Self-growing robot for overhauling and maintaining wind driven generator

Abstract

The self-growing robot comprises a self-growing robot body, a rotating mechanism is fixedly installed on one side of the self-growing robot body, and a detecting mechanism and an overhauling mechanism are fixedly installed on one side of the rotating mechanism; the rotating mechanism comprises a driving box, and a rotating seat is arranged on one side of the driving box; and the detection mechanism comprises a detector main body, and the detector main body is mounted on the left side of the rotating seat. The self-growing robot has the advantage of being efficient, and the problems that in the using process of an existing self-growing robot for overhauling and maintaining the wind driven generator, efficient detection and maintenance are inconvenient to conduct on the interior of the wind driven generator, structural damage and temperature abnormity are difficult to find out, and flexibility is poor when complex overhauling work is conducted are solved.

Description

Technical Field

[0001] The invention relates to the technical field of wind power generation, and in particular to a self-growing robot used for overhauling and maintaining wind turbines. Background Art

[0002] A robot used for wind turbine maintenance is an automated device designed specifically to perform inspection, maintenance, and repair tasks on wind power generation facilities. Such robots can be used on both onshore and offshore wind turbines, mainly working on key components of turbines such as blades, towers, gearboxes, generators, etc. The use of these robots can significantly reduce maintenance costs, improve safety, reduce downtime, and extend the service life of wind turbines.

[0003] The wind turbine cleaning, maintenance and inspection robot of Chinese patent application No. 201620465672.4 is specially used for cleaning, maintenance and inspection of wind turbine towers. The robot uses electromagnetic adsorption and permanent magnet adsorption to adsorb the wall surface, and can walk freely and conveniently. It can replace manual dangerous, heavy and repetitive work, which can reduce manual labor and improve work efficiency; it uses solar energy to generate electricity, save energy, and save energy and protect the environment. The motor is installed on the crawler, the permanent magnet is connected to the crawler, the crawler is installed on the robot connecting frame, and the solar automatic tracking power supply device is installed on the robot connecting frame. One end of the connecting rod is movably connected to the robot connecting frame, and the other end of the connecting rod is fixedly connected to the cleaning device. The two ends of the telescopic adjustment cylinder are movably connected to the robot connecting frame and the connecting rod respectively. The camera module is installed on the robot connecting frame.

[0004] Existing self-growing robots for wind turbine inspection and maintenance are not convenient for efficient inspection and maintenance of the interior of the wind turbine during use, and it is difficult to detect structural damage and temperature anomalies. In addition, they have poor flexibility when performing complex inspection and maintenance work. Summary of the invention

[0005] The purpose of the present invention is to provide a self-growing robot for the inspection and maintenance of wind turbines, which has the advantage of high efficiency and solves the problems that the existing self-growing robots for the inspection and maintenance of wind turbines are not convenient for efficient inspection and maintenance of the interior of the wind turbines during use, and it is difficult to detect structural damage and temperature anomalies, and the flexibility is poor when performing complex maintenance work.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a self-growing robot for wind turbine repair and maintenance, comprising a self-growing robot body, a rotating mechanism fixedly installed on one side of the self-growing robot body, and a detection mechanism and a repair mechanism fixedly installed on one side of the rotating mechanism;

[0007] The rotating mechanism comprises a driving box, and a rotating seat is provided on one side of the driving box;

[0008] The detection mechanism includes a detector body, and the detector body is installed on the left side of the rotating seat;

[0009] The inspection mechanism comprises a connecting seat, and the connecting seat is installed on the left side of the rotating seat.

[0010] As a preferred self-growing robot for wind turbine inspection and maintenance of the present invention, a first motor is fixedly installed in the inner cavity of the drive box, a rotating rod is fixedly connected to the output shaft of the first motor, and the rotating rod is fixedly connected to the left side of the rotating seat.

[0011] As a preferred self-growing robot for wind turbine inspection and maintenance of the present invention, the top and bottom of the right side of the rotating seat are fixedly connected to support rods, the right end of the support rod is movably connected to a support ring, and the support ring is fixedly connected to the surface of the drive box.

[0012] As a preferred embodiment of the self-growing robot for wind turbine inspection and maintenance of the present invention, an ultrasonic sensor and an infrared thermal imager are respectively fixedly mounted on the bottom of the detector body.

[0013] As a preferred embodiment of the self-growing robot for wind turbine inspection and maintenance of the present invention, a PLC controller is fixedly installed in the inner cavity of the detector body.

[0014] As a preferred self-growing robot for wind turbine inspection and maintenance of the present invention, a second motor is fixedly installed in the inner cavity of the detector body, and the output shaft of the PLC controller passes through the outside of the detector body and is fixedly installed with a camera.

[0015] As a preferred self-growing robot for wind turbine inspection and maintenance of the present invention, a first connecting arm is fixedly connected to one side of the connecting seat, a second connecting arm is rotatably connected to the inner wall of the first connecting arm, a hydraulic cylinder is rotatably connected to the inner wall of the second connecting arm, a piston rod of the hydraulic cylinder is fixedly connected to a driving assembly, and a mechanical claw is fixedly installed on the left end of the driving assembly.

