A bucket wheel machine inspection unmanned aerial vehicle

Abstract

The application discloses a kind of unmanned aerial vehicle for inspection of bucket wheel machine, it is related to unmanned aerial vehicle technical field, including fuselage and the gimbal of being arranged at the bottom of fuselage, and detection module is detachably connected on the gimbal, the bottom of the fuselage is provided with gravity center adjusting mechanism for adjusting the gravity center of fuselage;The gravity center adjusting mechanism includes annular cover fixedly connected at the bottom of fuselage, and the center of the annular cover is concentric with the central axis of fuselage.This kind of unmanned aerial vehicle for inspection of bucket wheel machine, by the gravity center adjusting mechanism of the bottom of fuselage, can be according to gravity center deviation, by liquid supply mechanism, supply into liquid cavity of different directions in annular cover, dynamically adjust the liquid amount in each liquid cavity, realize the gravity compensation of different directions of fuselage;While extrusion mechanism in liquid cavity can limit liquid, inhibit liquid to shake, provide stable counterweight state for unmanned aerial vehicle, effectively improve the stability of flight attitude and the reliability of inspection operation.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV for inspecting bucket wheel excavators. Background Technology

[0002] In thermal power plants, large bulk material yards, and port operations, bucket wheel excavators, as core equipment for material stacking and reclaiming, operate for extended periods in complex environments characterized by high dust levels, strong winds, and densely packed steel structures. For the condition inspection of critical components such as welds, lifting wire ropes, transmission mechanisms, and limit components of bucket wheel excavators, drones equipped with multi-functional inspection modules are now widely used. This avoids the safety risks of manual high-altitude operations and significantly improves inspection efficiency. To achieve multi-dimensional equipment condition monitoring, the drone's gimbal can be flexibly equipped with different types of inspection components, such as high-definition cameras, infrared thermography, and defect detection, depending on the inspection task requirements. Because various detection modules have significant differences in weight, size, and installation center of gravity, frequent module replacements can directly cause the overall center of gravity of the UAV to shift, leading to problems such as flight attitude tilting, delayed control response, and increased body vibration. This not only reduces the quality of image acquisition and data detection, but in severe cases, it can also cause safety accidents such as loss of flight path control and equipment damage. Therefore, a reliable center of gravity adjustment structure is a necessary condition for ensuring the stable operation of bucket wheel excavator inspection UAVs.

[0003] Currently, the industry primarily uses two types of structures to correct the center of gravity imbalance of drones: fixed counterweights and motor-driven sliding solid counterweights. Fixed counterweights require manual disassembly, assembly, and disassembly of counterweight components according to the specifications of different inspection modules, resulting in poor overall adaptability and a cumbersome and time-consuming debugging process, failing to meet the on-site requirements of rapid switching and continuous operation of inspection modules. While motor-driven sliding counterweight structures can achieve active adjustment of the counterweight position, the bucket wheel excavator operating area is subject to continuous gusts of wind and turbulent air reflected from the steel structure year-round. During drone maneuvers, circling, pitching, and lateral flight, the counterweight slider is easily affected by external forces, causing slippage and poor dynamic balance. Furthermore, these structures mostly use a gear-type adjustment mode, which can only achieve coarse-grained center of gravity compensation and cannot achieve continuous, fine-tuned adjustment, making them unsuitable for high-precision inspection operations.

[0004] Therefore, we propose a drone for inspecting bucket wheel excavators. Summary of the Invention

[0005] The purpose of this invention is to provide an unmanned aerial vehicle (UAV) for inspecting bucket wheel excavators, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a drone for inspecting bucket wheel excavators, comprising a fuselage and a gimbal set at the bottom of the fuselage, wherein a detection module is detachably connected to the gimbal, and a center of gravity adjustment mechanism for adjusting the center of gravity of the fuselage is provided at the bottom of the fuselage. The center of gravity adjustment mechanism includes an annular cover fixedly connected to the bottom of the machine body. The center of the annular cover is concentric with the central axis of the machine body. Multiple annularly distributed liquid storage chambers are opened inside the annular cover. The bottom of the body is provided with a liquid supply mechanism for supplying liquid into the liquid storage chamber. The liquid supply mechanism can adjust the amount of liquid in each liquid storage chamber according to the center of gravity shift, so as to achieve center of gravity compensation in different positions of the body. Each liquid storage chamber is equipped with a squeezing mechanism for squeezing the liquid. The squeezing mechanism can limit the liquid in the storage chamber, suppress liquid sloshing, and provide a stable counterweight state for the drone.

[0007] Preferably, the liquid supply mechanism includes a liquid storage tank fixedly connected to the bottom of the machine body, the center of the liquid storage tank being concentric with the central axis of the machine body, and a piston being connected inside the liquid storage tank via a lifting mechanism; The liquid storage tank is connected to each liquid storage chamber through a communication mechanism. When the piston moves up and down in the liquid storage tank, it can push the liquid in the liquid storage tank into or back into each liquid storage chamber, thereby adjusting the amount of liquid.

