An electromagnetic ultrasonic thickness measuring device clamping mechanism suitable for anti-collision unmanned aerial vehicles

Abstract

The utility model discloses an electromagnetic iron electromagnetic ultrasonic thickness gauge clamping mechanism of adapting to anti -collision unmanned plane relates to nondestructive testing technical field, including buffer mechanism and clamping jaw, and clamping jaw is used for clamping electromagnetic ultrasonic sensor unit, and buffer mechanism includes two buffer units, and buffer unit includes shell, butt joint board and electromagnetic base, and the open end of shell is flexibly connected with butt joint board, and four axial sliding slots are seted up on the circumference lateral wall of shell, and the inside movable mounting of shell has the middle plate, is equipped with buffer spring between the inner bottom surface of middle plate and shell, and the circumference surface on middle plate is fixed with four deflection rods, and every deflection rod inserts into corresponding axial sliding slot, and the permanent magnet is fixedly arranged on the middle plate, and the electromagnetic base is fixed on the bottom surface outside of shell, and the electromagnetic base and permanent magnet are set up with same polarity opposite. The utility model can effectively overcome unmanned plane platform's own shake, guarantees electromagnetic ultrasonic sensor unit and the stable contact force between measured surface.

Description

Technical Field

[0001] This utility model relates to the field of non-destructive testing technology, and in particular to a clamping mechanism for an electromagnet electromagnetic ultrasonic thickness measuring device adapted to anti-collision drones. Background Technology

[0002] With the development of non-destructive testing technology, electromagnetic ultrasonic thickness measurement technology has been widely used in industrial inspection due to its characteristics of not requiring coupling agents and non-contact measurement. In recent years, unmanned aerial vehicle (UAV) platforms have been gradually introduced into the thickness inspection of large structural components (such as storage tanks, pipelines, and bridges) due to their unique flexibility, in order to achieve rapid inspection of dangerous or hard-to-reach areas.

[0003] Existing technology CN117734981A relates to an ultrasonic flaw detection device for unmanned aerial vehicles (UAVs) and its usage method. It uses a clamping and fixing mechanism to mount the ultrasonic detection module onto the UAV, and employs magnetic attraction, mechanical claws, or suction cups to fix the entire UAV to the surface of the object to be inspected. This design primarily serves the attachment and positioning of the UAV body on the structural surface. Although this existing technology solves the problem of fixing the UAV in a specific position in the air, its clamping and fixing mechanism does not address the crucial issue of continuous and stable contact between the detection probe and the detection surface at a microscopic scale, especially lacking a compensation mechanism for measurement interference caused by continuous shaking of the UAV platform. This can lead to the following in practical applications: Inaccurate measurement data: Poor contact between the sensor and the surface can cause the ultrasonic signal energy to attenuate, the echo signal to be weak, or the signal-to-noise ratio to decrease, resulting in deviations in thickness measurement values ​​or even failure to obtain valid data.

[0004] Poor detection reliability: When the drone is constantly shaking, the sensor may momentarily detach from or collide with the surface being measured, causing the detection process to be interrupted.

[0005] Equipment damage risk: Uncontrolled contact forces can subject sensors to undue impacts or pressures, increasing the risk of equipment damage. Utility Model Content

[0006] The purpose of this invention is to provide a clamping mechanism for an electromagnet electromagnetic ultrasonic thickness measuring device adapted to anti-collision drones, so as to solve the problems existing in the prior art, effectively overcome the shaking of the drone platform itself, and ensure that there is a stable contact force between the electromagnetic ultrasonic sensor unit and the surface being measured.

[0007] To achieve the above objectives, this utility model provides the following solution: This utility model provides a clamping mechanism for an electromagnet-based electromagnetic ultrasonic thickness measuring device adapted for anti-collision drones. It includes a fixedly connected buffer mechanism and grippers. The grippers are used to clamp an electromagnetic ultrasonic sensor unit. The buffer mechanism includes two symmetrically arranged buffer units. Each buffer unit includes a shell, a contact plate, and an electromagnetic base. The shell is a hollow shell with one open end, flexibly connected to the contact plate. Four axial sliding grooves are evenly formed along the circumferential direction on the circumferential sidewall of the shell. A middle plate is movably installed inside the shell, and the middle plate is fixedly connected to the contact plate via a central rod. A buffer spring is provided between the middle plate and the inner bottom surface of the shell. Both ends are fixed to the inner bottom surface of the intermediate plate and the outer shell, respectively. The buffer spring provides elastic force to drive the intermediate plate to move toward the open end of the outer shell. Four deflecting rods are evenly fixed circumferentially on the circumferential surface of the intermediate plate. The four deflecting rods are respectively arranged in correspondence with the four axial sliding grooves. Each deflecting rod is inserted into the corresponding axial sliding groove. The deflecting rod can slide and rotate in the axial sliding groove. A permanent magnet is fixed on the intermediate plate. The electromagnetic base is fixed to the outer side of the bottom surface of the outer shell. The electromagnetic base and the permanent magnet are arranged with the same pole facing each other. The abutment plates of the two buffer mechanisms are fixedly connected. The gripper is fixed on one of the electromagnetic bases.

