A pipeline non-destructive testing device carried by an unmanned aerial vehicle

Abstract

The present invention discloses a nondestructive pipeline testing device mounted on an unmanned aerial vehicle (UAV). The device comprises a UAV frame, four wing frames fixedly connected to the outside of the UAV frame, each of the four wing frames having a rotor mechanism at its end. Two symmetrically arranged supports are fixedly connected to the underside of the UAV frame, each of the supports having a battery fixedly connected to its outside. Trapezoidal plates are fixedly connected to the sides of the two supports, and a UAV control box is provided on the outside of the trapezoidal plates, electrically connected to the batteries and the rotor mechanism. A swivel mechanism is provided between the supports, and a turning platform is provided on the underside of the swivel mechanism, with a detector fixedly connected to the turning platform. The device, through the provision of the swivel mechanism and the turning platform, can flexibly adjust the direction of the detector, enabling testing from above, to the sides, and below the pipeline, significantly improving the coverage and flexibility of testing.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a pipeline non-destructive testing device carried on an UAV. Background Art

[0002] Existing pipeline nondestructive testing technology typically uses nondestructive detectors mounted on drones for inspection. However, this approach presents several challenges. First, the nondestructive detectors are fixed to the drone, making it difficult for the drone to take off when encountering obstacles. This results in inflexible inspections and makes it impossible to inspect specific pipeline locations. Second, if simultaneous inspections are required from the top, sides, and bottom of the pipeline, detectors are typically mounted both above and below the drone. However, this introduces load-bearing issues, increasing the burden on the drone and impacting flight stability. Furthermore, adjusting the angles of both detectors is complex, increasing operational difficulty and inspection costs. Summary of the Invention

[0003] In response to the problems existing in the prior art, the present invention provides a pipeline non-destructive testing device carried on a drone to solve the problems raised in the above background technology.

[0004] The present invention is implemented as follows: a pipeline non-destructive testing device carried on a drone includes a drone frame, four wing frames are fixedly connected to the outside of the drone frame, and the ends of the four wing frames are provided with rotor mechanisms. Two symmetrically arranged supports are fixedly connected to the lower side of the drone frame, and batteries are fixedly connected to the outsides of the two supports. Trapezoidal plates are fixedly connected to the sides of the two supports, and a drone control box is provided on the outside of the trapezoidal plates. The drone control box is electrically connected to the battery and the rotor mechanism; a swivel mechanism is provided between the supports, 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 signals are 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 engaged; there are two vertical plates, which are symmetrically arranged on the lower side of the fixed ring.

[0008] As a preferred embodiment of the present invention, the turning platform includes a third motor, a rotating shaft, and a supporting plate; the rotating shaft is rotatably connected to the vertical plate through a bearing;

[0009] 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.

[0010] As a preferred embodiment of the present invention, an elastic buffer is fixedly connected to the back side of the supporting 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.

[0011] As a preferred embodiment of the present invention, the elastic buffer is a spring.

[0012] 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, and a socket is provided in the upper half of the fixing rod, an elastic rod is slidably connected in the socket; the elastic buffer part 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.

[0013] As a preferred embodiment of the present invention, a through hole is further provided on the supporting 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.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The device can flexibly adjust the direction of the detector through the setting of the swivel mechanism and the turntable. It can detect not only the top and sides of the pipeline, but also the bottom of the pipeline, greatly improving the coverage and flexibility of the detection. Compared with traditional detection methods, 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 an obstacle, the detection work can be continued by adjusting the direction of the detector, which solves the problem that traditional non-destructive detectors are fixed on drones and cannot take off or 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 upwards, making the structure of the device more compact and reasonable, which is conducive to improving detection efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 1 is a schematic diagram of a three-dimensional structure of a pipeline non-destructive testing device carried on a drone from a first perspective provided by an embodiment of the present invention;

[0017] Figure 2 1 is a schematic diagram of the three-dimensional structure of a pipeline non-destructive testing device carried on a drone from a second perspective provided by an embodiment of the present invention;