[0008] By adopting the above technical solution, when the center of gravity shifts due to the installation of different detection modules or changes in operating posture, the piston can be driven to rise and fall within the liquid storage tank, pressing the liquid in the tank into or drawing it back into the corresponding liquid storage chamber. This quickly adjusts the amount of liquid in each storage chamber, achieving center of gravity compensation for different positions of the fuselage, effectively correcting the center of gravity shift, and maintaining flight attitude stability. At the same time, the squeezing mechanism in the liquid storage chamber can limit the liquid, suppressing secondary center of gravity shifts caused by liquid sloshing during flight, providing a stable counterweight state for the UAV, and significantly improving the reliability and safety of bucket wheel excavator inspection operations.

[0009] Preferably, the communication mechanism includes a communication pipe connecting the liquid storage chamber and the liquid storage tank; The connecting pipe is equipped with a solenoid valve for controlling the flow of liquid. By opening and closing the solenoid valve, the liquid in and out of each storage chamber can be controlled, thereby achieving precise adjustment of the center of gravity in different positions.

[0010] By adopting the above technical solution, the connecting pipe and the solenoid valve work together to form an independent and controllable liquid circuit. The liquid circuit of the corresponding liquid storage chamber can be opened precisely according to the direction of the center of gravity offset. With the lifting and lowering action of the piston in the liquid storage tank, the liquid can flow in a directional manner between the liquid storage tank and the target liquid storage chamber, avoiding mutual interference between liquids in liquid storage chambers in different directions. This improves the response speed and control accuracy of the center of gravity adjustment, ensuring that the UAV can quickly and stably complete the center of gravity compensation when carrying different detection modules or changing attitude, thus ensuring flight safety and the reliability of inspection operations.

[0011] Preferably, the extrusion mechanism includes an extrusion plate slidably connected to the liquid storage chamber, and a telescopic component is provided between the extrusion plate and the annular cover; The telescopic component drives the extrusion plate to slide along the inner wall of the liquid storage chamber, forming a limiting constraint on the liquid in the chamber to suppress liquid sloshing and maintain the stability of the counterweight state.

[0012] By adopting the above technical solution, the extrusion plate can adaptively slide under the action of the telescopic component according to the change of liquid volume in the storage chamber, always forming a close-fitting limit constraint on the liquid, which greatly reduces the sloshing amplitude of the liquid when the UAV is flying bumpy and changing attitude, effectively avoids secondary center of gravity shift caused by liquid sloshing, ensures the stability and reliability of the counterweight state, and further improves the stability of the UAV's flight attitude and the safety of inspection operations.

[0013] Preferably, the telescopic assembly includes two symmetrically arranged first T-shaped guide rods fixedly connected to the bottom of the extrusion plate; The lower end of the first T-shaped guide rod passes through the bottom of the annular cover, and a first spring is sleeved on the side wall of each first T-shaped guide rod; The two ends of the first spring are fixedly connected to the bottom of the annular cover and the lower end of the first T-shaped guide rod, respectively, and a protective component is provided on the outside of the first spring. The first spring provides elastic restoring force to the extrusion plate to achieve continuous limiting constraint on the liquid.

[0014] By adopting the above technical solution, the symmetrically arranged first T-shaped guide rods can ensure that the extrusion plate slides smoothly along the inner wall of the liquid storage cavity, avoiding jamming or deflection; the first spring provides continuous elastic restoring force, keeping the extrusion plate in close contact with the liquid surface, forming a dynamic adaptive limiting constraint, which can effectively suppress liquid sloshing and prevent secondary center of gravity shift regardless of changes in the amount of liquid in the liquid storage cavity; at the same time, the protective component can protect the first spring, preventing liquid erosion or debris jamming, improving the long-term reliability and service life of the mechanism, and further ensuring the stability of the UAV's counterweight state.

[0015] Preferably, the protective component includes a telescopic cover fitted onto the side wall of the first T-shaped guide rod; The two ends of the telescopic cover are fixedly connected to the bottom of the annular cover and the lower end of the first T-shaped guide rod, respectively, to protect the first spring and prevent the external environment from affecting its elastic performance.

[0016] By adopting the above technical solution, the telescopic cover can extend and retract synchronously with the movement of the first T-shaped guide rod, always forming a full-enclosed protection for the first spring, effectively blocking liquid erosion, dust pollution and debris jamming, avoiding rust, jamming or elastic decay of the first spring, ensuring that it provides long-term stable elastic restoring force, extending the service life and working reliability of the extrusion mechanism, and ensuring the continuous stability of the UAV's counterweight state.

[0017] Preferably, the lifting mechanism includes a plurality of second T-shaped guide rods inserted into the bottom of the liquid storage tank; The upper end of the second T-shaped guide rod is fixedly connected to a lifting plate, and a pressure control mechanism is provided between the lifting plate and the piston; A cylinder is fixedly connected to the bottom of the liquid storage tank. The telescopic end of the cylinder is fixedly connected to the bottom of the lifting plate. The cylinder drives the lifting plate to move up and down, which in turn drives the piston to move, thereby regulating the pressure and controlling the delivery of the liquid.

