Fan blade lightning arrester conduction detection device based on software self-growing robot

Abstract

The invention discloses a fan blade lightning arrester conduction detection device based on a soft self-growing robot, and belongs to the technical field of fan blade detection.The fan blade lightning arrester conduction detection device based on the soft self-growing robot comprises a first mounting box, and a first motor is mounted in the first mounting box; an assembly sleeve is installed at the output end of the first motor, a connecting shaft is clamped in the assembly sleeve, a detection mechanism is installed at the end, extending out of the first installation box, of the connecting shaft, a connecting frame is hinged to the side wall of the first installation box, and a connecting base is installed at the bottom of the connecting frame; and a fixing mechanism is clamped at the bottom of the connecting seat. Under external control, the device can autonomously move to the position of the blade, manual climbing is not needed, the device is not easily affected by the high-altitude environment, efficient and safe detection work is achieved, and under driving of the motor, the electric chuck can accurately clamp the blade so that follow-up detection can be facilitated.

Description

Technical Field

[0001] The invention belongs to the technical field of wind turbine blade detection, and in particular relates to a wind turbine blade lightning arrester conduction detection device based on a software self-growing robot. Background Art

[0002] Wind turbine blades are one of the key components of wind turbines. Their main function is to capture wind energy and convert it into mechanical energy, thereby driving the generator to generate electricity.

[0003] However, due to the construction location and height of the wind turbine, in order to ensure that the wind turbine can work normally during lightning weather and protect the internal equipment, it is necessary to install lightning rods on the blades and ground the lightning rods so that the lightning that strikes the blades can be conducted to the ground.

[0004] In the prior art, the inspection of lightning arresters on wind turbine blades is mainly carried out in the following two ways. One is that technicians wear safety equipment and climb up to perform inspections. The other is to use drones. After the drones are suspended in the air, the lightning arresters are inspected using mechanical components. Both of the above methods have certain problems. Manual inspections have safety hazards, and when drones are used for operation, they are subject to interference caused by high-altitude airflows. The stability of the drones is greatly dependent on the technical level of the operator, which also has a certain impact on the inspection efficiency.

[0005] With the improvement of technology in the field of robotics, the design of soft robots has emerged. Among them, there is a soft robot whose design is inspired by the growth method of vines in nature. It can grow and bend freely like vines and adapt to complex environments. Because the robot unfolds like the growth of vines, it is suitable for wind turbines with a certain height. Therefore, a wind turbine blade lightning arrester conduction detection device based on a soft self-growing robot is proposed. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide a wind turbine blade lightning arrester conduction detection device based on a software self-growing robot.

[0007] The technical solution adopted to solve the above technical problems is: a wind turbine blade lightning arrester conduction detection device based on a software self-growing robot, comprising a first installation box, a first motor is installed inside the first installation box, an assembly set is installed at the output end of the first motor, a connecting shaft is clamped inside the assembly set, a detection mechanism is installed at one end of the connecting shaft extending to the outside of the first installation box, a connecting frame is hinged on the side wall of the first installation box, a connecting seat is installed at the bottom of the connecting frame, and a fixing mechanism is clamped at the bottom of the connecting seat.

[0008] Further, the detection mechanism includes a second mounting box, one end of the second mounting box is mounted on one end of the connecting shaft extending to the outside of the first mounting box, a second motor is mounted inside the second mounting box, a fixing frame is mounted on the output end of the second motor, a mounting tube is mounted on one end of the fixing frame, a connecting bracket is mounted inside the mounting tube, an assembly frame is mounted on one end of the connecting bracket, an assembly plate is mounted on one end of the assembly frame, a control terminal is mounted on the back of the assembly plate, side panels are mounted on both sides of the front of the assembly plate, a third motor is mounted on the outer side of the side panel, a placement frame is mounted on the output end of the third motor extending to the inner side of the side panel, a camera is mounted on the top of the assembly plate through a bracket, an electric chuck is mounted inside the placement frame, and an electromagnet and an iron block are respectively mounted on the inner side of the clamping handle at the end of the electric chuck. Through the above scheme, combined with the designed components, and using a variety of electrical appliances, the control detection mechanism can be controlled to adjust the angle position as a whole, combined with the changing state of the self-growing robot, the electric chuck can accurately act on the blade, and is controlled by the control terminal to discharge and send and receive control signals, combined with the image information transmitted by the camera, to achieve detection work.

