flaw detection device of the present invention can measure various information such as thickness and damage of objects with different shapes such as tubular, flat, and cylindrical, and made of various materials such as metal, rubber, and plastic, at high altitudes, and can obtain information such as internal corrosion, defects, voids, and cracks.
[0026] 2. The clamping and fixing mechanism of the present invention uses one of magnetic attraction, mechanical claw or suction cup to fix the drone, thereby achieving stable fixing of different shapes such as tubular, flat, and cylindrical shapes at high altitudes. This solves the problem that the current drone cannot be fixed in a specific position in the air, so that the drone does not need to be powered or only needs to be powered at low power when fixed, thus saving power.
[0027] 3. The ultrasonic detection module of the present invention uses a linear electric servo motor and springs to automatically add coupling fluid to the ultrasonic probe, which solves the problem that traditional high-altitude ultrasonic flaw detection cannot automatically add coupling fluid. At the same time, the ultrasonic probe can be pressed against the surface of the object to be tested without manual intervention, making the system more automated.
[0028] 4. The image transmission module of this invention enables real-time image transmission, which facilitates the positioning of the device and solves the problem of the lack of precise positioning for drones.
[0029] 5. The clamping and fixing mechanism, image transmission module, ultrasonic detection module, power supply and central control module and positioning module of the present invention can work together to achieve maximum efficiency. Attached Figure Description
[0030] Figure 1 This is a schematic diagram of the overall structure of the ultrasonic flaw detection device for unmanned aerial vehicles (UAVs) of the present invention.
[0031] Figure 2 This is a schematic diagram of the overall structure of the ultrasonic detection module of the present invention.
[0032] Figure 3 This is a diagram illustrating the working process of the ultrasonic detection module of the present invention.
[0033] Figure 4 This is a diagram illustrating the working process of the ultrasonic detection module of the present invention.
[0034] Figure 5 This is a schematic diagram of the clamping and fixing mechanism of Embodiment 1 of the present invention.
[0035] Figure 6 This is a schematic diagram of the clamping and fixing mechanism structure of Embodiment 2 of the present invention.
[0036] Figure 7 This is a schematic diagram of the clamping and fixing mechanism of Embodiment 3 of the present invention.
[0037] in,
[0038] 1: Unmanned Aerial Vehicle (UAV); 2: Clamping and Fixing Mechanism; 2.11: Connector; 2.12: Left Mechanical Gripper; 2.13: Right Mechanical Gripper; 2.14: Electromagnet; 2.15: Driver; 2.16: First Connecting Rod; 2.17: Second Connecting Rod; 2.18: Third Connecting Rod; 2.19: Clamping Gripper; 2.21: Rectangular Electromagnet; 2.22: Ring Electromagnet; 2.23: Fixing Base; 2.24: Connector; 2.31: Suction Cup; 2.32: Connector; 2.33 4.1 Ultrasonic probe, 4.2 Fixing component, 4.3 Liquid storage tube, 4.4 Piston shaft, 4.5 Spring, 4.6 Limiting connection block, 4.7 Linear electric servo motor, 4.8 Flange, 4.9 Liquid outlet check valve, 4.10 Liquid inlet check valve, 4.11 Liquid outlet tube, 4.12 Liquid inlet tube, 4.13 Liquid storage bottle, 4.14 Ultrasonic probe cable, 5 Power supply and central control module, 6. Positioning module.
[0039] For those skilled in the art, other related figures can be obtained from the above figures without any creative effort. Detailed Implementation
[0040] The technical solution of the present invention will be further described below with reference to specific embodiments.
[0041] Example 1
[0042] like Figures 1-5 As shown, an ultrasonic flaw detection device for unmanned aerial vehicles (UAVs) includes a UAV 1, a clamping and fixing mechanism 2, an image transmission module 3, an ultrasonic detection module 4, a power supply and central control module 5, and a positioning module 6.
