Automatic flaw detection equipment for blade

Abstract

The invention discloses automatic blade flaw detection equipment, and belongs to the technical field of flaw detection equipment, the automatic blade flaw detection equipment comprises a vehicle body, a lifting mechanism, a horizontal distance adjusting mechanism, a double-shaft transfer mechanism, a detection probe and a distance measuring assembly, the lifting mechanism is used for driving the detection probe to move vertically, and the horizontal distance adjusting mechanism is used for adjusting the relative distance between the detection probe and a blade; the double-shaft transfer mechanism is used for driving the detection probe to move relative to the blade surface, and the distance measuring assembly is used for measuring the relative distance between the equipment and the blade. According to the detection equipment, flexible movement of the detection probe is achieved through the multi-axis moving assembly, the physical requirement for operators is reduced, the manual labor intensity is reduced through automatic design, and therefore the working efficiency is improved. The equipment not only can safely and efficiently carry out flaw detection in a complex environment, but also can greatly reduce the safety risk caused by manual operation.

Description

Technical Field

[0001] The invention belongs to the technical field of flaw detection equipment, in particular to an automatic flaw detection equipment for blades. Background Art

[0002] The blades in a wind turbine are one of its core components and are responsible for the important task of converting wind energy into mechanical energy. Since wind turbine blades need to withstand multiple effects such as wind loads, gravity, fatigue loads, etc. for a long time under various complex climatic conditions, their structural health and operational safety are particularly critical. However, during the manufacturing, transportation, installation and operation of wind turbine blades, structural defects such as cracks, delamination, pores and debonding may occur. If these defects are not discovered and repaired in time, they will affect the operating efficiency and life of the wind turbine, and even cause major failures.

[0003] Conventional flaw detection for wind turbine blades uses a scanning frame mechanism, which requires at least three operators, two of whom lift the scanning frame mechanism and control the suction cup on the scanning frame to attach to the blade, and one controls the detection instrument and starts the scanning frame XY axis motion module, scanning and flaw detection of the blades one by one in every two-meter section. In order to ensure good contact between the flaw detection equipment and the blade surface, coupling agents are also used during the detection process to help ultrasonic and other flaw detection technologies achieve signal transmission.

[0004] However, since wind turbine blades are usually long and tall, two operators need to lift a heavy scanning frame on the blade surface and repeatedly perform suction and movement operations during the inspection process. This method not only requires high physical strength from the operator, but also easily causes fatigue after long hours of work, reducing work efficiency. Operators need to perform high-altitude operations, especially in complex environments such as wind farms. Climbing operations face greater safety risks and may cause personal injury due to mistakes or unstable operations. Summary of the invention

[0005] The object of the present invention is to provide a blade automatic flaw detection device to solve the above-mentioned problems in the prior art.

[0006] Provided is a blade automatic flaw detection device, comprising:

[0007] The vehicle body comprises a lifting mechanism, a horizontal distance adjusting mechanism, a biaxial transfer mechanism, a detection probe and a distance measuring component. The lifting mechanism is used to drive the detection probe to move vertically, the horizontal distance adjusting mechanism is used to adjust the relative distance between the detection probe and the blade, the biaxial transfer mechanism is used to drive the detection probe to move relative to the blade surface, and the distance measuring component is used to measure the relative distance between the device and the blade.

[0008] As a further embodiment of the present invention: the lifting mechanism is fixedly connected to the vehicle body, one end of the horizontal distance adjustment mechanism is arranged on the lifting platform of the lifting mechanism, the two-axis transfer mechanism is arranged at the other end of the horizontal distance adjustment mechanism, and the detection probe slides on the guide rail of the two-axis transfer mechanism. This transmission path and structural arrangement form can integrate the device on the top of the vehicle body when the device is in standby state, and save storage space through compact structural arrangement.

[0009] As a further embodiment of the present invention: a rotating mechanism is provided between the horizontal pitch adjustment mechanism and the dual-axis transfer mechanism, and the rotating mechanism is used to drive the dual-axis transfer mechanism to rotate around the axial direction of the horizontal pitch adjustment mechanism. The streamline shape of the blade is sometimes not parallel to the ground, and the dual-axis transfer mechanism can be rotated to be parallel to the blade through the rotating mechanism, which is convenient for the detection probe to perform detection.

