A robot for testing and detecting the continuity of a blade tip lightning arrester

Abstract

This invention provides a robot for testing the continuity of a blade tip lightning arrester, comprising: a drone platform for carrying a robotic arm mounted on its fuselage to fly to the blade tip test site area; a robotic arm connected to the fuselage of the drone platform, one end of which is magnetically connected to a detachable clamp; a detachable clamp for holding the blade tip lightning arrester, having a fixed claw and a movable claw rotatably connected by a first connector, the fixed claw and the movable claw opening and closing by attraction between a first electromagnet and a first steel plate on their respective fixed ends, the power supply end of the first electromagnet being connected to a power supply electrode located at the end of the robotic arm; an image acquisition device; and a control device for controlling the drone platform to reach or leave the blade tip test site area. This invention simplifies the blade inspection procedure and time, and improves testing efficiency by manipulating the detachable clamp to carry the test cable to the blade tip test site area, clamping the blade tip lightning arrester, and then performing blade tip lightning protection testing.

Description

Technical Field

[0001] This invention relates to the field of cable clamp technology, and in particular to a robot for testing and detecting the continuity of a blade tip lightning arrester. Background Technology

[0002] With the continuous development of wind power technology, the single-unit capacity of wind turbine generators is gradually increasing, and the tower height is also rising with the blade length. The increase in blade length and tower height has brought significant challenges to the overall inspection of wind turbines. Wind farms are located in remote areas with harsh environments, high altitudes, and large temperature differences between day and night. How to reduce or avoid safety hazards has become a technical bottleneck that all new energy wind power generation companies need to solve.

[0003] Lightning protection for wind turbines, especially offshore wind turbines, is a comprehensive lightning protection project. Whether the lightning protection is in place directly affects whether the wind turbine can work normally during thunderstorms and ensures that various equipment inside the turbine is not damaged.

[0004] Currently, the standard blade tip lightning protection test primarily requires maintenance personnel to bring the cable onto the wind turbine, clamp the blade tip lightning arrester, and use an equipotential bonding meter to test the DC transition resistance between the blade lightning arrester and the hub down conductor, as well as the lightning arrester rod on the nacelle and the down conductor, to determine whether the lightning protection system is functioning correctly. For large wind turbines, this testing method suffers from drawbacks such as high risk, low efficiency, and high cost. Therefore, it is necessary to provide a testing robot to address these issues. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a robot for testing the continuity of blade tip lightning arresters. This invention primarily utilizes intelligent drone inspection technology, mounting a robotic arm with a detachable gripper on the fuselage of a drone platform. The detachable gripper, carrying the test cable, flies remotely to the blade tip test site area, where it detaches from the robotic arm. The detachable gripper then holds the blade tip lightning arrester for lightning protection testing, thus simplifying the blade inspection procedure and reducing time. This improves testing efficiency while ensuring the safety of on-site personnel and equipment.

[0006] The technical means employed in this invention are as follows:

[0007] A robot for testing and detecting the continuity of a blade tip lightning arrester includes:

[0008] A drone platform, used to carry a robotic arm mounted on its fuselage to fly to the leaf tip test site area;

[0009] The robotic arm has one end connected to the body of the drone platform and the other end connected to a detachable clamp via magnetic attraction.

[0010] A detachable clamp for holding a blade tip lightning arrester at a blade tip test site has a fixed claw and a movable claw rotatably connected by a first connector. The fixed end of the fixed claw is provided with a first electromagnet, and the fixed end of the movable claw is provided with a first steel plate at a position corresponding to the first electromagnet. The power supply end of the first electromagnet is connected to a power supply electrode provided at the end of the robotic arm.

[0011] An image acquisition device is installed on the UAV platform to acquire image data of the detachable clamp;

[0012] And a control device for controlling the UAV platform to reach or leave the leaf tip test site area.

[0013] Furthermore, the robotic arm is a three-link, five-degree-of-freedom robotic arm, which is fixed to the underside of the UAV platform via a rotating base, and includes an upper arm, a lower arm, and an end effector arm; the rotating base, upper arm, lower arm, and end effector arm are connected sequentially by joints, and the axes of each joint are parallel, so that the upper arm, lower arm, and end effector arm can move in the same plane.

[0014] Furthermore, the rotating base and the upper arm form a first joint, the upper arm and the lower arm form a second joint, the lower arm and the end arm form a third joint, and a fourth joint is provided at the end of the end arm for end rotation. All of the above joints are driven by servo DC motors.

[0015] Furthermore, the front ends of the fixed claw and the movable claw of the detachable clamp are provided with serrated jaws. The movable claw is fixed to the upper clamp fixing device through the second connector, and the fixed claw is fixed to the lower clamp fixing device through the third connector.

