A wind turbine tower weld inspection device

Abstract

This invention discloses a wind turbine tower weld inspection device, belonging to the technical field of weld inspection equipment. It includes: a vehicle body, a longitudinal traveling device, a circular traveling device, an inspection device, and a control device. The longitudinal traveling device is movably mounted on both sides of the vehicle body. The inspection device includes an ultrasonic flaw detector mounted on the top of the vehicle body and electrically connected to the control device. The control device is installed inside the vehicle body. The vehicle body has a telescopic groove, and a first telescopic rod is mounted on the telescopic groove. A roller bracket is fixedly mounted on the output end of the first telescopic rod. The roller is rotatably connected to the roller bracket, and one end of the roller is connected to the output end of a first motor, which is mounted on the side wall of the roller bracket. This invention enables online flaw detection of longitudinal and circumferential welds on in-service wind turbine towers, avoiding the risk of the inspection equipment falling due to large-scale rotation at heights, thus improving inspection efficiency.

Description

Technical Field

[0001] This invention belongs to the technical field of weld inspection equipment, and particularly relates to a wind turbine tower weld inspection device. Background Technology

[0002] Currently, weld inspection of wind turbine towers is a crucial test during the operation of wind farms. The weld connection condition directly affects the safe operation of the wind turbine and reflects the tower's load-bearing capacity under frequent changes in operating conditions and tower loads. Currently, weld inspection on the outer surface of wind turbine towers is conducted by personnel using hoisting platforms or ladders. Working at height poses a potential risk of fall for operators. Existing technology also utilizes wall-climbing robots to inspect the outer surface of wind turbine towers. These robots mostly use suction tracks to crawl and inspect the outer surface of the tower (a safety rope is fixed to the top of the robot to prevent falls). However, wind turbine towers have both circumferential and longitudinal welds. Existing wall-climbing robots are more convenient for inspecting longitudinal welds, but circumferential inspection requires significant rotation on the tower, increasing the inspection difficulty and fall risk. Summary of the Invention

[0003] In view of this, the present invention provides a wind turbine tower weld inspection device to solve the above problems.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A wind turbine tower weld inspection device includes: a vehicle body, a longitudinal traveling device, a circular traveling device, an inspection device, and a control device. The longitudinal traveling device is movably installed on both sides of the vehicle body. The inspection device includes an ultrasonic flaw detector installed at the top of the vehicle body and electrically connected to the control device. The control device is installed inside the vehicle body. The vehicle body has a telescopic groove. The circular traveling device includes a first telescopic rod, a roller bracket, a roller, and a first motor. The first telescopic rod is installed on the telescopic groove and passes through the groove towards the wind turbine tower. The roller bracket is fixedly installed at the output end of the first telescopic rod. The roller is rotatably connected to the roller bracket. One end of the roller is connected to the output end of the first motor, and the first motor is installed on the side wall of the roller bracket.

[0006] Furthermore, the longitudinal walking device includes an adsorption walking track, track wheels, track wheel axles, and a second motor. Multiple second motors are installed inside the vehicle body and extend out of the vehicle body. The track wheel axle is connected to the output end of the second motor. The track wheels are fixedly installed on the track wheel axle. The adsorption walking track is driven on the outer surface of multiple track wheels on one side of the vehicle body.

[0007] Furthermore, the longitudinal traveling device also includes a universal joint cross bearing, a track wheel axle sleeve, and a second telescopic rod. The output end of the second motor is slidably connected to the track wheel axle through the universal joint cross bearing. The track wheel axle sleeve is slidably mounted on the track wheel axle. The two ends of the first telescopic rod are respectively hinged to the track wheel axle sleeve and the side wall of the vehicle body.

[0008] Furthermore, the ultrasonic flaw detection device includes an ultrasonic probe and a third telescopic rod, the third telescopic rod is installed on the top of the vehicle body, the output end of the third telescopic rod faces the wind turbine tower, and the ultrasonic probe is installed on the output end of the third telescopic rod.

[0009] Furthermore, the detection device also includes a camera, which is mounted on the top of the ultrasonic flaw detection device and is electrically connected to the control device.

[0010] Furthermore, it also includes a crash protection device, which includes an elastic band, and the bottom of the vehicle body is provided with an extension, the two ends of which are connected to the two sides of the extension.

[0011] Furthermore, the anti-fall device also includes multiple pulley devices, which are spaced apart on the elastic band.

[0012] Furthermore, the pulley device includes a connecting plate, a pulley bracket, and a pulley. The two sides of the connecting plate are connected to the elastic band. The pulley bracket is installed on the connecting plate on one side of the wind turbine tower. The pulley is rotatably installed on the pulley bracket.