[0043] The UAV 1 adopts a high-precision flight control algorithm, which enables the UAV 1 to fly stably under measurement conditions and has a certain load capacity. Specifically, the UAV 1 is a quadcopter UAV.
[0044] The clamping and fixing mechanism 2 is installed on the UAV 1 and is used to fix the UAV 1 to the object to be tested; the image transmission module 3 is equipped with a high-resolution camera and the positioning module 6 is a satellite positioning device. The image transmission module 3 and the positioning module 6 can transmit the image information and location information of the UAV 1 in real time, which is convenient for users to assist the UAV 1 in flight positioning; the power supply and central control module 5 is used to power the entire device and control the entire device.
[0045] like Figure 2 As shown, the ultrasonic detection module 4 includes an ultrasonic probe 4.1, a fixing component 4.2, a liquid storage tube 4.3, a piston shaft 4.4, a spring 4.5, a limiting connecting block 4.6, and a linear electric servo motor 4.7. The actuating end of the linear electric servo motor 4.7 is connected to the rear end of the limiting connecting block 4.6, and the front end of the limiting connecting block 4.6 is connected to the rear end of the piston shaft 4.4. The front end of the piston shaft 4.4 is slidably mounted at the opening of the liquid storage tube 4.3, where a flange 4.8 is provided. The spring 4.5 is sleeved on the piston shaft 4.4, and the flange 4.8 engages with the spring 4.5. Specifically, the... The spring 4.5 is secured between the flange and the limiting connecting block 4.6. A fixing member 4.2 is provided at the rear end of the front end of the liquid storage tube 4.3. The front end of the fixing member 4.2 is connected to the ultrasonic probe 4.1. The ultrasonic probe 4.1 is connected to the power supply and central control module 5 through the ultrasonic probe cable 4.14. An outlet check valve 4.9 and an inlet check valve 4.10 are installed on the liquid storage tube 4.3. The outlet check valve 4.9 is connected to an outlet pipe 4.11. The other end of the outlet pipe 4.11 is placed on the ultrasonic probe 4.1. The inlet check valve 4.10 is connected to the liquid storage bottle 4.13 through an inlet pipe 4.12.
[0046] like Figures 2-4The working process of the ultrasonic detection module 4 is as follows: After the UAV 1 is clamped and fixed, the module starts to work. The actuating rod of the linear electric servo motor 4.7 extends and pushes the limiting connecting block 4.6 forward. The limiting connecting block 4.6 compresses the spring 4.5. The spring 4.5 pushes the liquid storage tube 4.3 forward through the flange 4.8. The liquid storage tube 4.3 pushes the ultrasonic probe 4.1 forward through the fixing part 4.2 until the ultrasonic probe 4.1 is attached to the surface of the pipe to be detected. The actuating rod of the linear electric servo motor 4.7 continues to extend. At this time, the ultrasonic probe 4.1 cannot move forward. The spring 4.5 is compressed between the flange 4.8 and the limiting connecting block 4.6. The piston shaft 4.4 enters the liquid storage tube 4.3. The liquid outlet check valve 4.9 opens and the liquid inlet check valve 4.10 closes. The coupling fluid stored in the liquid storage tube 4.3 drips onto the ultrasonic probe 4.1 through the liquid outlet pipe 4.11. Under the action of the liquid surface tension, the coupling fluid will completely wet the ultrasonic probe. The probe 4.1 ensures optimal impedance matching between the ultrasonic probe 4.1 and the pipe wall under test. When the piston on the piston shaft 4.4 contacts the outlet check valve 4.9, the spring 4.5 is compressed to its shortest length and cannot be compressed further. The linear electric servo motor 4.7 is hindered and stops extending, ending the coupling fluid addition process. The ultrasonic probe 4.1 is then used for ultrasonic thickness measurement / flaw detection. After the detection at this point is completed, the remote-controlled linear electric servo motor 4.7 retracts its actuator, the spring 4.5 extends, and the limiting connecting block 4.6, under the force of the spring 4.5, moves the piston shaft 4.4 backward. Under atmospheric pressure, the outlet check valve 4.9 closes, and the inlet check valve 4.10 opens. The liquid in the storage bottle 4.13 flows into the storage pipe 4.3 through the inlet pipe 4.12 and the inlet check valve 4.10, completing the coupling fluid replenishment process. When the ultrasonic probe 4.1 leaves the pipe wall surface, the clamping and fixing mechanism 2 stops working, and the drone 1 flies away.