[0018] By adopting the above technical solution, the cylinder, as the driving source, can stably drive the lifting plate to slide along the axial direction of the second T-shaped guide rod, thereby driving the piston to rise and fall within the liquid storage tank, realizing the injection and extraction of liquid. The second T-shaped guide rod provides guiding support for the lifting plate, ensuring smooth and unbiased movement. The pressure control mechanism between the lifting plate and the piston can effectively buffer the force transmission, avoid sudden pressure rises or rigid impacts, protect the cylinder and pipeline components, and at the same time provide stable and controllable pressure for liquid delivery, ensuring smooth and timely response during the center of gravity adjustment process, thus improving the operational reliability and control accuracy of the liquid supply mechanism.

[0019] Preferably, the pressure control mechanism includes two symmetrically arranged sleeves fixedly connected to the top of the lifting plate; A sleeve rod is inserted inside the sleeve, the upper end of the sleeve rod is fixedly connected to the bottom of the piston, and a reset element is provided between the sleeve rod and the sleeve. The top of the lifting plate is equipped with a detection component for detecting piston distance. The piston displacement stroke is constrained by the cooperation between the reset component and the detection component.

[0020] By adopting the above technical solution, the sleeve and the rod form a telescopic guide fit structure. The reset component can provide elastic buffering and reset for the piston, avoiding pressure sudden changes caused by rigid cylinder drive. At the same time, the detection component can detect the distance between the piston and the lifting plate in real time. Combined with the extension stroke of the cylinder and the compression amount of the reset component, the actual displacement stroke of the piston can be accurately calculated, thereby controlling the liquid delivery volume and realizing precise adjustment of the liquid volume in each liquid storage chamber. This ensures that the center of gravity compensation process is stable and controllable, improving the reliability and control accuracy of the entire liquid supply mechanism.

[0021] Preferably, the reset element includes a second spring inserted into the sleeve; The two ends of the second spring are fixedly connected to the lower end of the sleeve rod and the bottom of the sleeve, respectively. Through the elastic deformation of the second spring, the sleeve rod can slide and return to its original position along the inner wall of the sleeve.

[0022] By adopting the above technical solution, the second spring can elastically deform synchronously with the sliding of the sleeve rod. On the one hand, it provides elastic buffer for the piston, avoiding sudden pressure rises and component impacts caused by rigid cylinder drive; on the other hand, it can push the sleeve rod to reset after the liquid supply is completed, allowing the piston to automatically return to its original position and prepare for the next liquid supply. Simultaneously, the compression of the second spring can be captured by the detection component. Combined with the cylinder stroke data, the actual displacement of the piston can be accurately calculated, thereby achieving closed-loop control of the liquid delivery volume, ensuring the accuracy and stability of the center of gravity compensation, and improving the reliability and response speed of the entire liquid supply mechanism.

[0023] Preferably, the detection component includes a mounting hole formed on the top of the lifting plate; A distance sensor is detachably connected inside the mounting hole. The distance sensor detects the change in distance between the lifting plate and the piston, so that the deformation of the second spring can be monitored.

[0024] By adopting the above technical solution, the distance sensor can detect the change in distance between the lifting plate and the piston in real time, thereby accurately obtaining the compression deformation of the second spring; combined with the extension stroke data of the cylinder, the actual displacement stroke of the piston can be calculated, thereby accurately controlling the liquid delivery volume of a single squeeze, realizing closed-loop adjustment of the liquid volume in each liquid storage chamber, ensuring the accuracy and stability of the center of gravity compensation, and improving the controllability and reliability of the entire liquid supply mechanism.

[0025] Compared with the prior art, the beneficial effects that this invention can achieve are: 1. In this invention, by setting an active center of gravity adjustment mechanism consisting of an annular cover, multiple sets of liquid storage chambers and a liquid supply mechanism at the bottom of the fuselage, liquid can be accurately delivered or drawn back to the corresponding liquid storage chamber according to the direction and magnitude of the UAV's center of gravity shift. This dynamically compensates for the center of gravity shift caused by different weight detection modules, gimbal attitude changes or flight attitude disturbances, and achieves real-time center of gravity correction in all directions and at multiple levels. This effectively avoids the risk of flight attitude drift, increased energy consumption or even loss of control caused by center of gravity imbalance, and significantly improves the flight stability and continuity of inspection operations of the UAV under complex working conditions.

[0026] 2. In this invention, the independent liquid circuit control structure composed of connecting pipes and solenoid valves can independently control the liquid flow direction and flow rate of each liquid storage chamber, avoiding liquid crossflow and mutual interference between liquid storage chambers in different directions, realizing combined center of gravity compensation for single or multiple liquid storage chambers, greatly improving the response speed and control accuracy of center of gravity adjustment, so that the UAV can quickly restore the balance state when carrying eccentric loads or changing the counterweight on one side, ensuring the accurate execution of the inspection route.

[0027] 3. In this invention, the extrusion mechanism in the liquid storage chamber can adaptively slide according to the change of liquid volume. Under the continuous elastic restoring force of the first spring, the extrusion plate always adheres tightly to the liquid surface, forming a dynamic fit-type limiting constraint on the liquid. This effectively suppresses the violent shaking of the liquid when the UAV is flying bumpy or changing attitude, and avoids secondary center of gravity shift caused by liquid shaking. At the same time, the telescopic cover can form a full-coverage protection for the spring components, preventing liquid erosion and debris jamming, ensuring long-term stable operation of the mechanism, and providing a continuous and reliable counterweight state for the UAV.

