Wind turbine tower detection and installation integrated equipment and use method thereof

Abstract

The present invention relates to an integrated detection and installation device for a wind turbine tower and a method for using the device, comprising an on-site detection and installation robot, the on-site detection and installation robot comprising a device box, a climbing and walking device, a visual detection device, a conveying device, a fixed plate storage device, an accelerometer storage device, a glue spraying device and a control system; the climbing and walking device can be adsorbed on the wind turbine tower and walk, and adjust the distance from the wind turbine tower; the visual detection device comprises a camera installed on the outside of the device box; the conveying device comprises a conveyor belt arranged in a accommodating chamber; the fixed plate storage device, the accelerometer storage device and the glue spraying device are all installed in the accommodating chamber of the device box, the fixed plate storage device can store a plurality of fixed plates and release one fixed plate each time to the first delivery station of the conveyor belt; the glue spraying device can spray glue on the front side and upper side of the fixed plate, and the accelerometer storage device can store a plurality of accelerometers and release one accelerometer each time.

Description

Technical Field

[0001] The present invention relates to the field of wind power monitoring, and in particular to a wind turbine tower detection and installation integrated device and a use method thereof. Background Art

[0002] Vibration monitoring of offshore wind turbine towers is an important part of ensuring the safe and stable operation of wind turbines. At present, vibration monitoring of offshore wind turbine towers has been widely used and paid attention to. The vibration frequency of the supporting structure during the operation of the wind turbine needs to be within a certain design range, otherwise there may be hidden dangers of resonance. Therefore, by monitoring the vibration of the wind turbine tower, the vibration frequency and vibration amplitude of the wind turbine foundation can be grasped in real time, thereby ensuring the safe and stable operation of the wind turbine. At present, vibration monitoring of offshore wind turbine towers is mainly carried out by vibration accelerometers. These instruments can accurately measure the vibration data of the wind turbine tower during operation, and evaluate the operating status of the wind turbine through data analysis and processing. Vibration accelerometers are usually arranged near the flange of the wind turbine tower, and bidirectional vibration accelerometers are arranged according to the main wind direction. By collecting and analyzing the vibration monitoring data, the vibration state of the wind turbine tower can be evaluated, potential vibration problems can be discovered in time, and corresponding measures can be taken to deal with them. At the same time, the wind turbine can also be optimized and designed according to the vibration data to improve the operating efficiency and stability of the wind turbine.

[0003] At present, the installation of tower accelerometers requires laying the accelerometer cables and installing the accelerometers before the wind turbine tower is manufactured and shipped; after the tower sections are assembled and installed on the wind turbine foundation, the accelerometers need to be fixed and connected with cables. This installation method is only applicable to towers that have been designed with accelerometer installation plans in advance, and only about one-tenth of the towers of the wind turbines in the entire wind farm will have accelerometers installed in this way. For other wind turbines that do not have accelerometers installed, vibration monitoring is very difficult during operation and maintenance because accelerometers were not installed in the early stage. If the wind turbines in the wind farm encounter typhoons or earthquake loads, it is difficult to assess the vibration of the wind turbines.

[0004] Wind turbine tower apparent damage detection refers to a detailed inspection of the surface of the wind turbine tower to identify possible damage or defects. This inspection is an important part of ensuring the structural integrity and operational safety of the wind turbine tower. When conducting wind turbine tower apparent damage detection, visual inspection, photo recording, and measurement using professional tools are usually used. Inspectors need to carefully inspect every corner of the tower, especially welds, connectors, and areas susceptible to corrosion. At the same time, they also need to pay attention to the overall shape and structure of the tower to determine whether there is deformation or distortion. Although the current wind turbine tower apparent damage detection methods can effectively identify damage or defects to a certain extent, there are still some shortcomings and deficiencies, such as the great influence of human factors. Visual inspection is the most basic and commonly used method, but its results are often affected by the experience, skills, and fatigue of the inspectors. Human factors may cause some damage to be missed or misjudged; the detection efficiency is low. For large wind turbine towers, comprehensive apparent damage detection requires a lot of time and manpower. This may result in a longer inspection cycle, making it difficult to detect and handle damage in a timely manner; it is insensitive to certain damage, and some apparent damage, such as tiny cracks, may be difficult to detect through visual inspection or conventional tools. These damages may not have a significant impact on the structural safety of the wind turbine tower in the initial stage, but long-term accumulation may lead to serious problems; due to environmental conditions, there may be certain difficulties and risks in conducting apparent damage detection of wind turbine towers under certain harsh environmental conditions, such as strong winds, rain and snow. These environmental conditions may affect the operation and safety of the inspectors, and may also affect the accuracy of the test results. Summary of the invention