[0009] Furthermore, the fixing mechanism includes a limiting cylinder, which is clamped at the bottom of the connecting seat, the inner wall of the limiting cylinder is installed with a limiting cage, and the side wall of the limiting cylinder is installed with a limiting column. Since the front end of the self-growing robot is mostly shaped like an elliptical dome, the detection device can be installed to the front end of the self-growing robot and kept well fixed through the limiting cage and limiting column arranged inside.

[0010] Furthermore, a curved protrusion is provided on the top of the limiting cylinder, and a groove matching the curved protrusion on the top of the limiting cylinder is provided on the bottom of the connecting seat. The limiting cylinder and the connecting seat can be quickly connected by the curved protrusion and the groove.

[0011] Furthermore, the limiting cage is in the shape of an elliptical cylindrical cube, and the limiting column passes through the opening of the limiting cage and extends to the interior of the limiting cage. Through the above scheme, combined with the shape design of the limiting cage, the limiting cage can be adapted to the front end of the self-growing robot, so that the detection device can be conveniently combined with the self-growing robot.

[0012] Furthermore, a rectangular through hole corresponding to the position of the placement rack is opened in the side of the assembly plate, the electric chuck is electrically connected to the control terminal through an electric wire and the electric wire is placed inside the placement rack, and the electric wire used to connect the electric chuck and the control terminal is placed in the placement rack, and the electric chuck adjustment angle can be controlled by the placement rack that can be rotated by a motor.

[0013] Furthermore, the control terminal is electrically connected to the electromagnet, the second motor, and the third motor, and wires are provided on the back of the control terminal. The assembled electrical appliances are controlled through the control terminal, so the control terminal is equipped with electronic components such as circuit boards, microprocessors, signal receivers, capacitors, etc.

[0014] Furthermore, a magnet is provided inside the installation tube, and a magnetic groove matching the magnet provided inside the installation tube is provided at one end of the connection bracket close to the installation tube. Through the above scheme, the magnetic force is used to realize the rapid installation of the installation tube and the connection bracket.

[0015] The beneficial effects of the present invention are as follows: (1) The present invention adopts a detection mechanism based on a software self-growing robot, which can move autonomously to the location of the blade under external control without manual climbing and is not easily affected by the high-altitude environment, thereby achieving efficient and safe detection work. In addition, by setting a motor drive, the electric chuck can accurately clamp the blade for subsequent detection; (2) The present invention adopts a limiting cage in the shape of an elliptical cylindrical cube and cooperates with a limiting column, so that the detection device can be quickly installed with the self-growing robot and can be stabilized on the top of the self-growing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 yes Figure 1 A schematic diagram of the structure enlargement in the middle; Figure 3 It is a front view of the structure used in the present invention; Figure 4 It is a top view of the structure used in the present invention; Figure 5 It is a side view of the structure used in the present invention; Figure 6 It is a cross-sectional view of the internal structure of the limiting cylinder of the present invention.

[0017] Figure numerals: 1. first installation box; 2. first motor; 3. assembly set; 4. connecting shaft; 5. connecting frame; 6. connecting seat; 7. second installation box; 8. second motor; 9. fixing frame; 10. installation cylinder; 11. connecting bracket; 12. assembly frame; 13. assembly plate; 14. control terminal; 15. side panel; 16. third motor; 17. placement rack; 18. camera; 19. electric chuck; 20. electromagnet; 21. iron block; 22. limiting cylinder; 23. limiting cage; 24. limiting column. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail 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 invention and are not intended to limit the present invention.

[0019] like Figures 1 to 6 As shown, the wind turbine blade lightning arrester conduction detection device based on the software self-growing robot of this embodiment includes a first installation box 1, a first motor 2 is installed inside the first installation box 1, an assembly sleeve 3 is installed at the output end of the first motor 2, a connecting shaft 4 is clamped inside the assembly sleeve 3, a detection mechanism is installed at one end of the connecting shaft 4 extending to the outside of the first installation box 1, a connecting frame 5 is hinged on the side wall of the first installation box 1, a connecting seat 6 is installed at the bottom of the connecting frame 5, and a fixing mechanism is clamped at the bottom of the connecting seat 6.

