Pipeline nondestructive testing device carried on unmanned aerial vehicle

Abstract

The pipeline nondestructive testing device comprises an unmanned aerial vehicle frame, four wing frames are fixedly connected to the outer side of the unmanned aerial vehicle frame, rotor wing mechanisms are arranged at the ends of the four wing frames, and two symmetrically-arranged supporting frames are fixedly connected to the lower side of the unmanned aerial vehicle frame; the outer sides of the two supporting frames are fixedly connected with batteries, the side portions of the two supporting frames are fixedly connected with trapezoidal plates, and an unmanned aerial vehicle control box is arranged on the outer sides of the trapezoidal plates and electrically connected to the batteries and the rotor wing mechanisms. A rotating ring mechanism is arranged between the supporting frames, an overturning table is arranged on the lower side of the rotating ring mechanism, and a detector is fixedly connected to the overturning table. According to the device, through the arrangement of the rotating ring mechanism and the rotating table, the direction of the detector can be flexibly adjusted, the upper portion and the side portion of a pipeline can be detected, the lower portion of the pipeline can also be detected, and the detection coverage range and flexibility are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a pipeline nondestructive testing device carried on an unmanned aerial vehicle. Background Art

[0002] In the existing pipeline non-destructive testing technology, non-destructive detectors are usually used to carry out inspections on drones. However, this method has some problems. On the one hand, the non-destructive detector is fixed on the drone. When encountering obstacles, the drone has difficulty taking off, resulting in inflexible inspection and inability to inspect pipelines at specific locations. On the other hand, if it is necessary to inspect the top, side and bottom of the pipeline at the same time, it is usually necessary to carry detectors on the top and bottom of the drone. However, this will bring about load-bearing problems, increase the burden on the drone, and affect flight stability; at the same time, it is also very complicated to adjust the angles of both detectors, which increases the difficulty of operation and the cost of inspection. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides a pipeline non-destructive testing device carried on an unmanned aerial vehicle to solve the problems raised in the above background technology.

[0004] The present invention is implemented as follows: a pipeline nondestructive testing device carried on an unmanned aerial vehicle comprises an unmanned aerial vehicle frame, four wing frames are fixedly connected to the outer side of the unmanned aerial vehicle frame, and rotor mechanisms are provided at the ends of the four wing frames. Two symmetrically arranged support frames are fixedly connected to the lower side of the unmanned aerial vehicle frame, and batteries are fixedly connected to the outer sides of the two support frames. Trapezoidal plates are fixedly connected to the sides of the two support frames, and an unmanned aerial vehicle control box is provided on the outer side of the trapezoidal plates, and the unmanned aerial vehicle control box is electrically connected to the batteries and the rotor mechanisms; a swivel mechanism is provided between the support frames, and a flip table is provided on the lower side of the swivel mechanism, and a detector is fixedly connected to the flip table.

[0005] As a preferred embodiment of the present invention, the detector is configured as an ultrasonic detector.

[0006] As a preferred embodiment of the present invention, the rotor mechanism includes a connecting plate, a first motor and a rotor blade; two connecting plates are provided, which are respectively fixedly connected to the upper and lower sides of the end of the wing frame; two first motors are provided, which are respectively fixedly connected to the connecting plate, and the two first motors are symmetrically arranged, and the first motor signal is connected to the battery; two rotor blades are provided, which are respectively fixedly connected to the output shafts of the two first motors.

[0007] As a preferred embodiment of the present invention, the rotating ring mechanism includes a fixed ring, a gear ring, a second motor, a gear and a vertical plate; the fixed ring is fixedly connected to the support frame; the gear ring is rotatably connected to the fixed ring through a bearing; the second motor is fixedly connected to the fixed ring; the gear is fixedly connected to the output end of the second motor, and the gear and the gear ring are meshed; two vertical plates are provided, and are symmetrically arranged on the lower side of the fixed ring.

