Inspection unmanned aerial vehicle for online monitoring of boiler furnace

Abstract

The invention relates to an inspection unmanned aerial vehicle for online monitoring of a boiler furnace. The unmanned aerial vehicle comprises a fuselage, wings and a retracting and releasing mechanism. Wherein the number of the wings can be multiple, the multiple wings can be evenly distributed in the circumferential direction of the fuselage, and each wing can be configured to be movable in the extending direction of the wing. The folding and unfolding mechanism can be installed on the fuselage and can be connected with the wings so as to be used for driving the wings to move in the direction close to or away from the fuselage. The folding and unfolding mechanism is installed on the fuselage and can drive the wings to move in the direction away from the fuselage when the unmanned aerial vehicle conducts routing inspection in a wide area, and the flight stability of the unmanned aerial vehicle is guaranteed. When the unmanned aerial vehicle inspects a narrow area, the folding and unfolding mechanism can drive the wings to move in the direction close to the fuselage, so that the occupied space of the unmanned aerial vehicle is reduced, the unmanned aerial vehicle can pass through the narrow area, and the inspection effect of the unmanned aerial vehicle is guaranteed. The unmanned aerial vehicle can send the inspection condition to the intelligent terminal in an online transmission mode.

Description

Technical Field

[0001] The present disclosure relates to the technical field of unmanned aerial vehicles (UAVs), and in particular, to an inspection UAV for online monitoring of a boiler furnace. Background Art

[0002] The furnace of a boiler is the main area where fuel is burned. If there is a problem, it may lead to incomplete fuel combustion or excessive flue gas emissions. Technicians can use drones to regularly inspect the furnace to find problems in a timely manner and ensure the safe operation of the boiler. In related technologies, drones can inspect in a wide area of ​​the furnace, but it is difficult to enter a small area for inspection, resulting in poor inspection results. Summary of the invention

[0003] The purpose of the present disclosure is to provide an inspection drone for online monitoring of a boiler furnace, so as to at least partially solve the problems existing in the related art.

[0004] In order to achieve the above-mentioned object, the present disclosure provides an inspection drone for online monitoring of a boiler furnace, comprising: body; Wings, the number of the wings is multiple, the multiple wings are evenly distributed in the circumference of the fuselage, and each of the wings is configured to be movable in its extension direction; and The retractable and retractable mechanisms are installed on the fuselage and are respectively connected to the wings to drive the wings to move toward or away from the fuselage.

[0005] Optionally, the wing is provided with a receiving groove, in which a blade mechanism for driving the wing to rise and fall is installed, and the blade mechanism includes two blades, and the two blades are configured to be able to extend into or out of the receiving groove.

[0006] Optionally, the paddle mechanism also includes a driving motor and a telescopic part connected to the output shaft of the driving motor, the two paddles are respectively connected to the driving ends of the telescopic part, and when the two paddles extend out of the accommodating groove, the driving motor is used to drive the telescopic part to drive the two paddles to rotate.

[0007] Optionally, the paddle mechanism also includes a limit block connected to the driving end of the telescopic member, the limit block is provided with a limit groove, the limit groove is configured as a spiral groove, a first blade of the two blades is fixedly connected to the limit block, and a second blade is slidably connected to the limit groove, wherein when the second blade abuts against the top of the spiral groove, the second blade unfolds in a direction away from the fuselage; when the blade is at the bottom of the spiral groove, the second blade is folded together with the first blade in a direction close to the fuselage.

[0008] Optionally, the retractable mechanism comprises: A retracting assembly connected to the wing and used to pull the wing closer to the fuselage; and The elastic component is arranged between the wing and the fuselage, and is configured to be compressed when the retracting component pulls the wing close to the fuselage, and elastically reset when the retracting component releases the restriction on the wing to drive the wing away from the fuselage.

[0009] Optionally, the retracting assembly includes: Ropes, wherein the number of the ropes is plural; A take-up wheel, the rope is wound around the outer circumference of the take-up wheel and is respectively connected to the plurality of wings in a one-to-one correspondence; A first telescopic rod radially penetrates the inner wall of the shaft hole of the take-up wheel; and The first motor, the shaft hole of the take-up wheel is sleeved on the output shaft of the first motor, and the first telescopic rod can radially extend into or extend out of the output shaft of the first motor.

[0010] Optionally, the retracting assembly further includes: A ratchet wheel, sleeved on the outer circumference of the take-up wheel; and A pawl is arranged on the body and can engage or release the ratchet.

[0011] Optionally, the fuselage includes a fuselage body and an arm connected to the fuselage body, the arm extends outward from the fuselage body for mounting the wing, a accommodating cavity is defined in the arm, and the retracting mechanism is used to drive the wing in and out of the accommodating cavity.

[0012] Optionally, the elastic component is arranged in the accommodating cavity and comprises a first spring and a baffle, wherein the first spring is arranged between the wing and the baffle, and the baffle is slidably connected to the arm; The drone also includes a displacement mechanism disposed on a side of the baffle away from the first spring. When the first spring is compressed, it can push the baffle to drive the displacement mechanism to rotate and extend the arm to support the drone.

[0013] Optionally, the elastic component further includes a second spring, the second spring is arranged between the baffle and the arm, and the elastic coefficient of the second spring is twice the elastic coefficient of the first spring.