[0020] like Figures 3 to 5 As shown, the detection mechanism includes a second mounting box 7, one end of the second mounting box 7 is mounted on the end of the connecting shaft 4 extending to the outside of the first mounting box 1, a second motor 8 is mounted inside the second mounting box 7, a fixing frame 9 is mounted on the output end of the second motor 8, a mounting cylinder 10 is mounted on one end of the fixing frame 9, a connecting bracket 11 is mounted inside the mounting cylinder 10, a magnet is arranged inside the mounting cylinder 10, a magnetic groove matching the magnet arranged inside the mounting cylinder 10 is arranged at one end of the connecting bracket 11 close to the mounting cylinder 10, and magnetic force is used to realize rapid installation of the mounting cylinder 10 and the connecting bracket 11, an assembly frame 12 is mounted on one end of the connecting bracket 11, and an assembly plate 13 is mounted on one end of the assembly frame 12.

[0021] like Figures 3 to 5As shown, a control terminal 14 is installed on the back of the assembly board 13. The control terminal 14 is equipped with electronic components such as a circuit board, a microprocessor, a signal receiver, and a capacitor to control the assembled electrical appliances. The control terminal 14 is electrically connected to the electromagnet 20, the second motor 8, and the third motor 16. A wire is provided on the back of the control terminal 14. The wire is used to connect to the ground end. If the ground end receives current, the wire generates a signal and then feeds back. Side panels 15 are installed on both sides of the front of the assembly board 13. The third motor 16 is installed on the outer side of the side panel 15. The output end of the third motor 16 extends to the inner side of the side panel 15. A placement rack 17 is installed on the surface, and a rectangular through hole corresponding to the position of the placement rack 17 is opened in the side of the assembly plate 13. The electric chuck 19 is electrically connected to the control terminal 14 through wires and the wires are placed inside the placement rack 17. The wires used to connect the electric chuck 19 and the control terminal 14 are placed in the placement rack 17, and then the angle of the electric chuck 19 can be controlled by the placement rack 17 that can be rotated by the motor. A camera 18 is installed on the top of the assembly plate 13 through a bracket, and the electric chuck 19 is installed inside the placement rack 17. The inner side surfaces of the clamping handle at the end of the electric chuck 19 are respectively installed with an electromagnet 20 and an iron block 21.

[0022] like Figure 6 As shown, the fixing mechanism includes a limiting cylinder 22, which is clamped at the bottom of the connecting seat 6, a limiting cage 23 is installed on the inner wall of the limiting cylinder 22, and a limiting column 24 is installed on the side wall of the limiting cylinder 22. A curved protrusion is provided on the top of the limiting cylinder 22, and a groove matching the curved protrusion on the top of the limiting cylinder 22 is provided at the bottom of the connecting seat 6. The limiting cage 23 is in the shape of an elliptical cylindrical cube. Combined with the shape design of the limiting cage 23, the limiting cage 23 can be adapted to the front end of the self-growing robot, so that the detection device can be conveniently combined with the self-growing robot. The limiting column 24 passes through the opening of the limiting cage 23 and extends to the interior of the limiting cage 23. The curved protrusion is provided, combined with the groove, so that the limiting cylinder 22 can be quickly connected to the connecting seat 6, and the front end of the self-growing robot is mostly shaped like an elliptical dome. Therefore, through the limiting cage 23 and the limiting column 24 provided inside, the detection device can be installed to the front end of the self-growing robot and keep it well fixed.

