A wheeled inspection robot for a wind farm

Abstract

The application discloses a wind farm wheeled inspection robot and relates to the technical field of wind farm inspection; the application comprises two moving mechanisms for improving upward moving power, the upper ends of the two moving mechanisms are fixedly installed with driving mechanisms, the lower ends of the two moving mechanisms are fixedly installed with clamping mechanisms, the moving mechanisms are fixedly installed with locking mechanisms inside for supporting the robot from steep falling and supporting the robot from slow falling, the locking mechanisms are fixedly installed with one-way rotating mechanisms, and the bottom ends of the moving mechanisms are fixedly installed with inspection equipment for inspection. The driving mechanisms are arranged to drive the moving mechanisms to move, the locking mechanisms are arranged to support the inspection robot, the moving mechanisms can ascend or descend, the inspection device is driven to move along the stand column in the tower drum, the tower drum inner wall is inspected by the inspection device, whether the tower drum inner wall is damaged, cracked or corroded is observed, and the traditional manual inspection is replaced, so that the inspection efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of wind farm inspection technology, specifically a wheeled inspection robot for wind farms. Background Technology

[0002] Wind turbine inspection is a crucial step in ensuring the stable operation and extending the lifespan of wind turbine equipment. Through a series of procedures including structural inspection, lubrication maintenance, electrical system testing, safety equipment calibration, and data collection and analysis, we can promptly identify and address equipment problems, ensuring the safe, reliable, and efficient operation of wind turbines. This not only improves power generation efficiency but also makes a positive contribution to sustainable development.

[0003] Wind turbine tower inspection refers to the regular inspection of wind turbine towers to ensure their safe operation. These inspections are usually carried out by professional maintenance teams who check the structural integrity of the tower, including whether there is obvious damage, cracks, or corrosion on the inner wall of the tower. These may be caused by weather, wind turbine operation, or other reasons. Manually inspecting each wind turbine tower is costly and inefficient. Therefore, it is necessary to design an inspection robot to inspect the inner wall of the tower to replace traditional manual inspection and improve inspection efficiency. To address the above problems, the inventors have proposed a wheeled wind farm inspection robot to solve these issues. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a wheeled inspection robot for wind farms.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a wind farm wheeled inspection robot, comprising two moving mechanisms for increasing upward movement power, the two moving mechanisms being symmetrically distributed on the outer ring of a column, a drive mechanism for driving the moving mechanisms being fixedly installed at the upper end of the two moving mechanisms, a clamping mechanism for fixing the robot being fixedly installed at the lower end of the two moving mechanisms, a locking mechanism for preventing the robot from descending steeply and for supporting the robot to descend slowly being fixedly installed inside the moving mechanism, a one-way rotation mechanism being fixedly installed on the locking mechanism, and an inspection device for inspection being fixedly installed at the bottom end of the moving mechanism.

[0006] Preferably, the moving mechanism includes a support bracket, four rectangularly distributed limiting frames are fixedly installed at the lower end of the support bracket, a rotating shaft is rotatably provided at the upper end of the support bracket, an eccentric block that can rotate is fixedly installed on the outer ring of the rotating shaft, a first bevel gear is fixedly installed at one end of the rotating shaft, and an inspection device with a steering inspection function is fixedly installed at the bottom end of the support bracket.

[0007] Preferably, the drive mechanism includes two external supports, which are respectively fixedly mounted on the upper end of the support bracket. Each of the two external supports is rotatably equipped with a drive shaft. A second bevel gear is fixedly mounted on one end of each drive shaft that is far apart from each other, and the second bevel gear meshes with a first bevel gear. A first gear is fixedly mounted on the outer ring of one drive shaft. A first motor is fixedly mounted on the external support where the drive shaft with the first gear is located. A second gear that meshes with the first gear is fixedly mounted on the output end of the first motor. A connecting shaft is fixedly mounted at the center of the end of the drive shaft with the first gear that is close to the other drive shaft.

[0008] Preferably, the connecting shaft slides through another drive shaft, and the outer ring of the connecting shaft has several grooves. The drive shaft on the external bracket without the first motor has several sliders fixedly installed inside, and the several sliders can slide along the corresponding grooves.