[0013] Furthermore, the pulley device also includes a third motor, which is mounted on the side of the connecting plate away from the wind turbine tower. The third motor passes through the connecting plate, and its output end is fixedly connected to the pulley bracket.

[0014] Furthermore, it also includes a painting device, which includes a paint can and a spray nozzle. The paint can is installed inside the vehicle body, and the spray nozzle is installed at the bottom of the vehicle body. The spray nozzle is connected to the paint can pipeline and is electrically connected to the control device.

[0015] The beneficial effects of this invention are as follows:

[0016] The vehicle body and longitudinal traveling device of this invention are both made of rare-earth permanent magnets. When climbing upwards using the longitudinal traveling device, an ultrasonic flaw detector is used to inspect the longitudinal welds of the wind turbine tower. When inspecting the circumferential welds, the first telescopic rod extends, causing the rollers to contact the outer surface of the wind turbine tower. Simultaneously, the second telescopic rod retracts, and the track wheel axle rotates around the universal joint cross bearing away from the outer surface of the wind turbine tower, causing the longitudinal traveling device to disengage from the contact surface of the wind turbine tower. At the same time, the third motor drives the pulley bracket to rotate, and the pulley rotates 90 degrees, making the pulley more suitable for... Rotating around the outer surface of the wind turbine tower, the first motor drives the rollers to rotate, enabling the entire testing equipment to perform online inspections of circumferential welds without significant rotation. The elastic band and pulley system prevents the entire testing device from falling from the wind turbine tower. As the vehicle rapidly descends, the third motor drives the pulley support to rotate, ensuring the pulleys rotate perpendicular to the vertical direction to prevent the equipment from sliding down rapidly and causing damage. A painting device can also be used to paint damaged areas on the outer surface, preventing further corrosion of the wind turbine tower's outer surface. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a wind turbine tower weld inspection device.

[0019] Figure 2 This is a front view of a wind turbine tower weld inspection device.

[0020] Figure 3 This is a left view of a wind turbine tower weld inspection device.

[0021] Figure 4 This is a top view of a wind turbine tower weld inspection device.

[0022] Figure 5 yes Figure 2 AA sectional view.

[0023] Figure 6 This is a schematic diagram of the internal structure of the vehicle body.

[0024] Figure 7 yes Figure 1 A magnified view of position B.

[0025] Figure 8 yes Figure 4 A magnified view of the C position.

[0026] In the figure:

[0027] 10-Vehicle body, 11-Telescopic groove, 12-Extend, 21-Adsorption walking track, 22-Track wheel, 23-Track wheel axle, 24-Second motor, 25-Universal joint cross bearing, 26-Track wheel axle sleeve, 27-Second telescopic rod, 30-Circular walking device, 31-First telescopic rod, 32-Roller bracket, 33-Roller, 34-First motor, 40-Detection device, 41-Ultrasonic flaw detection device, 411-Ultrasonic probe, 412-Third telescopic rod, 42-Camera, 50-Control device, 60-Anti-fall device, 61-Elastic band, 62-Pulley device, 621-Connecting plate, 622-Pulley bracket, 623-Pulley, 624-Third motor, 70-Painting device, 71-Paint can, 72-Spray nozzle, 80-Battery. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] See attached document Figure 1-8 As shown, this invention provides a wind turbine tower weld inspection device 40, comprising: a vehicle body 10, a longitudinal traveling device, a circular traveling device 30, an inspection device 40, and a control device 50. The longitudinal traveling device is movably mounted on both sides of the vehicle body 10. Both the vehicle body 10 and the longitudinal traveling device are made of rare-earth permanent magnets, and the entire device can be adsorbed onto the outer surface of the wind turbine tower. The inspection device 40 includes an ultrasonic flaw detector 41, which is mounted on the top of the vehicle body 10 and electrically connected to the control device 50. The control device 50 is installed inside the vehicle body 10, and a battery 80 is also installed inside the vehicle body 10. The entire device is powered; the control device 50 is a single-chip microcomputer or PLC type device, and integrates a communication module to realize real-time communication with the ground; the vehicle body 10 is provided with a telescopic groove 11, and the circular walking device 30 includes a first telescopic rod 31, a roller bracket 32, a roller 33 and a first motor 34. The first telescopic rod 31 is installed on the telescopic groove 11 and passes through the telescopic groove 11 toward the wind turbine tower. The roller bracket 32 ​​is fixedly installed on the output end of the first telescopic rod 31. The roller 33 is rotatably connected to the roller bracket 32. One end of the roller 33 is connected to the output end of the first motor 34. The first motor 34 is installed on the side wall of the roller bracket 32.