[0014] Optionally, the drone further comprises a rack, wherein the rack is respectively connected to the wing and the retracting assembly; The shifting mechanism comprises: a gear, rotatably connected to the arm and the second spring respectively, and meshingly connected to the rack; and The shifting assembly is connected to the gear, and the retracting assembly drives the rack to move, so that the gear drives the shifting assembly to rotate, thereby making the shifting assembly extend out of the machine arm.

[0015] Optionally, the drone further includes: A connecting rod, the rotating shaft of the gear extends out of the accommodating cavity and is rotatably connected to one end of the connecting rod, and a sliding groove is formed on the arm for the rotating shaft of the gear to extend along the moving direction of the wing; and The sleeve is fixed on the outside of the machine arm and is slidably connected to an end of the connecting rod away from the gear. The second spring is arranged in the sleeve and abuts against the connecting rod.

[0016] Optionally, the displacement component comprises: A mounting rod having one end connected to the gear; and A double-headed motor connected to an end of the mounting rod away from the gear; The walking wheel is connected to the output end of the double-headed motor.

[0017] Optionally, the drone further includes: A camera assembly is disposed in the body and is rotatably connected to the body; A second motor is disposed in the body; and The second telescopic rod has one end connected to the camera assembly and the other end capable of radially extending into or out of the output shaft of the second motor.

[0018] Optionally, the drone further includes: a dust cleaning assembly, which is in contact with the circumference of the fuselage and can rotate around the circumference of the fuselage to scrape dust off the fuselage; and The gear set is connected between the dust cleaning component and the second motor, and is configured to make the dust cleaning component rotate differentially relative to the camera component.

[0019] Optionally, the drone also includes a water collection trough connected to the gear set, the notch of the water collection trough is in contact with the upper inner wall of the fuselage, the second motor drives the gear set to drive the water collection trough to rotate, and the water collection trough is used to collect water on the upper inner wall.

[0020] Optionally, the gear set comprises: A first gear connected to an output shaft of the second motor; a second gear externally meshing with the first gear; and The third gear is arranged on the outer periphery of the first gear and the second gear and meshes with the inner periphery of the second gear. The number of teeth of the third gear is different from that of the first gear. The cleaning component is connected to the outer periphery of the third gear.

[0021] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: The retracting mechanism is installed on the fuselage. When the drone is inspecting a wide area, the retracting mechanism can drive the wings to move away from the fuselage to ensure the flight stability of the drone. When the drone inspects a narrow area, the retracting mechanism can drive the wings to move closer to the fuselage, making the space occupied by the drone smaller and ensuring that the drone can pass through the narrow area, thereby ensuring the inspection effect of the drone. The drone can send the inspection situation to the smart terminal through online transmission methods such as Bluetooth or Wi-Fi, so that users can monitor the furnace online.

[0022] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 The figure is a schematic diagram of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure.

[0024] Figure 2 The schematic diagram of a partial structure of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure is shown in FIG. Figure 1 .

[0025] Figure 3 The schematic diagram of a partial structure of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure is shown in FIG. Figure 2 .

[0026] Figure 4 The diagram is a schematic diagram of a ratchet and a pawl in an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure.

[0027] Figure 5 The schematic diagram of a partial structure of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure is shown in FIG. Figure 3 .

[0028] Figure 6The schematic diagram of a partial structure of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure is shown in FIG. Figure 4 .

[0029] Figure 7 The schematic diagram of a partial structure of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure is shown in FIG. Figure 5 .

[0030] Figure 8 yes Figure 7 Cross-sectional view of the middle structure.

[0031] Fig. 9 The diagram is an exploded view of a partial structure of an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure.

[0032] Fig.10 It is a schematic diagram of a lifting mechanism in an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure.

[0033] Fig.11 yes Fig.10 A partial enlarged schematic diagram of part A in the middle.

[0034] Fig.12 It is a schematic diagram of a displacement mechanism in an inspection drone for online monitoring of a boiler furnace according to an exemplary embodiment of the present disclosure.

[0035] Description of Reference Numerals 100, fuselage; 110, walking slot; 120, machine body; 130, machine arm; 131, sliding slot; 200, wing; 210, rack; 220, accommodating slot; 300, retracting mechanism; 310, retracting assembly; 311, rope; 312, retracting wheel; 313, first telescopic rod; 314, first motor; 315, ratchet; 316, pawl; 320, elastic assembly; 321, first spring; 322, second spring; 323, connecting rod; 330, baffle; 400, shifting mechanism; 410, gear; 420 , shift assembly; 421, mounting rod; 422, double-headed motor; 4221, walking wheel; 430, sleeve; 500, camera assembly; 620, second telescopic rod; 630, gear set; 631, first gear; 632, second gear; 633, third gear; 640, rotating shaft; 650, partition; 660, swivel; 710, dust cleaning assembly; 711, cleaning plate; 720, sump; 800, paddle mechanism; 810, paddle; 831, limit slot; 840, limit block; 850, telescopic member; 860, driving motor. DETAILED DESCRIPTION

[0036] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0037] In this disclosure, unless otherwise stated, directional words such as "upper, lower, top, bottom" are used to facilitate description and are defined according to the drawing direction of the corresponding drawings, and "inside, outside" are defined according to the contours of the corresponding parts. Terms such as "first, second" and the like used in this disclosure are used to distinguish one element from another and do not have order or importance. In addition, when the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0038] Drones can be used in many fields to replace manual inspections of equipment or delivery of express parcels. Technicians can use drones to regularly inspect furnaces to find problems in a timely manner and ensure safe operation of boilers. In related technologies, drones can inspect in a wide area of ​​the furnace, but it is difficult to enter a narrow area for inspection, resulting in poor inspection results.