[0009] Preferably, the clamping mechanism includes two sets of shaft supports respectively fixedly installed on two support brackets, a bidirectional screw is rotatably provided on the two sets of shaft supports, a third gear is fixedly installed on the bidirectional screw, a second motor is fixedly installed on one of the support brackets, a fourth gear meshing with the third gear is fixedly installed at the output end of the second motor, and a movable seat is threaded on the bidirectional screw.

[0010] Preferably, the locking mechanism includes two movable columns that are slidably disposed on four rectangularly distributed limit frames, one vertically distributed and the other vertically distributed. A bearing seat is fixedly installed at one end of the movable column near the column. A rotating rod is rotatably disposed on the bearing seat, and two rollers that roll along the column are rotatably disposed on the rotating rod.

[0011] Preferably, a drive sprocket is fixedly installed at one end of the rotating rod, and a chain is sleeved on the outer ring of the two drive sprockets. A movable bracket fixedly connected to the movable seat is fixedly installed between the two movable columns. An electric cylinder is fixedly installed in the middle of the movable bracket. A reduction gearbox sliding in the middle of the movable bracket is fixedly installed at the output end of the electric cylinder away from the column. A central shaft is fixedly connected to the input shaft of the reduction gearbox. A driven sprocket is provided on the outer ring of the central shaft, and a chain is sleeved on the outer ring of the driven sprocket. The central shaft and the driven sprocket are connected by a one-way rotation mechanism.

[0012] Preferably, a connecting bracket is fixedly installed on the side of the reduction gearbox away from the column, and a movable rod is fixedly installed on both ends of the connecting bracket. Two limiting seats are slidably provided on the movable rod, and the four limiting seats on the two movable rods are respectively fixedly connected to four limiting frames. A limiting plate is fixedly installed on the end of the two movable rods near the column.

[0013] Preferably, a fixed bracket is fixedly installed at the lower end of the movable bracket, and a connecting spring is provided above the fixed bracket. A first hinge seat is fixedly installed at both ends of the connecting spring. A second hinge seat is hingedly connected to the first hinge seat. The lower second hinge seat is fixedly installed on the fixed bracket, and a fixed seat is fixedly installed at the top of the upper second hinge seat. An inclined support rod is fixedly installed on the fixed seat. A rectangular hole is opened on the limiting plate, and the support rod passes through the rectangular hole. An arc-shaped block that can contact the outside of the column is fixedly installed at one end of the support rod near the column. A third hinge seat is fixedly installed at the other end of the support rod. A fourth hinge seat is hingedly connected to the upper end of the movable bracket.

[0014] Preferably, the unidirectional rotation mechanism includes an outer ring and an inner ring that are rotatably connected, and the outer ring and the inner ring are respectively connected to the inner ring of the driven sprocket and the outer ring of the central shaft. The inner ring of the outer ring has a plurality of annularly distributed tooth grooves, and the outer ring of the inner ring is equipped with a plurality of spring plates. The other end of the spring plates is fixedly connected to a gear tooth that can engage with the tooth groove. A fixing rod is fixedly installed at one end of the gear tooth, and the fixing rod is rotatably mounted on the inner ring.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. This invention uses a drive mechanism to drive the moving mechanism and a locking mechanism to support the inspection robot, enabling the moving mechanism to rise or fall, thereby driving the inspection device to move along the column inside the tower. The inspection device is used to inspect the inner wall of the tower to observe whether there is damage, cracks or corrosion, thus replacing the traditional manual inspection and improving the efficiency of inspection.

[0017] 2. This invention utilizes the rotation of a bidirectional screw to drive two moving seats on it to move towards each other. The movement of the moving seats drives the locking mechanism to move, so that the arc-shaped block contacts the column and forms a support with the column, allowing the inspection robot to remain stationary on the column and preventing the inspection robot from falling.

[0018] 3. This invention utilizes the rotation of a drive shaft to drive the rotation of a rotating shaft, which in turn causes an eccentric block to rotate in a circle, thereby generating irregular centrifugal force. During the upward rotation of the eccentric block, the upward centrifugal force generated by the rotation of the eccentric block causes the inspection robot to move upward a certain distance. At this time, the arc-shaped block connected to the support rod rubs against the column and moves upward as well, ensuring that the arc-shaped block does not affect the upward movement of the inspection robot. When the eccentric block rotates to the horizontal direction, the elasticity of the connecting spring will make the arc-shaped block fit tightly against the outer side of the column. Combined with the inclined distribution of the support rod, this forms a supporting effect for the inspection robot. During the downward rotation of the eccentric block, the downward centrifugal force generated by the rotation of the eccentric block causes the inspection robot to remain stationary, still supported by the arc-shaped block, the support rod, and the connecting spring.

