Sound wave imaging electric power flaw detection unmanned aerial vehicle equipment

Abstract

The invention discloses sound wave imaging electric flaw detection unmanned aerial vehicle equipment which comprises a fuselage and a rotor arm arranged on the fuselage, the fuselage is further provided with an ultrasonic flaw detection mechanism, one end of the rotor arm of an unmanned aerial vehicle is connected with the fuselage in a hinged mode, and the other end of the rotor arm is provided with a steering engine set. A shock absorber is arranged between the fuselage and each steering engine set; by arranging the shock absorbers, the rotor arms can be kept parallel to the fuselage when the rotors are not disturbed by wind power, and when the rotors are disturbed by the wind power, the rotor arms elastically swing under the action of the shock absorbers, so that the influence of the wind power on the whole unmanned aerial vehicle can be buffered and attenuated, and the flight stability of the unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to power safety, and in particular to an acoustic wave imaging power flaw detection drone equipment. Background Art

[0002] As is known, power inspection refers to regular inspection and testing of power equipment, power lines, substations, etc. to ensure the safe operation of the power system. The inspection of the power system can be done manually, by inspection robots, or by inspection drones.

[0003] Among them, when inspecting overhead power facilities in plateaus and mountainous areas, the use of drones is undoubtedly a safer choice. When using inspection drones to inspect power facilities, the inspection drones are equipped with information collection modules, such as ultrasonic flaw detection instruments. The principle of flaw detection is to use sound waves to enter the material and generate mechanical vibrations in the material. When the sound waves propagate in the material being tested, the acoustic properties of the material and changes in the internal structure have a certain impact on the propagation of the sound waves. The degree of influence and condition of the sound waves can be analyzed to understand the performance and structural changes of the material.

[0004] For example, in the invention patent application with publication number CN115360822A and publication date November 18, 2022, entitled "A Power Production and Distribution Safety Monitoring System Based on UAV Inspection", an unmanned inspection and dispatching center is set up in the plant area, and the unmanned inspection and dispatching center is equipped with a host computer and a monitoring server; each primary substation and secondary substation is equipped with a UAV warehouse, and a power station UAV is set up in the UAV warehouse. The power station UAV includes a data storage and operation module, a GPS cruise module, a wireless signal communication unit I, a power storage module and a data acquisition module. The data storage and operation module and the power storage module are respectively provided with a data transmission interface and an electric energy receiving unit; relay towers are set up in the high-voltage tower group and the low-voltage tower group, and the tower body of the relay tower is provided with a UAV relay control platform, and the UAV relay control platform is connected to a solar power storage unit, a relay power transmission unit and a wireless signal communication unit II; the safety monitoring system can perform systematic and interconnected safety monitoring of large-scale power grids.

[0005] In the document numbered DL / T 1578-2021, titled "Overhead Power Line Multi-rotor UAV Inspection System", it is mentioned that the UAV should be able to fly and hover stably under the condition that the instantaneous wind speed is not greater than the specified wind speed, and all functions should be normal. When hovering, the horizontal offset is not greater than 1.5m, the standard deviation is not greater than 0.75m, the vertical offset is not greater than 3m, and the standard deviation is not greater than 1.5m. The maximum change of the three-axis attitude angle is not more than 30°, and the standard deviation of the change is not more than 15°.

[0006] The wind speed conditions for wind-resistant flight of multi-rotor UAV inspection systems of various configuration categories should meet the following requirements:

[0007] High-end and medium-end models: can work normally under the environment condition that the instantaneous wind speed is not more than 10m / s;

[0008] Standard configuration: can work normally under the condition that the instantaneous wind speed is not more than 8m / s;

[0009] Simple type: can work normally under the environmental condition that the instantaneous wind speed is not more than 6m / s.