[0016] Furthermore, the lower clamp fixing device includes an L-shaped fixed base and a fixed plate, and the first electromagnet is disposed in the fixed base, attracting the first steel plate disposed in the upper clamp fixing device when powered.

[0017] Furthermore, a guide ring is provided behind the fixing plate, and a second electrode is provided on the guide ring that matches the first electrode provided at the end of the end rod arm; the second steel sheet is built into the guide ring and attracts each other with the second electromagnet sleeved at the end of the end rod arm when powered.

[0018] Furthermore, when the first electrode is connected to the second electrode, the circuit is turned on, the first electromagnet and the second electromagnet are energized and generate magnetic force. The first electromagnet attracts the first steel sheet, the jaws of the detachable clamp are in the open state, the second electromagnet attracts the second steel sheet, and the detachable clamp is connected to the robotic arm. When the first electrode is disconnected from the second electrode, the circuit is turned off, the first electromagnet and the second electromagnet are de-energized, the detachable clamp is disconnected from the robotic arm, and the jaws of the detachable clamp close to hold the blade tip lightning arrester.

[0019] Furthermore, a return spring is fitted onto the first connecting member that connects the fixed claw and the movable claw.

[0020] Furthermore, the image acquisition device is a camera, which is installed on the body of the drone platform. It controls the rotation angle of each joint of the robotic arm by capturing images in real time, so as to realize the precise gripping of the blade tip lightning rod by the detachable gripper.

[0021] Furthermore, before the test, the control device is used to control the UAV platform to transport the end of the test cable to the blade tip test site area, and then determine the connection of the detachable clamp to the blade tip lightning arrester based on the image data collected by the image acquisition device.

[0022] After the test, the control device is used to control the UAV platform to reach the blade tip test site area, determine the position of the detachable clamp based on the image data collected by the image acquisition device, control the robotic arm to engage with the detachable clamp, and then control the UAV platform to leave the blade tip test site area and retract.

[0023] The present invention has the following advantages:

[0024] 1. The blade tip lightning arrester continuity testing robot provided by this invention has a customized robotic arm installed on the body of a drone platform. It carries the test cable through a remotely controlled detachable clamp to conduct blade tip lightning protection tests, which simplifies the blade testing procedure and time. While improving the efficiency of the testing work, it also ensures the safety of on-site test personnel and equipment.

[0025] 2. The detachable clamp provided by this invention involves a robotic arm carrying a cable flying to the blade tip test site area. When the detachable clamp is aligned with the blade tip lightning rod, the electrodes on the robotic arm are de-energized, causing the detachable clamp to detach from the robotic arm, thus allowing the detachable clamp to accurately grasp the blade tip lightning rod. At this point, the drone returns to its home base. After the test, the drone flies to a designated location, reconnects with the detachable clamp by energizing the electrodes, and returns to its home base carrying the detachable clamp.

[0026] 3. The present invention installs a wireless image transmission device in the robotic arm, and controls the rotation angle of each joint of the robotic arm by using images captured in real time by the camera on the robotic arm, so as to realize the precise gripping of the leaf tip lightning rod by the detachable gripper.

[0027] For the reasons stated above, this invention can be widely applied in the field of cable clamp technology. Attached Figure Description

[0028] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a front view of a blade tip lightning arrester continuity testing robot according to an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of the structure of a blade tip lightning arrester continuity testing robot according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of the detachable gripper of a blade tip lightning arrester continuity testing robot according to an embodiment of the present invention. Figure 1 .

[0032] Figure 4 This is a schematic diagram of the detachable gripper of a blade tip lightning arrester continuity testing robot according to an embodiment of the present invention. Figure 2 .

[0033] Figure 5 This is a schematic diagram of the detachable gripper of a blade tip lightning arrester continuity testing robot according to an embodiment of the present invention. Figure 3 .

[0034] Figure 6 This is a schematic diagram of the detachable gripper of a blade tip lightning arrester continuity testing robot according to an embodiment of the present invention. Figure 4 .

[0035] In the diagram: 1. Fuselage; 2. Rotating base; 3. Propeller; 4. Brushless motor; 5. Upper arm; 6. Lower arm; 7. End arm; 8. Image acquisition device; 9. First joint; 10. Second joint; 11. Third joint; 12. Fourth joint; 13. Gripper; 14. Movable claw; 15. Second connector; 16. Upper clamp fixing device; 17. Second steel plate; 18. Second electromagnet; 19. First electrode; 20. Fixed claw; 21. Lower clamp fixing device; 22. First electromagnet; 23. Second electrode; 24. Fixed base; 25. Fixed plate; 26. Guide ring; 27. First connector; 28. Third connector; 29. ​​Fourth connector; 30. Spring. Detailed Implementation

[0036] 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.

