Large object surface inspection device and inspection method

Abstract

The invention discloses a large object surface inspection device and inspection method, and belongs to the technical field of large object surface inspection. Comprising N groups of cantilever units connected in sequence, the cantilever unit comprises a frame assembly, a lifting force assembly, a rotating assembly, a load assembly and a sensor assembly. A first connecting end and a second connecting end are correspondingly arranged on the two sides of the frame assembly. The lifting force assembly is arranged in the frame assembly; the rotating assembly is rotatably arranged on the first connecting end; the load assembly is arranged on the frame assembly; the sensor assembly is arranged on the frame assembly. The device can be infinitely lengthened, is stable and reliable, is high in flexibility, and can adapt to the surface inspection of large objects with different shapes and sizes. The device not only can improve the inspection efficiency and safety, but also can provide more detailed and accurate data support for maintenance and inspection of large objects.

Description

Technical Field

[0001] The invention belongs to the technical field of large object surface inspection, and in particular relates to a large object surface inspection device and an inspection method. Background Art

[0002] With the development of science and technology, large objects such as high-rise buildings, bridges, towers, etc. are increasing, and the surface inspection and maintenance of these objects has become an important issue.

[0003] Traditional inspection methods mainly rely on manual climbing or the use of equipment such as hanging baskets, which is not only inefficient but also poses great safety risks. Although the emergence of drones has improved the efficiency and safety of inspections to a certain extent, there are still limitations in the detailed inspection of the surface of large objects.

[0004] When inspecting the surface of large objects, existing cantilever mechanisms are often limited by their own weight and the limited cantilever length, which makes it impossible to reach the height or far end of large objects. In addition, these devices lack stability and flexibility, making it difficult to adapt to inspection objects of different shapes and sizes, and unable to guarantee the clarity of the captured images. Summary of the invention

[0005] Purpose of the invention: In order to solve the above problems, the present invention provides a large object surface inspection device and inspection method.

[0006] Technical solution: A large-scale surface inspection device comprises: N groups of cantilever units connected in sequence, N being an integer greater than 1; adjacent cantilever units are rotatably connected; Wherein, the cantilever unit comprises: A frame assembly, with a first connection end and a second connection end correspondingly arranged on two sides thereof; A lift assembly, disposed in the frame assembly; A rotating assembly, rotatably disposed on the first connecting end; A load assembly, arranged on the frame assembly; the load assembly is used to load corresponding working equipment; A sensor assembly is arranged on the frame assembly; the sensor assembly is used to measure the distance between the cantilever unit and the surface of the object to be inspected in real time; The rotating assembly of the current cantilever unit can be rotatably connected to the second connecting end of the cantilever unit adjacent to the current cantilever unit.

[0007] In a further embodiment, the frame assembly comprises: A first frame having a hollow portion therein; A second frame is disposed in the hollow portion and is rotatably connected to the first frame; At least two sets of third frames are mirror-imaged and connected to the sides of the first frame.

[0008] In a further embodiment, a power source assembly is provided on the frame assembly; the power source assembly comprises: A first power source is disposed on the inner wall of the first frame and is transmission-connected to the second frame, and the first power source is used to drive the second frame to rotate; A second power source is disposed on the inner wall of the second frame and is transmission-connected to the lift assembly; the second power source is used to drive the lift assembly to rotate; The third power source is arranged on the third frame and is transmission-connected to the load assembly.

[0009] In a further embodiment, the lift assembly comprises: A connecting arm, both ends of which are rotatably connected to the second frame; A propeller, arranged on the connecting arm; A power part is used to drive the propeller to rotate.

[0010] In a further embodiment, the rotating assembly comprises: Rotating arm; A first rotating shaft is disposed at the midpoint of the rotating arm; the first rotating shaft is rotatably connected to the first connecting end; Two sets of second rotating shafts are correspondingly arranged at two ends of the rotating arm; The second rotating shaft in the current cantilever unit is rotatably connected to the second connecting end in the cantilever unit adjacent to the current cantilever unit.

[0011] In a further embodiment, the load assembly comprises: A base, with third rotating shafts provided at both ends thereof; The load platform is arranged on the base.