[0010] Since plateaus, mountains and other areas with high altitudes are prone to strong winds, some ordinary drones are unable to perform the task of inspecting overhead power facilities in the area. Therefore, according to the above-mentioned environmental conditions of different instantaneous wind speeds, drones with appropriate configurations should be selected to carry out inspections of overhead power facilities. However, there are still some shortcomings, that is, since plateaus, mountains and other areas with high altitudes are prone to strong winds, when inspecting overhead power facilities in the area, the rotors of the inspection drones are still easily disturbed by wind, making it difficult for the fuselage to fly stably, affecting the collection of information on power facilities. Summary of the invention

[0011] The purpose of the present invention is to provide an acoustic imaging electric flaw detection drone equipment to solve the technical problems in the related technology.

[0012] In order to achieve the above object, the present invention provides the following technical solutions:

[0013] An acoustic imaging electric flaw detection drone device comprises a fuselage and a rotor arm arranged on the fuselage. The fuselage is also provided with an ultrasonic flaw detection mechanism. One end of the rotor arm of the drone is connected to the fuselage in a hinged manner, and a steering gear unit is installed at the other end of the rotor arm. A shock absorber is provided between the fuselage and each steering gear unit.

[0014] As mentioned above, the rotor arm is connected to the fuselage through a ball hinge, and the plane formed when the rotor arm swings includes a first plane parallel to the radial section of the fuselage, a second plane parallel to an axial section of the fuselage, and a third plane between the first plane and the second plane. The first plane and the second plane are perpendicular to each other in space, and the third plane is any plane between the first plane and the second plane.

[0015] As mentioned above, the servo group is arranged in sequence along the circumferential direction on the side of the fuselage, and the number is an even number. Power is transmitted between two radially corresponding rotor arms through the first rod body; based on the transmission action of the first rod body, on the first plane, the corresponding two rotor arms can swing in the same direction.

[0016] As mentioned above, both ends of the first rod body have telescopic function.

[0017] As mentioned above, each of the rotor arms is provided with a socket, and a second rod body is inserted into each socket. The socket is arc-shaped, and its center is on the same axis as the center of the corresponding rotor arm swinging along the first plane. The second rod body is connected to the first rod body at the corresponding position. In the first plane, when the rotor arm swings in a certain direction, its stroke is divided into two sections: in the first stroke, the second rod body switches from the center position of the socket to the end position of the socket; in the second stroke, the rotor arm drives the second rod body to swing together; the distance of the first stroke is smaller than the distance of the second stroke.

[0018] As mentioned above, the second rod body is in an arc shape, and the center of the second rod body and the center of the corresponding rotor arm swinging along the second plane are on the same axis.

[0019] As mentioned above, the rotor arm and the steering gear unit are connected by a plane hinge, and the swing plane formed between the two coincides with the second plane; an auxiliary arm is also provided on the fuselage at a position corresponding to each rotor arm through a ball hinge, and the auxiliary arm is connected to the steering gear unit by a plane hinge, and the swing plane formed between the two coincides with the second plane; the rotor arm and the auxiliary arm at the corresponding position are arranged in parallel.

[0020] As mentioned above, each of the shock absorbers is arranged at the center position between the rotor arm and the auxiliary arm at the corresponding position.

[0021] As mentioned above, the steering gear unit is provided with an adjusting mechanism for adjusting the inclination angle of the rotor. When the steering gear unit is disturbed by wind and swings in the second plane, the adjusting mechanism adjusts the inclination angle of the rotor so that the steering gear unit obtains sufficient lift to maintain the balance of the fuselage under a constant rotation speed.

[0022] As mentioned above, the fuselage of the drone is also provided with an electronic wind disturbance protection system, which includes a wind disturbance detection module, a tilt sensor, a wind direction detection module and a motor power controller; when the wind disturbance exceeds the tolerance range of the shock absorber, the electronic wind disturbance protection system starts to work to stabilize the fuselage.