[0008] In one embodiment, the gripper includes a rear seat, a middle cover, and a front cover that are fixedly connected in sequence. An adjustment plate is provided between the rear seat and the middle cover. A motor is fixedly mounted on the rear seat, and the output shaft of the motor is fixedly connected to the middle of the adjustment plate for driving the adjustment plate to rotate. Three arc-shaped sliding grooves are evenly provided on the adjustment plate along the circumference. The arc-shaped sliding grooves extend from the center of the adjustment plate to the edge curve. The middle cover has a middle cover sliding groove that corresponds to each of the arc-shaped sliding grooves. The front cover has a front cover sliding groove that corresponds to each of the middle cover sliding grooves. Both the middle cover sliding groove and the front cover sliding groove are arranged in a radial direction. A slider slides in each of the front cover sliding grooves. A clamping plate is fixedly connected to the side of the slider facing away from the middle cover. Each clamping plate is used to hold an electromagnetic ultrasonic sensor unit. A synchronous sliding rod is fixedly connected to the side of the slider facing the middle cover. The synchronous sliding rod passes through the middle cover sliding groove and the arc-shaped sliding groove corresponding to it. The synchronous sliding rod can slide relative to the middle cover sliding groove and the arc-shaped sliding groove.

[0009] In one embodiment, the open end of the outer shell is flexibly connected to the abutment plate via a corrugated protective sleeve.

[0010] In one embodiment, the deflector is a circular rod.

[0011] In one embodiment, the slider is a rectangular slider.

[0012] In one embodiment, the synchronizing slide bar is a circular slide bar.

[0013] In one embodiment, the intermediate plate and the four deflection rods are integrally formed.

[0014] In one embodiment, the central rod is fixed to the middle of the intermediate plate.

[0015] The present invention achieves the following technical advantages over the prior art: The electromagnetic ultrasonic thickness measuring device clamping mechanism provided by this utility model for anti-collision drones, by setting a buffer spring and an intermediate plate, allows the intermediate plate to slide and rotate in the axial groove through the deflection rods around its perimeter, thereby achieving multi-angle tilting and swinging, thus absorbing and compensating for the shaking of the drone platform in three-dimensional space. Based on the dynamic damping adjustment mechanism of electromagnetic force, an electromagnetic base and a permanent magnet (with the same pole facing each other) are introduced into the buffer mechanism. By adjusting the current of the electromagnetic base, the repulsive force between it and the permanent magnet can be changed, thereby dynamically and actively adjusting the damping (i.e., "tightness") of the swinging of the intermediate plate, realizing stepless adjustment from "compliant adaptation" to "rigid locking" to cope with different degrees of shaking and ensure that there is a stable contact force between the electromagnetic ultrasonic sensor unit and the measured surface. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the clamping mechanism of the electromagnet electromagnetic ultrasonic thickness measuring device adapted to anti-collision drones in an embodiment of this utility model. Figure 2 This is a schematic diagram of the gripper structure in an embodiment of the present utility model; Figure 3 This is a schematic diagram of the buffer mechanism in an embodiment of the present utility model; Figure 4 This is a schematic diagram of the compensation state of the buffer mechanism in an embodiment of this utility model; Figure 5 This is a schematic diagram of a cage-type anti-collision drone equipped with the clamping mechanism in this embodiment of the present invention when the multi-degree-of-freedom robotic arm is in the recovery rotation state. Figure 6This is a schematic diagram of a cage-type anti-collision drone equipped with the clamping mechanism of this utility model embodiment when the multi-degree-of-freedom robotic arm is in a fully extended state.