[0028] 4. In this invention, the liquid supply mechanism adopts a stable lifting structure with cylinder 702 driving the lifting plate and the second T-shaped guide rod guiding it. Through the cooperation of the sleeve rod, sleeve and second spring in the pressure control mechanism, the piston is provided with elastic buffer and reset function, avoiding the pressure surge and component impact caused by the rigid drive of the cylinder. At the same time, the distance sensor on the lifting plate can detect the change in the distance between the piston and the lifting plate in real time. Combined with the cylinder stroke data, the actual displacement stroke of the piston is accurately calculated to realize the closed-loop control of the liquid delivery volume. This ensures that the liquid volume of each center of gravity compensation is accurate and controllable, and improves the controllability and operational reliability of the entire liquid supply mechanism.

[0029] 5. In this invention, the overall structure formed by the cooperation of various components is compactly integrated at the bottom of the fuselage, which is compatible with the spatial layout of the gimbal and does not occupy additional internal space of the fuselage. At the same time, the liquid supply mechanism, the squeezing mechanism and the detection components work together to realize closed-loop control of center of gravity adjustment and active suppression of liquid sloshing. This forms a complete adjustment process of center of gravity shift, precise compensation, sloshing suppression and stable counterweight, which effectively solves the problem of center of gravity imbalance caused by load changes in existing UAVs and greatly improves the safety, stability and work efficiency of bucket wheel excavator inspection operations. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure from another perspective of the present invention; Figure 3 This is a schematic diagram of the structure of the annular cover and the liquid storage tank in this invention; Figure 4 This is a partial cross-sectional view of the annular cover in this invention; Figure 5 This is a schematic diagram showing the position of the center of gravity adjustment mechanism in this invention; Figure 6 This is a partial cross-sectional view of the liquid storage tank in this invention; Figure 7 This is a partial cross-sectional view of the liquid storage tank and sleeve in this invention; Figure 8 This is a partial cross-sectional view of the telescopic cover in this invention.

[0031] In the diagram: 1. Body; 201. Liquid storage tank; 202. Piston; 301. Connecting pipe; 302. Solenoid valve; 4. Extrusion plate; 501. First T-shaped guide rod; 502. First spring; 6. Telescopic cover; 701. Lifting plate; 702. Cylinder; 703. Second T-shaped guide rod; 801. Sleeve rod; 802. Sleeve tube; 901. Mounting hole; 902. Distance sensor; 10. Second spring; 1101. Annular cover; 1102. Liquid storage chamber; 12. Gimbal. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1

[0034] Please see Figures 1-8The diagram shows a type of drone for inspecting bucket wheel excavators, including a fuselage 1 and a gimbal 12 located at the bottom of the fuselage 1. A detection module is detachably connected to the gimbal 12. The detection module can be flexibly replaced according to different inspection needs of the bucket wheel excavator. It includes multiple functions such as image acquisition, temperature monitoring, and fault detection. Detection modules of different specifications and weights will directly change the overall load distribution of the drone. The fuselage 1 integrates a standard attitude detection sensor, which can collect roll, tilt, and attitude data of the fuselage 1 around the clock. The main control algorithm calculates the position and offset of the center of gravity of the whole machine. This is a well-known technology in this field and will not be described in detail here. The bottom of the fuselage 1 is provided with a center of gravity adjustment mechanism for adjusting the center of gravity of the fuselage 1. The center of gravity adjustment mechanism includes an annular cover 1101 fixedly connected to the bottom of the body 1. The center of the annular cover 1101 is concentric with the central axis of the body 1, and the annular cover 1101 is arranged around the outer periphery of the gimbal 12. The whole adopts an integrated processing and molding structure, which is sealed and fixed to the bottom of the body 1, without gaps or shaking. The layout is compact and does not interfere with the rotation and pitch of the gimbal 12. Multiple annularly distributed liquid storage chambers 1102 are opened inside the annular cover 1101. The multiple liquid storage chambers 1102 are arranged at equal angles along the circumference, and can be individually or in combination to form different directional counterweight areas, covering the entire circumferential center of gravity adjustment range of the body 1. The bottom of the fuselage 1 is provided with a liquid supply mechanism for supplying liquid into the liquid storage chamber 1102. The liquid supply mechanism can adjust the amount of liquid in each liquid storage chamber 1102 according to the center of gravity shift, so as to achieve center of gravity compensation of the fuselage 1 in different directions. The attitude shift caused by turning, side flight, hovering, and wind-facing operations during the flight of the UAV, as well as the static center of gravity shift caused by replacing the detection module, can all be adaptively adjusted through the liquid supply mechanism. Each liquid storage chamber 1102 is equipped with a squeezing mechanism for squeezing the liquid. The squeezing mechanism can limit the liquid in the liquid storage chamber 1102, suppress liquid sloshing, and provide a stable counterweight state for the UAV. This type of UAV for inspecting bucket wheel excavators can supply liquid to the liquid storage chambers 1102 in different positions within the annular cover 1101 through the center of gravity adjustment mechanism at the bottom of the fuselage 1, according to the center of gravity shift, dynamically adjusting the amount of liquid in each liquid storage chamber 1102 to achieve center of gravity compensation in different positions of the fuselage 1. At the same time, the squeezing mechanism in the liquid storage chamber 1102 can limit the liquid, suppress liquid sloshing, and provide a stable counterweight state for the UAV, effectively improving the stability of the flight attitude and the reliability of the inspection operation.