[0023] The beneficial effect of the present invention is that by arranging a shock absorber, the rotor arm can be kept parallel to the fuselage when the rotor is not disturbed by wind. When the rotor is disturbed by wind, the rotor arm swings elastically under the action of the shock absorber, which can buffer and attenuate the impact of wind on the entire drone, thereby improving the flight stability of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 A schematic diagram of a first-perspective stereoscopic structure of an acoustic imaging power flaw detection drone device provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of a second-view stereoscopic structure of an acoustic imaging power flaw detection drone device provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the axial cross-sectional structure of an acoustic imaging power flaw detection drone device provided by an embodiment of the present invention;

[0028] Figure 4 for Figure 3 A is an enlarged structural diagram;

[0029] Figure 5 A schematic diagram of a rotor arm of an acoustic imaging power flaw detection drone device provided by an embodiment of the present invention when it swings in a first plane;

[0030] Figure 6 A schematic diagram of a rotor arm and an auxiliary arm of an acoustic imaging electrical flaw detection UAV device swinging in a second plane provided in an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1. Fuselage; 10. First plane; 11. Second plane; 2. Rotor arm; 3. Servo assembly; 30. Mounting seat; 31. Motor; 32. Rotor; 4. Shock absorber; 5. First rod body; 6. Socket; 7. Second rod body; 8. Auxiliary arm; 9. Adjustment mechanism; 91. First sleeve; 92. Second sleeve; 93. Pressure block; 94. Arc groove; 95. Sliding rod; 96. Third rod body. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the present invention, Figure 1 To Attachment Figure 6 The present invention is further described in detail.

[0034] An embodiment of the present invention provides an acoustic imaging electric flaw detection UAV device, comprising a fuselage 1 and a rotor arm 2 arranged on the fuselage, the fuselage 1 is also provided with an ultrasonic flaw detection mechanism, one end of the UAV rotor arm 2 is connected to the fuselage 1 by a hinged manner, the other end of the rotor arm 2 is installed with a steering gear unit 3, and a shock absorber 4 is provided between the fuselage 1 and each steering gear unit 3.

[0035] Specifically, the UAV includes a plurality of rotor arms 2 arranged circumferentially on the side of the fuselage 1, and the number of the rotor arms 2 can be an odd number or an even number. In this embodiment, a quad-rotor UAV is taken as an example, and a steering gear unit 3 is installed at the end of each rotor arm 2 away from the fuselage 1. The steering gear unit 3 is composed of a mounting seat 30 fixed to the rotor arm 2, a motor 31 installed in the mounting seat 30, and a rotor 32 arranged at the end of the power output shaft of the motor 31. The motor 31 drives the rotor 32 to rotate, and the rotation of the rotor 32 provides lift for the take-off of the UAV. When the generated lift is sufficient to overcome the deadweight of the UAV itself, the UAV can take off. An ultrasonic flaw detection mechanism is provided on the fuselage 1 of the UAV (the detection principle of which is a prior art and is not repeated here. The installation method and installation position of the ultrasonic flaw detection mechanism on the fuselage of the UAV can be arranged according to actual usage conditions. I will not go into too much detail here, and it is not specifically shown in the figure). It is used to detect whether there is a fault in the power facilities through sound waves when inspecting the power facilities, and transmit the information to the control center through wireless communication. The staff of the control center can judge whether there is a fault in the power facilities based on the collected information, so as to timely discover the problems of the power facilities and take effective measures to solve them. When using drones to inspect power facilities built in areas with high altitudes such as plateaus and mountains, the probability of strong winds in these areas is high, so the drones are required to have a certain wind resistance so that the inspection work can be carried out smoothly. The existing inspection drones are prone to instability after being disturbed by wind, making it difficult to carry out the inspection work, especially when the servo unit 3 that provides power for the drone flight is disturbed by wind, it is more likely to cause the fuselage 1 to shake.