[0018] Figure 3 The embodiment of the present invention provides Figure 2 Schematic diagram of the enlarged structure of part A;

[0019] Figure 4 The embodiment of the present invention provides Figure 2 Schematic diagram of the enlarged structure of part B;

[0020] Figure 5 1 is a side structural schematic diagram of a pipeline nondestructive testing device carried on a drone provided by an embodiment of the present invention;

[0021] Figure 6 The embodiment of the present invention provides Figure 5 Schematic diagram of the enlarged structure of part D;

[0022] Figure 7 The embodiment of the present invention provides Figure 5 Schematic diagram of the enlarged structure of the CC part;

[0023] Figure 8 The embodiment of the present invention provides Figure 7 Schematic diagram of the enlarged structure of part E;

[0024] Figure 9 The embodiment of the present invention provides Figure 8 Schematic diagram of the enlarged structure of part F;

[0025] Figure 10The embodiment of the present invention provides Figure 8 Schematic diagram of the enlarged structure of part G.

[0026] 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. Fixed ring; 82. Gear ring; 83. Second motor; 84. Gear; 85. Vertical plate; 9. Turning table; 91. Third motor; 92. Rotating shaft; 93. Loading plate; 10. Detector; 11. Elastic buffer; 12. Fixed rod; 13. Fixed plate; 14. Elastic rod; 111. Airbag; 112. Arc plate; 15. Limiting ring; 16. Push rod. DETAILED DESCRIPTION

[0027] 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.

[0028] The structure of the present invention is described in detail below with reference to the accompanying drawings.

[0029] like Figures 1 to 10 As shown, an embodiment of the present invention provides a pipeline non-destructive 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 the ends of the four wing frames 2 are each provided with a rotor mechanism 3, and two symmetrically arranged supports 4 are fixedly connected to the lower side of the drone frame 1, and the outer sides of the two supports 4 are fixedly connected to batteries 5, and the sides of the two supports 4 are fixedly connected to trapezoidal plates 6, and the outer sides of the trapezoidal plates 6 are 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 supports 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.

[0030] The flight principle is as follows: A rotor mechanism 3 is mounted on the end of the wing frame 2 outside the drone frame 1. The rotation of the rotor mechanism 3 generates lift, enabling the drone to fly. A battery 5 is secured to the outside of the support frame 4 on the underside of the drone frame 1, providing power for the drone and its detection equipment. A drone control box 7, located outside the trapezoidal plate 6, controls the drone's flight attitude, direction, and altitude, ensuring accurate arrival at the detection location.

[0031] The detection principle is as follows:

[0032] Inspection above and to the sides of the pipeline: When the drone flies above or to the side of a pipeline, the detector 10, fixed to the turning platform 9, faces downward or sideways, allowing nondestructive testing of the pipeline's top and sides. Using its own detection technologies, such as ultrasonic and radiographic testing, the detector 10 detects possible defects on the pipeline's surface and interior, and transmits the detection data to relevant equipment for analysis.

[0033] Testing underneath the pipeline: When the drone flies to the underside of the pipeline, the swivel mechanism 8 and the flip table 9 cooperate to rotate the flip table 9 so that the detector 10 is facing upward. Because the swivel mechanism 8 and the middle part of the drone frame 1 are hollow, the detector 10 can pass through this gap for vertical upward testing, or it can be adjusted to an inclined upward angle as needed, thus achieving non-destructive testing under the pipeline.

[0034] Obstacle response principle: When encountering an obstacle that prevents the drone from flying normally, the direction of the detector 10 can be changed by adjusting the flip table 9 to avoid the obstacle affecting the detection work and make the detection process more flexible.

[0035] Exemplarily, the detector 10 is configured as an ultrasonic detector. Ultrasonic detectors utilize the principle that ultrasonic waves have different propagation characteristics in different media. When ultrasonic waves encounter internal defects in a pipeline, they are reflected or refracted. Internal defects are detected by analyzing the reflected waves and other signals. The ultrasonic detector, acting as the detector 10, is fixed to the support plate 93 of the turning table 9. The direction of the detection probe can be adjusted according to detection requirements using the swivel mechanism 8 and the turning table 9. The ultrasonic detector is connected to the relevant data transmission lines to enable transmission of detection data to the analysis equipment.