[0008] As a preferred embodiment of the present invention, the flip table includes a third motor, a rotating shaft, and a bearing plate; the rotating shaft is rotatably connected to the vertical plate through a bearing; The third motor is fixedly connected to the vertical plate, and the output end of the third motor is fixedly connected to one end of the rotating shaft; the supporting plate is fixedly connected to the rotating shaft, and the detector is fixedly connected to the supporting plate.

[0009] As a preferred embodiment of the present invention, an elastic buffer is fixedly connected to the back side of the bearing plate, and when the elastic buffer is facing downward, the bottom of the elastic buffer can be lower than the bottom of the support frame.

[0010] As a preferred embodiment of the present invention, the elastic buffer is a spring.

[0011] As a preferred embodiment of the present invention, a circular hole is provided in the middle of the supporting plate, a fixing rod is provided in the circular hole, a fixing plate is fixedly connected to the lower end of the fixing rod, the fixing plate is used to install the detector, an insertion hole is provided in the upper half of the fixing rod, an elastic rod is slidably connected in the insertion hole; the elastic buffer component includes an airbag, the outer side of the airbag is rectangular, a concave cavity is provided in the middle of the airbag, an arc plate is provided on the side wall of the concave cavity, a limiting ring is provided on the arc plate, and the elastic rod is inserted into the limiting ring.

[0012] As a preferred embodiment of the present invention, a through hole is further provided on the bearing plate, a push rod is fixedly connected to the airbag, an end of the push rod passes through the through hole and presses the detector.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The device can flexibly adjust the direction of the detector through the setting of the swivel mechanism and the turntable. It can detect the top and side of the pipeline as well as the bottom of the pipeline, greatly improving the coverage and flexibility of the detection. Compared with the traditional detection method, there is no need to carry detectors above and below the drone, avoiding the load problem and the complexity of adjusting the angle of the two detectors. When encountering obstacles, the detection work can be continued by adjusting the direction of the detector, which solves the problem that the traditional non-destructive detector is fixed on the drone and cannot take off or the detection is limited when encountering obstacles, ensuring that the detection work can proceed smoothly. The hollow design of the swivel mechanism and the middle part of the load-bearing frame provides space for the detector to detect upward, making the structure of the device more compact and reasonable, which is conducive to improving the detection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of a three-dimensional structure of a pipeline nondestructive testing device carried on a drone from a first perspective provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a three-dimensional structure of a pipeline nondestructive testing device carried on a drone from a second viewing angle provided by an embodiment of the present invention; Figure 3 The embodiment of the present invention provides Figure 2 A schematic diagram of the enlarged structure of part A; Figure 4 The embodiment of the present invention provides Figure 2 A schematic diagram of the enlarged structure of part B; Figure 5 is a schematic diagram of the side view structure of a pipeline nondestructive testing device carried on a drone provided by an embodiment of the present invention; Figure 6 The embodiment of the present invention provides Figure 5 A schematic diagram of the enlarged structure of the D part; Figure 7 The embodiment of the present invention provides Figure 5 Schematic diagram of the enlarged structure of the CC part; Figure 8 The embodiment of the present invention provides Figure 7 A schematic diagram of the enlarged structure of part E in the middle; Fig. 9 The embodiment of the present invention provides Figure 8 A schematic diagram of the enlarged structure of part F; Fig.10 The embodiment of the present invention provides Figure 8 Schematic diagram of the enlarged structure of part G in the middle.

[0015] In the figure: 1. UAV frame; 2. wing frame; 3. rotor mechanism; 31. connecting plate; 32. first motor; 33. rotor blade; 4. support frame; 5. battery; 6. trapezoidal plate; 7. UAV control box; 8. swivel mechanism; 81. fixing ring; 82. gear ring; 83. second motor; 84. gear; 85. vertical plate; 9. flip table; 91. third motor; 92. rotating shaft; 93. bearing plate; 10. detector; 11. elastic buffer; 12. fixing rod; 13. fixing plate; 14. elastic rod; 111. airbag; 112. arc plate; 15. limit ring; 16. top rod. DETAILED DESCRIPTION

[0016] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0017] The structure of the present invention is described in detail below in conjunction with the accompanying drawings.