[0005] In view of the shortcomings of the prior art mentioned above, the technical problem to be solved by the present invention is to provide an integrated detection and installation device for a wind turbine tower and a method of using the same, which can conveniently and flexibly install an accelerometer on the wind turbine tower to reduce costs, and simultaneously perform apparent damage detection on the wind turbine tower to improve accuracy and efficiency.

[0006] To achieve the above-mentioned purpose, the present invention provides an integrated inspection and installation device for a wind turbine tower, including an on-site inspection and installation robot, the on-site inspection and installation robot including a device box, a climbing and walking device, a visual inspection device, a conveying device, a fixed plate storage device, an accelerometer storage device, a glue spraying device and a control system; a storage chamber is provided in the device box, and an outlet connected to the storage chamber is provided on the front side of the device box; the climbing and walking device is installed on the device box, including a spacing adjustment mechanism and a magnetic wheel mechanism, the magnetic wheel mechanism is installed on the device box through the spacing adjustment mechanism, the magnetic wheel mechanism can be adsorbed on the wind turbine tower and walk, and the spacing adjustment mechanism can adjust the distance between the magnetic wheel mechanism and the front side of the device box; the visual inspection device includes a camera installed outside the device box; the conveying device includes a conveyor belt arranged in the storage chamber, the output end of the conveyor belt extends to the outlet, and the upper surface of the conveyor belt is provided with a first delivery station and a second delivery station in sequence along its output direction; the fixed plate The storage device, accelerometer storage device and glue spraying device are all installed in the accommodating chamber of the device box. The fixed plate storage device can store multiple fixed plates and can release one fixed plate at a time to the first delivery station of the conveyor belt; the glue spraying device includes a first nozzle and a second nozzle both located above the conveyor belt, the first nozzle can spray steel glue on the front side of the fixed plate located on the conveyor belt or in the fixed plate storage device facing the outlet, and the second nozzle can spray steel glue on the upper surface of the fixed plate on the conveyor belt. The accelerometer storage device can store multiple accelerometers and can release one accelerometer at a time to the upper side of the fixed plate located at the second delivery station of the conveyor belt; the control system is respectively connected to the climbing walking device, the visual inspection device, the conveying device, the fixed plate storage device, the accelerometer storage device and the glue spraying device; when the on-site inspection and installation robot is installed on the wind turbine tower, the magnetic wheel mechanism of the climbing walking device is adsorbed on the wind turbine tower, and the outlet faces the wind turbine tower.

[0007] Furthermore, it also includes a data acquisition computer, which is communicatively connected with the visual inspection device and can acquire image data of the visual inspection device.

[0008] Furthermore, it also includes a remote control device, which is controllably connected to a control system of the on-site inspection and installation robot.

[0009] Furthermore, the visual inspection device includes a plurality of cameras, and cameras are respectively arranged on the upper side, left side and right side of the device box.

[0010] Furthermore, the fixed plate storage device includes a plurality of first control electromagnet assemblies, which are arranged in the up-down direction of the device box, each of which can adsorb and fix a fixed plate, and the control system can control the on-off of the first control electromagnet assembly.

[0011] Furthermore, the fixed plate storage device includes two first hanging plates which are parallel to each other and arranged above the conveyor belt, the first control electromagnet assembly is fixedly mounted on the first hanging plates, and the fixed plate is placed between the two first hanging plates.

[0012] Furthermore, the accelerometer storage device includes multiple second control electromagnet assemblies, which are arranged along the up and down directions of the device box. Each second control electromagnet assembly can accommodate and adsorb and fix an accelerometer, and the control system can control the power on and off of the second control electromagnet assembly.