[0010] As a further embodiment of the present invention: suction cup assemblies are respectively provided at both ends of the dual-axis transfer mechanism, and the suction cup assemblies include vacuum suction cups, limit sensors, and buffer assemblies, and the buffer assemblies are provided between the vacuum suction cups and the dual-axis transfer mechanism. The vacuum suction cups can be used to fix the position of the dual-axis transfer mechanism to remain unchanged, the limit sensors are used to accurately measure the relative distance between each vacuum suction cup and the blades to control the forward speed, and the buffer assemblies are used to play a protective buffering role when colliding with the blades.

[0011] As a further embodiment of the present invention: the distance measuring assembly includes two distance measuring sensors and two cantilever rods, the two cantilever rods extend outward from both sides of the lifting platform respectively, and the two distance measuring sensors are respectively arranged at the ends of the two cantilever rods. The distance measuring sensors at the ends of the two cantilever rods respectively measure the relative distance between the two ends and the blades, and then indicate the degree of inclination between the whole device and the blades, providing data support for adjusting the posture of the vehicle body.

[0012] As a further embodiment of the present invention: the horizontal distance adjustment mechanism includes a scissor assembly, a driving guide rail and a slider, the driving guide rail is arranged on the lifting platform, one scissor arm of the scissor assembly is hinged to the lifting platform, and the other scissor arm of the scissor assembly slides on the driving guide rail through the slider. The scissor assembly is in a retracted state when the device is in standby state, which can greatly save storage space.

[0013] As a further embodiment of the present invention: the biaxial transfer mechanism includes a transverse guide rail and a vertical guide rail, the vertical guide rail moves on the transverse guide rail, and the detection probe moves on the vertical guide rail. The transverse guide rail and the vertical guide rail can drive the detection probe to move bidirectionally on the blade surface to achieve flaw detection in a certain area and improve detection efficiency.

[0014] As a further embodiment of the present invention: a water supply and return system is provided in the vehicle body, the pipeline of the water supply and return system extends to the detection probe, a spray assembly is provided around the detection probe and the spray assembly is connected to the pipeline of the water supply and return system. The water supply and return system supplies water to the spray assembly, and the spray assembly can spray the detection surface to remove the coupling agent.

[0015] As a further embodiment of the present invention: a return water bucket is provided at the bottom of the detection probe and a liquid level switch is provided in the return water bucket, the return water bucket is connected to the water supply and return water system through a return water pump, and the return water pump is electrically connected to the liquid level switch. Wastewater mixed with coupling agent and water is recovered through the return water bucket, and when the wastewater accumulates to a certain amount, the liquid level switch is triggered to start the return water pump to recover the wastewater.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The vehicle body is used to carry the detection equipment and move the equipment close to the blade, and the distance measuring component is used to detect the relative distance between the equipment and the blade. When the vehicle body is close to the blade, the lifting mechanism can adjust the height of the detection probe so that the detection probe is adapted to the part to be detected on the blade; the horizontal distance adjustment mechanism can adjust the relative distance between the detection probe and the blade so that the detection probe fits the surface of the part to be detected; the dual-axis transfer mechanism can drive the detection probe to move in the area of ​​the part to be detected to complete the flaw detection work in a certain area.

[0018] The detection equipment uses multi-axis moving components to achieve flexible movement of the detection probe, reducing the physical requirements of the operator, and reducing the intensity of manual labor through automated design, thereby improving work efficiency. The equipment can not only perform flaw detection safely and efficiently in complex environments, but also significantly reduce the safety risks caused by manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present drawings or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present drawings. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of the blade automatic flaw detection equipment;

[0021] Figure 2 A is a partial structural schematic diagram of a blade automatic flaw detection device;

[0022] Figure 3B is a partial structural schematic diagram of the blade automatic flaw detection equipment.