[0035] The liquid supply mechanism includes a liquid storage tank 201 fixedly connected to the bottom of the fuselage 1. The center of the liquid storage tank 201 is concentric with the central axis of the fuselage 1. The liquid storage tank 201 adopts a sealed cavity structure and stores the prepared counterweight liquid inside. The cavity is pressure-resistant and leak-proof, suitable for the high-altitude and turbulent flight conditions of the UAV. A piston 202 is connected to the liquid storage tank 201 through a lifting mechanism. The outer wall of the piston 202 is tightly fitted with the inner wall of the liquid storage tank 201 and can slide along the cavity axis without leakage, ensuring stable liquid delivery pressure. The liquid storage tank 201 is connected to each liquid storage chamber 1102 through a connecting mechanism. When the piston 202 moves up and down in the liquid storage tank 201, it can push the liquid in the liquid storage tank 201 into or pull it back into each liquid storage chamber 1102 to adjust the liquid volume. When the center of gravity of the fuselage 1 shifts due to the installation of different detection modules or changes in the working posture, the piston 202 can be driven to move up and down in the liquid storage tank 201 to push the liquid in the liquid storage tank 201 into or pull it back into the corresponding liquid storage chamber 1102, quickly adjusting the liquid volume in each liquid storage chamber 1102, realizing the center of gravity compensation of the fuselage 1 in different positions, effectively correcting the center of gravity shift, and maintaining flight attitude stability. At the same time, the squeezing mechanism in the liquid storage chamber 1102 can limit the liquid, suppress the secondary center of gravity shift caused by liquid sloshing during flight, provide a stable counterweight state for the UAV, and significantly improve the reliability and safety of the bucket wheel excavator inspection operation.

[0036] The connecting mechanism includes a connecting pipe 301 connecting the liquid storage chamber 1102 and the liquid storage tank 201. The connecting pipe 301 is made of rigid and bend-resistant tubing, and its two ends are sealed and connected to the liquid storage chamber 1102 and the liquid storage tank 201 respectively. The pipeline is neatly routed to avoid the pipeline from getting tangled or deformed during flight. A solenoid valve 302 is installed on the connecting pipe 301 to control the flow of liquid. The opening and closing of the solenoid valve 302 can control the flow of liquid in each liquid storage chamber 1102, enabling precise adjustment of the center of gravity in different orientations. The connecting pipe 301 and the solenoid valve 302 together form an independent and controllable liquid circuit. Each set of connecting pipes 301 and solenoid valves 302 corresponds to a single liquid storage chamber 1102. Each liquid circuit is independent and not interconnected. The liquid circuit of the corresponding liquid storage chamber 1102 can be precisely opened according to the direction of the center of gravity shift. With the lifting and lowering action of the piston 202 in the liquid storage tank 201, the liquid can flow in a directional manner between the liquid storage tank 201 and the target liquid storage chamber 1102, avoiding mutual interference between liquids in liquid storage chambers 1102 in different orientations. This improves the response speed and control accuracy of the center of gravity adjustment, ensuring that the UAV can quickly and stably complete the center of gravity compensation when carrying different detection modules or changing attitude, thus ensuring flight safety and the reliability of inspection operations.

[0037] The squeezing mechanism includes a squeezing plate 4 that is slidably connected to the liquid storage chamber 1102. The shape of the squeezing plate 4 matches the cross-section of the inner cavity of the liquid storage chamber 1102, and the edges are smoothed. There is no jamming or leakage during the sliding process. A telescopic component is provided between the squeezing plate 4 and the annular cover 1101. The telescopic component drives the extrusion plate 4 to slide along the inner wall of the liquid storage chamber 1102, forming a limiting constraint on the liquid in the chamber to suppress liquid sloshing and maintain the stability of the counterweight. The extrusion plate 4 can adaptively slide under the action of the telescopic component according to the change of liquid volume in the liquid storage chamber 1102, always forming a close-fitting limiting constraint on the liquid, which greatly reduces the sloshing amplitude of the liquid when the UAV flies bumpy or changes its attitude, effectively avoids secondary center of gravity shift caused by liquid sloshing, ensures the stability and reliability of the counterweight, and further improves the stability of the UAV's flight attitude and the safety of inspection operations.

[0038] The telescopic assembly includes two symmetrically arranged first T-shaped guide rods 501 fixedly connected to the bottom of the extrusion plate 4; The lower end of the first T-shaped guide rod 501 is provided through the bottom of the annular cover 1101, and the side wall of each first T-shaped guide rod 501 is fitted with a first spring 502. The two ends of the first spring 502 are fixedly connected to the bottom of the annular cover 1101 and the lower end of the first T-shaped guide rod 501, respectively. A protective component is provided on the outside of the first spring 502. The first spring 502 provides elastic restoring force to the extrusion plate 4, realizing continuous limiting constraint on the liquid. The symmetrically arranged first T-shaped guide rods 501 can ensure that the extrusion plate 4 slides smoothly along the inner wall of the liquid storage cavity 1102, avoiding jamming or deflection. By providing continuous elastic restoring force, the first spring 502 keeps the extrusion plate 4 in close contact with the liquid surface, forming a dynamic adaptive limiting constraint. No matter how the liquid volume in the liquid storage cavity 1102 changes, it can effectively suppress liquid sloshing and prevent secondary center of gravity shift. At the same time, the protective component can protect the first spring 502 to prevent liquid erosion or debris jamming. There is a lot of dust and water vapor at the bucket wheel excavator operation site. The protective component can isolate the influence of the harsh environment on the elastic component, improve the long-term reliability and service life of the mechanism, and further ensure the stability of the UAV counterweight state.

