CN113525702B - Unmanned aerial vehicle for factory pipeline inspection - Google Patents
Unmanned aerial vehicle for factory pipeline inspection Download PDFInfo
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- CN113525702B CN113525702B CN202110940716.XA CN202110940716A CN113525702B CN 113525702 B CN113525702 B CN 113525702B CN 202110940716 A CN202110940716 A CN 202110940716A CN 113525702 B CN113525702 B CN 113525702B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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Abstract
The invention provides an unmanned aerial vehicle for factory pipeline inspection, which relates to the field of unmanned aerial vehicles and comprises a fixing component, a plurality of connecting rods, a plurality of crash bars, a plurality of hinge rods and a plurality of push rods, wherein the crash bars are respectively arranged between two adjacent rotor wings and are alternately hinged with the hinge rods to form a ring shape, the hinge rods are connected with a machine body through the fixing component, the connecting rods are respectively hinged around the machine body, the rotor wings are respectively arranged on the connecting rods, one ends of the push rods are respectively arranged on the crash bars, the other ends of the push rods penetrate through the machine body and are in sliding connection with the machine body, a fixing block is arranged in the machine body, a first spring is arranged between one end of each push rod and the fixing block, and two sides of each push rod, which are positioned at one end of the machine body, are respectively hinged with the two adjacent connecting rods through a second telescopic rod. The unmanned aerial vehicle can automatically open the two rotors at the impact position to two sides when the unmanned aerial vehicle is impacted, so that the damage to the rotors during the impact can be effectively avoided, and the unmanned aerial vehicle can be effectively protected.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle for factory pipeline inspection.
Background
In the aspect of traditional manual monitoring patrolling and examining, not only work load is big, patrols and examines the degree of difficulty moreover great, especially patrols and examines in some factory's pipelines, if adopt the manual work to patrol and examine, often need scramble to the eminence many times, observe each pipeline, and hardly observe some slight reveals. But along with the development of science and technology, the unmanned aerial vehicle technique has also slowly permeated into the field of patrolling and examining, because unmanned aerial vehicle has the high altitude, it is long-range, characteristics such as the image is clear, consequently, some equipment and pipeline are also added and are patrolled and examined, but when patrolling and examining in some relatively comparatively complicated, narrow region, often sudden collision can appear, especially in the darker eminence of some mills, unmanned aerial vehicle can improve certain required light source of making a video recording when patrolling and examining, but during the local high-speed flight of this kind of dim and the complicated condition of unmanned aerial vehicle, and lead to unmanned aerial vehicle and pipeline to collide with each other easily, finally lead to unmanned aerial vehicle's damage, finally lead to huge loss.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle for factory pipeline inspection, which solves the problems in the background technology.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a mill's pipeline is patrolled and examined and is used unmanned aerial vehicle, includes fuselage, determine module and a plurality of rotor, determine module sets up at the top of fuselage, and a plurality of rotor sets up around the fuselage, still includes fixed subassembly, a plurality of connecting rod, a plurality of crash bar, a plurality of hinge bar and a plurality of push rod, connecting rod, crash bar and push rod are the same with the quantity of rotor, and a plurality of crash bar set up respectively between two adjacent rotors to articulate in turn with a plurality of hinge bars and form an annular, the hinge bar passes through fixed subassembly and fuselage and links to each other, the connecting rod articulates respectively around the fuselage, and a plurality of rotor sets up respectively on the connecting rod, push rod and connecting rod arrange in turn, a plurality of the one end of push rod sets up respectively on the crash bar, and the other end passes the fuselage, with fuselage sliding connection, center department is provided with the fixed block in the fuselage, the push rod is located and is provided with spring one between the one end of fuselage and the fixed block, the both sides that the push rod is located fuselage one end articulate through telescopic link two respectively with two adjacent connecting rods.
Preferably, the fixed subassembly includes a plurality of telescopic links one and a plurality of dead lever, and the one end of a plurality of telescopic links one is fixed at the top of fuselage, and the other end links to each other with the dead lever, and a plurality of articulated links all are connected with the dead lever, the cyclic annular diameter that articulated link and crash bar formed is greater than the distance of dead lever apart from the fuselage.