[0013] Furthermore, the accelerometer storage device includes two second hanging plates which are parallel to each other and arranged above the conveyor belt, the second control electromagnet assembly is fixedly mounted on the second hanging plates, and the accelerometer is placed between the two second hanging plates.

[0014] Furthermore, the glue spraying device comprises a plurality of first nozzles, and the front side surface of each fixed plate stored in the fixed plate storage device is respectively opposite to a first nozzle.

[0015] The present invention also provides a method for using the above-mentioned integrated detection and installation device for a wind turbine tower, comprising the following steps:

[0016] S1. Equipment placement: Install the on-site inspection and installation robot on the wind turbine tower, with the magnetic wheel mechanism adsorbed on the wall of the wind turbine tower, and the outlet on the front side of the device box facing the wall of the wind turbine tower;

[0017] S2. Mobile shooting: The control system of the on-site detection and installation robot controls the magnetic wheel mechanism of the climbing walking device to move, and the camera of the visual detection device is used to shoot the wind turbine tower during the walking process;

[0018] S3. Accelerometer installation:

[0019] S31, the on-site inspection installation robot moves to the designated installation position, the magnetic wheel mechanism stops moving, and the spacing adjustment mechanism adjusts the distance between the front side of the device box and the wall of the wind turbine tower to a set size;

[0020] S32, the fixed plate storage device releases a fixed plate to the first delivery station of the conveyor belt, and before or after the fixed plate is released, the glue spraying device is controlled to spray the steel adhesive on the front side of the fixed plate through the first nozzle;

[0021] S33, the conveying device is activated, the conveyor belt conveys the fixed plate to below the second nozzle of the glue spraying device, and the glue spraying device sprays steel adhesive on the upper side of the fixed plate through the second nozzle;

[0022] S34, the conveyor belt conveys the fixed plate to the second delivery station, and the accelerometer storage device releases an accelerometer to the side of the fixed plate, and fixes it to the fixed plate by bonding with steel glue on the upper side;

[0023] S35, the conveyor belt of the conveying device continues to convey the fixed plate through the warehouse outlet, the front side of the fixed plate extends out of the output end of the conveyor belt and contacts the wall surface of the wind turbine tower, and then is bonded and fixed;

[0024] S36. The spacing adjustment mechanism of the climbing walking device adjusts the device box away from the wall of the wind turbine tower so that the fixing plate is separated from the device box.

[0025] As described above, the integrated detection and installation device and the use method thereof according to the present invention have the following beneficial effects:

[0026] 1. It can realize the intelligent installation of accelerometers and apparent damage detection of wind turbine towers, creating conditions for wind turbine tower vibration detection and saving manpower and material resources.

[0027] 2. It can realize non-destructive detection of wind turbine tower vibration and provide feasible implementation equipment and solutions for wind turbine tower vibration monitoring without accelerometers installed. At present, wind turbines with accelerometers installed on wind turbine towers in wind farms account for about one-tenth of the total number of wind turbines. Other wind turbine towers are not equipped with accelerometers, so it is impossible to collect tower vibration data.

[0028] 3. The present invention realizes the intelligent installation of accelerometers to collect wind turbine tower vibration data, greatly saving the cost of wind turbine tower inspection and providing technical support for abnormal vibration control and safe operation and maintenance of wind turbines in wind farms. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the integrated equipment for detecting and installing a wind turbine tower according to the present invention.

[0030] Figure 2 It is a structural schematic diagram of the on-site detection installation robot in the present invention.

[0031] Figure 3 This is a working schematic diagram of the on-site detection installation robot in the present invention.