[0023] In the figure: 1. vehicle body; 11. water supply and return system; 2. lifting mechanism; 21. lifting platform; 3. horizontal distance adjustment mechanism; 31. scissors assembly; 32. driving guide rail; 33. slider; 4. dual-axis transfer mechanism; 41. transverse guide rail; 42. vertical guide rail; 5. detection probe; 51. spray assembly; 52. return water bucket; 6. distance measuring assembly; 61. distance measuring sensor; 62. cantilever rod; 7. rotating mechanism; 8. suction cup assembly; 81. vacuum suction cup; 82. limit sensor; 83. buffer assembly. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0025] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0026] However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters and repeated descriptions of substantially the same structures may be omitted. This is to avoid the following description from becoming unnecessarily lengthy and to facilitate understanding by those skilled in the art. In addition, the drawings and the following description are provided to enable those skilled in the art to fully understand the present application and are not intended to limit the subject matter described in the claims.

[0027] See also Figure 1As shown, the blade automatic flaw detection equipment in the embodiment of the present invention includes a body 1, a lifting mechanism 2, a horizontal distance adjustment mechanism 3, a biaxial transfer mechanism 4, a detection probe 5 and a distance measuring component 6. The lifting mechanism 2 is used to drive the detection probe 5 to move vertically, the horizontal distance adjustment mechanism 3 is used to adjust the relative distance between the detection probe 5 and the blade, the biaxial transfer mechanism 4 is used to drive the detection probe 5 to move relative to the blade surface, and the distance measuring component 6 is used to measure the relative distance between the equipment and the blade.

[0028] The lifting mechanism 2, the horizontal distance adjustment mechanism 3, the biaxial transfer mechanism 4, the detection probe 5 and the distance measuring component 6 are all mounted on the vehicle body 1. The vehicle body 1 is manually controlled to move close to the blade. The distance measuring component 6 measures the relative distance between the detection equipment and the blade. When the distance is appropriate, the vehicle body 1 stops, and the lifting mechanism 2, the horizontal distance adjustment mechanism 3 and the biaxial transfer mechanism 4 are respectively started to control the detection probe 5 to approach the point to be detected on the blade for flaw detection.

[0029] Specifically, the lifting mechanism 2 is fixedly connected to the vehicle body 1, one end of the horizontal distance adjustment mechanism 3 is arranged on the lifting platform 21 of the lifting mechanism 2, the biaxial transfer mechanism 4 is arranged at the other end of the horizontal distance adjustment mechanism 3, and the detection probe 5 slides on the guide rail of the biaxial transfer mechanism 4. After the vehicle body 1 reaches a suitable position, the lifting mechanism 2 is first started to lift the horizontal distance adjustment mechanism 3, the biaxial transfer mechanism 4 and the detection probe 5 to an elevation position close to the detection point, the telescopic arm of the horizontal distance adjustment mechanism 3 is extended to drive the biaxial transfer mechanism 4 and the detection probe 5 close to the blade, and then the biaxial transfer mechanism 4 drives the detection probe 5 to move bidirectionally on the surface of the blade.

[0030] Among them, see Figure 1 and Figure 2 As shown, the lifting mechanism 2 includes a lifting platform 21, a guide rail and a driving component, and the driving component drives the lifting platform 21 to move on the guide rail. The distance measuring component 6 includes two distance measuring sensors 61 and two cantilever rods 62. The two cantilever rods 62 extend outward from both sides of the lifting platform 21, and the two distance measuring sensors 61 are respectively arranged at the ends of the two cantilever rods 62. The two distance measuring sensors 61 measure the relative distance between the two ends and the blades respectively. If the distances at the two ends are different, it indicates that there is a deflection angle between the device and the blade, and it is necessary to manually control the vehicle body 1 to correct the deviation and find the best matching position between the detection probe 5 and the blade.

[0031] Furthermore, a rotating mechanism 7 is provided between the horizontal pitch adjustment mechanism 3 and the dual-axis transfer mechanism 4. The rotating mechanism 7 connects the horizontal pitch adjustment mechanism 3 with the dual-axis transfer mechanism 4 through a motor, a gear transmission structure and a slewing bearing structure, and the motor drives the dual-axis transfer mechanism 4 to rotate around the axial direction of the horizontal pitch adjustment mechanism 3. Since the streamline shape of the blade is sometimes not parallel to the ground, the dual-axis transfer mechanism 4 is arranged as parallel to the blade surface as possible through the rotation of the rotating mechanism 7, thereby improving the adaptability of the detection probe 5 to the blade surface when it moves, thereby enhancing the accuracy of the detection result.