[0019] 4. This invention utilizes an electric cylinder to drive a reduction gearbox, which in turn moves the central shaft and its driven sprocket, strapping the chain. Simultaneously, the connecting bracket on the reduction gearbox moves, causing the moving rod and limiting plate to move. This allows the limiting plate to press against the support rod and cause it to deflect, preventing the arc-shaped block from contacting the column during descent. During the descent of the inspection robot, its rollers roll along the column, driving the drive sprocket on the rotating rod. The drive sprocket's rotation drives the chain drive, which in turn drives the driven sprocket, which in turn drives the central shaft. The rotation of the central shaft is decelerated by the reduction gearbox, thus slowing the descent speed of the inspection robot. Attached Figure Description

[0020] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall cross-sectional structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the locking mechanism of the present invention.

[0024] Figure 4 This is a cross-sectional schematic diagram of the unidirectional rotation mechanism of the present invention.

[0025] Figure 5 For the present invention Figure 1 Enlarged schematic diagram of the structure at point A in the middle.

[0026] Figure 6 For the present invention Figure 2 Enlarged schematic diagram of the structure at point B.

[0027] Figure 7 For the present invention Figure 2 Enlarged schematic diagram of the structure at point C.

[0028] Figure 8 For the present invention Figure 2 Enlarged schematic diagram of the structure at point D.

[0029] In the diagram: 1. Moving mechanism; 101. Support bracket; 102. Limiting frame; 103. Rotating shaft; 104. Eccentric block; 105. First bevel gear; 2. Drive mechanism; 201. External bracket; 202. Drive shaft; 203. First gear; 204. Second gear; 205. First motor; 206. Connecting shaft; 207. Second bevel gear; 3. Clamping mechanism; 301. Shaft support; 302. Bidirectional screw; 303. Third gear; 304. Fourth gear; 305. Second motor; 306. Moving seat; 4. Locking mechanism; 401. Moving column; 402. Bearing seat; 403. Rotating rod; 404. Roller; 405. 406. Drive sprocket; 407. Chain; 408. Moving bracket; 409. Electric cylinder; 410. Reduction gearbox; 411. Central shaft; 412. Driven sprocket; 413. Connecting bracket; 414. Moving rod; 415. Limiting seat; 416. Limiting plate; 417. Fixed bracket; 418. Connecting spring; 419. First hinge seat; 420. Second hinge seat; 421. Fixed seat; 422. Support rod; 423. Arc block; 424. Third hinge seat; 425. Fourth hinge seat; 5. One-way rotation mechanism; 501. Outer ring; 502. Inner ring; 503. Spring plate; 504. Gear tooth; 505. Fixed rod; 6. Inspection device. Detailed Implementation

[0030] 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.

[0031] Example: Figure 1-8As shown, the present invention provides a wheeled inspection robot for wind farms, including two moving mechanisms 1 for increasing upward movement power. The two moving mechanisms 1 are symmetrically distributed on the outer ring of the column. The upper ends of the two moving mechanisms 1 are fixedly installed with driving mechanisms 2 for driving the moving mechanisms 1. The lower ends of the two moving mechanisms 1 are fixedly installed with clamping mechanisms 3 for fixing the robot. The inside of the moving mechanism 1 is fixedly installed with locking mechanisms 4 for preventing the robot from falling steeply and for supporting the robot to fall slowly. The locking mechanism 4 is fixedly installed with a one-way rotation mechanism 5. The bottom end of the moving mechanism 1 is fixedly installed with inspection equipment 6 for inspection.

[0032] The moving mechanism 1 includes a support bracket 101. Four rectangularly distributed limiting frames 102 are fixedly installed at the lower end of the support bracket 101. A rotating shaft 103 is rotatably provided at the upper end of the support bracket 101. An eccentric block 104 that can rotate is fixedly installed on the outer ring of the rotating shaft 103. A first bevel gear 105 is fixedly installed at one end of the rotating shaft 103. An inspection device 6 with a steering inspection function is fixedly installed at the bottom end of the support bracket 101.