[0032] Description of Figure Numbers

[0033] 1 Wind turbine tower

[0034] 2 Device box

[0035] 21 Exit

[0036] 3 Climbing and walking device

[0037] 4 Cameras

[0038] 5 Conveying device

[0039] 51 Conveyor belt

[0040] 52 conveyor wheel assembly

[0041] 6 Fixed plate storage device

[0042] 61 Fixed plate

[0043] 62. First control solenoid assembly

[0044] 63 First Suspension Board

[0045] 64 First electromagnetic controller

[0046] 7 Accelerometer storage device

[0047] 71 Accelerometer

[0048] 72. Second control solenoid assembly

[0049] 73 Second Suspension Board

[0050] 74 Second electromagnetic controller

[0051] 8 Glue spraying device

[0052] 9 Data collection computer

[0053] 10 Remote Control Device DETAILED DESCRIPTION

[0054] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0055] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0056] See also Figures 1 to 3The present invention provides an integrated detection and installation device for a wind turbine tower, including an on-site detection and installation robot, which includes a device box 2, a climbing and walking device 3, a visual detection device, a conveying device 5, a fixed plate storage device 6, an accelerometer storage device 7, a glue spraying device 8 and a control system; a storage chamber is provided in the device box 2, and an outlet 21 connected to the storage chamber is provided on the front side of the device box 2; the climbing and walking device 3 is installed on the device box 2, and includes a spacing adjustment mechanism and a magnetic wheel mechanism, the magnetic wheel mechanism is installed on the device box 2 through the spacing adjustment mechanism, and the magnetic wheel mechanism can be adsorbed on the wind The machine tower 1 is parallel to the machine tower 1, and the spacing adjustment mechanism can adjust the distance between the magnetic wheel mechanism and the front side of the bracket of the device box 2; the visual inspection device includes a camera 4 installed on the outside of the device box 2; the conveying device 5 includes a conveyor belt 51 arranged in the storage chamber, and the movement of the conveyor belt 51 is driven by the conveyor wheel assembly 52. ​​Its structural working principle is the existing one. The output end of the conveyor belt 51 extends to the outlet 21. The upper surface of the conveyor belt 51 is provided with a first delivery station and a second delivery station in sequence along its output direction; the fixed plate storage device 6, the accelerometer storage device 7, and the glue spraying device 8 are all installed in the storage chamber of the device box 2. In the chamber, the fixed plate storage device 6 can store a plurality of fixed plates 61, and can release one fixed plate 61 at a time to the first delivery station of the conveyor belt 51; the glue spraying device 8 includes a first nozzle and a second nozzle both located above the conveyor belt 51, the first nozzle can spray adhesive to the front side of the fixed plate 61 located on the conveyor belt 51 or in the fixed plate storage device 6 facing the warehouse outlet 21, and the second nozzle can spray adhesive to the upper surface of the fixed plate (61) on the conveyor belt (51); the accelerometer storage device 7 can store a plurality of accelerometers 71, and can release one at a time The accelerometer 71 is moved to the upper side of the fixed plate 61 located at the second delivery station of the conveyor belt 51; the control system is respectively connected to the climbing walking device 3, the visual inspection device, the conveying device 5, the fixed plate storage device 6, the accelerometer storage device 7 and the glue spraying device 8, thereby controlling the climbing walking device 3, the visual inspection device, the conveying device 5, the fixed plate storage device 6, the accelerometer storage device 7 and the glue spraying device 8 to perform corresponding actions; when the on-site inspection and installation robot is installed on the wind turbine tower 1, the magnetic wheel mechanism of the climbing walking device 3 is adsorbed on the wind turbine tower 1, and the exit 21 faces the wind turbine tower 1.

[0057] The use method and working principle of the integrated detection and installation equipment of the wind turbine tower of the present invention are as follows:

[0058] S1. Equipment placement: Install the on-site detection and installation robot on the wind turbine tower 1, with the magnetic wheel mechanism adsorbed on the wall of the wind turbine tower 1, and the outlet 21 on the front side of the device box 2 facing the wall of the wind turbine tower 1; after placement, it is preferred that the conveyor belt 51 is horizontal and perpendicular to the wall of the wind turbine tower 1. The number of fixed plates 61 and accelerometers 71 is determined according to the number of accelerometers 71 arranged in the wind turbine monitoring design. At present, the number of accelerometers 71 used for vibration detection of the wind turbine tower 1 is generally 4 to 5, and the number of accelerometers 71 can also be appropriately increased as needed.

[0059] S2. Mobile shooting: the control system of the on-site detection and installation robot controls the magnetic wheel mechanism of the climbing walking device 3 to walk, and the camera 4 of the visual detection device shoots the wind turbine tower 1 during the walking process; the image captured by the camera 4 is used to determine the apparent damage condition of the wind turbine tower 1.