[0039] Therefore, the embodiments of the present disclosure provide an inspection drone for online monitoring of boiler furnaces to improve the inspection effect of drones in narrow spaces. Figure 1 and Figure 2 The drone may include a fuselage 100, wings 200, and a retractable mechanism 300. There may be multiple wings 200, and the multiple wings 200 may be evenly distributed around the fuselage 100, and each wing 200 may be configured to be movable in its extension direction. The retractable mechanism 300 may be mounted on the fuselage 100, and may be connected to the wings 200 respectively, so as to drive the wings 200 to move toward or away from the fuselage 100.

[0040] It is understandable that when the drone inspects a wide area of ​​the furnace (not shown in the figure), the retracting and releasing mechanism 300 can drive the wing 200 to move away from the fuselage 100 to ensure the flight stability of the drone; when the drone inspects a narrow area, the retracting and releasing mechanism 300 can drive the wing 200 to move toward the fuselage 100, so that the space occupied by the drone becomes smaller, ensuring that the drone can pass through the narrow area, thereby ensuring the inspection effect of the drone. The drone can send the inspection situation to the smart terminal through online transmission methods such as Bluetooth or Wi-Fi, so that the user can monitor the furnace online. The smart terminal can be a mobile phone, tablet or industrial computer, etc.

[0041] In this embodiment, the number of wings 200 may be four, and each wing 200 may be arranged at a 90 degree angle with the adjacent wing 200. Of course, in other embodiments, the number of wings 200 may also be three, five, six or more, etc., which is not specifically limited here.

[0042] In one embodiment, see Figure 1 , Figure 2 , Figure 7 and Figure 8 The wing 200 may be provided with a receiving groove 220 , in which a blade mechanism 800 for driving the wing 200 to rise and fall may be installed. The blade mechanism 800 may include two blades 810 , and the two blades 810 may be configured to extend into or out of the receiving groove 220 .

[0043] It is understandable that before the drone flies in the furnace for inspection, the two blades 810 can extend out of the receiving groove 220, and the two blades 810 rotate so that the drone can take off under the push of wind; when the drone inspects the bottom of the furnace or is not in use, the two blades 810 can extend into the receiving groove 220, reducing the space occupied by the drone. At the same time, the blades 810 are prevented from being hit, ensuring the integrity of the blades 810.

[0044] In one embodiment, see Figure 8 , Fig.10 and Fig.11 The paddle mechanism 800 may further include a drive motor 860 and a telescopic member 850 connected to the output shaft of the drive motor 860. The two paddles 810 may be respectively connected to the drive ends of the telescopic member 850. The telescopic member 850 is used to drive the two paddles 810 to extend into or out of the accommodating groove 220. The telescopic member 850 may be an electric telescopic rod or a hydraulic telescopic rod. When the two paddles 810 can extend out of the accommodating groove 220, the drive motor 860 may be used to drive the telescopic member 850 to drive the two paddles 810 to rotate.

[0045] It is understandable that before the drone flies and inspects in the furnace, the user can first control the wing 200 to move closer to or away from the fuselage 100 according to the size of the space to be inspected, to ensure that the wing 200 can pass through the area smoothly, and then the user controls the telescopic member 850 to extend so that the two blades 810 can extend out of the receiving groove 220, and the driving motor 860 drives the two blades 810 to rotate through the telescopic member 850, so that the drone obtains flying lift. After the flight, the two blades 810 extend into the receiving groove 220.

[0046] In one embodiment, see Figure 8 , Fig.10 and Fig.11The paddle mechanism 800 may further include a limit block 840 connected to the driving end of the telescopic member 850, the limit block 840 may be provided with a limit groove 831, the limit groove 831 may be constructed as a spiral groove, the first paddle of the two paddles 810 may be fixedly connected to the limit block 840, the second paddle may be slidably connected to the limit groove 831, wherein when the second paddle may abut against the top of the spiral groove, the second paddle may unfold in a direction away from the fuselage 100; when the second paddle slides to the bottom of the spiral groove, the second paddle folds with the first paddle in a direction close to the fuselage 100, so as to facilitate the storage of the first and second paddles.

[0047] It is understandable that before the drone performs a flight inspection, the telescopic member 850 drives the two blades 810 to extend out of the accommodating groove 220, and the drive motor 860 drives the first blade and the second blade to rotate through the telescopic member 850. Under the driving rotation force of the drive motor 860, the second blade can first slide from the bottom of the spiral groove to the top of the spiral groove, and the top of the spiral groove can abut against the root of the second blade to continue sliding, so that the second blade and the first blade maintain a relative position unchanged. At this time, the first blade and the second blade are in an unfolded state, and the drive motor 860 allows the first blade and the second blade to continue to rotate, so that the drone can obtain flight lift. The user can limit the relative position relationship of the two blades 810 after unfolding by controlling the number of turns of the spiral groove. For example, when the spiral groove is a half circle around the limit block 840, the two blades 810 can be located on opposite sides of the limit block 840 after unfolding.