[0030] In a preferred embodiment, the longitudinal walking device includes an adsorption walking track 21, track wheels 22, track wheel axles 23, and a second motor 24. Multiple second motors 24 are installed inside the vehicle body 10 and extend out of the vehicle body 10. The track wheel axles 23 are connected to the output ends of the second motors 24. The track wheels 22 are fixedly installed on the track wheel axles 23. The adsorption walking track 21 is driven and installed on the outer surface of multiple track wheels 22 on one side of the vehicle body 10.

[0031] In a preferred embodiment, the longitudinal traveling device further includes a universal joint cross bearing 25, a track wheel axle sleeve 26, and a second telescopic rod 27. The output end of the second motor 24 is slidably connected to the track wheel axle 23 via the universal joint cross bearing 25. The track wheel axle sleeve 26 is slidably mounted on the track wheel axle 23. The two ends of the first telescopic rod 31 are respectively hinged to the track wheel axle sleeve 26 and the side wall of the vehicle body 10.

[0032] In a preferred embodiment, the ultrasonic flaw detection device 41 includes an ultrasonic probe 411 and a third telescopic rod 412. The third telescopic rod 412 is installed at the top of the vehicle body 10, and the output end of the third telescopic rod 412 faces the wind turbine tower. The ultrasonic probe 411 is installed at the output end of the third telescopic rod 412.

[0033] In a preferred embodiment, the detection device 40 further includes a camera 42, which is mounted on the top of the ultrasonic flaw detector 41 and is electrically connected to the control device 50.

[0034] In a preferred embodiment, a wind turbine tower weld inspection device 40 further includes an anti-fall device, which includes an elastic band 61. The bottom end of the vehicle body 10 is provided with an extension 12, and the two ends of the elastic band 61 are connected to the two sides of the extension 12.

[0035] In a preferred embodiment, the anti-fall device further includes a plurality of pulley devices 62, which are spaced apart on the elastic band 61.

[0036] In a preferred embodiment, the pulley device 62 includes a connecting plate 621, a pulley bracket 622, and a pulley 623. The two sides of the connecting plate 621 are connected to the elastic band 61. The pulley bracket 622 is mounted on the connecting plate 621 and located on one side of the wind turbine tower. The pulley 623 is rotatably mounted on the pulley bracket 622.

[0037] In a preferred embodiment, the pulley device 62 further includes a third motor 624, which is mounted on the side of the connecting plate 621 away from the wind turbine tower. The third motor 624 passes through the connecting plate 621, and its output end is fixedly connected to the pulley bracket 622.

[0038] In a preferred embodiment, a wind turbine tower weld inspection device 40 further includes a painting device 70, which includes a paint tank 71 and a nozzle 72. The paint tank 71 is installed inside the vehicle body 10, and the nozzle 72 is installed at the bottom of the vehicle body 10. The nozzle 72 is connected to the paint tank 71 by a pipeline and is electrically connected to the control device 50.

[0039] Example 1

[0040] This invention enables the entire device to climb upwards on the outer surface of the wind turbine tower by driving the track wheel axle 23 to rotate via the second motor 24, and the track wheel 22 to drive the adsorption walking track 21 to rotate. During the upward movement, the third motor 624 drives the pulley bracket 622 to rotate, keeping the pulley 623 in an upward posture to adapt to the upward movement. When flaw detection begins at the bottom of the wind turbine tower, the ultrasonic probe 411 of the device can be directly aimed at the longitudinal weld seam, and the third telescopic rod 412 extends to bring the ultrasonic probe 411 close to the weld seam. As the device moves upwards, the camera 42 also takes pictures of the outer surface of the weld seam. The flaw detection status of the ultrasonic probe 411 and the image captured by the camera 42 are transmitted in real time to the handheld device of the personnel on the ground via the communication module of the control device 50. If there are weld defects, the control device 50 marks the location of the weld seam and records it on the control device 50. If there is paint peeling or damage to the outer surface, the control device 50 directly controls the spray nozzle 72 to spray paint on the damaged areas of the weld seam. As the wind turbine tower continues to move upward, the longitudinal seam inspection of a single section is completed, and the circumferential weld position of the section is reached. At this time, the first telescopic rod 31 extends, causing the roller 33 to contact the outer surface of the wind turbine tower. Simultaneously, the second telescopic rod 27 retracts, and the track wheel axle 23 rotates around the universal joint cross bearing 25 away from the outer surface of the wind turbine tower, causing the longitudinal traveling device to disengage from the contact of the outer surface of the wind turbine tower. At the same time, the third motor 624 drives the pulley bracket 622 to rotate 90 degrees, turning the pulley 623 into a horizontal position, so that it can adapt to horizontal or circumferential movement. Then, the first motor 34 drives the roller 33 to rotate. The entire inspection equipment can perform online inspection of the circumferential weld without large-scale rotation, improving safety performance. During the circumferential movement of the equipment, the ultrasonic probe 411 is close to the circumferential weld for flaw detection.