[0060] S3. Accelerator installation:

[0061] S31. The on-site inspection and installation robot moves to the designated installation position, the control system controls the magnetic wheel mechanism to stop moving, the on-site inspection and installation robot docks, and the spacing adjustment mechanism adjusts the distance between the front side of the device box 2 and the wall of the wind turbine tower 1 to a set size.

[0062] S32, controlling the fixed plate storage device 6 to release a fixed plate 61 to the first delivery station of the conveyor belt 51 through the control system, and controlling the glue spraying device 8 to operate before or after the fixed plate 61 is released, and spraying steel adhesive on the front side of the fixed plate 61 through the first nozzle.

[0063] S33, the conveying device 5 is activated, and the conveying belt 51 conveys the fixed plate 61 to below the second nozzle of the glue spraying device 8, and the glue spraying device 8 sprays steel adhesive on the upper side of the fixed plate 61 through the second nozzle.

[0064] S34, the conveyor belt 51 conveys the fixed plate 61 to the second delivery station, at which time it can stop for a short period of time or not stop, and the control system controls the accelerometer storage device 7 to release an accelerometer 71 to the upper side of the fixed plate 61, and fixes it on the fixed plate 61 by bonding with steel glue on the upper side.

[0065] S35, the conveyor belt 51 of the conveying device 5 continues to convey the fixed plate 61 and passes through the warehouse outlet 21, the front side surface of the fixed plate 61 extends out of the output end of the conveyor belt 51 and contacts the wall surface of the wind turbine tower 1, the thrust of the conveyor belt 51 can make the front side surface of the fixed plate 61 closely contact with the wall surface of the wind turbine tower 1, and then fix and bond them together through the adhesive on the front side surface of the fixed plate 61.

[0066] S36, the spacing adjustment mechanism of the climbing walking device 3 adjusts the device box 2 away from the wall of the wind turbine tower 1, so that the fixing plate 61 is separated from the device box 2.

[0067] Then the on-site inspection and installation robot can continue to walk on the wind turbine tower 1 to the next one, repeat the above step S3, and install the next accelerometer 71. After completing the installation task, it returns to the bottom of the wind turbine tower 1 along the designed return route. Then, by collecting the acceleration data measured by the accelerometer 71 and the tower surface image captured by the camera 4, the tower vibration analysis and apparent damage detection are performed.

[0068] In this embodiment, the crawling route of the intelligent installation robot and the installation process of the accelerator can be controlled by setting corresponding control programs built into the control system. By setting the program, the intelligent installation robot can be automatically controlled to perform a series of actions such as moving, shooting and accelerator installation.

[0069] See also Figures 1 to 3 The present invention is further described below with a specific embodiment:

[0070] In this embodiment, see Figure 1 As a preferred design, the wind turbine tower detection and installation integrated equipment also includes a data acquisition computer 9 and a remote control device 10, wherein the data acquisition computer 9 is connected to the visual detection device in communication, preferably using a wireless network to communicate, and the data acquisition computer 9 can collect image data from the visual detection device, and can display and analyze it, and the data acquisition computer 9 can be remotely set on a ship or on land. The remote control device 10 is connected to the control system of the on-site detection and installation robot, preferably sending control instructions by wireless communication, and the control system receives the instructions and controls the climbing walking device 3, the visual detection device, the conveying device 5, the fixed plate storage device 6, the accelerometer storage device 7 and the glue spraying device 8 to perform corresponding actions.

[0071] In this embodiment, see Figure 2 As a preferred design, the visual inspection device includes multiple cameras 4, and cameras 4 are respectively arranged on the upper side, left side and right side of the device box 2, which can better perform shooting and inspection.