[0048] When the drone is inspecting the bottom of the furnace, the drone does not need to fly at this time. The drive motor 860 can rotate in the opposite direction, so that the root of the second blade slides from the top of the spiral groove to the bottom of the spiral groove. The second blade and the first blade are in a folded state. At the same time, the telescopic rod can move in the opposite direction, so that the limit block 840 can drive the two blades 810 to extend into the accommodating groove 220.

[0049] In one embodiment, see Figure 1 and Figure 2, the wing 200 can be directly connected to the fuselage 100 by sliding, the fuselage 100 directly provides support for the wing 200, and the retracting mechanism 300 can drive part of the wing 200 to extend into or out of the fuselage 100. In another embodiment, the fuselage 100 and the wing 200 can be indirectly connected by a slide rail, the slide rail extends out of the fuselage 100 along the extension direction of the wing 200 on the fuselage 100, the fuselage 100 indirectly provides support for the wing 200 through the slide rail, and the retracting mechanism 300 can drive the wing 200 to move closer to or away from the fuselage 100 on the slide rail, the approaching here is based on the midpoint of the length of the wing 200 as a reference point, at this time, the entire wing 200 may not extend into the fuselage 100 or part of the wing 200 may extend into the fuselage 100, and the moving away here is also based on the midpoint of the length of the wing 200 as a reference point, at this time, the entire wing 200 may be located outside the fuselage 100 or part of the wing 200 may extend out of the fuselage 100. The following description will be made by taking the example that the wing 200 is directly and slidingly connected to the fuselage 100.

[0050] In one embodiment, see Figure 2 , Figure 3 and Figure 8 The retracting and releasing mechanism 300 may include a retracting assembly 310 and an elastic assembly 320. The retracting assembly 310 may be connected to the wing 200 to pull the wing 200 close to the fuselage 100. The elastic assembly 320 may be disposed between the wing 200 and the fuselage 100, and may be configured to be compressed when the retracting assembly 310 pulls the wing 200 close to the fuselage 100, and elastically reset when the retracting assembly 310 releases the restriction on the wing 200, so as to drive the wing 200 away from the fuselage 100 without manually resetting the wing 200.

[0051] It is understandable that before the drone enters the narrow area from the wide area, the retracting assembly 310 pulls the wing 200 close to the fuselage 100 to prevent the wing 200 from colliding with the cavity wall of the furnace, and the elastic assembly 320 is compressed. When the drone enters the wide area from the narrow area, the retracting assembly 310 first releases the pull on the wing 200, and then part of the wing 200 can extend out of the fuselage 100 under the elastic restoring force of the elastic assembly 320.

[0052] In one embodiment, see Figure 2 , Figure 3 , Figure 4 and Figure 8The retracting assembly 310 may include a rope 311, a take-up wheel 312, a first telescopic rod 313 and a first motor 314. The number of ropes 311 may be multiple. The take-up wheel 312 may be located in the fuselage 100, and the rope 311 may be wound around the outer circumference of the take-up wheel 312, and may be connected to multiple wings 200 one by one. The first telescopic rod 313 may radially penetrate the inner wall of the shaft hole of the take-up wheel 312. The shaft hole of the take-up wheel 312 may be sleeved on the output shaft of the first motor 314. The first motor 314 may be fixed in the fuselage 100 by a support frame. The first telescopic rod 313 may radially extend into or extend out of the output shaft of the first motor 314. The first telescopic rod 313 may be an electric telescopic rod or a hydraulic telescopic rod.

[0053] When the wing 200 needs to be retracted, the user can control the first telescopic rod 313 to extend into the output shaft of the first motor 314, start the first motor 314, and make the first telescopic rod 313 drive the take-up wheel 312 to rotate, so that multiple ropes 311 can be wound around the outer periphery of the take-up wheel 312, ensuring that at least part of the structure of each wing 200 can be extended into the fuselage 100 at the same time, ensuring the balance of the drone, and the elastic component 320 is compressed during this process. When part of the structure of each wing 200 needs to extend out of the fuselage 100, the first telescopic rod 313 can extend out of the output shaft of the first motor 314, so that the first motor 314 releases the restriction on the position of the first telescopic rod 313, and the elastic component 320 can be reset to drive part of the structure of each wing 200 to extend out of the fuselage 100, so that the rope 311 can drive the take-up wheel 312 to rotate in the opposite direction to supply line.

[0054] In another embodiment, the retracting assembly 310 may include a linear module and a connecting rope connected to the linear module, and the movement of the linear module may pull the end of the connecting rope away from the wing 200 to move, so that a part of the structure of the wing 200 can be extended into or out of the fuselage 100. In some embodiments, the retracting assembly 310 may include an electromagnetic drive mechanism, and when powered on, the wing 200 moves in a direction close to the fuselage 100, and when powered off, the wing 200 moves in the opposite direction.