[0033] By adopting the above technical solution, the rotation of the eccentric block 104 can drive the support bracket 101 to move.

[0034] The drive mechanism 2 includes two external supports 201, which are fixedly mounted on the upper end of the support bracket 101. Each of the two external supports 201 is rotatably mounted with a drive shaft 202. A second bevel gear 207 is fixedly mounted on one end of each drive shaft 202 that is far apart from each other, and the second bevel gear 207 meshes with a first bevel gear 105. A first gear 203 is fixedly mounted on the outer ring of one drive shaft 202. A first motor 205 is fixedly mounted on the external support 201 where the drive shaft 202 with the first gear 203 is located. A second gear 204 that meshes with the first gear 203 is fixedly mounted on the output end of the first motor 205. A connecting shaft 206 is fixedly mounted at the center of the end of the drive shaft 202 with the first gear 203 that is close to the other drive shaft 202.

[0035] By adopting the above technical solution, the rotation of the drive shaft 202 can drive the rotation of the rotating shaft 103.

[0036] The connecting shaft 206 slides through another drive shaft 202. The outer ring of the connecting shaft 206 has several sliding grooves. The drive shaft 202 on the external bracket 201 without the first motor 205 has several sliders fixedly installed inside, and the sliders can slide along the corresponding sliding grooves.

[0037] By adopting the above technical solution, the two drive shafts 202 can rotate simultaneously.

[0038] The clamping mechanism 3 includes two sets of shaft supports 301 respectively fixedly installed on two support brackets 101. A bidirectional screw 302 is rotatably provided on the two sets of shaft supports 301. A third gear 303 is fixedly installed on the bidirectional screw 302. A second motor 305 is fixedly installed on one of the support brackets 101. A fourth gear 304 that meshes with the third gear 303 is fixedly installed at the output end of the second motor 305. A movable seat 306 is threaded on the bidirectional screw 302.

[0039] By adopting the above technical solution, the rotation of the bidirectional screw 302 can drive the two movable seats 306 on it to move towards each other.

[0040] The locking mechanism 4 includes two vertically distributed movable columns 401 that are slidably disposed on four rectangularly distributed limit frames 102. A bearing seat 402 is fixedly installed at one end of the movable column 401 near the column. A rotating rod 403 is rotatably disposed on the bearing seat 402. Two rollers 404 that roll along the column are rotatably disposed on the rotating rod 403.

[0041] By adopting the above technical solution, the locking mechanism 4 can move along the column.

[0042] One end of the rotating rod 403 is fixedly installed with a drive sprocket 405. The outer rings of the two drive sprockets 405 are fitted with chains 406. A movable bracket 407 fixedly connected to the movable seat 306 is fixedly installed between the two movable columns 401. An electric cylinder 408 is fixedly installed in the middle of the movable bracket 407. A reduction gearbox 409 sliding in the middle of the movable bracket 407 is fixedly installed at the output end of the electric cylinder 408 away from the column. The input shaft of the reduction gearbox 409 is fixedly connected to a central shaft 410. A driven sprocket 411 is provided on the outer ring of the central shaft 410, and the chain 406 is fitted on the outer ring of the driven sprocket 411. The central shaft 410 and the driven sprocket 411 are connected by a one-way rotation mechanism 5.

[0043] By adopting the above technical solution, the rotation of roller 404 can drive the driven sprocket 411 to rotate.

[0044] A connecting bracket 412 is fixedly installed on the side of the reduction gearbox 409 away from the column. A moving rod 413 is fixedly installed on both ends of the connecting bracket 412. Two limiting seats 414 are slidably provided on the moving rod 413, and the four limiting seats 414 on the two moving rods 413 are respectively fixedly connected to four limiting frames 102. A limiting plate 415 is fixedly installed on the end of the two moving rods 413 near the column.

[0045] By adopting the above technical solution, the movement of the reduction gearbox 409 can drive the movement of the limit plate 415.