[0016] As a preferred self-growing robot for wind turbine inspection and maintenance of the present invention, a third motor is fixedly installed on the front side of the first connecting arm, and the output shaft of the third motor is fixedly connected to the front side of the second connecting arm.

[0017] As a preferred embodiment of the self-growing robot for wind turbine inspection and maintenance of the present invention, a fourth motor is fixedly mounted on the front side of the hydraulic cylinder, and the output shaft of the fourth motor is fixedly connected to the front side of the hydraulic cylinder.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention can perform non-contact comprehensive detection through the coordinated use of infrared thermal imagers and ultrasonic sensors, monitor the operating status of wind turbines in real time, and promptly discover potential fault points such as structural damage, temperature anomalies, etc., thereby improving detection efficiency and accuracy.

[0020] 2. The present invention drives the rotating rod through the first motor in the driving box, and then controls the rotation of the rotating seat, so that the detection mechanism and the maintenance mechanism can flexibly adjust the position and angle to meet the detection requirements of different components of the wind turbine, ensuring that the operation range of the robot covers the entire generator structure.

[0021] 3. The present invention sets a PLC controller to process the data collected by the sensor, automatically identify the fault type and location, and make response decisions in combination with preset programs, such as calling the camera for a more detailed visual inspection, or controlling the maintenance mechanism to perform necessary maintenance actions, thereby improving the level of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is the front view of the present invention;

[0023] Figure 2 It is a front sectional view of the rotating mechanism of the present invention;

[0024] Figure 3 It is a front cross-sectional view of the detection mechanism of the present invention;

[0025] Figure 4 It is the front view of the maintenance mechanism of the present invention.

[0026] In the figure: 1. Self-growing robot body; 2. Rotating mechanism; 201. Drive box; 202. Rotating seat; 203. Rotating rod; 204. Support rod; 205. Support ring; 206. First motor; 3. Detection mechanism; 301. Detector body; 302. Ultrasonic sensor; 303. Infrared thermal imager; 304. Camera; 305. Second motor; 306. PLC controller; 4. Maintenance mechanism; 401. Connecting seat; 402. First connecting arm; 403. Hydraulic cylinder; 404. Driving assembly; 405. Mechanical claw; 406. Fourth motor; 407. Second connecting arm; 408. Third motor. DETAILED DESCRIPTION

[0027] See also Figure 1-Figure 4 A self-growing robot for wind turbine repair and maintenance includes a self-growing robot body 1, a rotating mechanism 2 is fixedly installed on one side of the self-growing robot body 1, and a detection mechanism 3 and a maintenance mechanism 4 are fixedly installed on one side of the rotating mechanism 2.

[0028] Furthermore, the rotating mechanism 2 includes a driving box 201 , and a rotating seat 202 is provided on one side of the driving box 201 .

[0029] Furthermore, a first motor 206 is fixedly installed in the inner cavity of the driving box 201 , and an output shaft of the first motor 206 is fixedly connected to a rotating rod 203 , and the rotating rod 203 is fixedly connected to the left side of the rotating seat 202 .

[0030] Furthermore, the top and bottom of the right side of the rotating seat 202 are fixedly connected with a support rod 204 , and the right end of the support rod 204 is movably connected with a support ring 205 , and the support ring 205 is fixedly connected to the surface of the driving box 201 .

[0031] Furthermore, the detection mechanism 3 includes a detector body 301 , and the detector body 301 is installed on the left side of the rotating seat 202 .

[0032] Furthermore, an ultrasonic sensor 302 and an infrared thermal imager 303 are fixedly mounted on the bottom of the detector body 301 .

[0033] Furthermore, a PLC controller 306 is fixedly installed in the inner cavity of the detector body 301 .

[0034] Furthermore, a second motor 305 is fixedly installed in the inner cavity of the detector body 301 , and an output shaft of the PLC controller 306 passes through the outer side of the detector body 301 and is fixedly installed with a camera 304 .

[0035] Furthermore, the inspection mechanism 4 includes a connecting seat 401 , and the connecting seat 401 is installed on the left side of the rotating seat 202 .

[0036] Furthermore, a first connecting arm 402 is fixedly connected to one side of the connecting seat 401, a second connecting arm 407 is rotatably connected to the inner wall of the first connecting arm 402, a hydraulic cylinder 403 is rotatably connected to the inner wall of the second connecting arm 407, a piston rod of the hydraulic cylinder 403 is fixedly connected to a driving assembly 404, and a mechanical claw 405 is fixedly installed on the left end of the driving assembly 404.

[0037] Furthermore, a third motor 408 is fixedly installed on the front side of the first connecting arm 402 , and an output shaft of the third motor 408 is fixedly connected to the front side of the second connecting arm 407 .

[0038] Furthermore, a fourth motor 406 is fixedly installed on the front side of the hydraulic cylinder 403 , and an output shaft of the fourth motor 406 is fixedly connected to the front side of the hydraulic cylinder 403 .