[0055] In one embodiment, when the retracting assembly 310 adopts the above-mentioned retracting wheel 312, please refer to Figure 3 and Figure 4, the retracting assembly 310 may further include a ratchet 315 and a pawl 316. The ratchet 315 may be sleeved on the outer periphery of the take-up wheel 312, or a partial area of ​​the take-up wheel 312 may be configured as the ratchet 315. The pawl 316 may be disposed on the fuselage 100, and may be capable of engaging or releasing the ratchet 315 engagement. When at least a portion of the structure of the wing 200 extends into the fuselage 100, the pawl 316 may engage with the ratchet 315 to ensure the restriction of the rotation of the take-up wheel 312. At this time, the first telescopic rod 313 may radially extend the output shaft of the first motor 314 to avoid damage to the first telescopic rod 313 due to the torque it bears for a long time. Of course, the first telescopic rod 313 may also choose not to radially extend the output shaft of the first motor 314, so that the restriction of the rotation of the take-up wheel 312 may be increased. When a portion of the structure of the wing 200 needs to extend out of the fuselage 100, the pawl 316 may rotate to release the restriction on the rotation of the ratchet 315.

[0056] Furthermore, a limit shaft is provided on the pawl 316, and the limit shaft is connected to the pawl 316 through a torsion spring. The retracting assembly 310 also includes a telescopic rod for driving the pawl 316 to rotate. The telescopic rod is extended to push the pawl 316 to engage with the ratchet 315, and the torsion spring is deformed; after the telescopic rod is retracted, the torsion spring drives the pawl 316 to release the engagement with the ratchet 315 under the action of the reset force.

[0057] In another embodiment, a plurality of spaced apart limiting holes may be provided around the take-up wheel 312. When at least a portion of the structure of the wing 200 extends into the fuselage 100, the limiting rod may be inserted into the limiting hole directly below the wing 200 to prevent the take-up wheel 312 from rotating.

[0058] In one embodiment, see Figure 2 , Figure 3 and Figure 7 The fuselage 100 may include a body 120 and an arm 130 connected to the body 120. The arm 130 may extend outward from the body 120 to be used for installing the wing 200. A receiving cavity may be provided in the arm 130. The retracting mechanism 300 may be used to drive the wing 200 in and out of the receiving cavity. There is no need to set up a larger fuselage 100 for the wing 200 to enter and exit.

[0059] In one embodiment, see Figure 8 and Fig. 9The elastic component 320 may be disposed in the accommodating cavity and may include a first spring 321 and a baffle 330. The first spring 321 may be disposed between the wing 200 and the baffle 330. The baffle 330 may be slidably connected to the arm 130. The drone may further include a shifting mechanism 400 disposed on a side of the baffle 330 away from the first spring 321. When the first spring 321 is compressed, it can push the baffle 330 to drive the shifting mechanism 400 to rotate and extend the arm 130 to support the drone. The arm 130 may be provided with a walking slot 110. The shifting mechanism 400 extends the arm 130 through the walking slot 110.

[0060] It is understandable that before the drone enters a narrow space, the retracting assembly 310 can pull part of the structure of the wing 200 into the accommodating cavity of the arm 130, and the first spring 321 is compressed to push the baffle 330 to move toward the body 120, so that the shifting mechanism 400 can extend out of the arm 130. When the drone is flying unstably, the shifting mechanism 400 can support the drone.

[0061] In one embodiment, see Figure 8 , Fig. 9 and Fig.12 The elastic component 320 may further include a second spring 322, which may be disposed between the baffle 330 and the arm 130. The elastic coefficient of the second spring 322 may be twice that of the first spring 321, so as to prevent the baffle 330 from being pushed into the body 120 when the wing 200 is extended into the accommodating cavity. When the arm 130 enters the accommodating cavity, the second spring 322 and the first spring 321 are compressed; when the arm 130 leaves the accommodating cavity, the second spring 322 and the first spring 321 may be reset. There are two second springs 322, which are respectively disposed on both sides of the first spring 321. By providing two second springs 322, both sides of the wing 200 can be extended out of the accommodating cavity at the same time.

[0062] It should be noted that when the wing 200 needs to be retracted less, the retracting assembly 310 is driven, the first spring 321 will be compressed before the second spring 322, the position of the baffle 330 remains basically unchanged, and the recovery amount is the compression amount of the first spring 321. When the wing 200 needs to be retracted more, the retracting assembly 310 is continued to be driven, the second spring 322 will also be compressed, and the baffle 330 will push the shifting mechanism 400, and the recovery amount is the compression amount of the two springs. When both springs are compressed and the recovery amount is large, the drone may have insufficient lift and other reasons that lead to unstable flight. At this time, the shifting mechanism 400 can be moved out to the fuselage 100 to support the drone in time, and the rotation angle of the shifting mechanism 400 is large. When the wing 200 recovery amount is small, the shifting mechanism 400 can be farther away from the fuselage 100 than in the previous case, and the rotation angle of the shifting mechanism 400 is small. This arrangement allows the displacement mechanism 400 to be adjusted according to the position of the wing 200 so as to provide stable support for the drone.