[0047] Specifically, in this embodiment, such as Figure 5As shown, the clamping and fixing mechanism 2 includes a cylindrical connector 2.11, a mechanical claw, an electromagnet 2.14, and a driver 2.15. One end of the connector 2.11 is mounted on the middle plate of the UAV 1, and the other end is hinged to the end of the mechanical claw via a connecting disc. The mechanical claw includes a left mechanical claw 2.12 and a right mechanical claw 2.13. The left mechanical claw 2.12 includes a first connecting rod 2.16, a second connecting rod 2.17, a third connecting rod 2.18, and a clamping claw 2.19. There are two first connecting rods 2.16, which are symmetrically arranged vertically. The ends of both connecting rods are hinged to one side of the connecting disk, and the front ends are hinged to the rear end of the clamping claw 2.19. The rear end of the clamping claw 2.19 is located between the two first connecting rods 2.16. There are two second connecting rods 2.17, which are symmetrically arranged vertically. The end of the upper second connecting rod 2.17 is hinged to the upper surface of the connecting disk, and the end of the lower second connecting rod 2.17 is hinged to the upper surface of the connecting disk. The ends of the two second connecting rods 2.17 are all hinged to the lower surface of the connecting plate. The front ends of the two second connecting rods 2.17 are hinged to the ends of the third connecting rods 2.18. The third connecting rods 2.18 are located between the two second connecting rods 2.17. There are two third connecting rods 2.18. The front ends of the two third connecting rods 2.18 are hinged to the bend of the mechanical gripper. The mechanical gripper is located between the two third connecting rods 2.18. The drive is mounted on the lower surface of the lower first connecting rod 2.16. Device 2.15, the right mechanical gripper 2.13 has the same structure as the left mechanical gripper 2.12, the left mechanical gripper 2.12 and the right mechanical gripper 2.13 are symmetrically arranged along the axis of the cylindrical connector 2.11, the driver 2.15 drives the first connecting rod 2.16 to move, driving the clamping claw 2.19 to clamp the object to be measured, the electromagnet 2.14 is installed at the lower end of the clamping claw 2.19 of the right mechanical gripper 2.13, the electromagnet 2.14 is connected to the power supply and central control module 5.
[0048] The clamping and fixing mechanism 2 in this embodiment is used for clamping and fixing cylindrical pipes, especially in magnetic metal pipe inspection scenarios.
[0049] The usage method is as follows:
[0050] The actuator 2.15 rotates clockwise, eventually causing the left mechanical claw 2.12 and the right mechanical claw 2.13 to move closer and clamp; if it rotates counterclockwise, it causes the left mechanical claw 2.12 and the right mechanical claw 2.13 to move away and open. By clamping and opening, the pipe is clamped and released, thereby fixing and releasing the UAV 1. When the mechanical claws clamp the pipe, the UAV 1 is fixed on the pipe. The power supply and central control module 5 supplies power to the electromagnet 2.14, so that the electromagnet 2.14 becomes magnetic and is firmly attracted to the metal pipe, further providing a stable working environment for the ultrasonic flaw detection process.