[0032] See also Figure 1 and Figure 3 As shown, suction cup assemblies 8 are respectively provided at both ends of the dual-axis transfer mechanism 4, and the suction cup assembly 8 specifically includes a vacuum suction cup 81, a limit sensor 82 and a buffer assembly 83. When the horizontal distance adjustment mechanism 3 drives the dual-axis transfer mechanism 4 to approach the blade, the vacuum suction cups 81 at both ends first contact the blade and are fixed by suction to ensure the stability of the detection probe 5 when it is running on the equipment, and at the same time, it can also avoid the collision between the dual-axis transfer mechanism 4 and the blade. The limit sensor 82 can be a stroke sensor, a contact sensor or a laser ranging sensor, which slows down after the vacuum suction cup 81 approaches the blade and stops in time after contact, avoiding strong collisions that cause damage to the components. The buffer assembly 83 can be composed of a spring guide rod, which is arranged between the suction cup assembly 8 and the dual-axis transfer mechanism 4, and can play a buffering role to avoid strong collisions between the suction cup assembly 8 and the blade, causing damage to the dual-axis transfer mechanism 4.

[0033] Furthermore, under the restriction of the suction cup assembly 8, it is not easy for the detection probe 5 to stably contact the blade, so a probe telescopic device is provided on the detection probe 5. The probe telescopic device includes an actuator and an adaptive buffer assembly. The actuator drives the detection probe 5 to approach the blade, and the adaptive buffer assembly is used for buffering protection to avoid a strong collision of the detection probe 5. The adaptive buffer assembly is specifically a multi-stage spring guide rod telescopic structure, and the telescopic guide rod sleeve is provided with a spring, which is used for buffering protection while performing axial limiting.

[0034] The horizontal distance adjustment mechanism 3 is composed of a scissor assembly 31, a driving guide rail 32 and a slider 33. The driving guide rail 32 is arranged on the lifting platform 21, and one scissor arm of the scissor assembly 31 is hinged to the lifting platform 21, and the other scissor arm of the scissor assembly 31 slides on the driving guide rail 32 through the slider 33. When the scissor arm at the mobile end moves away from the scissor arm at the fixed end driven by the slider 33 and the driving guide rail 32, the scissor assembly 31 contracts and retreats, and vice versa. The horizontal distance adjustment mechanism 3 can also be driven by a cylinder or a hydraulic cylinder, but the cylinder body of the cylinder or the hydraulic cylinder itself has a large structural length, which is not conducive to compressing the size of the equipment. The scissor assembly 31 has a large compression and extension state, which makes the structure of the detection equipment more compact.

[0035] The biaxial transfer mechanism 4 includes a transverse guide rail 41 and a vertical guide rail 42. The vertical guide rail 42 moves on the transverse guide rail 41, and the detection probe 5 moves on the vertical guide rail 42. Driven by the transverse guide rail 41 and the vertical guide rail 42, the detection probe 5 has a moving path within a certain plane range, which can increase the range of a single flaw detection, improve detection flexibility and detection efficiency. The transverse guide rail 41 and the vertical guide rail 42 are provided with a drag chain groove and a drag chain to protect the cable when the detection probe 5 moves to avoid accidents in which the cable is entangled with the equipment.

[0036] A water supply and return system 11 is provided in the vehicle body 1, and the pipeline of the water supply and return system 11 extends to the detection probe 5. A spray assembly 51 is provided around the detection probe 5 and the spray assembly 51 is connected to the pipeline of the water supply and return system 11. The detection probe 5 is usually inspected by ultrasonic flaw detection, and a coupling agent needs to be applied to the surface of the blade or the surface of the ultrasonic probe. The coupling agent used for flaw detection cannot usually be recycled, which will cause environmental pollution and waste of coupling agent. A water source is stored in the water supply and return system 11, and water is supplied to the spray assembly 51 through a lifting pump, and the spray assembly 51 sprays water to the detection probe 5 or the blade surface to clean the coupling agent to keep the detection probe 5 or the blade surface clean.