[0041] Example 2

[0042] The control device 50 is also equipped with a speed sensor. If the equipment descends too quickly, it is determined that the equipment is falling rapidly. At this time, the control device 50 controls the third motor 624 to drive the pulley bracket 622 to rotate, turning the pulley 623 into a horizontal position. At the same time, the first telescopic rod 31 extends, causing the roller 33 to contact the outer surface of the wind turbine tower. Simultaneously, the second telescopic rod 27 retracts, and the track wheel axle 23 rotates around the universal joint cross bearing 25 away from the outer surface of the wind turbine tower, causing the longitudinal traveling device to disengage from the contact with the outer surface of the wind turbine tower. However, the first motor 34 does not rotate, and the first telescopic rod 31 should be extended as much as possible to stretch the elastic band 61, increasing the friction between the pulley 623 and the roller 33 and the contact with the outer surface of the wind turbine tower, thereby braking the equipment.

[0043] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0044] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine tower weld inspection device, characterized in that, include: The vehicle comprises a vehicle body, a longitudinal traveling device, a circular traveling device, a detection device, and a control device. The longitudinal traveling device is movably mounted on both sides of the vehicle body. The detection device includes an ultrasonic flaw detector, which is mounted on the top of the vehicle body and electrically connected to the control device. The control device is installed inside the vehicle body. The vehicle body has a telescopic groove. The circular traveling device includes a first telescopic rod, a roller bracket, a roller, and a first motor. The first telescopic rod is mounted on the telescopic groove and passes through the groove toward the wind turbine tower. The roller bracket is fixedly mounted on the output end of the first telescopic rod. The roller is rotatably connected to the roller bracket, and one end of the roller is connected to the output end of the first motor. The first motor is mounted on the side wall of the roller bracket. It also includes a crash protection device, which includes an elastic band. The bottom of the vehicle body is provided with an extension, and the two ends of the elastic band are connected to both sides of the extension. The anti-fall device also includes multiple pulley devices, which are spaced apart on the elastic band. The pulley device includes a connecting plate, a pulley bracket, and a pulley. The two sides of the connecting plate are connected to the elastic band. The pulley bracket is installed on the connecting plate on one side of the wind turbine tower. The pulley is rotatably mounted on the pulley bracket. The pulley device also includes a third motor, which is mounted on the side of the connecting plate away from the wind turbine tower. The third motor passes through the connecting plate, and its output end is fixedly connected to the pulley bracket. The longitudinal walking device includes an adsorption walking track, track wheels, track wheel axles, and a second motor; The longitudinal traveling device also includes a universal joint cross bearing, a track wheel axle sleeve, and a second telescopic rod. The output end of the second motor is slidably connected to the track wheel axle through the universal joint cross bearing. The track wheel axle sleeve is slidably mounted on the track wheel axle. The two ends of the second telescopic rod are respectively hinged to the track wheel axle sleeve and the side wall of the vehicle body. The control device is also equipped with a speed sensor. When the detection device is falling rapidly, the control device controls the third motor to drive the pulley bracket to rotate, turning the pulley into a horizontal position. At the same time, the first telescopic rod extends, causing the roller to contact the outer surface of the wind turbine tower. Simultaneously, the second telescopic rod retracts, and the track wheel axle rotates around the universal joint cross bearing away from the outer surface of the wind turbine tower, causing the longitudinal traveling device to disengage from the contact with the outer surface of the wind turbine tower. However, the first motor does not rotate, and the first telescopic rod stretches the elastic band, increasing the friction between the pulley and roller and the contact with the outer surface of the wind turbine tower, thereby braking the equipment.

2. The wind turbine tower weld inspection equipment according to claim 1, characterized in that, Multiple second motors are installed inside the vehicle body and extend out of the vehicle body, the track wheels are fixedly installed on the track wheel axle, and the adsorption walking track drive is installed on the outer surface of multiple track wheels on one side of the vehicle body.

3. The wind turbine tower weld inspection equipment according to claim 1, characterized in that, The ultrasonic flaw detection device includes an ultrasonic probe and a third telescopic rod. The third telescopic rod is installed on the top of the vehicle body, with its output end facing the wind turbine tower. The ultrasonic probe is installed on the output end of the third telescopic rod.

4. The wind turbine tower weld inspection equipment according to claim 1, characterized in that, The detection device also includes a camera, which is mounted on the top of the ultrasonic flaw detection device and is electrically connected to the control device.

5. The wind turbine tower weld inspection equipment according to claim 1, characterized in that, It also includes a painting device, which includes a paint can and a spray nozzle. The paint can is installed inside the vehicle body, and the spray nozzle is installed at the bottom of the vehicle body. The spray nozzle is connected to the paint can pipeline and is electrically connected to the control device.

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