[0018] like Figures 1 to 10 As shown, an embodiment of the present invention provides a pipeline nondestructive testing device carried on a drone, including a drone frame 1, four wing frames 2 are fixedly connected to the outside of the drone frame 1, and rotor mechanisms 3 are provided at the ends of the four wing frames 2. Two symmetrically arranged support frames 4 are fixedly connected to the lower side of the drone frame 1, and batteries 5 are fixedly connected to the outsides of the two support frames 4. Trapezoidal plates 6 are fixedly connected to the sides of the two support frames 4, and drone control boxes 7 are provided on the outsides of the trapezoidal plates 6, and the drone control boxes 7 are electrically connected to the batteries 5 and the rotor mechanisms 3; a swivel mechanism 8 is provided between the support frames 4, and a flip table 9 is provided on the lower side of the swivel mechanism 8, and a detector 10 is fixedly connected to the flip table 9.

[0019] The flight principle is as follows: a rotor mechanism 3 is provided at the end of the wing frame 2 outside the drone frame 1, and the rotation of the rotor mechanism 3 generates lift, so that the drone can fly in the air. A battery 5 is fixed to the outside of the support frame 4 on the lower side of the drone frame 1 to provide power support for the drone and the detection device. The drone control box 7 outside the trapezoidal plate 6 is used to control the flight attitude, direction and height of the drone to ensure that the drone can accurately reach the detection position.

[0020] The detection principle is as follows: Detection of the top and sides of the pipeline: When the drone flies to the top or side of the pipeline, the detector 10 fixedly connected to the flip table 9 faces downward or toward the side. At this time, the detector 10 can perform non-destructive testing on the top and sides of the pipeline. The detector 10 uses its own detection technology such as ultrasonic detection, X-ray detection, etc. to detect possible defects on the surface and inside of the pipeline, and transmits the detection data to related equipment for analysis.

[0021] Detection under the pipeline: When the drone flies to the lower side of the pipeline, the rotating ring mechanism 8 and the flip table 9 are coordinated to rotate the flip table 9 to make the detector 10 face upward. Since the rotating ring mechanism 8 and the middle part of the drone frame 1 are hollow, the detector 10 can pass through the gap to perform vertical upward detection, or can be adjusted to an inclined upward angle for detection as needed, thereby realizing non-destructive detection of the bottom of the pipeline.

[0022] Obstacle coping principle: When encountering obstacles that prevent the drone from flying normally, the direction of the detector 10 can be changed by adjusting the flip table 9 to avoid obstacles affecting the detection work and make the detection process more flexible.

[0023] Exemplarily, the detector 10 is configured as an ultrasonic detector. The ultrasonic detector uses the principle that ultrasonic waves have different propagation characteristics in different media. When ultrasonic waves encounter internal defects in the pipeline, reflection, refraction, etc. will occur. The internal defects of the pipeline are detected by analyzing signals such as reflected waves. The ultrasonic detector is fixed on the supporting plate 93 of the turning table 9 as the detector 10, ensuring that the direction of its detection probe can be adjusted through the swivel mechanism 8 and the turning table 9 according to the detection requirements, and the ultrasonic detector is connected to the relevant data transmission line so that it can transmit the detection data to the analysis equipment.

[0024] Exemplarily, the rotor mechanism 3 includes a connecting plate 31, a first motor 32 and a rotor blade 33; the connecting plate 31 is provided with two, respectively fixedly connected to the upper and lower sides of the end of the wing frame; the first motor 32 is provided with two, respectively fixedly connected to the connecting plate 31, and the two first motors 32 are symmetrically arranged, and the first motor 32 is connected to the battery 5 by signal; the rotor blade 33 is provided with two, respectively fixedly connected to the output shafts of the two first motors 32. The two first motors 32 respectively drive the two rotor blades 33 to rotate, generating an upward lift. The two symmetrically arranged rotor blades 33 work together to enhance the lift stability. The motor is powered by the battery 5 and controlled by the signal of the drone control box 7 to adjust the rotor speed to control the flight attitude of the drone. In specific implementation, a connecting plate 31 is fixed on the upper and lower sides of the end of the wing frame, and a first motor 32 is fixed on each connecting plate 31, so that the two first motors 32 are symmetrically arranged, and the two rotor blades 33 are respectively fixed on the output shafts of the two first motors 32, and the first motor 32 is connected to the battery 5 by signal.