[0036] Therefore, in this embodiment, one end of each rotor arm 2 away from the steering gear unit 3 is connected to the fuselage 1 by a hinge, wherein the hinge structure can be a plane hinge, so that when the steering gear unit 3 is disturbed by wind, it can swing in a certain direction, and the shock absorber 4 is used for buffering and vibration reduction. Alternatively, a ball hinge can be used to connect the fuselage 1 and the rotor arm 2, so that the rotor arm 2 has more swinging directions, and the shock absorber 4 is used for buffering and vibration reduction. The shock absorber 4 is connected to the fuselage 1 and the steering gear unit 3 by a ball hinge, which can provide buffering and vibration reduction when the rotor arm 2 swings in any direction. The shock absorber 4 is composed of a vibration reduction spring and a damper. When wind acts on the steering gear unit 3, the vibration reduction spring will vibrate continuously, which is likely to cause continuous vibration of the entire fuselage 1. This It is not conducive to the flight of the UAV. Therefore, during the movement of the shock-absorbing spring, a certain amount of resistance needs to be added to make the vibration of the shock-absorbing spring decay rapidly. The purpose of using a damper to quickly decay the vibration of the shock-absorbing spring is to achieve the purpose of quickly decaying the vibration of the shock-absorbing spring. The damper will convert the vibration energy generated by the wind disturbance of the fuselage 1 into heat energy, and then dissipate it through the outer shell. The damper must match the shock-absorbing spring, that is, within the compression stroke of the shock-absorbing spring, the damping force of the damper should be small, so that the effect of the shock-absorbing spring can be fully exerted and the elasticity of the shock-absorbing spring can be fully utilized to eliminate the impact; within the extension stroke of the shock-absorbing spring, the damping force of the damper should be large to suppress the vibration of the spring and quickly reduce the vibration. When the rotor arm 2 moves greatly relative to the fuselage 1 and the relative speed of the two is too large, the damping force generated by the damper must always be kept within a certain range to avoid damage and functional failure due to excessive impact load.

[0037] The beneficial effect of this embodiment is that by providing the shock absorber 4, the rotor arm 2 can be kept parallel to the fuselage 1 when the rotor 32 is not disturbed by wind. When the rotor 32 is disturbed by wind, the rotor arm 2 swings elastically under the action of the shock absorber 4, which can buffer and attenuate the impact of wind on the entire drone, thereby improving the flight stability of the drone.

[0038] Preferably, the rotor arm 2 is connected to the fuselage 1 via a spherical hinge, and the plane formed when the rotor arm 2 swings includes a first plane 10 parallel to a radial section of the fuselage 1, a second plane 11 parallel to an axial section of the fuselage 1, and a third plane between the first plane 10 and the second plane 11. The first plane 10 and the second plane 11 are perpendicular to each other in space, and the third plane is any plane between the first plane 10 and the second plane 11.

[0039] Specifically, the drone can be regarded as moving vertically when taking off and moving horizontally when flying level. In this way, the first plane 10 can be regarded as a plane parallel to the horizontal plane, the second plane 11 can be regarded as a plane parallel to a vertical plane, and the third plane is a plane between the first plane 10 and the second plane 11, which can be any plane within this range. In this way, the swing of the rotor arm 2 in the first plane 10 is set to swing left and right, the swing in the second plane 11 is set to swing up and down, and the swing in the third plane is a combination of swinging left and right and swinging up and down.

[0040] Furthermore, the servo assembly 3 is arranged in sequence along the circumferential direction on the side of the fuselage 1, and the number is an even number, and power is transmitted between two radially corresponding rotor arms 2 through the first rod body 5; based on the transmission action of the first rod body 5, on the first plane 10, the two corresponding rotor arms 2 can swing in the same direction; both ends of the first rod body 5 have telescopic functions.

