Drone for electromagnetic ultrasonic thickness measurement in a furnace

Abstract

The utility model provides a kind of unmanned aerial vehicle of electromagnetic ultrasonic thickness gauge in furnace, it is related to the technical field of thickness measuring equipment, including power component setting on the body of machine body, the top surface of machine body middle part is set platform, the top surface of platform is provided with laser radar and electromagnetic ultrasonic thickness gauge;Electromagnetic ultrasonic thickness gauge end away from laser radar extends connecting rod, probe component is set on connecting rod;Probe component includes permanent magnet probe, end face, demagnetization rubber sheet and fixed cylinder;Permanent magnet probe forms end face and sticks demagnetization rubber sheet;The outer thread formed on the outer edge surface of permanent magnet probe is connected with fixed cylinder by screw thread, solve the technical problem that there exists manual operation efficiency is low, and unmanned aerial vehicle and probe adsorption force do not match cannot be separated, reach non-contact detection, reduce aerial work risk, the technical effect of safe and fast separation after detection.

Description

Technical Field

[0001] This utility model relates to the field of thickness measurement equipment technology, and in particular to a drone for in-furnace electromagnetic ultrasonic thickness measurement. Background Technology

[0002] During boiler wear and explosion prevention testing, water-cooled wall pipes, as the boiler's heating surface, are subjected to harsh conditions of high temperature, high pressure, and dust erosion for extended periods, making them highly susceptible to wear and thinning. Failure to detect and address abnormal changes in pipe wall thickness in a timely manner can lead to safety accidents such as pipe rupture, seriously threatening equipment safety and power plant production efficiency. Therefore, it is necessary to measure the thickness of water-cooled wall pipes to ensure boiler safety.

[0003] Existing boiler thickness measurement devices mainly rely on traditional manual inspection methods, which involve erecting scaffolds and using contact ultrasonic testing instruments; or directly mounting finished electromagnetic ultrasonic testing systems on drone platforms.

[0004] Existing thickness measurement devices suffer from low efficiency and high safety risks when used manually. Furthermore, the use of uniform permanent magnets in electromagnetic ultrasonic probes results in an attraction force that is incompatible with the lift parameters of small and medium-sized drones. When the probe adheres to the surface of the pipe being inspected, insufficient lift from the drone often prevents it from detaching safely, severely impacting the continuity of the inspection process. In addition, continued probe adhesion can lead to drone attitude instability and power system overload. Utility Model Content

[0005] The purpose of this invention is to provide a drone for in-furnace electromagnetic ultrasonic thickness measurement, so as to alleviate the technical problems of low efficiency of manual operation and the inability to detach the drone from the probe due to mismatch in the adsorption force between the drone and the probe in the existing technology.

[0006] This utility model provides an unmanned aerial vehicle (UAV) for in-furnace electromagnetic ultrasonic thickness measurement, comprising: a fuselage, a power unit, a platform, a lidar, an electromagnetic ultrasonic thickness gauge, a connecting rod, and a probe assembly;

[0007] The power unit is located on the fuselage of the machine body. A platform is set on the top surface of the middle part of the fuselage. A lidar and an electromagnetic ultrasonic thickness gauge are set on the top surface of the platform. A connecting rod extends from the end of the electromagnetic ultrasonic thickness gauge away from the lidar, and a probe assembly is set on the connecting rod.

[0008] The probe assembly includes a permanent magnet probe, an end face, a demagnetizing rubber sheet, and a fixing cylinder; the demagnetizing rubber sheet is attached to the end face formed by the permanent magnet probe; the outer edge surface of the permanent magnet probe forms an external thread that is threadedly connected to the fixing cylinder.

[0009] Furthermore, the thickness of the demagnetizing rubber sheet is 0.5mm to 4mm.

[0010] Furthermore, the fuselage includes an I-shaped arm and landing gear; the four flanges at the top of the I-shaped arm are equipped with power units, and the downward extension of the I-shaped arm is equipped with arc-shaped landing gear.

[0011] Furthermore, the power components include a brushless motor and a propeller. The brushless motor is fixed to the flange of the I-shaped arm, and the output shaft of the brushless motor is coaxially connected to the propeller for takeoff and landing.

[0012] Furthermore, a mounting bay is suspended on the bottom surface of the middle part of the fuselage, and control components are placed inside the mounting bay;

[0013] The control components include a power battery, a flight control system, and an inertial measurement unit (IMU) arranged in sequence.

[0014] Furthermore, the lidar is a 360° scanning lidar, with its scanning direction perpendicular to the flight plane, used to acquire space data in real time.