[0072] In this embodiment, see Figure 2As a preferred design, the fixed plate storage device 6 includes a plurality of first control electromagnet assemblies 62, which are composed of a plurality of electromagnets. The plurality of first control electromagnet assemblies 62 are arranged in the up and down direction of the device box 2, and the fixed plate 61 is made of steel material. Each first control electromagnet assembly 62 can adsorb and fix a fixed plate 61. The power on and off of the first control electromagnet assembly 62 is controlled by the first electromagnetic controller 64. The control system controls the power on and off of the first control electromagnet assembly 62 by controlling the operation of the first electromagnetic controller 64. During normal storage, the first control electromagnet assemblies 62 are all powered on. When a fixed plate 61 needs to be released, the first control electromagnet assembly 62 corresponding to the bottommost fixed plate 61 is powered off. After losing the magnetic force, the fixed plate 61 falls onto the conveyor belt 51 under the action of gravity. Furthermore, the fixed plate storage device 6 includes two first hanging plates 63 which are parallel to each other and arranged above the conveyor belt 51. The upper end of the first hanging plate 63 is fixedly connected to the device box 2, and the distance between the lower end and the upper surface of the conveyor belt 51 is greater than the thickness of the fixed plate 61. The first control electromagnet assembly 62 is fixedly installed on the first hanging plate 63, wherein the first control electromagnet assembly 62 includes two electromagnets, which are respectively fixed on the two first hanging plates 63 and maintained relative to each other. The fixed plate 61 is placed between the two first hanging plates 63, and its two opposite side surfaces are respectively maintained relative to the two electromagnets of the first control electromagnet assembly 62.

[0073] In this embodiment, see Figure 2As a preferred design, the accelerometer storage device 7 includes a plurality of second control electromagnet assemblies 72, which are composed of a plurality of electromagnets. The plurality of second control electromagnet assemblies 72 are arranged in the up and down directions of the device box 2. The accelerometer 71 has a steel component, and each second control electromagnet assembly 72 can adsorb and fix an accelerometer 71. The power on and off of the second control electromagnet assembly 72 is controlled by the second electromagnetic controller 74, and the control system can control the power on and off of the second control electromagnet assembly 72 by controlling the operation of the second electromagnetic controller 74. During normal storage, the second control electromagnet assemblies 72 are all powered on. When an accelerometer 71 needs to be released, the second control electromagnet assembly 72 of the accelerometer 71 at the bottom is powered off. After losing the magnetic force, the accelerometer 71 falls onto the fixed plate 61 below it under the action of gravity. Furthermore, the accelerometer storage device 7 includes two second hangers 73 which are parallel to each other and arranged above the conveyor belt 51. The upper end of the second hanger 73 is fixedly connected to the device box 2, and the distance between the lower end and the upper surface of the conveyor belt 51 is greater than the total thickness of the fixed plate 61 and the accelerometer 71. The second control electromagnet assembly 72 is fixedly installed on the second hanger 73, wherein the second control electromagnet assembly 72 includes two electromagnets, which are respectively fixed on the two second hangers 73 and maintained relative to each other. The accelerometer 71 is placed between the two second hangers 73, and its two opposite sides are respectively maintained relative to the two electromagnets of the second control electromagnet assembly 72.

[0074] In this embodiment, see Figure 2 As a preferred design, the glue spraying device 8 includes a glue storage tank and a connecting pipe and other structures. The glue storage tank stores high-performance steel glue, and the first nozzle and the second nozzle are connected to the glue storage tank through a connecting pipe. The first nozzle is set to be multiple, and the number is actually the same as the storage station of the fixed plate 61 in the fixed plate storage device 6. The front side of each fixed plate 61 stored in the fixed plate storage device 6 is respectively opposite to a first nozzle. Before the fixed plate 61 is lowered, the front side of the fixed plate 61 to be lowered is first sprayed with glue through the corresponding first nozzle. The second nozzle faces downward, and the glue is sprayed when the fixed plate 61 passes under the second nozzle. In other embodiments, the first nozzle can also be one, located above the conveyor belt 51, and the distance from the conveyor belt 51 is greater than the thickness of the fixed plate 61. The first nozzle is tilted downward. When the fixed plate 61 is lowered onto the conveyor belt 51, the first nozzle sprays glue toward the front side of the fixed plate 61 during the movement toward the second delivery station.

[0075] In the present application, the climbing walking device 3 adopts an existing suitable structure, wherein the magnetic wheel mechanism is adsorbed on the steel wind turbine tower 1 by magnetic attraction, and can roll and walk on the wind turbine tower 1. Its structure and principle are existing and will not be described in detail. The magnetic wheel mechanism walks in at least one direction, and preferably a steering assembly can be provided, so that it can walk in the vertical direction of up and down and left and right along the on-site detection and installation robot, see Figure 3 In this way, the on-site inspection and installation robot can walk in the height direction of the wind turbine tower 1 and in the circumferential direction through the magnetic wheel mechanism. The spacing adjustment mechanism can also adopt an existing structure, such as an electric cylinder or a pneumatic cylinder, to drive the magnetic wheel mechanism to move in the front-rear direction relative to the device box 2, so as to adjust the spacing between the device box 2 and the wind turbine tower 1.