[0018] In the diagram: 1-Buffer mechanism, 2-Gripper, 3-Electromagnetic ultrasonic sensor unit, 4-Buffer unit, 5-Outer shell, 6-Abutment plate, 7-Electromagnetic base, 8-Axial slide groove, 9-Intermediate plate, 10-Center rod, 11-Buffer spring, 12-Deflection rod, 13-Rear seat, 14-Middle cover, 15-Front cover, 16-Adjustment plate, 17-Motor, 18-Arc-shaped slide groove, 19-Middle cover slide groove, 20-Front cover slide groove, 21-Slider, 22-Clamping plate, 23-Synchronous slide bar, 24-Corrugated protective sleeve, 25-Multi-degree-of-freedom robotic arm, 26-UAV body, 27-Anti-collision cage, 28-Thickness measurement unit. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] The purpose of this invention is to provide a clamping mechanism for an electromagnet electromagnetic ultrasonic thickness measuring device adapted to anti-collision drones, so as to solve the problems existing in the prior art, effectively overcome the shaking of the drone platform itself, and ensure that there is a stable contact force between the electromagnetic ultrasonic sensor unit and the surface being measured.

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-6As shown, this embodiment provides a clamping mechanism for an electromagnet electromagnetic ultrasonic thickness measuring device adapted to anti-collision drones, including a buffer mechanism 1 and a gripper 2 fixedly connected. The gripper 2 is used to clamp an electromagnetic ultrasonic sensor unit 3. The buffer mechanism 1 includes two symmetrically arranged buffer units 4. Each buffer unit 4 includes a shell 5, an abutment plate 6, and an electromagnetic base 7. The shell 5 is a hollow shell with one open end. The open end of the shell 5 is flexibly connected to the abutment plate 6. Four axial sliding grooves 8 are evenly distributed along the circumferential direction on the circumferential sidewall of the shell 5. An intermediate plate 9 is movably installed inside the shell 5. The intermediate plate 9 is a circular plate with a diameter smaller than the inner diameter of the shell 5, allowing it to tilt and swing within the shell 5. The intermediate plate 9 and the abutment plate 6 are fixedly connected by a central rod 10. A buffer spring 11 is provided between the intermediate plate 9 and the inner bottom surface of the shell 5. The two ends of the buffer spring 11 are fixed to the inner bottom surfaces of the intermediate plate 9 and the shell 5, respectively. The buffer spring 11 provides a spring force to drive the intermediate plate 9 toward the open end of the shell 5. The intermediate plate 9 has four axial sliding grooves 8 evenly distributed along the circumferential direction on its circumferential surface. Four deflecting rods 12 are fixed, and each of the four deflecting rods 12 is respectively set in a one-to-one correspondence with the four axial sliding grooves 8. Each deflecting rod 12 is inserted into the corresponding axial sliding groove 8. The deflecting rod 12 can slide and rotate within the axial sliding groove 8. When two opposite deflecting rods 12 slide within the axial sliding groove 8, the remaining two opposite deflecting rods 12 rotate about their central axis, or all four deflecting rods 12 slide and rotate at the same time, causing the intermediate plate 9 to tilt and swing at more angles. A permanent magnet is fixed on the intermediate plate 9. An electromagnetic base 7 is fixed to the outer side of the bottom surface of the outer shell 5. The electromagnetic base 7 and the permanent magnet are arranged opposite each other with the same pole. The electromagnetic base 7 is a conventional technology. Different magnetic forces are generated by adjusting the current. Different magnetic forces are generated between the electromagnetic base 7 and the permanent magnet to dynamically adjust the tightness of the swing of the intermediate plate 9, thereby dynamically compensating for the shaking of the UAV platform and making the electromagnetic ultrasonic sensor unit 3 closely attached to the surface of the object being measured. The abutment plates 6 of the two buffer mechanisms 1 are fixedly connected, and the gripper 2 is fixed to one of the electromagnetic bases 7.