[0037] The present invention provides a robot for testing the continuity of a blade tip lightning arrester, which mainly includes a drone platform, a robotic arm, a detachable clamp, an image acquisition device, and a control device.

[0038] Specifically, such as Figure 1 As shown, the drone platform consists of a carbon fiber fuselage 1, a propeller 3, and a brushless motor 4. The propeller 3 is driven to rotate by the brushless motor 4. It has a payload capacity of approximately 10 kg. To adapt to the complex environment of wind turbines, the hexacopter drone has a wind resistance capability of level 6-7. Equipped with two 16000mAh lithium batteries, it can guarantee more than 20 minutes of operating time, ensuring that the drone platform has sufficient time to carry the robotic arm mounted on its fuselage 1 to the blade tip testing site area.

[0039] like Figure 2 As shown, in this embodiment, the robotic arm is connected at one end to the body 1 of the UAV platform, and at the other end to a detachable clamp via magnetic attraction. Furthermore, the robotic arm used in this embodiment is a three-link, five-DOF robotic arm, fixed below the body 1 of the UAV platform by a rotating base 2. It includes a large arm 5, a forearm 6, an end effector 7, a first joint (shoulder joint) 9, a second joint (elbow joint) 10, a third joint (wrist joint) 11, and a fourth joint (end effector rotational joint) 12. The axes of the first joint 9, the second joint 10, and the third joint 11 are parallel, allowing them to move in the same plane. The axis of the body 1 is perpendicular to the remaining joints. Its workspace is relatively wide, enabling it to reach designated positions. The motors used for the joints are servo DC motors, characterized by their light weight and high torque. It can ensure the joint rotation of the robotic arm. The carbon fiber body 1 is fixedly connected to the rotating base 2 by bolts. The first joint 9 is between the rotating base 2 and the upper arm 5, the second joint 10 is between the upper arm 5 and the lower arm 6, and the third joint 11 is between the lower arm 6 and the end arm 7. The various structures are connected by rotation and parallel control is adopted. The CAN signal is transmitted to each motor through the 4G module to achieve remote control of the movement trajectory of the robotic arm and realize the gripping of the blade tip lightning arrester.

[0040] like Figure 3 , Figure 4 and Figure 5As shown, the detachable clamp provided in this embodiment is used to clamp the blade tip lightning arrester at the blade tip test point. It has a fixed claw 20 and a movable claw 14 rotatably connected by a first connector 27. Under normal circumstances, the fixed claw 20 and the movable claw 14 can rotate around the first connector 27 as an axis. A return spring 30 is sleeved on the first connector 27 (e.g., Figure 6 As shown, in the absence of external force, the front ends of the fixed claw 20 and the movable claw 14 can be in a closed state. The front ends of the fixed claw 20 and the movable claw 14 of the detachable clamp are provided with serrated jaws 13 for clamping the blade tip lightning arrester. The movable claw 14 is fixed to the upper clamp fixing device 16 by the second connector 15, and the fixed claw 20 is fixed to the lower clamp fixing device 21 by the third connector 28; this end is fixed. The second connector 15 and the third connector 28 are usually bolts.

[0041] The lower clamp fixing device 21 includes an L-shaped fixing base 24 and a fixing plate 25. The first electromagnet 22 is disposed in the fixing base 24 and attracts the first steel plate disposed in the upper clamp fixing device 16 through the fourth connector 29 (bolt) when powered. The power supply end of the first electromagnet 22 is connected to the power supply electrode disposed at the end of the robotic arm.

[0042] like Figure 4 As shown, a guide ring 26 is provided behind the fixing plate 25. The guide ring 26 is provided with a second electrode 23 that matches the first electrode 19 provided at the end of the end arm 7. The second steel sheet 17 is built into the guide ring 26 and attracts each other with the second electromagnet 18 (shown as a ring electromagnet) which is sleeved and fixed at the end of the end arm 7 when powered.

[0043] When the first electrode 19 is connected to the second electrode 23, the circuit is turned on, the first electromagnet 22 and the second electromagnet 18 are energized and generate magnetic force. The first electromagnet 22 attracts the first steel plate, the jaw 13 of the detachable clamp is in the open state, the second electromagnet 18 attracts the second steel plate 17, and the detachable clamp is connected to the robotic arm.

[0044] When the first electrode 19 is disconnected from the second electrode 23, the circuit is broken, the first electromagnet 22 and the second electromagnet 18 are de-energized, the detachable clamp is disconnected from the robotic arm, and the jaw 13 of the detachable clamp closes instantaneously under the force of the spring 30, clamping the blade tip lightning arrester. The above actions effectively achieve the detachable effect, allowing for instantaneous control of the closing and opening of the detachable clamp.

