Device and method for detecting wind power blade lightning arrester based on unmanned aerial vehicle

Abstract

The detection device comprises the unmanned aerial vehicle, a direction adjusting assembly is arranged on the side wall of the unmanned aerial vehicle, a fixing assembly is connected to the bottom of the unmanned aerial vehicle, a detection assembly and a grinding assembly are hinged to the portion, away from a port of the unmanned aerial vehicle, of the fixing assembly, and a controller is arranged in the unmanned aerial vehicle. And the controller is electrically connected with the direction adjusting assembly, the fixing assembly, the detection assembly and the polishing assembly. The invention further discloses a detection method for the wind power blade lightning arrester based on the unmanned aerial vehicle, and a real-time picture taken by the detection device for the wind power blade lightning arrester based on the unmanned aerial vehicle is compared with a set reference picture; and the detection device is controlled to complete corresponding operation and complete detection of the lightning arrester, so that the problems of complicated operation and relatively large error of the detection result in the detection process of the lightning arrester in the prior art are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of lightning rod detection, and specifically relates to a detection device for a lightning rod of a wind turbine blade based on a drone. The present invention also relates to a detection method for a lightning rod of a wind turbine blade based on a drone. Background Art

[0002] As wind turbines continue to grow in size, the reliability of their lightning protection systems is critical to the safe operation of the entire unit.

[0003] At present, the lightning protection system of wind turbines is mainly composed of external lightning rods and internal wires. The principle is to safely divert lightning to the ground through lightning rods and lightning conductors. However, frequent lightning diversion and rain erosion cause the surface of the lightning rods to rust, and the internal wires to break or fail. If not discovered in time, the wind turbine is very likely to be destroyed by lightning in thunderstorms.

[0004] In the past, the inspection method for wind turbine lightning protection systems was manual inspection. This method required the use of a high-altitude hanging basket to send workers to the vicinity of the lightning rod, and the workers then used a file to grind it before conducting an Ohm's method inspection. This manual method of high-altitude work is extremely dangerous, and the method of lifting the hanging basket is inefficient. The existing technology is drone inspection technology, and its mainstream includes two types: negative pressure suction cup drone inspection and Ohm's method ceiling drone inspection device.

[0005] The Ohm method ceiling-mounted drone is to install a detection net on the top. This method can only detect the lightning receptor at the tip of the blade, and the whole is bulky. After the drone flies to the designated position, it cannot be fine-tuned, and it is necessary to carry wires up, which can easily cause the drone to hover out of control. In addition, the drone rotor needs to provide upward pressure during the detection, and there is a great risk of crashing if it is not operated properly. The negative pressure suction cup type UAV detection device is a mechanical arm installed at the lower end of the UAV, with a negative suction pressure cup at the end of the arm. During detection, the arm is extended to allow the pressure cup to be adsorbed to the surface of the fan blade, and then the probe on the pressure cup is used for detection. However, in actual applications, there is a problem of poor contact in probe detection, and the designer did not take into account the instantaneous force generated by the fan vibration, which can easily cause the suction cup to fall off, resulting in detection failure; and the UAV needs to exert force for both adsorption and peeling of the suction cup, and improper operation can also easily cause the risk of collision; and when the device is operating normally, the unidirectional extension of the mechanical arm will cause the center of gravity of the UAV to shift, resulting in unstable flight.

[0006] In addition, the obvious problem with other types of drone detection devices is that the drones are operated with lines and cannot be flexibly fine-tuned after reaching the location, the lightning rods are not polished, resulting in inaccurate detection, and the operation with lines easily makes it more difficult for the drone to hover in the air. Summary of the invention

[0007] The purpose of the present invention is to provide a detection device for wind turbine blade lightning arresters based on unmanned aerial vehicles, which solves the problems in the prior art that the lightning arresters are complicated to operate during the detection process and that the detection results have large errors.

[0008] Another object of the present invention is to provide a method for detecting lightning arresters on wind turbine blades based on a drone, thereby solving the problem in the prior art that measurement results are affected by physical factors, resulting in inaccurate data.

[0009] The technical solution adopted by the present invention is a detection device for wind turbine blade lightning arresters based on a drone, including a drone, a side wall of the drone is provided with a direction adjustment component, the bottom of the drone is connected to a fixing component, the fixing component is hinged with a detection component and a polishing component away from the drone port, and a controller is provided in the drone, and the controller is electrically connected to the direction adjustment component, the fixing component, the detection component and the polishing component respectively.