[0023] In use, the clamping mechanism of this embodiment is fixed to the end of the multi-degree-of-freedom robotic arm 25 of the cage-type anti-collision drone. The cage-type anti-collision drone includes an inner drone body 26 and an outer anti-collision cage 27. The drone body 26 is equipped with a thickness measurement processing unit 28 and a multi-degree-of-freedom robotic arm 25. The cage-type anti-collision drone uses GPS and inertial navigation for joint positioning and obstacle avoidance sensors to fly to the vicinity of the preset detection point of the object to be detected. Using the multi-degree-of-freedom robotic arm 25, millimeter-level positioning is achieved with servo motors and encoders. The clamping mechanism at the end of the multi-degree-of-freedom robotic arm 25 clamps the electromagnetic ultrasonic sensor unit 3. By adjusting the position and orientation of the electromagnetic ultrasonic sensor unit 3, it is aligned with the detection surface. The sensor is controlled to achieve stable magnetic attraction by adjusting the current, emitting a 1-10MHz linear frequency modulated pulse ultrasonic signal and receiving the echo.

[0024] In this embodiment, by setting a buffer spring 11 and an intermediate plate 9, the intermediate plate 9 can achieve multi-angle tilting and swinging through the sliding and rotation of the bias rods 12 around its perimeter within the axial groove 8. This absorbs and compensates for the shaking of the UAV platform in three-dimensional space. Based on the dynamic damping adjustment mechanism of electromagnetic force, an electromagnetic base 7 and a permanent magnet on the intermediate plate 9 are introduced into the buffer mechanism 1 (the electromagnetic base 7 and the permanent magnet are opposite each other with the same pole). By adjusting the current of the electromagnetic base 7, the repulsive force between it and the permanent magnet can be changed, thereby dynamically and actively adjusting the damping (i.e., "tightness") of the swing of the intermediate plate. This achieves stepless adjustment from "compliant adaptation" to "rigid locking" to cope with different degrees of shaking and ensures that there is a stable contact force between the electromagnetic ultrasonic sensor unit 3 and the measured surface.

[0025] In this embodiment, the gripper 2 includes a rear seat 13, a middle cover 14, and a front cover 15, which are fixedly connected in sequence. An adjustment plate 16 is provided between the rear seat 13 and the middle cover 14. A motor 17 is fixedly mounted on the rear seat 13. The output shaft of the motor 17 is fixedly connected to the middle part of the adjustment plate 16 to drive the adjustment plate 16 to rotate. Three arc-shaped grooves 18 are evenly provided on the adjustment plate 16 along the circumference. The arc-shaped grooves 18 extend from the center of the adjustment plate 16 to the edge curve. The middle cover 14 is provided with middle cover grooves 19 that correspond one-to-one with each arc-shaped groove 18. The front cover 15 is provided with middle cover grooves 19 that correspond one-to-one with each arc-shaped groove 18. Each middle cover slide groove 19 corresponds to a front cover slide groove 20. Both the middle cover slide groove 19 and the front cover slide groove 20 extend radially. A slider 21 slides within each front cover slide groove 20. A clamping plate 22 is fixedly connected to the side of the slider 21 facing away from the middle cover 14. Each clamping plate 22 is used to hold the electromagnetic ultrasonic sensor unit 3. A synchronous sliding rod 23 is fixedly connected to the side of the slider 21 facing the middle cover 14. The synchronous sliding rod 23 passes through its corresponding middle cover slide groove 19 and arc-shaped slide groove 18, allowing it to slide relative to each other within the middle cover slide groove 19 and arc-shaped slide groove 18. When the motor 17 starts, it drives the adjusting plate 16 to rotate, using the arc-shaped slide groove 18 to control the opening and closing of the three clamping plates 22 for clamping, facilitating the replacement of the electromagnetic ultrasonic sensor unit 3.

[0026] In this embodiment, the open end of the outer shell 5 is flexibly connected to the abutment plate 6 through the corrugated protective sleeve 24, which provides protection.

[0027] In this embodiment, the deflection rod 12 is a circular rod.

[0028] In this embodiment, slider 21 is a rectangular slider, and synchronous slider 23 is a circular slider.

[0029] In this embodiment, the intermediate plate 9 and the four deflection rods 12 are integrally formed. The central rod 10 is fixed to the middle of the intermediate plate 9.

[0030] Because this clamping mechanism is equipped with a buffer mechanism including a buffer spring and a multi-directional swinging intermediate plate, it can effectively absorb and offset the inherent high-frequency micro-vibrations and position drift during UAV flight. Therefore, it solves the problem of "inaccurate measurement data" caused by the direct rigid connection of sensors to the UAV platform in the prior art, thereby achieving the effect of obtaining stable, high signal-to-noise ratio ultrasonic echo signals on a dynamic flight platform comparable to those on a fixed platform.