[0076] As can be seen from the above, the integrated detection and installation device and the use method thereof of the present invention have the following beneficial effects:

[0077] 1. It is possible to realize the installation of the accelerometer 71 and the apparent damage detection of the wind turbine tower 1 intelligently, thus creating conditions for the vibration detection of the wind turbine tower 1 and saving manpower and material resources.

[0078] 2. It can realize non-destructive detection of the vibration of the wind turbine tower 1, and provides feasible implementation equipment and solutions for the vibration monitoring of the wind turbine tower 1 without the accelerometer 71 installed. At present, the wind turbines with accelerometers 71 installed on the wind turbine tower 1 of the wind farm account for about one-tenth of the total number of wind turbines. The other wind turbine towers 1 are not equipped with accelerometers 71, and the tower vibration data cannot be collected.

[0079] 3. The present invention realizes the intelligent installation of the accelerometer 71 to collect the vibration data of the wind turbine tower 1, which greatly saves the cost of detecting the wind turbine tower 1 and provides technical support for abnormal vibration control and safe operation and maintenance of wind turbines in wind farms.

[0080] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0081] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An integrated device for detecting and installing a wind turbine tower, characterized in that: The invention comprises an on-site detection and installation robot, wherein the on-site detection and installation robot comprises a device box (2), a climbing walking device (3), a visual detection device, a conveying device (5), a fixed plate storage device (6), an accelerometer storage device (7), a glue spraying device (8) and a control system; a storage chamber is provided in the device box (2), and an outlet (21) connected to the storage chamber is provided on the front side of the device box (2); the climbing walking device (3) is installed on the device box (2), and comprises a spacing adjustment mechanism and a magnetic wheel mechanism; the magnetic wheel mechanism is installed on the device box (2) via the spacing adjustment mechanism; the magnetic wheel mechanism can The device can be adsorbed on the wind turbine tower (1) and move, and the spacing adjustment mechanism can adjust the distance between the magnetic wheel mechanism and the front side of the device box (2); the visual detection device includes a camera (4) installed outside the device box (2); the conveying device (5) includes a conveying belt (51) arranged in the storage chamber, the output end of the conveying belt (51) extends to the outlet (21), and the upper surface of the conveying belt (51) is provided with a first delivery station and a second delivery station in sequence along its output direction; the fixed plate storage device (6), the accelerometer storage device (7), and the glue spraying device (8) are all installed on the device box (2 ), the fixed plate storage device (6) can store a plurality of fixed plates (61) and can release one fixed plate (61) at a time to a first delivery station of the conveyor belt (51); the glue spraying device (8) includes a first nozzle and a second nozzle both located above the conveyor belt (51), the first nozzle can spray adhesive to the front side of the fixed plate (61) located on the conveyor belt (51) or in the fixed plate storage device (6) facing the outlet (21), the second nozzle can spray adhesive to the upper surface of the fixed plate (61) on the conveyor belt (51), the accelerometer storage device (8 ... The release device (7) can store a plurality of accelerometers (71), and can release one accelerometer (71) at a time to the upper side of a fixed plate (61) located at a second release station of a conveyor belt (51); the control system is respectively connected to the climbing walking device (3), the visual inspection device, the conveying device (5), the fixed plate storage device (6), the accelerometer storage device (7) and the glue spraying device (8); when the on-site inspection and installation robot is installed on the wind turbine tower (1), the magnetic wheel mechanism of the climbing walking device (3) is adsorbed on the wind turbine tower (1), and the warehouse outlet (21) faces the wind turbine tower (1).

2. The integrated detection and installation equipment for wind turbine tower according to claim 1 is characterized in that: It also includes a data acquisition computer (9), which is communicatively connected to the visual detection device and can acquire image data of the visual detection device.

3. The integrated detection and installation equipment for wind turbine tower according to claim 1 is characterized in that: It also comprises a remote control device (10), wherein the remote control device (10) is connected to the control system of the on-site detection and installation robot.