[0010] The present invention is also characterized in that: The fixing component includes a connecting ring, which is vertically provided with two guide cylinders in opposite positions on the surface of the drone away from the connecting ring, a first track is provided on the inner wall of the connecting ring, a supporting ring is provided inside the connecting ring, a first threaded strip is provided on the outer wall of the supporting ring close to the drone, the first track cooperates with the first threaded strip, a spur gear is installed on the outer wall of the supporting ring away from the drone, a second track is provided on the inner wall of the supporting ring, a supporting circular plate is provided inside the supporting ring, a second threaded strip is provided on the outer wall of the supporting circular plate, the second track cooperates with the second threaded strip, the surface of the supporting circular plate is connected to the drone, and the supporting circular plate is connected with two fixing columns in opposite positions away from the surface of the drone, the connecting ring is provided with two motor brackets in opposite positions away from the surface of the drone, the motor bracket and the guide cylinder are arranged at equal intervals on the surface of the connecting ring, a rotating motor is installed in the motor bracket, the output shaft of the rotating motor is sleeved with a rotating gear, the rotating gear is meshed with the spur gear, the side wall of the guide cylinder is connected with a motor support, a camera and a translation motor are respectively installed on the motor support, the output shaft of the translation motor is sleeved with a circular gear, a rack is provided in the guide cylinder along the axis direction of the guide cylinder, and the rack is meshed with the circular gear.

[0011] The direction adjustment component includes four wing rods, which are connected to the first vector cylinder. A direction motor is arranged in the first vector cylinder. A direction gear is sleeved on the output shaft of the direction motor. A rotating shaft is arranged at the end of the first vector cylinder away from the drone. The rotating shaft is arranged parallel to the output shaft of the direction motor. Both ends of the rotating shaft are connected to the inner wall of the first vector cylinder. A rotating gear is arranged on the side wall of the rotating shaft along the circumferential direction of the rotating shaft. The rotating gear is meshed with the direction gear. The first vector cylinder is rotatably connected to the second vector cylinder through the rotating shaft. The second vector cylinder is connected to the rotor. A rotating motor is arranged in the second vector cylinder. The output end of the rotating motor is connected to the rotor.

[0012] The detection assembly includes a first telescopic rod, one end of the first telescopic rod is hinged to the guide cylinder, the side wall of the first telescopic rod near the other end is hinged to the fixed column, the other end of the first telescopic rod is connected to the first control cylinder, the first control cylinder is provided with a first control assembly and a hollow first transmission rod, the first control assembly is connected to the first transmission rod, the first transmission rod is connected to the second telescopic rod, the second telescopic rod is covered with a first telescopic spring, the second telescopic rod is connected to a first columnar posture adjustment assembly, and the side wall of the first posture adjustment assembly is connected to through a first connecting rod assembly; The first control assembly includes a first control motor, the side wall of the first control motor is connected to the inner wall of the first control cylinder, the output shaft of the first control motor is connected to a first screw rod, a first transmission rod is provided with a thread near the inner wall of the first screw rod, the screw rod is threadedly connected to the first transmission rod, a first telescopic guide rail is provided on the inner wall of the first transmission rod near the second telescopic rod, the second telescopic rod is provided with a first rod convex contact near the outer wall of the first transmission rod, and the first telescopic guide rail cooperates with the first rod convex contact; The first posture adjustment component includes a first motor, a first rotating slide rod is connected to the output end of the first motor, and the first electromagnetic coil, the first hollow rotor, the second electromagnetic coil, the second hollow rotor and the third electromagnetic coil are sequentially sleeved on the first rotating slide rod away from the first motor direction, a second slide rail is provided on the outer wall of the rotating slide rod, a first limiting plate is connected to the end of the first rotating slide rod, a first convex contact in the shape of a tooth arc is provided on the inner wall of the second hollow rotor, the second slide rail cooperates with the first convex contact, a first slide rail is provided on the outer wall of the second hollow rotor, the first hollow rotor includes a first hollow shell, a first magnet is sleeved between the first hollow shell and the first rotating slide rod, a first limiting cover is connected to the first magnet near the end of the second hollow rotor, a second convex contact is provided on the outer wall of the first hollow shell, the first hollow rotor is covered with the first hollow shell, a third slide rail is provided on the inner wall of the first hollow rotor, the third slide rail cooperates with the second convex contact, and a fourth slide rail is provided on the outer wall of the first hollow rotor.