[0041] Specifically, the four rotor arms 2 of the quadcopter are arranged in a cross shape or an X shape. According to the principle of force balance, the two steering gear units 3 at the diagonal positions should provide a consistent force for the balance of the fuselage 1 in that direction, that is, on the first plane 10, the two steering gear units 3 at the diagonal positions should always be at the two ends of the same diagonal line. In this way, in the aforementioned embodiment, when a certain steering gear unit 3 is driven by wind disturbance to drive the corresponding rotor arm 2 to swing, the position of the steering gear unit 3 at the diagonal position does not change on the first plane 10, or the position changes of the two steering gear units 3 at the diagonal positions are inconsistent, which will cause the problem of unbalanced force on the fuselage 1. Therefore, in this embodiment, a first rod 5 is arranged on the fuselage 1, and the two ends of the first rod 5 correspond to the two steering gear units 3 at the diagonal positions, respectively, and the length direction of the first rod 5 is parallel to the length direction of the diagonal line, and the center position of the first rod 5 is parallel to the length direction of the diagonal line. The first rod 5 is rotatably connected to the fuselage 1 by a pin shaft. When one of the steering gear units 3 is driven by wind disturbance to swing the rotor arm 2 connected thereto in a certain direction on the first plane 10, the first rod body 5 can drive the rotor arm 2 at the diagonal position to swing in the same direction based on the power of the rotor arm 2. In this way, the two steering gear units 3 at the diagonal positions can move synchronously in the first plane 10. Even if one of the steering gear units 3 is disturbed by wind, the two steering gear units 3 at the two ends of the same diagonal line can still maintain the force balance of the fuselage 1 in the direction. Since the swing axis of the rotor arm 2 is parallel to the swing axis of the first rod body 5 but does not coincide with it, the swing of the rotor arm 2 is restricted by the first rod body 5 and becomes stuck. However, the first rod body 5 has a telescopic function and can adapt to the swing of the rotor arm 2 by changing the distance. Therefore, while not affecting the transmission of the swing power of the two steering gear units 3, it can also prevent the swing of the rotor arm 2 from getting stuck.

[0042] Furthermore, each of the rotor arms 2 is provided with a socket 6, and a second rod body 7 is inserted into each socket 6. The socket 6 is arc-shaped, and its center is on the same axis as the center of the corresponding rotor arm 2 swinging along the first plane 10. The second rod body 7 is connected to the first rod body 5 at the corresponding position. In the first plane 10, when the rotor arm 2 swings in a certain direction, its stroke is divided into two sections: in the first stroke, the second rod body 7 switches from the center position of the socket 6 to the end position of the socket 6; in the second stroke, the rotor arm 2 drives the second rod body 7 to swing together; the distance of the first stroke is smaller than the distance of the second stroke.

[0043] Specifically, the disturbance of wind force on the servo unit 3 varies in size. When the wind disturbance is small, the swing of a certain rotor arm 2 causes an unbalanced force to appear at the diagonal position, which can cause the fuselage 1 to tilt slightly. The slight tilt of the fuselage 1 can attenuate the wind force to a certain extent. Then, under the action of the shock absorber 4, the small swing can also be quickly reset. Therefore, in this embodiment, the socket 6 is set to be an arc shape, and its center is on the same axis as the center of the corresponding rotor arm 2 swinging along the first plane 10. Then, if the swing of the rotor arm 2 wants to drive the second rod body 7 to swing together, the position of the second rod body 7 must also reach the end position from the center position of the socket 6, that is, in the first stroke of the swing of the rotor arm 2, the second rod body 7 switches from the center position of the socket 6 to the end position of the socket 6, and in the second stroke of the swing of the rotor arm 2, the rotor arm 2 drives the second rod body 7 to swing together. According to the specifications of the shock absorber 4, the distance of the first stroke can be set to one tenth of the second stroke or other.