[0063] In one embodiment, see Fig. 9 and Fig.12 The drone may further include a rack 210, which may be connected to the wing 200 and the retracting assembly 310, respectively. The shifting mechanism 400 may include a gear 410 and a shifting assembly 420. The gear 410 may be rotatably connected to the arm 130 and the second spring 322, respectively, and may be meshed with the rack 210. The shifting assembly 420 may be connected to the gear 410, and the retracting assembly 310 may drive the rack 210 to move, so that the gear 410 may drive the shifting assembly 420 to rotate, thereby extending the shifting assembly 420 out of the arm 130.

[0064] It is understandable that, when the retracting assembly 310 pulls the wing 200 into the accommodating cavity, the first spring 321 can push the gear 410 through the baffle 330 to drive the shifting assembly 420 to retreat, and the rack 210 can drive the gear 410 to rotate, so that the shifting assembly 420 can rotate and extend the arm 130 while retreating. The connection relationship between the retracting assembly 310 and the shifting assembly 420 is established by the gear 410 and the rack 210, so that the wing 200 can be entered into the accommodating cavity and the shifting assembly 420 can be extended out of the accommodating cavity by the retracting force.

[0065] Of course, in other embodiments, the shifting mechanism 400 is not connected to the retracting mechanism 300, and the shifting mechanism 400 may further include a driving structure connected to the shifting assembly 420 for independently controlling the shifting assembly 420 to extend out of the accommodating cavity.

[0066] In one embodiment, see Fig. 9 and Fig.12The drone may further include a connecting rod 323 and a sleeve 430. The rotating shaft of the gear 410 may extend out of the accommodating cavity and may be rotatably connected to one end of the connecting rod 323. The arm 130 may be formed with a sliding groove 131 for the rotating shaft of the gear 410 to extend along the moving direction of the wing 200. The sleeve 430 may be fixed to the outside of the arm 130 and may be slidably connected to one end of the connecting rod 323 away from the gear 410. The second spring 322 may be disposed in the sleeve 430 and may abut against the connecting rod 323.

[0067] It can be understood that, during the process of the retracting assembly 310 pulling the wing 200 into the accommodating cavity, the baffle 330 can push the gear 410 toward the machine body 120, and the rotating shaft of the gear 410 can slide in the sliding groove 131. The sliding groove 131 can limit the movement trajectory of the gear 410 to prevent the gear 410 from moving up and down relative to the machine arm 130 during the retreat process. The retreat of the gear 410 can push the connecting rod 323 to slide relative to the sleeve 430 and compress the second spring 322.

[0068] The second spring 322 and the sleeve 430 are arranged outside the arm 130, which can save the installation space inside the arm 130. Of course, in other embodiments, the two sides of the rotating shaft of the gear 410 are respectively in contact with the two opposite walls of the accommodating cavity, and the rotating shaft of the gear 410 can be slidably connected with the cavity wall of the accommodating cavity. At this time, the sleeve 430, the connecting rod 323 and the second spring 322 are all located in the accommodating cavity, so that the sleeve 430 and the connecting rod 323 are prevented from directly contacting the outside.

[0069] In one embodiment, see Figure 8 , Fig. 9 and Fig.12 , the shift assembly 420 may include a mounting rod 421, a double-headed motor 422 and a walking wheel 4221. Among them, one end of the mounting rod 421 may be connected to the gear 410. The double-headed motor 422 may be connected to the end of the mounting rod 421 away from the gear 410. The walking wheel 4221 may be connected to the output end of the double-headed motor 422. The double-headed motor 422 is used to drive the walking wheel 4221 to rotate, so that the drone can inspect the bottom of the furnace. The mounting rod 421 may be a telescopic rod or an ordinary long rod, etc. When the mounting rod 421 is a telescopic rod, the chassis height of the drone can be increased by extending the telescopic rod, so that the drone can avoid obstacles during the bottom inspection of the furnace.

[0070] Of course, in other embodiments, the displacement component 420 may be a mechanical leg structure of a robot.

[0071] In one embodiment, see Figure 3 and Figure 5The drone may further include a camera assembly 500, a second motor and a second telescopic rod 620. The camera assembly 500 may be disposed in the fuselage 100 and may be rotatably connected to the fuselage 100. The second motor may be disposed in the fuselage 100. The second motor may be a servo motor or a stepping motor, etc. One end of the second telescopic rod 620 may be connected to the camera assembly 500, and the other end may be able to radially extend into or extend out of the output shaft of the second motor. The second telescopic rod 620 may be an electric telescopic rod or a hydraulic telescopic rod. When the camera assembly 500 needs to rotate, the second telescopic rod 620 may radially extend into the output shaft of the second motor, and the second motor drives the camera assembly 500 to rotate through the second telescopic rod 620. The camera assembly 500 may include a mounting block and a camera fixed on the mounting block.

[0072] The second motor and the first motor 314 can be one motor, and the rotating shaft 640 is installed on the output shaft of the motor. The first telescopic rod 313 and the second telescopic rod 620 can be radially extended into the rotating shaft 640 as needed. Of course, in other embodiments, the second motor and the first motor 314 can be two motors, and when the first motor 314 is damaged, the second motor can still drive the camera assembly 500 to rotate.