Preferably, the second telescopic rod comprises a second front rod, a second rear rod and a sliding plate, the second rear rod is hollow, the sliding plate and the second front rod sequentially slide and adapt to the second rear rod, a fourth spring is arranged between the bottom of the sliding plate and the second rear rod, the sliding plate is connected with the second front rod through a fifth spring, a closed cavity is formed between the second front rod and the sliding plate, non-Newtonian fluid is arranged in the cavity, one end, away from the sliding plate, of the second front rod is hinged to the push rod, and one end, away from the second front rod, of the second rear rod is hinged to the bottom end of the connecting rod.
Preferably, the first telescopic rod comprises a first front rod and a first rear rod, the first front rod is arranged in the first rear rod and is in sliding connection with the first rear rod, a third spring is arranged between the first front rod and the first rear rod, one end, far away from the first rear rod, of the first front rod is connected with the machine body, and one end, far away from the first front rod, of the first rear rod is connected with the fixing rod.
Preferably, the outer side of the fixed rod is pivoted with a plurality of anti-collision wheels along the circumferential direction.
Preferably, the clamping mechanism is arranged at the bottom of the machine body, and the two supports are respectively connected with the clamping mechanism and used for triggering the clamping mechanism when the machine body descends to the pipeline, so that the two supports clamp the pipeline.
Preferably, clamping mechanism includes the sleeve and promotes the piece, the sleeve sets up in the fuselage bottom, promote the piece and be located the sleeve to with sleeve sliding connection, it is provided with spring two to promote between the top of piece and the fuselage, two supports articulate respectively in telescopic both sides, it is provided with a plurality of latch one to promote to follow the direction of height on the piece, the support is close to the one end that promotes the piece, is provided with a plurality of latch two along the circumferencial direction, latch one and two intermeshing of latch.
Preferably, a pulley is arranged at the bottom of the pushing block, a second motor is arranged on the pushing block, the output end of the second motor is connected with the pulley, and a side wheel is pivoted at the bottom of the support along the horizontal direction.
Preferably, be provided with the controller in the fuselage, the one end that the push rod is close to the fixed block is provided with distance sensor, distance sensor and rotor link to each other with the controller, when the push rod is close to the fixed block fast, adjust each rotor rotational speed through the controller.
Preferably, the detection component is a camera.
(III) advantageous effects
The invention provides an unmanned aerial vehicle for factory pipeline inspection. The method has the following beneficial effects:
1. this unmanned aerial vehicle is used in pipeline patrol and inspection of mill through set up in the rotor outside by a plurality of crash bars and a plurality of articulated arms cyclic annularly that form for when unmanned aerial vehicle was flown the side and the pipeline is the collision soon, can make crash bar and pipeline contact, thereby effectively avoid the rotor directly to contact with the pipeline, cause the harm to the rotor. All be provided with the push rod on each crash bar, and the one end of push rod is arranged in the fuselage, and make push rod and adjacent connecting rod link to each other through telescopic link two, when making crash bar and pipeline collide, drive the push rod and remove to the fuselage, thereby make two rotors near the department of colliding outwards open, prevent that rotor and striking department from contacting, and also can make the fuselage keep away from striking department, the effectual harm of having avoided unmanned aerial vehicle probably to unmanned aerial vehicle to cause when the striking.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the fuselage according to the present invention;
FIG. 3 is a sectional view of a second extendable rod of the present invention;
FIG. 4 is a cross-sectional view of a clamping mechanism of the present invention;
fig. 5 is a sectional view of a first telescopic rod of the present invention.
In the figure: the camera comprises a body 1, a camera 2, a motor I3, a fixing rod 4, a telescopic rod I5, a front rod I51, a rear rod I52, a spring III 53, an anti-collision rod 6, a hinged rod 7, a push rod 8, an LED lamp 9, a rotor 10, a connecting rod 11, an anti-collision wheel 12, a bracket 13, a side wheel 14, a fixed block 15, a telescopic rod II 16, a front rod II 161, a rear rod II 162, a sliding plate 163, a non-Newtonian fluid 164, a spring IV 165, a spring V166, a spring I17, a sleeve 18, a spring II 19, a pushing block 20, a latch I21, a latch II 22, a pulley 23 and a motor II 24.