[0025] Exemplarily, the rotating ring mechanism 8 includes a fixed ring 81, a gear ring 82, a second motor 83, a gear 84 and a vertical plate 85; the fixed ring 81 is fixedly connected to the support frame 4; the gear ring 82 is rotatably connected to the fixed ring 81 through a bearing; the second motor 83 is fixedly connected to the fixed ring 81; the gear 84 is fixedly connected to the output end of the second motor 83, and the gear 84 is meshed with the gear ring 82; two vertical plates 85 are provided, and are symmetrically arranged on the lower side of the fixed ring 81.

[0026] The second motor 83 drives the gear 84 to rotate, and the gear 84 meshes with the gear ring 82, thereby driving the gear ring 82 to rotate on the fixed ring 81. The rotation of the gear ring 82 can drive the components connected below, such as the flip table 9 and the detector 10, to rotate around the axis of the gear ring 82, so as to achieve the horizontal angle adjustment of the detector 10. In specific implementation, the fixed ring 81 is fixedly connected to the support frame 4, the gear ring 82 is rotatably connected to the fixed ring 81 through a bearing, the second motor 83 is fixed on the fixed ring 81, the gear 84 is fixed to the output end of the second motor 83 and meshed with the gear ring 82, and two vertical plates 85 are symmetrically arranged on the lower side of the fixed ring 81.

[0027] Specifically, the turning table 9 includes a third motor 91, a rotating shaft 92, and a carrying plate 93; The rotating shaft 92 is rotatably connected to the vertical plate 85 via a bearing; the third motor 91 is fixedly connected to the vertical plate 85, and the output end of the third motor 91 is fixedly connected to one end of the rotating shaft 92; the supporting plate 93 is fixedly connected to the rotating shaft 92, and the detector 10 is fixedly connected to the supporting plate 93.

[0028] Since the gravity distribution of the swivel mechanism 8 and the flip table 9 is asymmetrical, the cooperation of the swivel mechanism 8 and the flip table 9 can assist the drone in adjusting its balance. The third motor 91 drives the rotating shaft 92 to rotate, thereby rotating the bearing plate 93 fixed on the rotating shaft 92 to achieve the vertical angle adjustment of the detector 10. The cooperation of the swivel mechanism 8 and the flip table 9 can enable the detector 10 to detect at any angle, and because the gravity distribution of the two is asymmetrical, it can assist the drone in adjusting its balance.

[0029] Specific implementation method: the rotating shaft 92 is rotatably connected to the vertical plate 85 through a bearing, a third motor 91 is fixed on the vertical plate 85 and its output end is fixedly connected to one end of the rotating shaft 92, a supporting plate 93 is fixed on the rotating shaft 92, and then the detector 10 is fixed on the supporting plate 93.

[0030] Furthermore, an elastic buffer 11 is fixedly connected to the back side of the bearing plate 93. When the elastic buffer 11 is facing downward, the bottom of the elastic buffer 11 can be lower than the bottom of the support frame 4. When the UAV is landing, especially in an emergency landing, the elastic buffer 11 is deformed by the impact, absorbing and buffering the impact force, thereby protecting the UAV and the detection device. In specific implementation, an elastic buffer 11 such as a spring is fixed to the back side of the bearing plate 93 to ensure that when the elastic buffer 11 is facing downward, its bottom is lower than the bottom of the support frame 4, and it first contacts the ground during the landing process to play a buffering role.