[0031] Because this clamping mechanism introduces a dynamic damping adjustment mechanism based on electromagnetic force into the buffer mechanism, it can actively and steplessly adjust the rigidity of the buffer according to the real-time swaying degree of the UAV (such as hovering stable state vs. wind disturbance state). Therefore, it overcomes the shortcomings of the passive buffer mechanism in the prior art, which has limited adaptability and cannot cope with complex working conditions. This ensures that the electromagnetic ultrasonic sensor can maintain the best contact state with the measured surface in various complex environments, which is "soft but not detached, tight but not impacted", greatly improving the reliability and continuity of the detection.

[0032] Because this clamping mechanism uses radially synchronous grippers controlled by a motor, adjusting plate and arc-shaped slide, it can ensure that the sensor unit is automatically centered and firmly clamped, while facilitating quick disassembly and replacement. Therefore, it solves the problems of inconvenient sensor clamping, possible eccentricity or loosening in the prior art, and achieves the purpose of improving work efficiency, ensuring measurement repeatability and protecting expensive sensor equipment.

[0033] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A clamping mechanism for an electromagnet-electromagnetic ultrasonic thickness measuring device adapted for collision avoidance drones, characterized in that: The device includes a fixedly connected buffer mechanism and grippers. The grippers are used to hold the electromagnetic ultrasonic sensor unit. The buffer mechanism includes two symmetrically arranged buffer units. Each buffer unit includes a housing, a contact plate, and an electromagnetic base. The housing is a hollow shell with one open end, which is flexibly connected to the contact plate. Four axial grooves are evenly distributed along the circumferential sidewall of the housing. A middle plate is movably installed inside the housing. The middle plate is fixedly connected to the contact plate via a central rod. A buffer spring is provided between the middle plate and the inner bottom surface of the housing. The two ends of the buffer spring are respectively fixed to the middle plate and the outer bottom surface of the housing. On the inner bottom surface of the shell, the buffer spring provides elastic force to drive the intermediate plate toward the open end of the outer shell. Four deflecting rods are uniformly fixed circumferentially on the circumferential surface of the intermediate plate. The four deflecting rods are respectively arranged in correspondence with the four axial sliding grooves. Each deflecting rod is inserted into the corresponding axial sliding groove and can slide and rotate within the axial sliding groove. A permanent magnet is fixedly provided on the intermediate plate. The electromagnetic base is fixed to the outer side of the bottom surface of the outer shell. The electromagnetic base and the permanent magnet are arranged with the same pole facing each other. The abutment plates of the two buffer mechanisms are fixedly connected. The gripper is fixed to one of the electromagnetic bases.

2. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 1, characterized in that: The gripper includes a rear seat, a middle cover, and a front cover that are fixedly connected in sequence. An adjustment plate is provided between the rear seat and the middle cover. A motor is fixedly mounted on the rear seat, and the output shaft of the motor is fixedly connected to the middle of the adjustment plate to drive the adjustment plate to rotate. Three arc-shaped sliding grooves are evenly provided on the adjustment plate along the circumference. The arc-shaped sliding grooves extend from the center of the adjustment plate to the edge curve. The middle cover has a middle cover sliding groove that corresponds to each of the arc-shaped sliding grooves. The front cover has a front cover sliding groove that corresponds to each of the middle cover sliding grooves. Both the middle cover sliding groove and the front cover sliding groove are arranged in the radial direction. A slider slides in each of the front cover sliding grooves. A clamping plate is fixedly connected to the side of the slider facing away from the middle cover. Each clamping plate is used to hold an electromagnetic ultrasonic sensor unit. A synchronous sliding rod is fixedly connected to the side of the slider facing the middle cover. The synchronous sliding rod passes through the middle cover sliding groove and the arc-shaped sliding groove corresponding to it. The synchronous sliding rod can slide relative to the middle cover sliding groove and the arc-shaped sliding groove.

3. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 1, characterized in that: The open end of the outer shell is flexibly connected to the abutment plate via a corrugated protective sleeve.

4. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 1, characterized in that: The deflector is a circular rod.

5. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 2, characterized in that: The slider is a rectangular slider.

6. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 2, characterized in that: The synchronous slide bar is a circular slide bar.

7. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 1, characterized in that: The intermediate plate and the four deflection rods are integrally formed.

8. The electromagnet electromagnetic ultrasonic thickness measuring device clamping mechanism adapted for anti-collision drones according to claim 1, characterized in that: The central rod is fixed to the middle of the intermediate plate.

Images