Detailed Description
The embodiment of the invention provides an unmanned aerial vehicle for factory pipeline inspection, which comprises a machine body 1, a camera 2, a motor I3, a plurality of rotors 10, a plurality of connecting rods 11, a fixing component, a plurality of anti-collision rods 6, a plurality of hinged rods 7 and a plurality of push rods 8, wherein the camera 2 is hinged to the top of the machine body 1, the output end of the motor I3 is connected with the camera 2, the angle of the camera 2 is adjusted through rotation of the output end of the motor I3, so that images in all directions are obtained, meanwhile, a plurality of LED lamps 9 are arranged on the camera 2, and the positions to be shot are shot through the LED lamps 9, so that the shooting definition is ensured. A plurality of rotor 10 sets up around fuselage 1, drives whole fuselage 1's rising, decline, gos forward and retreat through the rotation of rotor 10. The quantity of rotor 10 is four in this embodiment, and wherein the quantity of connecting rod 11, crash bar 6 and push rod 8 is four the same with the quantity of rotor 10, and four connecting rods 11 articulate respectively and set up on four angles of fuselage 1, and each rotor 10 sets up respectively on the one end of fuselage 1 is kept away from to each connecting rod 11 simultaneously to drive fuselage 1 flight. The four anti-collision rods 6 are respectively positioned between the two rotors 10 and outside the rotors 10, the anti-collision rods 6 are hinged with the plurality of hinged rods 7 in a staggered mode, and are connected end to form a ring shape, and meanwhile the plurality of hinged rods 7 are fixed on the machine body 1 through the fixing assembly. The fixing component comprises a plurality of first telescopic rods 5 and a plurality of fixing rods 4, the number of the first telescopic rods 5 and the number of the fixing rods 4 are two in the embodiment, one end of the first telescopic rod 5 is fixedly connected with the machine body 1, and the other end of the first telescopic rod 5 is connected with the fixing rods 4, so that the fixing rods 4 are fixed on the machine body 1 through the first telescopic rods 5. Thereby make the cyclic annular that crash bar 6 and articulated rod 7 formed pass through dead lever 4 and fix on fuselage 1, and the cyclic annular diameter that crash bar 6 and articulated rod 7 formed is greater than the distance of dead lever 4 apart from fuselage 1 for crash bar 6 contacts with the pipeline before dead lever 4 when unmanned aerial vehicle and pipeline striking, prevents to cause the harm to dead lever 4.
One end of each of four push rods 8 is arranged at the midpoint of each of the four anti-collision rods 6, and the other end of each push rod 8 penetrates through the machine body 1 and is in sliding connection with the machine body 1, so that when the anti-collision rods 6 collide with a pipeline, the anti-collision rods 6 are close to the interior of the machine body 1, and the push rods 8 slide towards the interior of the machine body 1 along with the anti-collision rods 6. The fixing block 15 is arranged in the machine body 1, the first spring 17 is arranged between one end, located in the machine body 1, of the push rod 8 and the fixing block 15, the push rod 8 moves out of the machine body 1 through the elastic force of the first spring 17, the anti-collision rod 6 is driven to move outwards, and the anti-collision rod 6 and the hinge rod 7 form a ring shape. The push rod 8 and the two adjacent connecting rods 11 in the machine body 1 are connected through a second telescopic rod 16, and two ends of the second telescopic rod 16 are hinged to the push rod 8 and the connecting rods 11 respectively. When one side of the unmanned aerial vehicle is impacted, the anti-collision rod 6 drives the push rod 8 to move towards the inside of the machine body 1, when the push rod 8 moves towards the inside of the machine body 1, the connecting rods 11 at two adjacent sides are opened towards two sides through the two telescopic rods 16, and when the connecting rods 11 at two sides are opened, the connecting rods 11 at two adjacent sides are contracted through the other two telescopic rods 16 on the connecting rods 11, so that when the connecting rods 11 are opened, interference cannot be generated; after two connecting rods 11 at striking department are opened, rotor 10 on the connecting rod 11 is also opened to both sides simultaneously, strikes rotor 10 and makes unmanned aerial vehicle unable flight when preventing the striking, does not receive the striking back at crash bar 6, makes 8 resets of push rod through the elasticity of a spring 17, drives crash bar 6 and connecting rod 11 simultaneously and resets for unmanned aerial vehicle can normally fly once more.