[0023] The working principle of this embodiment is as follows: the limiting cylinder 22 is sleeved onto the front end of the self-growing robot, the limiting cage 23 is covered on the front end of the self-growing robot, and the limiting column 24 and the contact between the limiting cage 23 and the front end of the robot are combined to install the overall detection device on the robot. Then, the detection device is moved to the blade detection position by extending the self-growing robot, and the angle of the detection mechanism is adjusted in combination with the image captured by the camera. In the process of the self-growing robot approaching the target, the horizontal angle and the depression angle of the detection mechanism are adjusted in real time by rotating the output end of the first motor 2 and the output end of the second motor 8, so that the electric chuck 19 can be close to the lightning rod, and under the rotation of the output end of the third motor 16, the horizontal angle of the electric clamp 19 is adjusted to make the electric clamp 19 more accurately align with the upper blade. At the same time, through the action between the electromagnet 20 and the iron block 21 on the electric clamp 19, the electromagnet 20 is energized through the control terminal 14 to keep the electric clamp 19 open. After the electric clamp 19 contacts the blade, the electromagnet 20 is powered off and the electric clamp 19 clamps the blade. After the electric wires set on the back of the control terminal 14 are connected to the ground terminal, the control terminal 14 discharges. If the ground terminal detects current, it proves that the lightning rod is in the on state, thereby completing the detection.

Claims

1. A wind turbine blade lightning arrester conduction detection device based on a software self-growing robot, comprising a first installation box (1), characterized in that: A first motor (2) is installed inside the first installation box (1); an assembly sleeve (3) is installed at the output end of the first motor (2); a connecting shaft (4) is clamped inside the assembly sleeve (3); a detection mechanism is installed at one end of the connecting shaft (4) extending to the outside of the first installation box (1); a connecting frame (5) is hingedly connected to the side wall of the first installation box (1); a connecting seat (6) is installed at the bottom of the connecting frame (5); and a fixing mechanism is clamped at the bottom of the connecting seat (6).

2. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 1 is characterized in that: The detection mechanism comprises a second mounting box (7), one end of the second mounting box (7) is mounted on one end of the connecting shaft (4) extending to the outside of the first mounting box (1), a second motor (8) is mounted inside the second mounting box (7), a fixing frame (9) is mounted on the output end of the second motor (8), a mounting tube (10) is mounted on one end of the fixing frame (9), a connecting bracket (11) is mounted inside the mounting tube (10), an assembly frame (12) is mounted on one end of the connecting bracket (11), and an assembly plate (13) is mounted on one end of the assembly frame (12), A control terminal (14) is installed on the back of the assembly plate (13), side plates (15) are installed on both sides of the front of the assembly plate (13), a third motor (16) is installed on the outer side of the side plate (15), an output end of the third motor (16) extends to the inner side of the side plate (15) and a placement rack (17) is installed, a camera (18) is installed on the top of the assembly plate (13) through a bracket, an electric chuck (19) is installed inside the placement rack (17), and an electromagnet (20) and an iron block (21) are respectively installed on the inner side of the clamping handle at the end of the electric chuck (19).

3. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 1 is characterized in that: The fixing mechanism comprises a limiting cylinder (22), the limiting cylinder (22) being clamped to the bottom of the connecting seat (6), the inner wall of the limiting cylinder (22) being installed with a limiting cage (23), and the side wall of the limiting cylinder (22) being installed with a limiting column (24).

4. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 3 is characterized in that: The top of the limiting cylinder (22) is provided with a curved protrusion, and the bottom of the connecting seat (6) is provided with a groove matching the curved protrusion on the top of the limiting cylinder (22).

5. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 3 is characterized in that: The limiting cage (23) is in the shape of an elliptical cylindrical cube, and the limiting column (24) passes through an opening of the limiting cage (23) and extends into the interior of the limiting cage (23).

6. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 2, characterized in that: A rectangular through hole corresponding to the position of the placement rack (17) is provided in the side surface of the assembly plate (13); the electric clamp (19) is electrically connected to the control terminal (14) via an electric wire, and the electric wire is placed inside the placement rack (17).

7. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 2, characterized in that: The control terminal (14) is electrically connected to the electromagnet (20), the second motor (8), and the third motor (16), and an electric wire is arranged on the back of the control terminal (14).

8. The wind turbine blade lightning arrester conduction detection device based on a software self-growing robot according to claim 2, characterized in that: A magnet is arranged inside the installation cylinder (10), and a magnetic groove matching the magnet arranged inside the installation cylinder (10) is arranged at one end of the connection bracket (11) close to the installation cylinder (10).

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