[0039] The protective component includes a telescopic cover 6 fitted onto the side wall of the first T-shaped guide rod 501. The telescopic cover 6 is a flexible, telescopic, and sealing sleeve with waterproof, dustproof, and aging-resistant properties. The two ends of the telescopic cover 6 are fixedly connected to the bottom of the annular cover 1101 and the lower end of the first T-shaped guide rod 501, respectively, to protect the first spring 502 and prevent the external environment from affecting its elastic performance. The telescopic cover 6 can extend and retract synchronously with the movement of the first T-shaped guide rod 501, always forming a full-wrap protection for the first spring 502, effectively blocking liquid erosion, dust pollution and debris jamming, preventing the first spring 502 from rusting, jamming or elastic decay, ensuring that it provides long-term stable elastic restoring force, extending the service life and working reliability of the extrusion mechanism, and ensuring the continuous stability of the UAV's counterweight state.

[0040] The lifting mechanism includes multiple second T-shaped guide rods 703 inserted into the bottom of the liquid storage tank 201; The upper end of the second T-shaped guide rod 703 is fixedly connected to the lifting plate 701, and a pressure control mechanism is provided between the lifting plate 701 and the piston 202. A cylinder 702 is fixedly connected to the bottom of the liquid storage tank 201. The cylinder 702 is a small, quiet, and explosion-proof model, suitable for UAV airborne installation requirements. It outputs uniform and controllable thrust. The telescopic end of the cylinder 702 is fixedly connected to the bottom of the lifting plate 701. The cylinder 702 drives the lifting plate 701 to move up and down, which in turn drives the piston 202 to move, thereby regulating and controlling the pressure and delivery of the liquid. As a driving source, the cylinder 702 can stably drive the lifting plate 701 to slide axially along the second T-shaped guide rod 703, driving the piston 202 to rise and fall within the liquid storage tank 201, realizing the injection and extraction of liquid. The second T-shaped guide rod 703 provides guiding support for the lifting plate 701, ensuring smooth and unbiased movement. The pressure control mechanism between the lifting plate 701 and the piston 202 can effectively buffer the force transmission, avoid sudden pressure rises or rigid impacts, protect the cylinder 702 and pipeline components, and provide stable and controllable pressure for liquid delivery, ensuring smooth and timely response during the center of gravity adjustment process, thus improving the operational reliability and control accuracy of the liquid supply mechanism.

[0041] The pressure control mechanism includes two symmetrically arranged sleeves 802 that are fixedly connected to the top of the lifting plate 701; A sleeve rod 801 is inserted inside the sleeve 802. The upper end of the sleeve rod 801 is fixedly connected to the bottom of the piston 202. A reset component is provided between the sleeve rod 801 and the sleeve 802. The top of the lifting plate 701 is equipped with a detection component for detecting the distance to the piston 202. Through the cooperation of the reset component and the detection component, the displacement stroke of the piston 202 is constrained. The sleeve 802 and the sleeve rod 801 form a telescopic guide fit structure. The reset component can provide elastic buffering and reset for the piston 202, avoiding pressure sudden changes caused by the rigid drive of the cylinder 702. At the same time, the detection component can detect the distance between the piston 202 and the lifting plate 701 in real time. Combined with the extension stroke of the cylinder 702 and the compression amount of the reset component, the actual displacement stroke of the piston 202 is accurately calculated, thereby controlling the liquid delivery volume and realizing the precise adjustment of the liquid volume in each liquid storage chamber 1102. This ensures that the center of gravity compensation process is stable and controllable, improving the reliability and control accuracy of the entire liquid supply mechanism.

[0042] The reset component includes a second spring 10 inserted inside the sleeve 802. The second spring 10 is installed inside the sleeve 802, which can avoid external impacts and dust. The structure is concealed and has good protection. The two ends of the second spring 10 are fixedly connected to the lower end of the sleeve rod 801 and the bottom of the sleeve 802, respectively. Through the elastic deformation of the second spring 10, the sleeve rod 801 can slide and reset along the inner wall of the sleeve 802. The second spring 10 can elastically deform synchronously with the sliding of the sleeve rod 801, providing elastic buffer for the piston 202 on the one hand, avoiding the sudden pressure rise and component impact caused by the rigid drive of the cylinder 702; on the other hand, after the liquid supply is completed, it can push the sleeve rod 801 to reset, so that the piston 202 automatically returns to its position, preparing for the next liquid supply. At the same time, the compression of the second spring 10 can be captured by the detection component. Combined with the stroke data of the cylinder 702, the actual displacement of the piston 202 can be accurately calculated, thereby realizing closed-loop control of the liquid delivery volume, ensuring the accuracy and stability of the center of gravity compensation, and improving the reliability and response speed of the entire liquid supply mechanism.