The second telescopic rod 16 comprises a second front rod 161, a second rear rod 162 and a sliding plate 163, and the second rear rod 162 is hollow, so that the sliding plate 163 can be slidably fitted in the second rear rod 162, the sliding plate 163 can slide in the second rear rod 162, a fourth spring 165 is arranged between the sliding plate 163 and the second rear rod 162, and the sliding plate 163 moves out of the second rear rod 162 through the elastic force of the fourth spring 165. The second front rod 161 is also slidably fitted in the second rear rod 162 and is located above the sliding plate 163, meanwhile, the second front rod 161 is connected with the second rear rod 162 through a fifth spring 166, the second front rod 161 is ejected out of the second rear rod 162 through the elastic force of the fifth spring 166, and meanwhile, the non-Newtonian fluid 164 is arranged between the second front rod 161 and the sliding plate 163. The end of the front rod far from the sliding plate 163 is hinged to the push rod 8, and the end of the rear rod two 162 far from the front rod two 161 is hinged to the bottom end of the connecting rod 11, so that when a sudden impact occurs, the push rod 8 is pressed down rapidly, the front rod two 161 is pressed down rapidly, the non-Newtonian fluid 164 is hardened, the sliding plate 163 and the rear rod two 162 are pushed, the connecting rod 11 rotates, and meanwhile, the other rear rod two 162 on the connecting rod 11 is subjected to small impact force, the non-Newtonian fluid 164 is not hardened, the distance between the front rod two 161 and the sliding plate 163 is lengthened, and the connecting rod 11 completes rotation at a certain angle.
Simultaneously the one end that is close to fixed block 15 at push rod 8 is provided with distance sensor, is provided with the controller simultaneously in fuselage 1 to distance sensor and rotor 10 link to each other with the controller, thereby when taking place the striking push rod 8 when removing to fixed block 15 rapidly, distance sensor signals, thereby through the rotational speed of each rotor of controller control, thereby make unmanned aerial vehicle keep away from striking department.
When needing to carry out the welt to some pipelines and slide, consequently it has a plurality of anticollision wheels 12 to set up the pin joint along the circumferencial direction on dead lever 4, when the pipeline flight is pasted to needs, unmanned aerial vehicle slowly is close to the pipeline, thereby make the anticollision rod 6 inwards be close to, because anticollision rod 6 is not direct quick contact with the pipeline, make push rod 8 slide into fuselage 1 speed slower, can not arouse the striking to non-Newtonian fluid 164, thereby make the length of two 16 telescopic links shorten, but do not arouse connecting rod 11 to rotate, also can guarantee simultaneously that anticollision wheel 12 on dead lever 4 can hug closely the pipeline flight.
Because the pipeline often is longer relatively in the mill, consequently need slide on the pipeline sometimes, nevertheless because the thickness of pipeline often is diverse, consequently in order to guarantee that unmanned aerial vehicle slides on can the pipeline, need make the unmanned aerial vehicle centre gripping on the pipeline to guarantee that unmanned aerial vehicle can slide on the pipeline. Still included clamping mechanism and two supports 13 in this embodiment, set up clamping mechanism in the bottom of fuselage 1, link to each other two supports 13 with clamping mechanism simultaneously, when making unmanned aerial vehicle descend to the pipeline on, trigger clamping mechanism, thereby drive two supports 13 and press from both sides tight pipeline, make unmanned aerial vehicle centre gripping on the pipeline, thereby can make unmanned aerial vehicle slide on the pipeline, when descending to ground simultaneously, do not trigger clamping mechanism, make support 13 can protect fuselage 1 directly and produce the destruction to fuselage 1 with the ground striking.
The clamping mechanism comprises a sleeve 18 and a pushing block 20, the sleeve 18 is arranged at the bottom of the machine body 1, the sleeve 18 is hollow, the pushing block 20 is arranged in the sleeve 18 and is in sliding connection with the sleeve 18, a second spring 19 is arranged between the top of the pushing block 20 and the machine body 1, and the pushing block 20 slides downwards through the elasticity of the second spring 19. The two supports 13 are respectively hinged to two sides of the sleeve 18, a plurality of first clamping teeth 21 are arranged on the pushing block 20 in the height direction, a plurality of second clamping teeth 22 are arranged at one end, close to the pushing block 20, of the support 13 in the circumferential direction, and the first clamping teeth 21 and the second clamping teeth 22 are meshed with each other. The bottom of the pushing block 20 is provided with a pulley 23, the pushing block 20 is provided with a second motor 24, the output end of the second motor 24 is connected with the pulley 23, the pulley 23 is driven to rotate by the second motor 24, and the bottom of the bracket 13 is pivoted with the side wheel 14 along the horizontal direction. When unmanned aerial vehicle need coast at the pipeline top, when descending to the pipeline top, descend once more, make pulley 23 support the top of pipeline, drive simultaneously and promote 20 upward movements, thereby when driving two supports 13 and being close to each other, make support 13 grasp the pipeline, then drive unmanned aerial vehicle through two 24 motors and coast on the pipeline, when needing to break away from, only need make unmanned aerial vehicle rise, promote 20 downstream under the effect of spring two 19, make two supports 13 outwards open, thereby can make unmanned aerial vehicle normal flight once more.