[0015] Furthermore, the electromagnetic ultrasonic thickness gauge is fixed to the platform surface by locking screws.

[0016] Furthermore, the connecting rod is telescopic, used to adjust the probe detection distance.

[0017] Beneficial effects:

[0018] This invention provides a drone for in-furnace electromagnetic ultrasonic thickness measurement. By incorporating a power unit, the drone's center of gravity is evenly distributed, ensuring the stability of the thickness measurement device during flight, in conjunction with the platform. A 360° lidar and an electromagnetic ultrasonic thickness gauge are mounted side-by-side on the top surface of the platform. The lidar scans the furnace interior environment in real time; the electromagnetic ultrasonic thickness gauge extends away from the lidar via a connecting rod, allowing the probe assembly to flexibly approach the surface of the water-cooled wall tubes. This invention achieves non-contact inspection via drone, significantly improving inspection efficiency, reducing the risks of high-altitude operations, and providing a window of opportunity for emergency repairs during power plant maintenance.

[0019] In the probe assembly, a demagnetizing rubber sheet is attached to the end face of the permanent magnet probe and connected to the fixed cylinder thread via an external thread, enabling quick assembly and disassembly of the demagnetizing component and size adaptation. Different specifications of the demagnetizing rubber sheet can be selected according to the lift parameters of the UAV to ensure that the probe's adsorption force on the metal surface is weakened, preventing the UAV from having difficulty detaching due to excessive adsorption. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of the UAV for in-furnace electromagnetic ultrasonic thickness measurement provided in this embodiment of the utility model;

[0022] Figure 2 A schematic diagram of the probe assembly in the UAV for in-furnace electromagnetic ultrasonic thickness measurement provided in this embodiment of the utility model;

[0023] Figure 3 A schematic diagram showing the thickness of the demagnetizing rubber sheet (4mm) in the UAV used for in-furnace electromagnetic ultrasonic thickness measurement, provided as an embodiment of this utility model.

[0024] Figure 4 A schematic diagram showing the thickness of the demagnetizing rubber sheet at 0.5 mm in the UAV used for in-furnace electromagnetic ultrasonic thickness measurement, provided as an embodiment of this utility model.

[0025] Icons: 1-Airframe; 101-I-shaped arm; 102-Legs; 2-Power unit; 201-Brushless motor; 202-Propeller; 3-Platform; 4-LiDAR; 5-Electromagnetic ultrasonic thickness gauge; 6-Connecting rod; 7-Probe assembly; 701-Permanent magnet probe; 702-End face; 703-Demagnetizing rubber sheet; 704-Fixing cylinder; 8-Loading bay; 9-Control unit; 901-Power battery; 902-Flight control system; 903-IMU (Inertial Measurement Unit). Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0031] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] like Figure 1 , Figure 2 As shown, the present invention provides an unmanned aerial vehicle for in-furnace electromagnetic ultrasonic thickness measurement, comprising: a body 1, a power unit 2, a platform 3, a lidar 4, an electromagnetic ultrasonic thickness gauge 5, a connecting rod 6, and a probe assembly 7.

[0034] The power unit 2 is installed on the body of the machine body 1. The top surface of the middle part of the machine body 1 is provided with a platform 3. The top surface of the platform 3 is provided with a lidar 4 and an electromagnetic ultrasonic thickness gauge 5. The end of the electromagnetic ultrasonic thickness gauge 5 that is away from the lidar 4 extends out with a connecting rod 6. The connecting rod 6 is provided with a probe assembly 7.

[0035] The probe assembly 7 includes a permanent magnet probe 701, an end face 702, a demagnetizing rubber sheet 703, and a fixing cylinder 704; the demagnetizing rubber sheet 703 is attached to the end face 702 formed by the permanent magnet probe 701; the outer edge surface of the permanent magnet probe 701 forms an external thread that is threadedly connected to the fixing cylinder 704.

[0036] Specifically, the power unit 2 is symmetrically installed at the end of the I-shaped arms of the fuselage 1, forming a four-axis balanced power system to ensure a stable center of gravity during flight. A fixed platform 3 is welded to the top of the middle section of the fuselage 1. The upper surface of platform 3 is flat, with a 360° lidar 4 installed on one side and an electromagnetic ultrasonic thickness gauge 5 fixed on the other. The two are arranged 180° opposite each other with respect to the platform's central axis, ensuring that the lidar 4's scanning range covers the entire airspace in front of the UAV. The connecting rod 6 of the electromagnetic ultrasonic thickness gauge 5 extends horizontally from the right side away from the radar, preventing the detection components from obstructing the radar signal. This UAV enables non-contact inspection, significantly improving inspection efficiency, reducing the risks of high-altitude operations, and providing a window of opportunity for emergency repairs at the power plant.