[0043] The detection component includes a mounting hole 901 on the top of the lifting platform 701; A distance sensor 902 is detachably connected inside the mounting hole 901. The detachable assembly structure facilitates later maintenance, calibration, and sensor replacement. The distance sensor 902 detects changes in the distance between the lifting plate 701 and the piston 202, allowing monitoring of the deformation of the second spring 10. The distance sensor 902 can detect these changes in real time, accurately obtaining the compression deformation of the second spring 10. Combined with the extension stroke data of the cylinder 702, the actual displacement stroke of the piston 202 can be calculated, thereby precisely controlling the liquid delivery volume of a single compression. This achieves closed-loop regulation of the liquid volume in each storage chamber 1102, ensuring the accuracy and stability of the center of gravity compensation and improving the controllability and reliability of the entire liquid supply mechanism.

[0044] Working Principle: During operation, the gimbal 12 can flexibly install and remove various specialized detection modules according to the inspection needs of different parts of the bucket wheel excavator, enabling comprehensive inspection of key structures and components. The fuselage 1 integrates a standard attitude detection sensor, which can collect roll, tilt, and attitude data of the fuselage 1 around the clock, and calculate the overall center of gravity position and offset amplitude through the main control algorithm. When a unilateral center of gravity shift occurs during flight and operation, and the offset exceeds a preset threshold, the control system quickly determines the offset direction and amplitude, and correspondingly opens the solenoid valve 302 connected to the liquid storage chamber 1102 on the other side of the fuselage 1. After the valve opens, the liquid storage chamber 1102 and the liquid storage tank 201 form a through liquid flow path. At the same time as the solenoid valve 302 is opened, the system synchronously drives the cylinder 702 to move, and its extension end pushes the lifting plate 701 to move axially upward along the second T-shaped guide rod 703.

[0045] During the upward movement of the lifting plate 701, the piston 202 is synchronously raised by a pressure control mechanism. This mechanism buffers the transmission force, stabilizes the compression pressure, avoids sudden pressure changes caused by rigid transmission, and protects pipelines and components. The piston 202 continuously compresses the liquid in the storage tank 201, creating a pressure difference within the tank. Under the action of the pressure difference, the liquid is smoothly transported to the target storage chamber 1102 via the connecting pipe 301 and the solenoid valve 302. When the piston 202 applies pressure to the liquid, the liquid generates a reverse force, pushing the sleeve 801 to slide into the sleeve 802, compressing the second spring 10 between them. The distance sensor 902, located on the upper surface of the lifting plate 701, monitors the change in the distance between the lifting plate 701 and the piston 202 in real time, and calculates the compression of the second spring 10 accordingly. The system combines the actual extension stroke of the cylinder 702 with the spring compression to accurately obtain the true movement stroke of the piston 202, and then calculates the discharge volume using the effective cross-sectional area and stroke parameters of the piston 202. The control system presets the target injection volume based on the center of gravity offset. When the actual discharge volume reaches the set value, the solenoid valve 302 is immediately closed to cut off the liquid circuit, and the cylinder 702 is controlled to stop running, ensuring that the injected liquid volume is precisely matched with the degree of center of gravity offset of the machine body 1.

[0046] After the liquid enters the storage chamber 1102, it changes the overall weight distribution of the fuselage 1 by its own weight, correcting the center of gravity in the opposite direction and completing the dynamic balance adjustment of the fuselage 1's center of gravity. The entire adjustment mechanism is responsive and easy to control, effectively maintaining flight attitude stability and ensuring reliable bucket wheel excavator inspection operations.

[0047] Simultaneously, the liquid flowing into the storage chamber 1102 creates hydraulic pressure, pushing the extrusion plate 4 downwards along the inner wall of the chamber. The extrusion plate 4 drives the first T-shaped guide rod 501, which is rigidly connected at the bottom, to move synchronously, and the first spring 502 on the outside of the guide rod and the telescopic cover 6 are stretched accordingly. This linkage structure allows the extrusion plate 4 to adaptively rise and fall with the liquid level in the chamber, always adhering to the lower surface of the liquid, forming a reliable limiting constraint on the liquid, effectively reducing the swaying amplitude of the liquid during equipment flight turbulence, eliminating the resulting secondary center of gravity shift, and further improving the overall operational stability of the fuselage 1.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone for inspecting bucket wheel excavators, comprising a fuselage (1) and a gimbal (12) disposed at the bottom of the fuselage (1), wherein a detection module is detachably connected to the gimbal (12), characterized in that, The bottom of the fuselage (1) is provided with a center of gravity adjustment mechanism for adjusting the center of gravity of the fuselage (1); The center of gravity adjustment mechanism includes an annular cover (1101) fixedly connected to the bottom of the body (1). The center of the annular cover (1101) is concentric with the central axis of the body (1). Multiple annularly distributed liquid storage chambers (1102) are opened inside the annular cover (1101). The bottom of the body (1) is provided with a liquid supply mechanism for supplying liquid into the liquid storage chamber (1102). The liquid supply mechanism can adjust the amount of liquid in each liquid storage chamber (1102) according to the center of gravity shift, so as to achieve center of gravity compensation of the body (1) in different directions. Each liquid storage chamber (1102) is equipped with a squeezing mechanism for squeezing the liquid. The squeezing mechanism can limit the liquid in the liquid storage chamber (1102), suppress liquid sloshing, and provide a stable counterweight state for the drone.