The first telescopic rod 5 comprises a first front rod 51 and a first rear rod 52, the first front rod 51 is arranged in the first rear rod 52 and is slidably connected with the first rear rod 52, meanwhile, a third spring 53 is arranged between the first front rod 51 and the first rear rod 52, the first front rod 51 is far away from the first rear rod 52 through the elastic force of the third spring 53, one end, far away from the first rear rod 52, of the first front rod 51 is connected with the machine body 1, one end, far away from the first front rod 51, of the first rear rod 52 is connected with the fixing rod 4, so that when the crash bar 6 is violently impacted, the first telescopic rod 5 can retract to a certain extent, and certain injuries can be reduced for the fixing rod 4.
The working principle is as follows: when the pipeline of mill patrols and examines uses unmanned aerial vehicle, drive whole fuselage 1 through rotor 10 on the connecting rod 11 and fly in the air, when fuselage 1 runs into out of control, when one side of fuselage 1 was to the pipeline striking and go, crash bar 6 contacted before the pipeline for crash bar 6 is 1 sidespin of fuselage mutually, drives simultaneously that push rod 8 slides to fuselage 1. Push rod 8 is sliding time fast to fuselage 1, two 161 striking non-Newtonian fluids 164 of front boom, make its sclerosis, thereby open two connecting rods 11 of striking side to both sides through two 16 telescopic links, and make rotor 10 on the connecting rod 11 open to both sides, prevent that rotor 10 and striking department from contacting, lead to rotor 10 to damage, after keeping away from striking department, push rod 8 recovers, and drive crash bar 6 and connecting rod 11 and reset, make unmanned aerial vehicle can carry out normal flight. The unmanned aerial vehicle collision avoidance system realizes collision when the unmanned aerial vehicle flies, and can automatically open the rotor wing 10 at the collision position to two sides, so that the rotor wing 10 is far away from a collision area, the flight is ensured, and the damage caused by collision of the unmanned aerial vehicle is effectively avoided.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a mill's pipeline is patrolled and examined and is used unmanned aerial vehicle, includes fuselage (1), determine module and a plurality of rotor (10), determine module sets up at the top of fuselage (1), and a plurality of rotor (10) set up around fuselage (1), its characterized in that: still include fixed subassembly, a plurality of connecting rod (11), a plurality of crash bar (6), a plurality of articulated mast (7) and a plurality of push rod (8), connecting rod (11), crash bar (6) and push rod (8) are the same with the quantity of rotor (10), and a plurality of crash bar (6) set up respectively between two adjacent rotors (10) to articulated formation a ring-type in turn with a plurality of articulated mast (7), articulated mast (7) link to each other with the fuselage through fixed subassembly, connecting rod (11) articulate respectively around fuselage (1), and a plurality of rotor (10) set up respectively on connecting rod (11), push rod (8) and connecting rod (11) arrange in turn, a plurality of the one end of push rod (8) sets up respectively on crash bar (6), and the other end passes fuselage (1), and fuselage (1) sliding connection, fuselage (1) center department is provided with fixed block (15), push rod (8) are located between the one end and fixed block (15) of fuselage (1) and are provided with spring (17), the one end of push rod (8) is located two adjacent telescopic link (16) between fuselage (11) and the connecting rod (11) articulated.
2. The unmanned aerial vehicle for factory pipeline inspection according to claim 1, wherein: the fixed subassembly includes a plurality of telescopic links (5) and a plurality of dead lever (4), and the one end of a plurality of telescopic links (5) is fixed at the top of fuselage (1), and the other end links to each other with dead lever (4), and a plurality of articulated mast (7) all are connected with dead lever (4), the cyclic annular diameter that articulated mast (7) and crash bar (6) formed is greater than dead lever (4) apart from the distance of fuselage (1).
3. The unmanned aerial vehicle for factory pipeline inspection according to claim 1, wherein: the second telescopic rod (16) comprises a second front rod (161), a second rear rod (162) and a sliding plate (163), the second rear rod (162) is hollow, the sliding plate (163) and the second front rod (161) are sequentially matched in the second rear rod (162) in a sliding mode, a fourth spring (165) is arranged between the bottom of the sliding plate (163) and the second rear rod (162), the sliding plate (163) is connected with the second front rod (161) through a fifth spring (166), a closed cavity is formed between the second front rod (161) and the sliding plate (163), non-Newtonian fluid (164) is arranged in the cavity, one end, far away from the sliding plate (163), of the second front rod (161) is hinged to the push rod (8), and one end, far away from the second front rod (161), of the second rear rod (162) is hinged to the bottom end of the connecting rod (11).