[0031] Exemplarily, the elastic buffer 11 is a spring. The spring is elastic and deforms elastically when subjected to pressure, stores energy, relieves impact force, and realizes a buffering function. In specific implementation: a spring with a suitable elastic coefficient is selected, and one end of the spring is fixed to the back side of the bearing plate 93. During installation, ensure that the bottom of the spring is lower than the bottom of the support frame 4 when facing downward.

[0032] Furthermore, a circular hole is provided in the middle of the supporting plate 93, a fixing rod 12 is provided in the circular hole, a fixing plate 13 is fixedly connected to the lower end of the fixing rod 12, the fixing plate 13 is used to install the detector 10, and a socket is provided in the upper half of the fixing rod 12, an elastic rod 14 is slidably connected in the socket; the elastic buffer 11 includes an airbag 111, the outer side of the airbag 111 is rectangular, a concave cavity is provided in the middle of the airbag 111, an arc plate 112 is provided on the side wall of the concave cavity, a limiting ring 15 is provided on the arc plate 112, and the elastic rod 14 is inserted into the limiting ring 15.

[0033] Through this setting, three functions are realized at the same time: First, the buffering function: when the airbag 111 is impacted, the gas inside it is compressed, and the impact force is buffered by deformation. Second, the function of facilitating the installation and removal of the detection part: by reducing the amount of gas in the airbag 111, the elastic rod 14 can be pulled out from the limiting ring 15, so that the fixing rod 12, the fixing plate 13 and the detector 10 can be removed; the reverse operation can be performed during installation. Third, the airbag 111 fixing function: the elastic rod 14 is inserted into the limiting ring 15, and the airbag 111 can be pressed against the back side of the bearing plate 93 to achieve airbag fixing. During specific implementation, a circular hole is opened in the middle of the supporting plate 93, the lower end of the fixing rod 12 is connected to the fixing plate 13 for installing the detector 10, a socket is opened in the upper half of the fixing rod 12, and the elastic rod 14 is inserted into the socket; the outer side of the airbag 111 is made into a rectangular shape, a concave cavity is set in the middle of the airbag 111 and the supporting plate 93 is connected to the side wall of the concave cavity, and a limiting ring 15 is set on the supporting plate 93, so that the elastic rod 14 is inserted into the limiting ring 15.

[0034] Furthermore, a through hole is provided on the supporting plate 93 , and a push rod 16 is fixedly connected to the air bag 111 . The end of the push rod 16 passes through the through hole and presses the detector 10 .

[0035] The above arrangement has the following functions: First, shock absorption: the push rod 16 can be set as a rubber rod. The push rod 16 made of rubber rod material is elastic and can buffer the vibration of the detector 10. Second, heat dissipation: the push rod 16 lifts the detector 10, so that a gap appears between it and the supporting plate 93, which is conducive to air circulation and heat dissipation. Third, fixation: the push rod 16 passes through the through hole of the supporting plate 93 and presses the detector 10, thereby fixing the detector 10. In specific implementation, a through hole is opened on the supporting plate 93, and one end of the push rod 16 (set as a rubber rod) is fixed on the airbag 111, and the other end passes through the through hole and presses the detector 10.