[0036] Exemplarily, the rotor mechanism 3 includes a connecting plate 31, a first motor 32, and rotor blades 33. Two connecting plates 31 are provided, fixedly connected to the upper and lower ends of the wing frame. Two first motors 32 are provided, fixedly connected to the connecting plate 31, symmetrically arranged. Signal connections are provided to the battery 5. Two rotor blades 33 are provided, each fixedly connected to the output shafts of the first motors 32. The two first motors 32 each drive the two rotor blades 33 to rotate, generating upward lift. The two symmetrically arranged rotor blades 33 work together to enhance lift stability. The motors are powered by the battery 5 and controlled by signals from the drone control box 7 to adjust the rotor speed and thus control the drone's flight attitude. In a specific implementation, a connecting plate 31 is fixed to each of the upper and lower ends of the wing frame, with a first motor 32 attached to each connecting plate 31. The two first motors 32 are symmetrically arranged. The two rotor blades 33 are fixed to the output shafts of the two first motors 32, and the first motors 32 are signal-connected to the battery 5.

[0037] 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 and the gear ring 82 are engaged; there are two vertical plates 85, and they are symmetrically arranged on the lower side of the fixed ring 81.

[0038] 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 connected components below, such as the turning table 9 and the detector 10, to rotate around the axis of the gear ring 82, thereby achieving horizontal angle adjustment of the detector 10. In a specific implementation, the fixed ring 81 is fixedly connected to the support frame 4, and the gear ring 82 is rotatably connected to the fixed ring 81 via a bearing. The second motor 83 is fixed to the fixed ring 81, and the gear 84 is fixed to the output end of the second motor 83 and meshed with the gear ring 82. Two vertical plates 85 are symmetrically provided on the lower side of the fixed ring 81.

[0039] Specifically, the turning platform 9 includes a third motor 91, a rotating shaft 92, and a carrying plate 93;

[0040] The rotating shaft 92 is rotatably connected to the vertical plate 85 through 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.

[0041] Because the weight distribution of the swivel mechanism 8 and the flip table 9 is asymmetrical, their cooperation can assist the drone in adjusting its balance. A third motor 91 drives the rotating shaft 92, which in turn rotates the supporting plate 93 fixed to the rotating shaft 92, enabling the detector 10 to adjust its vertical angle. The cooperation of the swivel mechanism 8 and the flip table 9 allows the detector 10 to detect at any angle, and because of the asymmetrical weight distribution between the two, it can assist the drone in adjusting its balance.

[0042] Specific implementation: The rotating shaft 92 is rotatably connected to the vertical plate 85 through a bearing, the 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, the supporting plate 93 is fixed on the rotating shaft 92, and then the detector 10 is fixed on the supporting plate 93.

[0043] Furthermore, an elastic buffer 11 is fixedly attached to the back of the support plate 93. When facing downward, the bottom of the elastic buffer 11 is lower than the bottom of the support frame 4. During drone landing, especially during an emergency landing, the elastic buffer 11 deforms upon impact, absorbing and cushioning the impact, protecting the drone and the detection device. In practice, the elastic buffer 11, such as a spring, is fixed to the back of the support plate 93 to ensure that when facing downward, its bottom is lower than the bottom of the support frame 4, contacting the ground first during landing to provide a cushioning effect.

[0044] Exemplarily, the elastic buffer 11 is a spring. A spring is elastic and deforms when subjected to pressure, storing energy and mitigating impact forces, thus providing a buffering function. Specifically, a spring with an appropriate elastic coefficient is selected and one end is secured to the back of the support plate 93. During installation, ensure that the bottom of the spring is below the bottom of the support frame 4 when facing downward.