[0051] Example 2
[0052] In this embodiment, as Figure 6 As shown, the clamping and fixing mechanism 2 includes a rectangular electromagnet 2.21, a ring electromagnet 2.22, a fixing base 2.23, and a connector 2.24. One end of the connector 2.24 is mounted on the middle plate of the UAV 1, and the other end is hinged to the rear surface of the fixing base 2.23. The rectangular electromagnet 2.21 and the ring electromagnet 2.22 are mounted on the front surface of the fixing base 2.23. The ring electromagnet 2.22 is located below the rectangular electromagnet 2.21. The rectangular electromagnet 2.21 and the ring electromagnet 2.22 are respectively connected to the power supply and the central control module 5. The power supply and the central control module 5 control whether the rectangular electromagnet 2.21 and the ring electromagnet 2.22 are magnetically attracted, so that they are stably attracted to the magnetic metal plane, further providing a stable working environment for ultrasonic flaw detection.
[0053] Example 3
[0054] In this embodiment, as Figure 7 As shown, the clamping and fixing mechanism 2 includes a suction cup 2.31, a connector 2.32, and an air pump 2.33. One end of the connector 2.32 is installed on the middle plate of the UAV 1, and the other end is connected to the rear of the suction cup 2.31. The suction cup 2.31 is connected to the air pump through the air duct 2.33. The air pump extracts the gas inside the suction cup 2.31, allowing the suction cup 2.31 to adhere to the non-magnetic metal surface, further providing a stable working environment for ultrasonic flaw detection.
[0055] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.
[0056] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.
[0057] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.
Claims
1. A method of using an ultrasonic flaw detection device for unmanned aerial vehicles (UAVs), characterized in that, The ultrasonic flaw detection device for unmanned aerial vehicles (UAVs) includes an UAV, a clamping and fixing mechanism, an image transmission module, an ultrasonic detection module, a power supply and central control module, and a positioning module. The clamping and fixing mechanism is installed on the UAV; the image transmission module and the positioning module can transmit the image information and location information of the UAV in real time, which facilitates the user to assist the UAV in flight positioning; the power supply and central control module is used to power the entire device and control the entire device. The ultrasonic detection module includes an ultrasonic probe, a fixing component, a liquid storage tube, a piston shaft, a spring, a limiting connecting block, and a linear electric servo motor. The actuating end of the linear electric servo motor is connected to one end of the piston shaft through the limiting connecting block. The other end of the piston shaft is slidably mounted at the rear end of the liquid storage tube, where a flange is provided. The spring is sleeved on the piston shaft and is engaged between the flange and the limiting connecting block. The liquid storage tube is connected to the ultrasonic probe through the fixing component. An outlet check valve and an inlet check valve are installed on the liquid storage tube. The outlet check valve is connected to an outlet pipe, the other end of which is placed on the ultrasonic probe. The inlet check valve is connected to a liquid storage bottle through an inlet pipe. The method of use includes the following steps: Step 1: After the clamping and fixing mechanism clamps and fixes the UAV, the ultrasonic detection module starts to work. The action rod of the linear electric servo motor extends and pushes the limiting connecting block to move forward. The limiting connecting block compresses the spring, and the spring pushes the liquid storage tube to move forward through the flange. The liquid storage tube pushes the ultrasonic probe forward through the fixing component until the ultrasonic probe is attached to the surface of the pipe to be detected. Step 2: The linear electric servo motor's actuator stick continues to extend. At this time, the ultrasonic probe cannot move forward. The spring is compressed between the flange and the limiting connecting block. The piston shaft enters the liquid storage tube. The outlet check valve opens and the inlet check valve closes. The coupling liquid stored in the liquid storage tube drips onto the ultrasonic probe through the outlet pipe. Under the action of the liquid surface tension, the coupling liquid will completely wet the ultrasonic probe, so that the ultrasonic probe and the wall of the tube under test achieve the best impedance matching. Step 3: When the piston on the piston shaft contacts the liquid outlet check valve, the spring is just compressed to its shortest length and cannot be compressed further. The linear electric servo motor movement is hindered and stops extending. The coupling fluid addition process ends. Ultrasonic thickness measurement and flaw detection are performed using an ultrasonic probe. Step 4: After the detection of the detection site is completed, the remote-controlled linear electric servo motor's action rod retracts backward, the spring extends, and the limit connecting block is driven by the spring force to move the piston axis backward. Under the action of atmospheric pressure, the liquid outlet check valve closes and the liquid inlet check valve opens. The liquid in the storage bottle flows into the storage pipe through the liquid inlet pipe and the liquid inlet check valve, realizing the replenishment process of the coupling fluid. When the ultrasonic probe leaves the surface of the pipe wall, the clamping and fixing mechanism stops working, and the drone flies away.