2. The UAV for inspecting bucket wheel excavators according to claim 1, characterized in that: The liquid supply mechanism includes a liquid storage tank (201) fixedly connected to the bottom of the body (1). The center of the liquid storage tank (201) is co-centered with the central axis of the body (1). A piston (202) is connected inside the liquid storage tank (201) through a lifting mechanism. The liquid storage tank (201) is connected to each liquid storage chamber (1102) through a communication mechanism. When the piston (202) moves up and down in the liquid storage tank (201), it can press the liquid in the liquid storage tank (201) into or draw it back into each liquid storage chamber (1102) to adjust the amount of liquid.

3. The UAV for inspecting bucket wheel excavators according to claim 2, characterized in that: The communication mechanism includes a communication pipe (301) connecting the liquid storage chamber (1102) and the liquid storage tank (201). The connecting pipe (301) is equipped with a solenoid valve (302) for controlling the flow of liquid. The flow of liquid in and out of each liquid storage chamber (1102) can be controlled by the opening and closing of the solenoid valve (302), so as to achieve precise adjustment of the center of gravity in different directions.

4. The UAV for inspecting bucket wheel excavators according to claim 1, characterized in that: The extrusion mechanism includes an extrusion plate (4) slidably connected in the liquid storage chamber (1102), and a telescopic component is provided between the extrusion plate (4) and the annular cover (1101); The telescopic component drives the extrusion plate (4) to slide along the inner wall of the liquid storage cavity (1102), forming a limiting constraint on the liquid in the cavity to suppress liquid sloshing and maintain the stability of the counterweight state.

5. The UAV for inspecting bucket wheel excavators according to claim 4, characterized in that: The telescopic assembly includes two symmetrically arranged first T-shaped guide rods (501) fixedly connected to the bottom of the extrusion plate (4); The lower end of the first T-shaped guide rod (501) passes through the bottom of the annular cover (1101), and a first spring (502) is sleeved on the side wall of each first T-shaped guide rod (501). The two ends of the first spring (502) are fixedly connected to the bottom of the annular cover (1101) and the lower end of the first T-shaped guide rod (501), respectively, and a protective part is provided on the outside of the first spring (502). The first spring (502) provides elastic restoring force for the extrusion plate (4) to achieve continuous limiting constraint on the liquid.

6. The UAV for inspecting bucket wheel excavators according to claim 5, characterized in that: The protective component includes a telescopic cover (6) fitted onto the side wall of the first T-shaped guide rod (501). The two ends of the telescopic cover (6) are fixedly connected to the bottom of the annular cover (1101) and the lower end of the first T-shaped guide rod (501) respectively, forming a protection for the first spring (502) and preventing the external environment from affecting its elastic performance.

7. The UAV for inspecting bucket wheel excavators according to claim 2, characterized in that: The lifting mechanism includes multiple second T-shaped guide rods (703) inserted into the bottom of the liquid storage tank (201). The upper end of the second T-shaped guide rod (703) is fixedly connected to a lifting plate (701), and a pressure control mechanism is provided between the lifting plate (701) and the piston (202); A cylinder (702) is fixedly connected to the bottom of the liquid storage tank (201). The telescopic end of the cylinder (702) is fixedly connected to the bottom of the lifting plate (701). The lifting plate (701) is driven to move up and down by the cylinder (702), which in turn drives the piston (202) to move, thereby regulating the pressure and controlling the delivery of the liquid.

8. The UAV for inspecting bucket wheel excavators according to claim 7, characterized in that: The pressure control mechanism includes two symmetrically arranged sleeves (802) fixedly connected to the top of the lifting plate (701); A sleeve rod (801) is inserted inside the sleeve (802). The upper end of the sleeve rod (801) is fixedly connected to the bottom of the piston (202). A reset member is provided between the sleeve rod (801) and the sleeve (802). The top of the lifting plate (701) is provided with a detection component for detecting the distance of the piston (202). Through the cooperation of the reset component and the detection component, the displacement stroke of the piston (202) is constrained.

9. The UAV for inspecting bucket wheel excavators according to claim 8, characterized in that: The reset component includes a second spring (10) inserted into the sleeve (802); The two ends of the second spring (10) are fixedly connected to the lower end of the sleeve rod (801) and the bottom of the sleeve (802) respectively. Through the elastic deformation of the second spring (10), the sleeve rod (801) can slide and reset along the inner wall of the sleeve (802).

10. The UAV for inspecting bucket wheel excavators according to claim 8, characterized in that: The detection component includes a mounting hole (901) on the top of the lifting plate (701). A distance sensor (902) is detachably connected inside the mounting hole (901). The distance sensor (902) detects the change in distance between the lifting plate (701) and the piston (202), so that the deformation of the second spring (10) can be monitored.

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