[0036] Working principle of the present invention: When in use, when the drone flies to the top or side of the pipeline, the detector 10 fixedly connected to the flip table 9 faces downward or toward the side, and the detector 10 can perform non-destructive testing on the top and side of the pipeline. The detector 10 uses its own detection technology such as ultrasonic detection, radiographic detection, etc. to detect possible defects on the surface and inside of the pipeline, and transmits the detection data to related equipment for analysis. When the drone flies to the lower side of the pipeline, the flip table 9 is rotated to make the detector 10 face upward through the cooperation of the swivel mechanism 8 and the flip table 9. Since the swivel mechanism 8 and the middle part of the drone frame 1 are hollow, the detector 10 can be detected vertically upward through the gap, or it can be adjusted to an inclined upward angle for detection as needed, thereby realizing non-destructive testing of the bottom of the pipeline. When encountering obstacles that prevent the drone from flying normally, the direction of the detector 10 can be changed by adjusting the flip table 9 to avoid obstacles affecting the detection work and making the detection process more flexible.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline nondestructive testing device mounted on an unmanned aerial vehicle, characterized in that: The drone frame (1) comprises four wing frames (2) fixedly connected to the outside of the drone frame (1), the ends of the four wing frames (2) are each provided with a rotor mechanism (3), the lower side of the drone frame (1) is fixedly connected to two symmetrically arranged support frames (4), the outsides of the two support frames (4) are each fixedly connected to a battery (5), the sides of the two support frames (4) are fixedly connected to a trapezoidal plate (6), the outside of the trapezoidal plate (6) is provided with a drone control box (7), and the drone control box (7) is electrically connected to the battery (5) and the rotor mechanism (3); A swivel mechanism (8) is provided between the support frames (4), a turning platform (9) is provided on the lower side of the swivel mechanism (8), and a detector (10) is fixedly connected to the turning platform (9).

2. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 1, characterized in that: The detector (10) is configured as an ultrasonic detector.

3. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 1, characterized in that: The rotor mechanism (3) comprises a connecting plate (31), a first motor (32) and a rotor blade (33); The connecting plates (31) are provided with two, and are respectively fixedly connected to the upper and lower sides of the end of the wing frame; Two first motors (32) are provided, each of which is fixedly connected to the connecting plate (31), and the two first motors (32) are symmetrically arranged. The first motors (32) are signal-connected to the battery (5); Two rotor blades (33) are provided, which are respectively fixedly connected to the output shafts of the two first motors (32).

4. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 1, characterized in that: The rotating ring mechanism (8) comprises a fixing ring (81), a gear ring (82), a second motor (83), a gear (84) and a vertical plate (85); The fixing ring (81) is fixedly connected to the support frame (4); The gear ring (82) is rotatably connected to the fixing ring (81) via a bearing; The second motor (83) is fixedly connected to the fixing ring (81); The gear (84) is fixedly connected to the output end of the second motor (83), and the gear (84) is meshed with the gear ring (82); Two vertical plates (85) are provided and are symmetrically arranged on the lower side of the fixing ring (81).

5. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 4, characterized in that: The turning platform (9) comprises a third motor (91), a rotating shaft (92), and a carrying plate (93); The rotating shaft (92) is rotatably connected to the vertical plate (85) via a bearing; The third motor (91) is fixedly connected to the vertical plate (85), and the output end of the third motor (91) is fixedly connected to one end of the rotating shaft (92); The bearing plate (93) is fixedly connected to the rotating shaft (92), and the detector (10) is fixedly connected to the bearing plate (93).

6. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 5, characterized in that: An elastic buffer (11) is fixedly connected to the back side of the bearing plate (93); when the elastic buffer (11) is facing downward, the bottom of the elastic buffer (11) can be lower than the bottom of the support frame (4).

7. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 6, characterized in that: The elastic buffer (11) is a spring.

8. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 6, characterized in that: A circular hole is provided in the middle of the bearing plate (93), a fixing rod (12) is provided in the circular hole, a fixing plate (13) is fixedly connected to the lower end of the fixing rod (12), the fixing plate (13) is used to install the detector (10), an insertion hole is provided in the upper half of the fixing rod (12), an elastic rod (14) is slidably connected in the insertion hole; the elastic buffer (11) comprises an airbag (111), the outer side of the airbag (111) is rectangular, a concave cavity is provided in the middle of the airbag (111), an arc plate (112) is provided on the side wall of the concave cavity, a limiting ring (15) is provided on the arc plate (112), and the elastic rod (14) is inserted into the limiting ring (15).

9. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 8, characterized in that: The bearing plate (93) is also provided with a through hole, and a push rod (16) is fixedly connected to the air bag (111), and an end of the push rod (16) passes through the through hole and presses the detector (10).

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