[0012] In a further embodiment, it also includes: A first driving member, disposed on the first connecting end and having an output end thereof drivingly connected to the first rotating shaft; The second driving member is arranged on the second connecting end.

[0013] In a further embodiment, the rotation axis of the second frame is perpendicular to the rotation axis of the lift assembly.

[0014] In another technical solution, an inspection method based on the above-mentioned large object surface inspection device is provided, comprising the following steps: Step 1: Determine the area to be inspected based on the surface of the large object; Step 2: Determine the inspection direction based on the area to be inspected; the inspection direction at least includes inspection from top to bottom and inspection from bottom to top; Step 3: adjusting the angles between adjacent cantilever units based on the inspection direction; controlling the cantilever units to inspect the surface of the large object; Step 4: During inspection, the distance between the cantilever unit and the surface of the large object is obtained through the sensor component, and the angle of the cantilever unit is adjusted based on the distance to get close to the surface of the large object.

[0015] Beneficial effects: (1) Infinitely extendable cantilever unit: The lift assembly provides an upward lift to offset the deadweight of the inspection device. The present invention can achieve infinite extension of the cantilever unit, breaking through the problem that the traditional cantilever unit cannot be extended due to deadweight limitation, and realizing efficient inspection of the surface of large objects.

[0016] (2) High stability and flexibility: The design of the frame assembly ensures that the lift assembly always maintains an upward direction, thereby maintaining the stability of the mechanism; the rotating assembly realizes the rotational movement of the cantilever unit in two directions, increasing the flexibility and accessibility of the inspection device in space.

[0017] (3) High-definition image data: Each cantilever unit is equipped with a distance sensor, which automatically adjusts the angle according to the shape of the surface of the inspected object, allowing the camera to get close to the surface of the object, significantly increasing the clarity of the photo or the accuracy of the flaw detection, and providing more accurate information for subsequent data analysis and maintenance.

[0018] (4) High scalability and adaptability: The present invention adopts a modular design. Users can increase or decrease the number of cantilever units according to actual needs to adapt to inspection objects of different sizes and shapes. This design makes the inspection mechanism extremely flexible and scalable.

[0019] (5) Improving inspection efficiency and safety: The present invention performs inspections without relying on manual climbing or the use of equipment such as hanging baskets, which greatly improves the efficiency and safety of inspections. It can meet the inspection needs in different scenarios and provide an effective technical means for the maintenance and inspection of large objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of another viewing angle of the present invention; Figure 3 It is a structural schematic diagram of the cantilever unit in the present invention.

[0021] Figures 1 to 3The labels are: frame assembly 1, first frame 11, second frame 12, third frame 13, power source assembly 2, first power source 21, second power source 22, third power source 23, lift assembly 3, connecting arm 31, propeller 32, power member 33, rotating assembly 4, rotating arm 41, first rotating shaft 42, second rotating shaft 43, load assembly 5, base 51, load platform 52, third rotating shaft 53, first driving member 6, second driving member 7. DETAILED DESCRIPTION

[0022] Example 1 In the prior art, a single cantilever mechanism is generally used for inspection of the surface of an object. However, for large objects, especially structures with large heights or spans, such as bridges, airplanes, large storage tanks, etc., the existing single cantilever mechanism may not be able to meet the needs of comprehensive and efficient inspections. The cantilever length of a single cantilever mechanism is limited, resulting in a limited coverage range for a single inspection, and the position of the cantilever mechanism needs to be moved and adjusted multiple times, thereby reducing the inspection efficiency. If only the length of a single cantilever is increased, the longer cantilever will be more prone to deformation and instability when subjected to external forces (such as wind, vibration, etc.). Moreover, the relationship between the deadweight of a single cantilever mechanism and the cantilever length increases nonlinearly, which means that as the cantilever length increases, the required support structure and stability requirements will also increase significantly.

[0023] In order to solve the problems existing in the prior art, such as Figure 1 and Figure 2 As shown, this embodiment provides a large object surface inspection device (hereinafter referred to as this device), including: N groups of cantilever units connected in sequence, N is an integer greater than 1; adjacent cantilever units are rotatably connected. That is, this device includes at least two groups of rotatably connected cantilever units.