[0044] Preferably, the second rod body 7 is in an arc shape, and the center thereof is on the same axis as the center of the corresponding rotor arm 2 swinging along the second plane 11; specifically, because the rotor arm 2 and the fuselage 1 are connected by a ball hinge, the shape of the second rod body 7 must not only follow the swing of the rotor arm 2 when the rotor arm 2 swings along the first plane 10, but also must not affect the swing of the rotor arm 2 when the rotor arm 2 swings along the second plane 11. Therefore, it is set to be an arc shape with the center thereof being on the same axis as the center of the corresponding rotor arm 2 swinging along the second plane 11.

[0045] Furthermore, the rotor arm 2 is connected to the steering gear unit 3 by a plane hinge, and the swing plane formed therebetween coincides with the second plane 11; an auxiliary arm 8 is also provided on the fuselage 1 at a position corresponding to each rotor arm 2 through a ball hinge, and the auxiliary arm 8 is connected to the steering gear unit 3 by a plane hinge, and the swing plane formed therebetween coincides with the second plane 11; the rotor arm 2 and the auxiliary arm 8 at the corresponding position are arranged in parallel.

[0046] Specifically, when the UAV flies, the direction of the flight force provided by each servo unit 3 to the fuselage 1 is parallel. In the aforementioned embodiment, if the rotor arm 2 swings in the second plane 11 or the third plane, the direction of the flight force provided by the servo unit 3 to the fuselage 1 will not be parallel to the direction of the flight force provided by other servo units 3 to the fuselage 1. Therefore, in this embodiment, an auxiliary arm 8 is arranged between the servo unit 3 and the fuselage 1. The auxiliary arm 8 has the same structure as the rotor arm 2, and the two are arranged in parallel up and down in the second plane 11. The rotor arm 2 and the auxiliary arm 8 are connected to the mounting seat 30 of the servo unit 3 through a plane hinge, and are connected to the fuselage 1 through a ball hinge. In this way, when the rotor arm 2 is in the second plane 11 or the third plane, the auxiliary arm 8 is connected to the mounting seat 30 of the servo unit 3 through a plane hinge, and is connected to the fuselage 1 through a ball hinge. When swinging in the plane, the rotor arm 2, the fuselage 1, the mounting seat 30 and the auxiliary arm 8 form a parallelogram structure. Therefore, when the fuselage 1 is at a fixed position, the mounting seat 30 can always remain parallel to the fuselage 1 when the two adjacent positions of the fuselage 1 swing, that is, when the rotor arm 2 and the auxiliary arm 8 swing, the mounting seat 30 can always remain parallel to the fuselage 1. Then the direction of the force provided by the servo unit 3 for the flight of the fuselage 1 remains parallel to the direction of the flight force provided by other servo units 3 for the fuselage 1, and each shock absorber 4 is arranged at the center position between the rotor arm 2 and the auxiliary arm 8 at the corresponding position. The advantage is that no matter in which direction the rotor arm 2 swings, the shock absorber 4 can be stretched or compressed to buffer and reduce the swing of the rotor arm 2.

[0047] Preferably, the servo unit 3 is provided with an adjusting mechanism 9 for adjusting the inclination angle of the rotor 32. When the servo unit 3 is disturbed by wind and swings in the second plane 11, the adjusting mechanism 9 adjusts the inclination angle of the rotor 32 so that the servo unit 3 obtains sufficient lift to maintain the balance of the fuselage 1 under a constant rotation speed.

[0048] Specifically, when the rotor arm 2 swings in the second plane 11 or the third plane, the servo unit 3 corresponding to the rotor arm 2 should increase the lift or reduce the lift, that is, when swinging downward, the servo unit 3 is subjected to the wind force acting from top to bottom, and the lift should be increased to overcome the wind force; when swinging upward, the servo unit 3 is subjected to the wind force acting from bottom to top, and the lift should be reduced, because at this time the wind force and the lift are basically in a parallel state, and the superposition of forces is likely to cause the fuselage 1 to be unbalanced, so the lift is reduced, and the gravity of the servo unit 3 is relied on to overcome the wind force so as to keep the fuselage 1 balanced, which can be achieved by adjusting the inclination angle of the blades on each rotor 32, wherein the adjustment of the blade inclination angle can be active or passive, and the active method requires the addition of an additional power source, which will increase the power consumption of the drone and reduce its endurance, so in this embodiment, the blade inclination angle is adjusted passively.