[0037] One end of the connecting rod 6 is fixed to the output end of the thickness gauge 5 by bolts, and the other end is connected to the probe assembly 7 by threads. In the probe assembly 7, the end face 702 of the permanent magnet probe 701 is annular. After the demagnetizing rubber sheet 703 is attached, it is tightened and fixed to the outer thread of the permanent magnet probe 701 by a fixing cylinder 704 with an internal thread on the outer edge, forming a "threaded extrusion" fixing structure to ensure that the demagnetizing rubber sheet 703 is completely attached to the end face 702. The detachable nature of the threaded connection allows for the replacement of demagnetizing rubber sheets 703 of different thicknesses according to the lift parameters of the UAV. When the permanent magnet probe 701 is attracted to the water-cooled wall tube, the demagnetizing rubber sheet 703 weakens the magnetic field coupling strength through elastic deformation, so that the lift of the UAV is sufficient to overcome the attraction force and achieve safe detachment.

[0038] In the embodiments of this utility model, the thickness of the demagnetizing rubber sheet 703 is 0.5mm to 4mm.

[0039] Specifically, such as Figure 3 , Figure 4 As shown, the thickness of the demagnetizing rubber sheet 703 ranges from 0.5mm to 4mm, typically varying by 0.5mm, preferably 0.5mm, 1mm, 1.5mm, 2mm, 2.5mm, 3mm, 3.55mm, or 4mm. When the permanent magnet probe 701 is assembled with the demagnetizing rubber sheet 703 via the fixing cylinder 704, the appropriate rubber sheet thickness is selected based on the power parameters of the UAV model (such as the typical lift range of a quadcopter): a smaller thickness is suitable for micro UAVs, slightly weakening the magnetic field strength to avoid excessive adsorption force; a larger thickness is suitable for medium-sized UAVs, ensuring stable contact with the water-cooled wall tube while using the elastic buffer layer of the demagnetizing rubber sheet 703 to control the adsorption force within the range that the UAV's lift can overcome.

[0040] In an embodiment of this utility model, the body 1 includes an I-shaped arm 101 and a leg 102; the four flanges at the top of the I-shaped arm 101 are provided with power components 2, and the I-shaped arm 101 extends downward to provide the arc-shaped leg 102.

[0041] The power unit 2 includes a brushless motor 201 and a propeller 202. The brushless motor 201 is fixed to the flange of the I-shaped arm 101. The output shaft of the brushless motor 201 is coaxially connected to the propeller 202 for takeoff and landing.

[0042] A mounting cabin 8 is suspended on the bottom surface of the middle part of the fuselage 1, and a control component 9 is placed inside the mounting cabin 8;

[0043] The control component 9 includes a power battery 901, a flight control system 902, and an inertial measurement unit 903, which are arranged in sequence.

[0044] Specifically, the drone body 1 is composed of an I-shaped arm 101 and an arc-shaped landing gear 102. The tops of the four flanges of the I-shaped arm 101 are rigidly connected to the power components 2. The base of the brushless motor 201 is embedded in a pre-set slot on the flange and secured with bolts to ensure that the motor output shaft is perpendicular to the flange plane. The propeller 202 is fixed coaxially with the motor output shaft. The four power components 2 are symmetrically distributed around the central axis of the arm. The arc-shaped landing gear 102 extends downward from both sides of the bottom of the I-shaped arm 101, so that the landing gear 102 can form line contact with the surface of the pipe when the drone lands, preventing it from tipping over.

[0045] The mounting cabin 8 is suspended from the bottom of the middle of the I-shaped arm 101 via a cantilever beam. The cabin interior uses three layers of partitions: the left layer houses the power battery 901, the middle layer houses the flight control system 902, and the right layer houses the IMU (Inertial Measurement Unit) 903. When the UAV takes off, the lift lines generated by the four propellers 202 converge at the center of gravity of the fuselage 1. Combined with the real-time attitude feedback from the IMU 903, the flight control system 902 can precisely adjust the output power of each motor to achieve attitude control accuracy and provide stable flight in the complex environment inside the furnace.

[0046] In an embodiment of this utility model, the lidar 4 is a 360° scanning lidar, and the scanning direction of the lidar 4 is perpendicular to the flight plane, used to acquire spatial data in real time.