[0045] Furthermore, a circular hole is provided in the middle of the supporting plate 93, and a fixing rod 12 is provided in the circular hole. The lower end of the fixing rod 12 is fixedly connected to a fixing plate 13, and the fixing plate 13 is used to install the detector 10. The upper half of the fixing rod 12 is provided with a socket, and 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, and a concave cavity is provided in the middle of the airbag 111, and an arc plate 112 is provided on the side wall of the concave cavity, and a limiting ring 15 is provided on the arc plate 112, and the elastic rod 14 is inserted into the limiting ring 15.

[0046] This arrangement simultaneously achieves three functions: First, a cushioning function: When airbag 111 is impacted, the gas inside is compressed, cushioning the impact force through deformation. Second, it facilitates installation and removal of the detector: By reducing the amount of gas inside airbag 111, the elastic rod 14 can be withdrawn from the retaining ring 15, allowing the fixing rod 12, fixing plate 13, and detector 10 to be removed; installation requires the reverse operation. Third, a securing function for airbag 111: The elastic rod 14, inserted into the retaining ring 15, presses the airbag 111 against the back side of the support plate 93, securing it. 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 rectangle, 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.

[0047] 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 .

[0048] The above arrangement has the following functions: First, shock absorption: the top rod 16 can be set as a rubber rod. The top rod 16 made of rubber rod material is elastic and can buffer the vibration of the detector 10. Second, heat dissipation: the top 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 top 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 top 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.

[0049] Working principle of the present invention:

[0050] During use, when the drone flies above or to the side of the pipeline, the detector 10 fixedly connected to the flip table 9 faces downward or to 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 and radiographic detection, to detect possible defects on the surface and inside of the pipeline, and transmits the detection data to relevant equipment for analysis. When the drone flies to the bottom side of the pipeline, the flip table 9 is rotated through the cooperation of the swivel mechanism 8 and the flip table 9 to turn the detector 10 upward. Because the swivel 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, and can also be adjusted to an inclined upward angle for detection as needed, thereby achieving non-destructive testing of the bottom of the pipeline. When encountering an obstacle that prevents the drone from flying normally, the direction of the detector 10 can be changed by adjusting the flip table 9 to avoid the obstacle affecting the detection work, making the detection process more flexible.

[0051] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0052] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline non-destructive testing device mounted on an unmanned aerial vehicle, characterized in that: The drone frame comprises four wing frames fixedly connected to the outside of the drone frame, the ends of the four wing frames are each provided with a rotor mechanism, the lower side of the drone frame is fixedly connected to two symmetrically arranged supports, the outer sides of the two supports are each fixedly connected to a battery, the sides of the two supports are fixedly connected to a trapezoidal plate, the outer side of the trapezoidal plate is provided with a drone control box, and the drone control box is electrically connected to the battery and the rotor mechanism; A swivel mechanism is provided between the supports, a turning platform is provided on the lower side of the swivel mechanism, and a detector is fixedly connected to the turning platform; 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; there are two vertical plates, which are symmetrically arranged on the lower side of the fixed ring; The turning platform includes a third motor, a rotating shaft, and a supporting 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; An elastic buffer is fixedly connected to the back side of the supporting 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; 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 to the insertion hole; the elastic buffer comprises an airbag, the outer side of the airbag is rectangular, a concave cavity is provided in the middle of the airbag, an arc-shaped plate is provided on the side wall of the concave cavity, a limiting ring is provided on the arc-shaped plate, and the elastic rod is inserted into the limiting ring; The supporting plate is further provided with a through hole, a push rod is fixedly connected to the air bag, and the end of the push rod passes through the through hole and presses the detector.

2. The pipeline nondestructive testing device mounted on an unmanned aerial vehicle according to claim 1, characterized in that: The detector 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 includes a connecting plate, a first motor and a rotor blade; There are two connecting plates, which are fixedly connected to the upper and lower sides of the end of the wing frame respectively; There are two first motors, each fixedly connected to the connecting plate, and the two first motors are symmetrically arranged. The first motor signal is connected to the battery; There are two rotor blades, which are respectively fixedly connected to the output shafts of the two first motors.

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