[0046] A fixed bracket 416 is fixedly installed at the lower end of the movable bracket 407. A connecting spring 417 is provided above the fixed bracket 416. A first hinge seat 418 is fixedly installed at both ends of the connecting spring 417. The first hinge seat 418 is hingedly connected to a second hinge seat 419. The second hinge seat 419 located below is fixedly installed on the fixed bracket 416. A fixed seat 420 is fixedly installed at the top of the second hinge seat 419 located above. An inclined support rod 421 is fixedly installed on the fixed seat 420. A rectangular hole is opened on the limiting plate 415, and the support rod 421 passes through the rectangular hole. An arc-shaped block 422 that can contact the outside of the column is fixedly installed at one end of the support rod 421 near the column. A third hinge seat 423 is fixedly installed at the other end of the support rod 421. A fourth hinge seat 424 fixedly installed at the upper end of the movable bracket 407 is hingedly connected to the third hinge seat 423.

[0047] By adopting the above technical solution, the arc-shaped block 422 can contact the column, thereby supporting the inspection robot.

[0048] The unidirectional rotation mechanism 5 includes an outer ring 501 and an inner ring 502 that are rotatably connected. The outer ring 501 and the inner ring 502 are respectively connected to the inner ring of the driven sprocket 411 and the outer ring of the central shaft 410. The inner ring of the outer ring 501 has a plurality of annularly distributed tooth grooves. The outer ring of the inner ring 502 is equipped with a plurality of spring plates 503. The other end of the spring plate 503 is fixedly connected to a gear tooth 504 that can engage with the tooth groove. A fixing rod 505 is fixedly installed on one end of the gear tooth 504, and the fixing rod 505 is rotatably mounted on the inner ring 502.

[0049] By adopting the above technical solution, the outer ring 504 can only rotate in one direction.

[0050] Working principle: In this invention, the first motor 205 of the drive mechanism 2, the second motor 305 of the clamping mechanism 3, the electric cylinder 408 of the locking mechanism 4 and the inspection device 6 are electrically connected through the track circuit to improve the power source for the operation of the inspection robot;

[0051] The column is installed inside the tower. The second motor 305 drives the fourth gear 304 to rotate. The rotation of the fourth gear 304 drives the third gear 303 to rotate. The rotation of the third gear 303 drives the bidirectional screw 302 to rotate. The rotation of the bidirectional screw 302 drives the two moving seats 306 on it to move towards each other. The movement of the moving seats 306 drives the locking mechanism 4 to move, so that the arc block 422 contacts the column. At this time, the connecting spring 417 is in a compressed state. The connecting spring 417 pushes the arc block 422 to contact the column. At this time, the inclined distribution of the arc block 422 and the roller 404 rolling along the column form a support with the column, so that the inspection robot can stay still on the column.

[0052] The first motor 205 drives the second gear 204 to rotate, which in turn drives the first gear 203 to rotate. The first gear 203 then drives the drive shaft 202 at its center to rotate, which in turn drives the connecting shaft 206 connected to it to rotate. This, in turn, drives another drive shaft 202 mounted on the connecting shaft 206 to rotate. The rotation of the drive shaft 202 drives the second bevel gear 207 to rotate, which in turn drives the first bevel gear 105 to rotate. The rotation of the first bevel gear 105 drives the rotating shaft 103 to rotate, which in turn drives the eccentric block 104 to rotate in a circle, thereby generating irregular centrifugal force. As the eccentric block 104 rotates upward, the upward centrifugal force generated by the rotation of the eccentric block 104 causes the inspection robot to move upward a certain distance. At this time, the arc-shaped block 422 connected to the support rod 421 rubs against the column and moves upward as well, so that the arc-shaped block 422 does not affect the upward movement of the inspection robot.

[0053] When the eccentric block 104 rotates to the horizontal direction, the elastic force of the connecting spring 417 will cause the arc block 422 to fit tightly against the outer side of the column, which, together with the inclined distribution of the support rod 421, forms a supporting effect for the inspection robot.

[0054] During the downward rotation of the eccentric block 104, a downward centrifugal force is generated due to the rotation of the eccentric block 104. At this time, the inspection robot is still supported by the arc block 422 and the support rod 421, in conjunction with the connecting spring 417, so as to keep the inspection robot stationary.