4. The integrated detection and installation equipment for wind turbine tower according to claim 1 is characterized in that: The visual inspection device comprises a plurality of cameras (4), and cameras (4) are respectively arranged on the upper side, left side and right side of the device box (2).

5. The integrated detection and installation equipment for wind turbine tower according to claim 1 is characterized in that: The fixed plate storage device (6) comprises a plurality of first control electromagnet assemblies (62), the plurality of first control electromagnet assemblies (62) being arranged in the up and down directions of the device box (2), each first control electromagnet assembly (62) being capable of adsorbing and fixing a fixed plate (61), and the control system being capable of controlling the on and off of power to the first control electromagnet assembly (62).

6. The integrated detection and installation equipment for wind turbine tower according to claim 5 is characterized in that: The fixed plate storage device (6) comprises two first hanging plates (63) which are parallel to each other and arranged above the conveyor belt (51); the first control electromagnet assembly (62) is fixedly mounted on the first hanging plates (63); and the fixed plate (61) is placed between the two first hanging plates (63).

7. The integrated detection and installation equipment for a wind turbine tower according to claim 1 is characterized in that: The accelerometer storage device (7) comprises a plurality of second control electromagnet assemblies (72), the plurality of second control electromagnet assemblies (72) being arranged in the up-down direction of the device box (2), each second control electromagnet assembly (72) being capable of accommodating and adsorbing an accelerometer (71), and the control system being capable of controlling the on and off of the power of the second control electromagnet assembly (72).

8. The integrated detection and installation equipment for wind turbine tower according to claim 7 is characterized in that: The accelerometer storage device (7) comprises two second hanging plates (73) which are parallel to each other and arranged above the conveyor belt (51); the second control electromagnet assembly (72) is fixedly mounted on the second hanging plates (73); and the accelerometer (71) is placed between the two second hanging plates (73).

9. The integrated detection and installation equipment for wind turbine tower according to claim 1, characterized in that: The glue spraying device (8) comprises a plurality of first spraying ports, and the front side surface of each fixed plate (61) stored in the fixed plate storage device (6) is respectively opposite to a first spraying port.

10. A method for using the integrated detection and installation device for a wind turbine tower according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Equipment placement: The on-site inspection and installation robot is installed on the wind turbine tower (1), with the magnetic wheel mechanism adsorbed on the wall of the wind turbine tower (1), and the exit (21) on the front side of the device box (2) faces the wall of the wind turbine tower (1); S2, mobile shooting: controlling the magnetic wheel mechanism of the climbing walking device (3) to move through the control system of the on-site detection and installation robot, and photographing the wind turbine tower (1) through the camera (4) of the visual detection device during the walking process; S3. Accelerometer installation: S31, the on-site inspection installation robot moves to the designated installation position, the magnetic wheel mechanism stops moving, and the spacing adjustment mechanism adjusts the distance between the front side of the device box (2) and the wall of the wind turbine tower (1) to a set size; S32, the fixed plate storage device (6) releases a fixed plate (61) to the first delivery station of the conveyor belt (51), and before or after the fixed plate (61) is released, the glue spraying device (8) is controlled to operate to spray steel adhesive on the front side of the fixed plate (61) through the first nozzle; S33, the conveying device (5) is activated, the conveying belt (51) conveys the fixed plate (61) to below the second nozzle of the glue spraying device (8), and the glue spraying device (8) sprays steel adhesive on the upper side of the fixed plate (61) through the second nozzle; S34, the conveyor belt (51) conveys the fixed plate (61) to the second delivery station, and the accelerometer storage device (7) releases an accelerometer (71) to the upper side of the fixed plate (61), and fixes it to the fixed plate (61) by bonding with steel glue on the upper side; S35, the conveyor belt (51) of the conveying device (5) continues to convey the fixed plate (61) through the outlet (21), and the front side surface of the fixed plate (61) extends out of the output end of the conveyor belt (51) and contacts the wall surface of the wind turbine tower (1), and then is bonded and fixed; S36, the spacing adjustment mechanism of the climbing walking device (3) adjusts the device box (2) away from the wall of the wind turbine tower (1), so that the fixing plate (61) is separated from the device box (2).

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