2. The method of using the ultrasonic flaw detection device for unmanned aerial vehicles according to claim 1, characterized in that, The clamping and fixing mechanism includes a cylindrical connector, a mechanical claw, an electromagnet, and a driver. One end of the connector is mounted on the middle plate of the UAV, and the other end is hinged to the end of the mechanical claw via a connecting disc. The electromagnet is mounted on the mechanical claw, and the driver is mounted on the mechanical claw to drive the mechanical claw to clamp or open.
3. The method of using the ultrasonic flaw detection device for unmanned aerial vehicles according to claim 2, characterized in that, The mechanical gripper includes a left mechanical gripper and a right mechanical gripper. The left mechanical gripper includes a first connecting rod, a second connecting rod, a third connecting rod, and a clamping claw. One end of the first connecting rod is hinged to a connecting plate, and the other end is hinged to one end of the clamping claw. One end of the second connecting rod is hinged to the connecting plate, and the other end is hinged to the third connecting rod. The other end of the third connecting rod is hinged to the bend of the clamping claw. The left and right mechanical grippers are symmetrically arranged along the axis of the connecting member.
4. The method of using the ultrasonic flaw detection device for unmanned aerial vehicles according to claim 3, characterized in that, There are two first connecting rods, symmetrically arranged vertically. The ends of both first connecting rods are hinged to one side of the connecting plate, and their front ends are hinged to the rear end of the clamping claw. The rear end of the clamping claw is located between the two first connecting rods. There are also two second connecting rods, symmetrically arranged vertically. The end of the upper second connecting rod is hinged to the upper surface of the connecting plate, and the end of the lower second connecting rod is hinged to the lower surface of the connecting plate. The front ends of both second connecting rods are hinged to the end of a third connecting rod, which is located between the two second connecting rods. Between the connecting rods, there are two third connecting rods. The front ends of the two third connecting rods are hinged to the bend of the mechanical claw. The mechanical claw is located between the two third connecting rods. The driver is installed on the lower surface of the lower first connecting rod. The right mechanical claw has the same structure as the left mechanical claw. The left and right mechanical claws are symmetrically arranged along the axis of the cylindrical connecting member. The driver drives the first connecting rod to move, causing the clamping claw to clamp the object to be measured. The electromagnet is installed at the lower end of the clamping claw of the right mechanical claw. The electromagnet is connected to the power supply and central control module.
5. The method of using the ultrasonic flaw detection device for unmanned aerial vehicles according to claim 1, characterized in that, The clamping and fixing mechanism includes a rectangular electromagnet, a ring electromagnet, a fixed base, and a connector. One end of the connector is mounted on the middle plate of the UAV, and the other end is hinged to the rear surface of the fixed base. The rectangular electromagnet and the ring electromagnet are mounted on the front surface of the fixed base. The ring electromagnet is located below the rectangular electromagnet. The rectangular electromagnet and the ring electromagnet are connected to the power supply and the central control module.
6. The method of using the ultrasonic flaw detection device for unmanned aerial vehicles according to claim 1, characterized in that, The clamping and fixing mechanism includes a suction cup, a connector, and an air pump. One end of the connector is installed on the middle plate of the drone, and the other end is connected to the rear of the suction cup. The suction cup is connected to the air pump through an air duct. The air pump extracts the gas from the suction cup, causing the suction cup to adhere to a non-magnetic metal surface.