[0055] During the upward movement, the roller 404 and the rotating rod 403 rotate, which in turn drives the drive sprocket 405 to rotate. The rotation of the drive sprocket 405 drives the chain 406 to drive the chain, which in turn drives the driven sprocket 411 to rotate. The rotation of the driven sprocket 411 drives the outer ring 501 to rotate, causing the outer ring 501 to rotate around the inner ring 502. During the rotation of the outer ring 501, it will squeeze the gear teeth 504, causing the gear teeth 504 to deflect around the fixed rod 505 and compress the spring plate 503. As a result, the rotation of the outer ring 501 will not drive the inner ring 502 to rotate, and thus will not drive the central shaft 410 to rotate, and will not interact with the reduction gearbox 409.

[0056] When preparing to descend, the electric cylinder 408 drives the reduction gearbox 409 to move. The movement of the reduction gearbox 409 drives the central shaft 410 and the driven sprocket 411 on it to move, so that the chain 406 is in a straight state. At this time, the connecting bracket 412 on the reduction gearbox 409 moves accordingly. The movement of the connecting bracket 412 drives the moving rod 413 to move. The movement of the moving rod 413 drives the limiting plate 415 to move. The movement of the limiting plate 415 drives the rectangular hole on it to move, so that the rectangular hole can finally squeeze the support rod 421, causing the support rod 421 to deflect and compress the connecting spring 417. The deflection of the support rod 421 drives the arc block 422 to move, so that the arc block 422 will not contact the column during the descent.

[0057] When the inspection robot descends, the roller 404 rolls along the column, which in turn drives the drive sprocket 405 on the rotating rod 403 to rotate. The rotation of the drive sprocket 405 drives the chain 406 to drive the driven sprocket 411 to rotate. The rotation of the driven sprocket 411 drives the central shaft 410 to rotate. When the central shaft 410 rotates, it is decelerated through the reduction gearbox 409, thereby slowing down the descent speed of the inspection robot.

[0058] During the ascent or descent of the inspection robot, the inspection device can be used to inspect the inner wall of the tower to observe whether there is any damage, cracks or corrosion on the inner wall of the tower.

[0059] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A wheeled inspection robot for wind farms, comprising two moving mechanisms (1) for increasing upward movement power, characterized in that: Two moving mechanisms (1) are symmetrically distributed on the outer ring of the column. The upper ends of the two moving mechanisms (1) are fixedly equipped with a driving mechanism (2) for driving the moving mechanism (1) to work. The lower ends of the two moving mechanisms (1) are fixedly equipped with a clamping mechanism (3) for fixing the robot. The moving mechanism (1) is fixedly equipped with a locking mechanism (4) for preventing the robot from falling steeply and for supporting the robot to fall slowly. The locking mechanism (4) is fixedly equipped with a one-way rotation mechanism (5). The bottom end of the moving mechanism (1) is fixedly equipped with an inspection device (6) for inspection. The locking mechanism (4) includes a movable bracket (407), an electric cylinder (408) is fixedly installed in the middle of the movable bracket (407), and a reduction gearbox (409) that slides in the middle of the movable bracket (407) is fixedly installed at the output end of the electric cylinder (408) away from the column. A connecting bracket (412) is fixedly installed on the side of the reduction gearbox (409) away from the column. A moving rod (413) is fixedly installed at both ends of the connecting bracket (412). A limit plate (415) is fixedly installed at the end of the two moving rods (413) near the column. A fixed bracket (416) is fixedly installed at the lower end of the movable bracket (407). A connecting spring (417) is provided above the fixed bracket (416). A first hinge seat (418) is fixedly installed at both ends of the connecting spring (417). A second hinge seat (419) is hingedly connected to the first hinge seat (418). The second hinge seat (419) located below is fixedly installed on the fixed bracket (416). A fixed seat (420) is fixedly installed at the top of the second hinge seat (419) located above. The fixed base (420) is fixedly installed with inclined support rods (421). The limiting plate (415) has a rectangular hole, and the support rod (421) passes through the rectangular hole. The end of the support rod (421) near the column is fixedly installed with an arc-shaped block (422) that can contact the outside of the column. The other end of the support rod (421) is fixedly installed with a third hinge seat (423). The third hinge seat (423) is hinged to a fourth hinge seat (424) fixedly installed on the upper end of the movable bracket (407). The movement of the limiting plate (415) causes the rectangular hole to press against the support rod (421), causing the support rod (421) to deflect and compress the connecting spring (417). The deflection of the support rod (421) drives the arc block (422) to move, so that the arc block (422) will not contact the column during the descent.