[0073] In one embodiment, see Figure 3 , Figure 5 and Figure 6 The drone may further include a dust cleaning component 710 and a gear set 630. The dust cleaning component 710 may be in contact with the circumference of the fuselage 100 and may rotate around the circumference of the fuselage 100 to scrape dust off the fuselage 100. The gear set 630 may be connected between the dust cleaning component 710 and the second motor, and may be configured to make the dust cleaning component 710 rotate at a differential speed relative to the camera assembly 500 to prevent the dust cleaning component 710 from blocking the field of view of the camera assembly 500 for a long time. The cleaning component 710 includes a plurality of cleaning plates 711, which are arranged at intervals and are all connected to the gear set 630. When the second motor is working, it will continuously drive each cleaning plate 711 through the gear set 630 to scrape the dust on the outside of the fuselage 100. The cleaning plate 711 is constructed in a bent shape. The first bent section contacts the top of the fuselage 100 to scrape off the dust on the top, and the second bent section contacts the circumferential wall of the fuselage 100 to scrape off the dust on the circumferential wall of the fuselage 100, thereby improving the camera's shooting effect and thus improving the accuracy of the drone inspection.

[0074] In one embodiment, see Figure 3 , Figure 5 and Figure 6The drone may further include a water collecting tank 720 connected to the gear set 630. The notch of the water collecting tank 720 may contact the upper inner wall of the fuselage 100. The second motor may drive the gear set 630 to drive the water collecting tank 720 to rotate. The water collecting tank 720 may be used to collect water from the upper inner wall. Furthermore, the water collecting tank 720 may be connected to the third gear 633 shown below, so that there is a speed difference between the water collecting tank 720 and the camera. Of course, if the water collecting tank 720 is located above the camera, there is no need to consider the problem of the water collecting tank 720 interfering with the camera. At this time, the water collecting tank 720 may also be connected to the first gear 631 or the second gear 632 shown below.

[0075] It is understandable that the temperature inside the furnace of the boiler may be relatively high when it is not working. After the drone enters the furnace, the heat in the furnace will evaporate the water vapor in the air in the fuselage 100, causing the water vapor to rise and adhere to the upper inner wall of the fuselage 100. The water vapor can condense into small water droplets. The setting of the water collection tank 720 can be used to collect the small water droplets on the upper inner wall to prevent the small water droplets from damaging the camera circuit during the dripping process.

[0076] In one embodiment, see Figure 6 , the gear set 630 may include a first gear 631, a second gear 632 and a third gear 633. Among them, the first gear 631 may be connected to the output shaft of the second motor and connected to the body 100 through a bearing. The second gear 632 may be externally meshed with the first gear 631. The third gear 633 may be arranged on the outer periphery of the first gear 631 and the second gear 632, and may be internally meshed with the second gear 632. The third gear 633 is connected to the body 100 through a bearing. The number of teeth of the third gear 633 is different from the number of teeth of the first gear 631. The dust cleaning assembly 710 may be connected to the outer periphery of the third gear 633. Specifically, a plurality of cleaning plates 711 may be connected to the circumference of the third gear 633 at intervals. Further, the outer periphery of the third gear 633 may be sleeved with a rotating ring 660, and the cleaning plate 711 may be connected to the third gear 633 through the rotating ring 660.

[0077] It can be understood that the second motor can drive the first gear 631 to rotate, so that the second gear 632 can drive the third gear 633 to rotate. Because the number of teeth of the first gear 631 is different from the number of teeth of the third gear 633, there is a speed difference between the third gear 633 and the first gear 631. Because the first gear 631 and the camera assembly 500 are both connected to the second motor and rotate coaxially, there is a speed difference between the third gear 633 and the camera. If a certain structure in the cleaning assembly 710 (such as the cleaning plate 711) will block the line of sight of the camera in the initial state, but because there is a speed difference between the camera and the third gear 633, the cleaning plate 711 will leave the line of sight of the camera after rotation, thereby avoiding the line of sight of the camera being blocked for a long time.

[0078] In another embodiment, the gear set 630 includes two spur gears with different numbers of teeth. For the convenience of description, the two spur gears are named the first spur gear and the second spur gear respectively. The first spur gear is connected to the output shaft of the second motor, and the second spur gear is coaxially connected to the multiple cleaning plates 711.

[0079] In one embodiment, see Figure 3 A partition 650 is installed in the body 100 to divide the body 100 into an upper chamber and a lower chamber, and the first motor 314 and the camera assembly 500 are respectively located in the lower chamber and the upper chamber of the body 100.

[0080] In one embodiment, see Figure 3 , Figure 4 , Fig.10 and Fig.12 The drone may further include a controller, and the first motor 314, the driving motor 860, the double-headed motor 422, the first telescopic rod 313, the second telescopic rod 620 and the telescopic member 850 are electrically connected to the controller respectively.

[0081] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0082] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0083] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A patrol drone for online monitoring of boiler furnaces, characterized in that: include: body; Wings, the number of the wings is multiple, the multiple wings are evenly distributed in the circumference of the fuselage, and each of the wings is configured to be movable in its extension direction; as well as The retractable and retractable mechanisms are installed on the fuselage and are respectively connected to the wings to drive the wings to move toward or away from the fuselage.

2. The drone according to claim 1, characterized in that: The wing is provided with a receiving groove, in which a blade mechanism for driving the wing to rise and fall is installed, and the blade mechanism includes two blades, and the two blades are configured to be able to extend into or out of the receiving groove.