4. The unmanned aerial vehicle for factory pipeline inspection according to claim 2, wherein: the first telescopic rod (5) comprises a first front rod (51) and a first rear rod (52), the first front rod (51) is arranged in the first rear rod (52) and is connected with the first rear rod (52) in a sliding mode, a third spring (53) is arranged between the first front rod (51) and the first rear rod (52), one end, far away from the first rear rod (52), of the first front rod (51) is connected with the machine body (1), and one end, far away from the first front rod (51), of the first rear rod (52) is connected with the fixing rod (4).
5. The unmanned aerial vehicle for factory pipeline inspection according to claim 2, wherein: the outer side of the fixed rod (4) is pivoted with a plurality of anti-collision wheels (12) along the circumferential direction.
6. The unmanned aerial vehicle for factory pipeline inspection according to claim 1, wherein: the pipeline clamping device is characterized by further comprising a clamping mechanism and two supports (13), wherein the clamping mechanism is arranged at the bottom of the machine body (1), and the two supports (13) are respectively connected with the clamping mechanism and used for triggering the clamping mechanism when the machine body (1) descends to a pipeline to enable the two supports (13) to clamp the pipeline.
7. The unmanned aerial vehicle for factory pipeline inspection according to claim 6, wherein: clamping mechanism includes sleeve (18) and promotes piece (20), sleeve (18) set up in fuselage (1) bottom, it is located sleeve (18) to promote piece (20) to with sleeve (18) sliding connection, it is provided with spring two (19) to promote between the top of piece (20) and fuselage (1), and two supports (13) articulate respectively in the both sides of sleeve (18), it is provided with a plurality of latch one (21) to promote piece (20) to go up along the direction of height, support (13) are close to the one end that promotes piece (20), are provided with a plurality of latch two (22) along the circumferencial direction, latch one (21) and latch two (22) intermeshing.
8. The unmanned aerial vehicle for factory pipeline inspection according to claim 7, wherein: the bottom of the pushing block (20) is provided with a pulley (23), a second motor (24) is arranged on the pushing block (20), the output end of the second motor (24) is connected with the pulley (23), and the bottom of the support (13) is pivoted with a side wheel (14) along the horizontal direction.
9. The unmanned aerial vehicle for factory pipeline inspection according to claim 1, wherein: be provided with the controller in fuselage (1), the one end that push rod (8) are close to fixed block (15) is provided with distance sensor, distance sensor and rotor (10) link to each other with the controller, when push rod (8) are close to fixed block (15) fast, through each rotor (10) rotational speed of controller adjustment.
10. The unmanned aerial vehicle for factory pipeline inspection according to claim 1, wherein: the detection assembly is a camera (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110940716.XA CN113525702B (en) | 2021-08-17 | 2021-08-17 | Unmanned aerial vehicle for factory pipeline inspection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110940716.XA CN113525702B (en) | 2021-08-17 | 2021-08-17 | Unmanned aerial vehicle for factory pipeline inspection |
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| Publication Number | Publication Date |
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| CN113525702A CN113525702A (en) | 2021-10-22 |
| CN113525702B true CN113525702B (en) | 2022-12-30 |
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| CN202110940716.XA Active CN113525702B (en) | 2021-08-17 | 2021-08-17 | Unmanned aerial vehicle for factory pipeline inspection |
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| CN113928561B (en) * | 2021-11-12 | 2023-08-25 | 浙江大学杭州国际科创中心 | Automatic unmanned aerial vehicle that patrols and examines of steel case roof beam with anticollision ability |
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| CN207670657U (en) * | 2017-12-28 | 2018-07-31 | 四川中飞赛维航空科技有限公司 | A kind of plain type quadrotor drone |
| CN207759028U (en) * | 2018-01-18 | 2018-08-24 | 兰州天成智能科技有限公司 | A kind of buffer of unmanned plane |
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| CN212921992U (en) * | 2020-06-01 | 2021-04-09 | 沈阳中测无人机科技有限公司 | Unmanned aerial vehicle collision avoidance device |
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| CN113525702A (en) | 2021-10-22 |
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