2. The wind farm wheeled inspection robot as described in claim 1, characterized in that, The moving mechanism (1) includes a support bracket (101), and four rectangularly distributed limit frames (102) are fixedly installed at the lower end of the support bracket (101). A rotating shaft (103) is rotatably provided at the upper end of the support bracket (101). An eccentric block (104) that can rotate is fixedly installed on the outer ring of the rotating shaft (103). A first bevel gear (105) is fixedly installed at one end of the rotating shaft (103). An inspection device (6) with a steering inspection function is fixedly installed at the bottom end of the support bracket (101).

3. The wind farm wheeled inspection robot as described in claim 2, characterized in that, The drive mechanism (2) includes two external supports (201), and the two external supports (201) are respectively fixedly installed on the upper end of the support bracket (101). Both external supports (201) are rotatably provided with drive shafts (202). The ends of the two drive shafts (202) that are far apart from each other are fixedly installed with second bevel gears (207), and the second bevel gears (207) mesh with the first bevel gears (105). The outer ring of one drive shaft (202) is fixedly installed with a first gear (203). The external support (201) where the drive shaft (202) with the first gear (203) is located is fixedly installed with a first motor (205). The output end of the first motor (205) is fixedly installed with a second gear (204) that meshes with the first gear (203). The center of the end of the drive shaft (202) with the first gear (203) near the other drive shaft (202) is fixedly installed with a connecting shaft (206).

4. A wind farm wheeled inspection robot as described in claim 3, characterized in that, The connecting shaft (206) slides through another drive shaft (202). The outer ring of the connecting shaft (206) has several sliding grooves. The drive shaft (202) on the external bracket (201) without the first motor (205) has several sliders fixedly installed inside, and the sliders can slide along the corresponding sliding grooves.

5. A wheeled inspection robot for wind farms as described in claim 2, characterized in that, The clamping mechanism (3) includes two sets of shaft supports (301) respectively fixedly installed on two support brackets (101). A bidirectional screw (302) is rotatably provided on the two sets of shaft supports (301). A third gear (303) is fixedly installed on the bidirectional screw (302). A second motor (305) is fixedly installed on one of the support brackets (101). A fourth gear (304) that meshes with the third gear (303) is fixedly installed at the output end of the second motor (305). A movable seat (306) is threaded on the bidirectional screw (302).

6. A wheeled inspection robot for wind farms as described in claim 5, characterized in that, The locking mechanism (4) further includes two movable columns (401) that are slidably arranged on four rectangular limit frames (102) and distributed vertically. A bearing seat (402) is fixedly installed at one end of the movable column (401) near the column. A rotating rod (403) is rotatably provided on the bearing seat (402), and two rollers (404) that roll along the column are rotatably provided on the rotating rod (403).

7. A wheeled inspection robot for wind farms as described in claim 6, characterized in that, One end of the rotating rod (403) is fixedly installed with a drive sprocket (405), and the outer rings of the two drive sprockets (405) are fitted with chains (406). A movable bracket (407) fixedly connected to the movable seat (306) is fixedly installed between the two movable columns (401). The input shaft of the reduction gearbox (409) is fixedly connected with a central shaft (410). The outer ring of the central shaft (410) is provided with a driven sprocket (411), and the chain (406) is fitted on the outer ring of the driven sprocket (411). The central shaft (410) and the driven sprocket (411) are connected by a one-way rotation mechanism (5).

8. A wheeled inspection robot for wind farms as described in claim 7, characterized in that, Two limiting seats (414) are slidably provided on the moving rod (413), and the four limiting seats (414) on the two moving rods (413) are respectively fixedly connected to the four limiting frames (102).

9. A wind farm wheeled inspection robot as described in claim 7, characterized in that, The unidirectional rotation mechanism (5) includes an outer ring (501) and an inner ring (502) that are rotatably connected. The outer ring (501) and the inner ring (502) are respectively connected to the inner ring of the driven sprocket (411) and the outer ring of the central shaft (410). The inner ring of the outer ring (501) has a number of toothed grooves distributed in a ring. The outer ring of the inner ring (502) is equipped with a number of spring plates (503). The other end of the spring plate (503) is fixedly connected to a gear tooth (504) that can engage with the toothed groove. A fixing rod (505) is fixedly installed on one end of the gear tooth (504), and the fixing rod (505) is rotatably mounted on the inner ring (502).

Images