[0049] That is, the adjusting mechanism 9 includes a first sleeve 91 axially sleeved on the power output shaft of the motor 31, the blade is rotatably arranged on the first sleeve 91, a gear is arranged at one end of the blade connected to the first sleeve 91, and a rack meshing with the gear is arranged on the output shaft of the motor 31 (the gear and the rack are prior art and are not shown in the figure). When the first sleeve 91 is moved axially by an external force, the action of the gear and the rack will drive the blade to rotate, thereby adjusting the inclination angle of the blade, and when the inclination angles of two radially corresponding blades are adjusted, the rotation directions should be opposite. The adjusting mechanism 9 also includes a second sleeve 92 sleeved on the output shaft of the motor 31, and the second sleeve 92 can rotate or slide axially with the output shaft of the motor 31. The first sleeve 91 and the second sleeve 92 are rotatably connected, that is, the motor 31 drives the first sleeve 91 to rotate, and the first sleeve 91 will not drive the second sleeve 92 to rotate. A pressure block 93 is connected to the second sleeve 92, and a circular arc groove 94 is provided on the pressure block 93. A slide bar 95 is slidably arranged in the groove 94, and a third rod body 96 is arranged on the slide bar 95. The hinge shaft of the third rod body 96 and the auxiliary arm 8 mounting seat 30 transmits power to the third rod body 96 through a gear rack. The third rod body 96 is slidably arranged on the mounting seat 30. When the angle between the auxiliary arm 8 and the mounting seat 30 changes, it is equivalent to the deflection of the auxiliary arm 8. Then, the power is transmitted to the third rod body 96 through the gear rack, and the third rod body 96 drives the slide bar 95 to move. The third rod body 96 is arranged to slide linearly on the mounting seat 30, and the slide bar 95 slides along an arc track in the arc groove 94. When the slide bar 95 is driven by the third rod body 96 to move linearly, the slide bar 95 will produce an extrusion effect on the arm of the arc groove 94 (equivalent to the extrusion movement achieved by wedge-shaped cooperation), so that the pressure block 93 moves up or down axially, so that the second sleeve 92 can drive the first sleeve 91 to move axially, so that the blade inclination angle can be adjusted.

[0050] In another embodiment of the present invention, the fuselage 1 of the UAV is also provided with an electronic wind disturbance protection system, and the electronic wind disturbance protection system includes a wind disturbance detection module, a tilt sensor, a wind direction detection module and a motor power controller; when the wind disturbance exceeds the tolerance range of the shock absorber 4, the electronic wind disturbance protection system starts to work to stabilize the fuselage 1.

[0051] Specifically, the wind disturbance detection device is used to detect whether the UAV is disturbed by wind disturbance. It contains pairs of ultrasonic sensors, each pair of which includes an ultrasonic transmitter and the other receiver for receiving ultrasonic waves. The ultrasonic receiver has an ultrasonic flowmeter to calculate the ultrasonic flow rate. The presence of wind disturbance can be determined based on whether the ultrasonic flow rate exceeds a preset calibration value range.

[0052] The inclination sensing device is mainly used to measure the inclination angle between the UAV fuselage 1 and the ground; the wind direction detection device is used to judge the wind direction according to the wind disturbance detection result and the inclination angle; the wind direction is determined as the nearest end, slightly farther end and farthest end, etc., and the data conditioning signal is transmitted to the controller, the motor power controller is connected to the UAV flight main controller, and the flight main controller calculates and updates the pitch, roll and yaw attitude angle control tracking instructions after receiving its information. In this way, the shock absorption and wind protection system in the aircraft is combined with the flight control system, so that the UAV can achieve stable inspection of power facilities under wind disturbance.