[0024] The structure of each cantilever unit includes: a frame assembly 1, a lift assembly 3, a rotation assembly 4, a load assembly 5, and a sensor assembly. Each cantilever unit is independent; this modular design makes the inspection device extremely flexible and scalable.

[0025] The first connection end and the second connection end are correspondingly arranged on both sides of the frame assembly 1; Figure 3 Taking the orientation in as an example, the first connection end is located on the right side of the frame assembly 1, and the second connection end is located on the left side of the frame assembly 1.

[0026] Specifically, the frame assembly 1 includes a first frame 11, a second frame 12, and at least two sets of third frames 13. The first frame 11 and the second frame 12 are both provided with a hollow structure. The second frame 12 is installed inside the first frame 11 and is rotatably connected to the first frame 11. The third frame 13 is mirror-set and is arranged on the side of the first frame 11. The third frame 13 also has a hollow structure. A stable triangular structure is formed between the third frame 13 and the first frame 11.

[0027] The hollow design in the first frame 11, the second frame 12, and the third frame 13 significantly reduces the use of materials, thereby reducing the weight of the entire cantilever unit. The hollow frame design reduces the windward area of ​​the cantilever unit, thereby reducing air resistance and increasing flight speed. In addition, the third frame 13 and the first frame 11 form a stable triangular structure, ensuring that each frame maintains sufficient strength and stability while reducing weight.

[0028] In addition, the adjustable angle design between the first frame 11 and the second frame 12 further increases the flexibility and stability of the structure, enabling it to adapt to different flight conditions and load conditions; at the same time, the adjustable angle design between the first frame 11 and the second frame 12 can optimize the aerodynamic layout of the aircraft, further reduce air resistance, and improve flight efficiency.

[0029] The frame assembly 1 is also provided with a power source assembly 2. The power source assembly 2 includes a first power source 21, a second power source 22, and a third power source 23. The first power source 21 is mounted on the inner wall of the first frame 11 and is in transmission connection with the second frame 12. The first power source 21 is used to drive the second frame 12 to rotate. The second power source 22 is mounted on the inner wall of the second frame 12 and is in transmission connection with the lift assembly 3; the second power source 22 is used to drive the lift assembly 3 to rotate. The third power source 23 is mounted on the third frame 13 and is in transmission connection with the load assembly 5. The first power source 21, the second power source 22, and the third power source 23 are configured as motors.

[0030] The second frame 12 rotates relative to the first frame 11 , and the lift assembly 3 rotates relative to the second frame 12 . The rotation axis of the second frame 12 is perpendicular to the rotation axis of the lift assembly 3 .

[0031] During the inspection process, in order to obtain accurate inspection data, the device controls each independent cantilever unit in the device to adjust its angle according to the shape of the surface of the inspected object based on the different shapes of the surface of the large object, so that the working equipment is close to the surface of the object, which significantly increases the accuracy. In this case, since the overall angle adjustment of the cantilever unit will drive the angle adjustment of the lift assembly 3, the lift assembly 3 cannot always maintain the upward direction, and the cantilever unit may lose control or fail to maintain the required flight or moving height, resulting in the failure of the inspection task; or the instability of the lift direction may cause the inspection unit to deviate, tilt or fall during the inspection process. Therefore, in order to solve this problem, in this embodiment, the above technical solution is set. After the cantilever unit adjusts its angle, the second frame 12 is controlled to rotate, or the lift assembly 3 is controlled to rotate, or the second frame 12 and the lift assembly 3 are controlled to rotate at the same time to ensure that the lift assembly 3 always maintains the upward direction, thereby maintaining the stability of the entire device.

[0032] The above-mentioned lift assembly 3 is installed in the frame assembly 1, and the lift assembly 3 provides power for the flight of the cantilever unit. The lift assembly 3 includes a connecting arm 31, a propeller 32, and a power piece 33. Specifically, both ends of the connecting arm 31 are rotatably connected to the second frame 12. The output end of the second power source 22 is connected to the connecting arm 31, and the second power source 22 drives the connecting arm 31 to rotate, thereby realizing the rotation of the entire lift assembly 3. The propeller 32 and the power piece 33 are installed on the connecting arm 31. The power piece 33 is used to drive the propeller 32 to rotate. The power piece 33 is a propeller 32 motor. The lift assembly 3 provides an upward lift to offset the deadweight of the entire cantilever unit and its load. The cantilever units all include the lift assembly 3. By increasing the number of cantilever units, the inspection range of the device can be infinitely extended, breaking through the problem that the traditional cantilever mechanism cannot extend the cantilever due to deadweight limitations.