3. The drone according to claim 2, characterized in that: The paddle mechanism also includes a driving motor and a telescopic member connected to the output shaft of the driving motor, the two paddles are respectively connected to the driving ends of the telescopic member, and when the two paddles extend out of the accommodating groove, the driving motor is used to drive the telescopic member to drive the two paddles to rotate.

4. The drone according to claim 3, characterized in that: The paddle mechanism also includes a limit block connected to the driving end of the telescopic member, the limit block is provided with a limit groove, the limit groove is configured as a spiral groove, a first paddle of the two paddles is fixedly connected to the limit block, and a second paddle is slidably connected to the limit groove, wherein when the second paddle abuts against the top of the spiral groove, the second paddle unfolds in a direction away from the fuselage; when the paddle is at the bottom of the spiral groove, the second paddle folds with the first paddle in a direction close to the fuselage.

5. The drone according to any one of claims 1 to 4, characterized in that: The retractable mechanism comprises: a retracting assembly connected to the wing and used to pull the wing closer to the fuselage; and The elastic component is arranged between the wing and the fuselage, and is configured to be compressed when the retracting component pulls the wing close to the fuselage, and elastically reset when the retracting component releases the restriction on the wing to drive the wing away from the fuselage.

6. The drone according to claim 5, characterized in that: The retracting assembly comprises: Ropes, wherein the number of the ropes is plural; A take-up wheel, the rope is wound around the outer circumference of the take-up wheel and is respectively connected to the plurality of wings in a one-to-one correspondence; A first telescopic rod radially penetrates the inner wall of the shaft hole of the take-up wheel; and The first motor, the shaft hole of the take-up wheel is sleeved on the output shaft of the first motor, and the first telescopic rod can radially extend into or extend out of the output shaft of the first motor.

7. The drone according to claim 6, characterized in that: The retracting assembly further comprises: A ratchet wheel, sleeved on the outer circumference of the take-up wheel; and A pawl is arranged on the body and can engage or release the ratchet.

8. The drone according to claim 5, characterized in that: The fuselage includes a body and an arm connected to the body, the arm extends outward from the body to be used for mounting the wing, a receiving cavity is provided in the arm, and the retracting mechanism is used for driving the wing to enter and exit the receiving cavity.

9. The drone according to claim 8, characterized in that: The elastic component is arranged in the accommodating cavity and comprises a first spring and a baffle, wherein the first spring is arranged between the wing and the baffle, and the baffle is slidably connected to the arm; The drone also includes a displacement mechanism disposed on a side of the baffle away from the first spring. When the first spring is compressed, it can push the baffle to drive the displacement mechanism to rotate and extend the arm to support the drone.

10. The drone according to claim 9, characterized in that: The elastic component further includes a second spring, which is arranged between the baffle and the machine arm, and the elastic coefficient of the second spring is twice the elastic coefficient of the first spring.

11. The drone according to claim 10, characterized in that: The drone also includes a rack, which is connected to the wing and the retractable assembly respectively; The shifting mechanism comprises: a gear, rotatably connected to the arm and the second spring respectively, and meshingly connected to the rack; and The shifting assembly is connected to the gear, and the retracting assembly drives the rack to move, so that the gear drives the shifting assembly to rotate, thereby making the shifting assembly extend out of the machine arm.

12. The drone according to claim 11, characterized in that: The drone also includes: A connecting rod, the rotating shaft of the gear extends out of the accommodating cavity and is rotatably connected to one end of the connecting rod, and a sliding groove is formed on the arm for the rotating shaft of the gear to extend along the moving direction of the wing; and The sleeve is fixed on the outside of the machine arm and is slidably connected to an end of the connecting rod away from the gear. The second spring is arranged in the sleeve and abuts against the connecting rod.

13. The drone according to claim 11, characterized in that: The displacement assembly comprises: A mounting rod having one end connected to the gear; and A double-headed motor connected to an end of the mounting rod away from the gear; The walking wheel is connected to the output end of the double-headed motor.

14. The drone according to claim 1, characterized in that: The drone also includes: A camera assembly is disposed in the body and is rotatably connected to the body; A second motor is disposed in the body; and The second telescopic rod has one end connected to the camera assembly and the other end capable of radially extending into or out of the output shaft of the second motor.

15. The drone according to claim 14, characterized in that: The drone also includes: a dust cleaning assembly, which is in contact with the circumference of the fuselage and can rotate around the circumference of the fuselage to scrape dust off the fuselage; and The gear set is connected between the dust cleaning component and the second motor, and is configured to make the dust cleaning component rotate differentially relative to the camera component.

16. The drone according to claim 15, characterized in that: The drone also includes a water collection trough connected to the gear set, the notch of the water collection trough is in contact with the upper inner wall of the fuselage, the second motor drives the gear set to drive the water collection trough to rotate, and the water collection trough is used to collect water on the upper inner wall.

17. The drone according to claim 15, characterized in that: The gear set comprises: A first gear connected to an output shaft of the second motor; a second gear externally meshing with the first gear; and The third gear is arranged on the outer periphery of the first gear and the second gear and meshes with the inner periphery of the second gear. The number of teeth of the third gear is different from that of the first gear. The cleaning component is connected to the outer periphery of the third gear.

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