[0047] The electromagnetic ultrasonic thickness gauge 5 is fixed to the surface of the platform 3 by locking screws.

[0048] The connecting rod 6 is a telescopic structure used to adjust the probe detection distance.

[0049] Specifically, the 60° lidar 4 is vertically mounted on the top left side of platform 3, with its scanning plane orthogonal to the UAV's flight plane, and its scanning range covers the entire airspace centered on the aircraft 1; the electromagnetic ultrasonic thickness gauge 5 is fixed to the right side of platform 3 with M6 locking screws to ensure that the equipment does not loosen under vibration. The ultrasonic transmitter / receiver port of the thickness gauge 5 is connected to a connecting rod 6.

[0050] The connecting rod 6 can be a telescopic rod structure, and its length can be adjusted by rotating the locking knob on the surface of the outer tube.

[0051] Based on the above embodiments, the specific working process of the UAV for in-furnace electromagnetic ultrasonic thickness measurement provided by this utility model is as follows:

[0052] First, fix the electromagnetic ultrasonic thickness gauge 5 to the platform 3 by tightening the screws, and connect the connecting rod 6 to the permanent magnet probe 701. Select the appropriate demagnetizing rubber sheet 703 according to the lift of the selected UAV. Then, attach the end face of the demagnetizing rubber sheet 703 to the end face 702 of the permanent magnet probe 701, and use the fixing cylinder 704 to lock the demagnetizing rubber sheet 703 and the permanent magnet probe 701 together.

[0053] After installation, the fully charged power battery 901 is mounted on the mounting bay. The power is turned on, and after the drone has been preheated for 1 minute, the drone is started to perform flight thickness measurement. The drone is controlled to fly to the target area, and the electromagnetic ultrasonic thickness gauge 5 is used to measure the thickness of the suspected worn water-cooled wall inside the furnace. After obtaining the wear thickness measurement data of the water-cooled wall, the drone is controlled to separate the electromagnetic ultrasonic thickness gauge 5 from the water-cooled wall to proceed to the next thickness measurement step.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A drone for in-furnace electromagnetic ultrasonic thickness measurement, characterized in that, include: Body (1), power unit (2), platform (3), lidar (4), electromagnetic ultrasonic thickness gauge (5), connecting rod (6), probe assembly (7); The power assembly (2) is mounted on the body of the machine body (1). The platform (3) is mounted on the top surface of the middle part of the machine body (1). The lidar (4) and the electromagnetic ultrasonic thickness gauge (5) are mounted on the top surface of the platform (3). The connecting rod (6) extends from the end of the electromagnetic ultrasonic thickness gauge (5) away from the lidar (4). The probe assembly (7) is mounted on the connecting rod (6). The probe assembly (7) includes a permanent magnet probe (701), an end face (702), a demagnetizing rubber sheet (703), and a fixing cylinder (704); the end face (702) formed by the permanent magnet probe (701) is attached to the demagnetizing rubber sheet (703); the outer edge surface of the permanent magnet probe (701) forms an external thread that is threadedly connected to the fixing cylinder (704).

2. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 1, characterized in that, The thickness of the demagnetizing rubber sheet (703) is 0.5mm to 4mm.

3. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 1, characterized in that, The fuselage (1) includes an I-shaped arm (101) and a landing gear (102); the power assembly (2) is provided on the four flanges at the top of the I-shaped arm (101), and the landing gear (102) extends downward from the I-shaped arm (101) in an arc shape.

4. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 3, characterized in that, The power unit (2) includes a brushless motor (201) and a propeller (202). The brushless motor (201) is fixed to the flange of the I-shaped arm (101). The output shaft of the brushless motor (201) is coaxially connected to the propeller (202) for takeoff and landing.

5. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 1, characterized in that, The bottom surface of the middle part of the body (1) is provided with a mounting cabin (8), and the mounting cabin (8) contains a control component (9). The control component (9) includes a power battery (901), a flight control system (902), and an IMU (inertial measurement unit) arranged in sequence.

6. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 1, characterized in that, The lidar (4) is a 360° scanning lidar, and the scanning direction of the lidar (4) is perpendicular to the flight plane, used to acquire space data in real time.

7. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 1, characterized in that, The electromagnetic ultrasonic thickness gauge (5) is fixed to the surface of the platform (3) by locking screws.

8. The UAV for in-furnace electromagnetic ultrasonic thickness measurement according to claim 1, characterized in that, The connecting rod (6) is a telescopic structure used to adjust the probe detection distance.

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