[0045] Furthermore, the image acquisition device 8 provided by the present invention is installed on the UAV platform and is used to acquire image data of the detachable gripper; the image acquisition device 8 is a camera fixed on the carbon fiber body 1, which transmits the images captured by the camera to the receiver, and controls the rotation angle of each joint of the robotic arm by the real-time captured images, so as to realize the precise gripping of the blade tip lightning rod by the detachable gripper.

[0046] In this embodiment, a control device is also provided on the drone platform to control the drone platform to reach or leave the leaf tip test site area.

[0047] Before testing, the control device is used to control the UAV platform to transport the end of the test cable to the blade tip test site area, and then determine the connection of the detachable clamp to the blade tip lightning arrester based on the image data collected by the image acquisition device.

[0048] After the test, the control device is used to control the UAV platform to reach the blade tip test site area, determine the position of the detachable clamp based on the image data collected by the image acquisition device, control the robotic arm to engage with the detachable clamp, and then control the UAV platform to leave the blade tip test site area and retract.

[0049] The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot for detecting the conduction of a lightning arrester, characterized in that, include: A drone platform, used to carry a robotic arm mounted on its fuselage to fly to the leaf tip test site area; The robotic arm has one end connected to the body of the drone platform and the other end connected to a detachable clamp via magnetic attraction. A detachable clamp for holding a blade tip lightning arrester in the blade tip test site area has a fixed claw and a movable claw rotatably connected by a first connector. The fixed end of the fixed claw is provided with a first electromagnet, and the fixed end of the movable claw is provided with a first steel plate at a position corresponding to the first electromagnet. The power supply end of the first electromagnet is connected to a power supply electrode provided at the end of the robotic arm. An image acquisition device is installed on the UAV platform to acquire image data of the detachable clamp; And a control device for controlling the UAV platform to reach or leave the leaf tip test site area; The fixed claw and the movable claw of the detachable clamp are provided with serrated jaws at their front ends. The movable claw is fixed to the upper clamp fixing device through a second connector, and the fixed claw is fixed to the lower clamp fixing device through a third connector. The lower clamp fixing device includes an "L"-shaped fixing base and a fixing plate. The first electromagnet is disposed in the fixing base and attracts the first steel plate disposed in the upper clamp fixing device when powered. A guide ring is provided behind the fixed plate, and a second electrode is provided on the guide ring to match the first electrode provided at the end of the end arm of the robotic arm; a second steel sheet is built into the guide ring and attracts each other with the second electromagnet sleeved at the end of the end arm when powered. When the first electrode is connected to the second electrode, the circuit is turned on, the first electromagnet and the second electromagnet are energized and generate magnetic force. The first electromagnet attracts the first steel sheet, the jaws of the detachable clamp are in the open state, the second electromagnet attracts the second steel sheet, and the detachable clamp is connected to the robotic arm. When the first electrode is disconnected from the second electrode, the circuit is turned off, the first electromagnet and the second electromagnet are de-energized, the detachable clamp is disconnected from the robotic arm, and the jaws of the detachable clamp close to hold the blade tip lightning arrester.

2. The blade tip lightning arrester continuity testing robot according to claim 1, characterized in that, The robotic arm is a three-link, five-degree-of-freedom robotic arm, which is fixed to the underside of the UAV platform via a rotating base. It includes a main arm, a forearm, and an end effector. The rotating base, main arm, forearm, and end effector are connected sequentially by joints, with the axes of each joint being parallel, so that the main arm, forearm, and end effector can move in the same plane.

3. The blade tip lightning arrester continuity testing robot according to claim 2, characterized in that, The first joint is between the rotating base and the upper arm, the second joint is between the upper arm and the lower arm, the third joint is between the lower arm and the end arm, and the fourth joint is located at the end of the end arm for end rotation. All of the above joints are driven by servo DC motors.

4. The blade tip lightning arrester continuity testing robot according to claim 1, characterized in that, A return spring is fitted onto the first connecting piece that connects the fixed claw and the movable claw.

5. The blade tip lightning arrester continuity testing robot according to claim 1, characterized in that, The image acquisition device is a camera, which is installed on the body of the drone platform. It controls the rotation angle of each joint of the robotic arm by capturing images in real time, so as to realize the precise gripping of the blade tip lightning rod by the detachable gripper.

6. The blade tip lightning arrester continuity testing robot according to claim 5, characterized in that, Before testing, the control device is used to control the UAV platform to transport the end of the test cable to the blade tip test site area, and then determine the connection of the detachable clamp to the blade tip lightning arrester based on the image data collected by the image acquisition device. After the test, the control device is used to control the UAV platform to reach the blade tip test site area, determine the position of the detachable clamp based on the image data collected by the image acquisition device, control the robotic arm to engage with the detachable clamp, and then control the UAV platform to leave the blade tip test site area and retract.

Images