[0037] Furthermore, a return water bucket 52 is provided at the bottom of the detection probe 5, and a liquid level switch is provided in the return water bucket 52. The return water bucket 52 is connected to the water supply and return water system 11 through a return water pump, and the return water pump is electrically connected to the liquid level switch. After the spray component 51 sprays the coupling agent, waste water is formed, and the waste water is collected by the return water bucket 52. When the waste water level reaches the set value position of the liquid level switch, the return water pump is started to pump the waste water into the water supply and return water system 11, and the coupling agent is recovered under filtration by the filter.

[0038] It should be noted that the present application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and the embodiments having the same structure as the technical idea and exerting the same effect within the scope of the technical solution of the present application are all included in the technical scope of the present application. In addition, without departing from the scope of the main purpose of the present application, various modifications that can be thought of by those skilled in the art to the embodiments and other methods of combining some of the constituent elements in the embodiments are also included in the scope of the present application.

Claims

1. A blade automatic flaw detection device, characterized in that: include: A vehicle body (1), a lifting mechanism (2), a horizontal distance adjustment mechanism (3), a biaxial transfer mechanism (4), a detection probe (5) and a distance measurement component (6), wherein the lifting mechanism (2) is used to drive the detection probe (5) to move vertically, the horizontal distance adjustment mechanism (3) is used to adjust the relative distance between the detection probe (5) and the blade, the biaxial transfer mechanism (4) is used to drive the detection probe (5) to move relative to the blade surface, and the distance measurement component (6) is used to measure the relative distance between the device and the blade.

2. The blade automatic flaw detection equipment according to claim 1 is characterized in that: The lifting mechanism (2) is fixedly connected to the vehicle body (1); one end of the horizontal distance adjustment mechanism (3) is arranged on a lifting platform (21) of the lifting mechanism (2); the double-axis transfer mechanism (4) is arranged at the other end of the horizontal distance adjustment mechanism (3); and the detection probe (5) slides on a guide rail of the double-axis transfer mechanism (4).

3. The blade automatic flaw detection equipment according to claim 2 is characterized in that: A rotating mechanism (7) is provided between the horizontal distance adjustment mechanism (3) and the double-axis transfer mechanism (4), and the rotating mechanism (7) is used to drive the double-axis transfer mechanism (4) to rotate around the axial direction of the horizontal distance adjustment mechanism (3).

4. The blade automatic flaw detection equipment according to claim 2 is characterized in that: Suction cup assemblies (8) are respectively arranged at both ends of the biaxial transfer mechanism (4); the suction cup assembly (8) comprises a vacuum suction cup (81), a limit sensor (82) and a buffer assembly (83); and the buffer assembly (83) is arranged between the vacuum suction cup (81) and the biaxial transfer mechanism (4).

5. The blade automatic flaw detection equipment according to claim 2 is characterized in that: The distance measuring assembly (6) comprises two distance measuring sensors (61) and two cantilever rods (62), wherein the two cantilever rods (62) respectively extend outwards from two sides of the lifting platform (21), and the two distance measuring sensors (61) are respectively arranged at the ends of the two cantilever rods (62).

6. The blade automatic flaw detection equipment according to claim 2 is characterized in that: The horizontal distance adjustment mechanism (3) comprises a scissor assembly (31), a driving guide rail (32) and a slider (33); the driving guide rail (32) is arranged on a lifting platform (21); one scissor arm of the scissor assembly (31) is hinged to the lifting platform (21); and the other scissor arm of the scissor assembly (31) slides on the driving guide rail (32) via the slider (33).

7. The blade automatic flaw detection equipment according to claim 1, characterized in that: The biaxial transfer mechanism (4) comprises a transverse guide rail (41) and a vertical guide rail (42); the vertical guide rail (42) moves on the transverse guide rail (41), and the detection probe (5) moves on the vertical guide rail (42).

8. The blade automatic flaw detection equipment according to claim 1 is characterized in that: A water supply and return system (11) is arranged in the vehicle body (1), a pipeline of the water supply and return system (11) extends to the detection probe (5), a spray assembly (51) is arranged around the detection probe (5), and the spray assembly (51) is connected to the pipeline of the water supply and return system (11).

9. The blade automatic flaw detection equipment according to claim 8, characterized in that: A water return hopper (52) is provided at the bottom of the detection probe (5) and a liquid level switch is provided in the water return hopper (52). The water return hopper (52) is connected to the water supply and return system (11) via a water return pump, and the water return pump is electrically connected to the liquid level switch.

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