[0033] In this embodiment, adjacent cantilever units are connected via a rotating assembly 4, and the connection form is: the rotating assembly 4 (more specifically, the second rotating shaft 43) of the current cantilever unit can be rotatably connected to the second connection end of the cantilever unit adjacent to the current cantilever unit. The rotating assembly 4 is used to connect adjacent cantilever units and realize rotational movement in two directions between the cantilever units; this design enhances the flexibility and adjustability of the inspection device in space.

[0034] The structure of the rotating assembly 4 is described in detail below: The rotating assembly 4 includes: a rotating arm 41, a first rotating shaft 42 and two sets of second rotating shafts 43. The first rotating shaft 42 is arranged at the midpoint of the rotating arm 41; the first rotating shaft 42 is rotatably connected to the first connecting end. The two sets of second rotating shafts 43 are correspondingly installed at both ends of the rotating arm 41.

[0035] On this basis, the device further includes: a first driving member 6 and a second driving member 7. The first driving member 6 and the second driving member 7 are motors. The first driving member 6 is mounted on the first connecting end and its output end is transmission-connected to the first rotating shaft 42. The first driving member 6 drives the rotating arm 41 to rotate around the first rotating shaft 42.

[0036] The second driving member 7 is installed on the second connecting end. The output end of the second driving member 7 is in transmission connection with the second rotating shaft 43, and the second driving member 7 drives the rotating arm 41 to rotate around the second rotating shaft 43. In other words, the design of the first driving member 6 and the second driving member 7 drives the rotating arm 41 to rotate in two directions, thereby realizing the rotation movement of the cantilever unit in two directions; during inspection, each independent cantilever unit adjusts the angle according to the shape of the surface of the inspected object with the help of the rotation of the rotating arm 41, so that the working equipment is close to the surface of the object and more accurate inspection data is obtained.

[0037] The load assembly 5 is mounted on the frame assembly 1. The load assembly 5 includes a base 51 and a carrier platform. The base 51 is provided with a third rotating shaft 53 at both ends. The load platform 52 is provided on the base 51, and the above-mentioned working equipment (such as a camera, a flaw detector, etc.) is installed on the load platform 52. The third rotating shaft 53 is connected to the above-mentioned third power source 23 in a transmission manner. The third power source 23 drives the base 51 to rotate, thereby driving the load platform 52 to rotate, and driving the loaded working equipment to rotate to a suitable angle for work.

[0038] In addition, the device also includes a sensor component installed on the frame component 1. The sensor component is used to measure the distance between the cantilever unit and the surface of the object to be inspected in real time. The sensor component is a distance sensor, etc. The distance sensor can measure the distance between the cantilever unit and the surface of the object to be inspected in real time, providing important data support for subsequent inspection operations.

[0039] The inspection device provided in this embodiment can be infinitely extended, stable and reliable, highly flexible and can adapt to the inspection of large objects of different shapes and sizes. This device can not only improve the efficiency and safety of inspection, but also provide more detailed and accurate data support for the maintenance and inspection of large objects.

[0040] Example 2 This embodiment provides an inspection method based on a large object surface inspection device as described in Embodiment 1, comprising the following steps: Step 1: Determine the area to be inspected based on the surface of the large object; Step 2: Determine the inspection direction based on the area to be inspected; the inspection direction at least includes inspection from top to bottom and inspection from bottom to top; Step 3: adjusting the angles between adjacent cantilever units based on the inspection direction; controlling the cantilever units to inspect the surface of the large object; Step 4: During inspection, the distance between the cantilever unit and the surface of the large object is obtained through the sensor component, and the angle of the cantilever unit is adjusted based on the distance to get close to the surface of the large object.