[0039] By using the infrared thermal imager 303 and the ultrasonic sensor 302 in conjunction, a non-contact comprehensive inspection can be performed, the operating status of the wind turbine can be monitored in real time, potential fault points such as structural damage, temperature anomalies, etc. can be discovered in time, and the inspection efficiency and accuracy can be improved.

[0040] By driving the first motor 206 in the driving box 201 to drive the rotating rod 203, and then controlling the rotation of the rotating seat 202, the detection mechanism 3 and the maintenance mechanism 4 can flexibly adjust the position and angle to meet the detection requirements of different components of the wind turbine, ensuring that the robot's operating range covers the entire generator structure.

[0041] The PLC controller 306 can process the data collected by the sensors, automatically identify the type and location of the fault, and make response decisions based on the preset program, such as calling the camera 304 for a more detailed visual inspection, or controlling the maintenance mechanism 4 to perform necessary maintenance actions, thereby improving the level of automation.

[0042] The maintenance mechanism 4 can achieve high-precision and high-force operations and can grab, tighten or replace generator parts. At the same time, the coordinated use of the fourth motor 406, the third motor 408, the hydraulic cylinder 403 and the drive assembly 404 makes the movement of the mechanical claw 405 more precise and controllable, adapting to complex maintenance tasks.

[0043] Based on the collected data, the robot optimizes the fault identification model through machine learning to improve the diagnostic accuracy. The robot has the ability to autonomously plan the optimal path to adapt to different wind farm environments and improve work efficiency. The robot status, detection data and video images are transmitted to the ground control center in real time to facilitate remote operation and decision-making. The system analyzes the transmitted data to provide a scientific basis for formulating maintenance plans, thereby improving work efficiency and safety.

[0044] When the robot starts to perform inspection, diagnosis or maintenance work, it collects data through sensors, conducts real-time analysis, processes data through AI algorithms, identifies potential faults, generates reports and sends them to the ground control center. The robot performs maintenance work according to instructions, such as replacing worn parts and tightening loose bolts. After the work is completed, the robot feedbacks the work results, and all data and video records are stored in the cloud database.

[0045] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-growing robot for wind turbine repair and maintenance, comprising a self-growing robot body (1), characterized in that: A rotating mechanism (2) is fixedly mounted on one side of the self-growing robot body (1), and a detection mechanism (3) and a maintenance mechanism (4) are respectively fixedly mounted on one side of the rotating mechanism (2); The rotating mechanism (2) comprises a driving box (201), and a rotating seat (202) is provided on one side of the driving box (201); The detection mechanism (3) comprises a detector body (301), and the detector body (301) is installed on the left side of the rotating seat (202); The inspection mechanism (4) comprises a connecting seat (401), and the connecting seat (401) is installed on the left side of the rotating seat (202).

2. A self-growing robot for wind turbine repair and maintenance according to claim 1, characterized in that: A first motor (206) is fixedly installed in the inner cavity of the driving box (201); an output shaft of the first motor (206) is fixedly connected to a rotating rod (203); and the rotating rod (203) is fixedly connected to the left side of the rotating seat (202).

3. The self-growing robot for wind turbine repair and maintenance according to claim 1 is characterized in that: The top and bottom of the right side of the rotating seat (202) are both fixedly connected to a support rod (204), the right end of the support rod (204) is movably connected to a support ring (205), and the support ring (205) is fixedly connected to the surface of the driving box (201).

4. The self-growing robot for wind turbine repair and maintenance according to claim 1 is characterized in that: An ultrasonic sensor (302) and an infrared thermal imager (303) are respectively fixedly mounted on the bottom of the detector body (301).

5. The self-growing robot for wind turbine repair and maintenance according to claim 1 is characterized in that: A PLC controller (306) is fixedly installed in the inner cavity of the detector body (301).

6. The self-growing robot for wind turbine repair and maintenance according to claim 1 is characterized in that: A second motor (305) is fixedly mounted in the inner cavity of the detector body (301), and an output shaft of the PLC controller (306) passes through the outer side of the detector body (301) and is fixedly mounted with a camera (304).

7. The self-growing robot for wind turbine repair and maintenance according to claim 1 is characterized in that: A first connecting arm (402) is fixedly connected to one side of the connecting seat (401); a second connecting arm (407) is rotatably connected to the inner wall of the first connecting arm (402); a hydraulic cylinder (403) is rotatably connected to the inner wall of the second connecting arm (407); a piston rod of the hydraulic cylinder (403) is fixedly connected to a driving assembly (404); a mechanical claw (405) is fixedly installed on the left end of the driving assembly (404).

8. The self-growing robot for wind turbine repair and maintenance according to claim 7 is characterized in that: A third motor (408) is fixedly mounted on the front side of the first connecting arm (402), and an output shaft of the third motor (408) is fixedly connected to the front side of the second connecting arm (407).

9. The self-growing robot for wind turbine repair and maintenance according to claim 7, characterized in that: A fourth motor (406) is fixedly mounted on the front side of the hydraulic cylinder (403), and an output shaft of the fourth motor (406) is fixedly connected to the front side of the hydraulic cylinder (403).

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