[0053] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of the protection of the present invention.

Claims

1. An acoustic imaging electric flaw detection drone device, comprising a fuselage and a rotor arm arranged on the fuselage, wherein the fuselage is also provided with an ultrasonic flaw detection mechanism, characterized in that: One end of the rotor arm of the UAV is connected to the fuselage in an articulated manner, a steering gear unit is installed at the other end of the rotor arm, and a shock absorber is provided between the fuselage and each steering gear unit.

2. The acoustic imaging power flaw detection drone equipment according to claim 1 is characterized in that: The rotor arm is connected to the fuselage through a ball hinge, and the plane formed when the rotor arm swings includes a first plane parallel to a radial section of the fuselage, a second plane parallel to an axial section of the fuselage, and a third plane between the first plane and the second plane. The first plane and the second plane are perpendicular to each other in space, and the third plane is any plane between the first plane and the second plane.

3. The acoustic imaging power flaw detection drone equipment according to claim 2 is characterized in that: The steering gear group is arranged in sequence along the circumferential direction on the side of the fuselage, and the number is an even number, and power is transmitted between two radially corresponding rotor arms through the first rod body; Based on the transmission effect of the first rod body, on the first plane, the two corresponding rotor arms can swing in the same direction.

4. The acoustic imaging power flaw detection drone equipment according to claim 3 is characterized in that: Both ends of the first rod body have telescopic function.

5. The acoustic imaging power flaw detection drone equipment according to claim 3 is characterized in that: Each of the rotor arms is provided with a socket, and a second rod body is inserted into each socket. The socket is arc-shaped, and the center of the hole is on the same axis as the center of the corresponding rotor arm swinging along the first plane. The second rod body is connected to the first rod body at the corresponding position. In the first plane, when the rotor arm swings in a certain direction, its stroke is divided into two sections: In the first stroke, the second rod body switches from the center position of the plug hole to the end position of the plug hole; In the second stroke, the rotor arm drives the second rod body to swing together; The distance of the first stroke is smaller than the distance of the second stroke.

6. The acoustic imaging power flaw detection drone equipment according to claim 5 is characterized in that: The second rod body is in an arc shape, and the center of the second rod body is on the same axis as the center of the corresponding rotor arm swinging along the second plane.

7. The acoustic imaging power flaw detection drone equipment according to claim 2 is characterized in that: The rotor arm and the steering gear unit are connected via a planar hinge, and a swing plane formed between the two coincides with the second plane; An auxiliary arm is also provided on the fuselage at a position corresponding to each rotor arm through a ball hinge, and the auxiliary arm is connected to the steering gear unit through a plane hinge, and a swing plane formed between the two coincides with the second plane; The rotor arm and the auxiliary arm at the corresponding position are arranged in parallel.

8. The acoustic imaging power flaw detection drone equipment according to claim 7 is characterized in that: Each of the vibration absorbers is arranged at a central position between the rotor arm and the auxiliary arm at a corresponding position.

9. The acoustic imaging power flaw detection drone equipment according to claim 7 is characterized in that: The steering gear unit is provided with an adjusting mechanism for adjusting the inclination angle of the rotor. When the steering gear unit is disturbed by wind and swings in the second plane, the adjusting mechanism adjusts the inclination angle of the rotor so that the steering gear unit obtains sufficient lift to maintain the balance of the fuselage under a constant rotation speed.

10. The acoustic imaging power flaw detection drone equipment according to claim 1 is characterized in that: The fuselage of the UAV is also provided with an electronic wind disturbance protection system, which includes a wind disturbance detection module, a tilt sensor, a wind direction detection module and a motor power controller; when the wind disturbance exceeds the tolerance range of the shock absorber, the electronic wind disturbance protection system starts to work to stabilize the fuselage.

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