[0041] like Figure 1 As shown, the device inspects objects from top to bottom; Figure 2 As shown, the device inspects the object from bottom to top. The device switches the inspection direction from top to bottom or from bottom to top by rotating the cantilever unit, so that the inspection device can easily change the inspection direction without complicated mechanical adjustment or repositioning, thereby greatly improving the flexibility and efficiency of the inspection.

[0042] Traditional inspection methods may require multiple devices or complex operating steps to achieve inspections in different directions. However, this device can achieve direction changes through a simple rotation of the cantilever unit, greatly simplifying the operation process. Since no additional devices or complex adjustment processes are required, this device significantly reduces maintenance costs and operating costs in long-term use.

[0043] By changing the inspection direction, the inspection device can cover a wider area, ensuring a comprehensive inspection without omissions and meeting the needs of inspecting large objects.

Claims

1. A large object surface inspection device, characterized in that: include: N groups of cantilever units connected in sequence, N being an integer greater than 1; adjacent cantilever units are rotatably connected; Wherein, the cantilever unit comprises: A frame assembly, with a first connection end and a second connection end correspondingly arranged on two sides thereof; A lift assembly, disposed in the frame assembly; A rotating assembly, rotatably disposed on the first connecting end; A load assembly, arranged on the frame assembly; the load assembly is used to load corresponding working equipment; A sensor assembly is arranged on the frame assembly; the sensor assembly is used to measure the distance between the cantilever unit and the surface of the object to be inspected in real time; The rotating assembly of the current cantilever unit can be rotatably connected to the second connecting end of the cantilever unit adjacent to the current cantilever unit.

2. A large object surface inspection device as claimed in claim 1, characterized in that: The frame assembly comprises: A first frame having a hollow portion therein; A second frame is disposed in the hollow portion and is rotatably connected to the first frame; At least two sets of third frames are mirror-imaged and connected to the sides of the first frame.

3. A large object surface inspection device as claimed in claim 2, characterized in that: The frame assembly is provided with a power source assembly; the power source assembly comprises: A first power source is disposed on the inner wall of the first frame and is transmission-connected to the second frame, and the first power source is used to drive the second frame to rotate; A second power source is disposed on the inner wall of the second frame and is transmission-connected to the lift assembly; the second power source is used to drive the lift assembly to rotate; The third power source is arranged on the third frame and is transmission-connected to the load assembly.

4. A large object surface inspection device as claimed in claim 2, characterized in that: The lift assembly comprises: A connecting arm, both ends of which are rotatably connected to the second frame; A propeller, arranged on the connecting arm; A power part is used to drive the propeller to rotate.

5. A large object surface inspection device as claimed in claim 1, characterized in that: The rotating assembly comprises: Rotating arm; A first rotating shaft is disposed at the midpoint of the rotating arm; the first rotating shaft is rotatably connected to the first connecting end; Two sets of second rotating shafts are correspondingly arranged at two ends of the rotating arm; The second rotating shaft in the current cantilever unit is rotatably connected to the second connecting end in the cantilever unit adjacent to the current cantilever unit.

6. A large object surface inspection device as claimed in claim 1, characterized in that: The load assembly comprises: A base, with third rotating shafts provided at both ends thereof; The load platform is arranged on the base.

7. A large object surface inspection device as claimed in claim 5, characterized in that: Also includes: A first driving member, disposed on the first connecting end and having an output end thereof drivingly connected to the first rotating shaft; The second driving member is arranged on the second connecting end.

8. A large object surface inspection device as claimed in claim 3, characterized in that: The rotation axis of the second frame is perpendicular to the rotation axis of the lift assembly.

9. An inspection method based on a large object surface inspection device as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: Determine the area to be inspected based on the surface of the large object; Step 2: Determine the inspection direction based on the area to be inspected; The inspection direction at least includes inspection from top to bottom and inspection from bottom to top; Step 3: adjusting the angles between adjacent cantilever units based on the inspection direction; controlling the cantilever units to inspect the surface of the large object; Step 4: During inspection, the distance between the cantilever unit and the surface of the large object is obtained through the sensor component, and the angle of the cantilever unit is adjusted based on the distance to get close to the surface of the large object.

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