[0013] The first connecting rod assembly includes several first long connecting rods, one end of the first long connecting rod is connected to the first spherical head, the first spherical head cooperates with the fourth slide rail, the other end of the first long connecting rod is hinged to the detection platform, the first slide rail is cooperated with the second spherical head, the second spherical head is connected to the first short connecting rod, and the first short connecting rod is hinged to the detection platform.

[0014] The surface of the testing platform is connected with a number of fan-shaped copper sheets. The surface of the testing platform is circular, and the copper sheets form a circle with a diameter equal to that of the surface of the testing platform.

[0015] The grinding assembly includes a third telescopic rod, one end of the third telescopic rod is hinged to the guide cylinder, the side wall of the third telescopic rod near the other end is hinged to the fixed column, the other end of the third telescopic rod is connected to the second control cylinder, the second control cylinder is provided with a second control assembly and a hollow second transmission rod, the second control assembly is connected to the second transmission rod, the second transmission rod is connected to the fourth telescopic rod, the outer sleeve of the fourth telescopic rod is provided with a second telescopic spring, the fourth telescopic rod is connected to the second columnar posture adjustment assembly, and the side wall of the second posture adjustment assembly is connected to the grinding table through the second connecting rod assembly; The second control assembly includes a second control motor, a side wall of the second control motor is connected to the inner wall of the second control cylinder, a second screw rod is connected to the output shaft of the second control motor, a second transmission rod is provided with a thread near the inner wall of the second screw rod, the second screw rod is threadedly connected to the second transmission rod, a second telescopic guide rail is provided on the inner wall of the second transmission rod near the fourth telescopic rod, a second rod convex contact is provided on the outer wall of the fourth telescopic rod near the second transmission rod, and the second telescopic guide rail cooperates with the second rod convex contact; The second posture adjustment component includes a second motor, a second rotating slide rod is connected to the output end of the second motor, a fourth electromagnetic coil, a third hollow rotor, a fifth electromagnetic coil, a fourth hollow rotor and a sixth electromagnetic coil are sequentially sleeved on the second rotating slide rod away from the second motor, a fifth slide rail is provided on the outer wall of the second rotating slide rod, a second limiting plate is connected to the end of the second rotating slide rod, a third convex contact in the shape of a tooth arc is provided on the inner wall of the fourth hollow rotor, the fifth slide rail cooperates with the third convex contact, a sixth slide rail is provided on the outer wall of the fourth hollow rotor, the third hollow rotor includes a second hollow shell, a second magnet is sleeved between the second hollow shell and the second rotating slide rod, a second limiting cover is connected to the second magnet near the end of the fourth hollow rotor, a fourth convex contact is provided on the outer wall of the second hollow shell, a third hollow rotor is arranged on the outer cover of the second hollow shell, a seventh slide rail is provided on the inner wall of the third hollow rotor, the seventh slide rail cooperates with the fourth convex contact, and an eighth slide rail is provided on the outer wall of the third hollow rotor.

[0016] The second connecting rod assembly includes several second long connecting rods, one end of the second long connecting rod is connected to the third spherical head, the third spherical head cooperates with the eighth slide rail, the other end of the second long connecting rod is hinged to the grinding table, the sixth slide rail is cooperated with the fourth spherical head, the fourth spherical head is connected to the second short connecting rod, and the second short connecting rod is hinged to the grinding table.

[0017] The grinding table includes a bottom plate, a water-permeable hole is opened on the surface of the bottom plate, a brush head is connected to the surface of the bottom plate, a brush shaft is connected to the surface of the bottom plate away from the brush head, the brush shaft is connected to the output end of the grinding motor, and the bottom plate is hinged to the second short connecting rod and the second long connecting rod respectively.

[0018] The controller is electrically connected to the rotating motor, the camera, the translation motor, the direction motor, the rotation motor, the first control motor, the first motor, the second control motor, the second motor and the grinding motor respectively.

[0019] Another technical solution adopted by the present invention is a method for detecting lightning receptors of wind turbine blades based on drones, using a detection device for detecting lightning receptors of wind turbine blades based on drones, and the specific operation steps are as follows: Step 1, edit the control instructions and detect the reference image in the controller; Step 2: Start the rotating motor, the directional motor and the camera, adjust the rotating motor and the directional motor according to the photos taken by the camera, and control the UAV to fly near the lightning arrester; Step 3: Use a camera to take a photo of the lightning rod, and compare the photo with the detection reference image. If the comparison is inconsistent, control the grinding component to grind the lightning rod; if the comparison is consistent, control the detection component to detect the lightning rod to obtain the detection result.

[0020] The beneficial effects of the present invention are: Adjusting the setting of the direction component can make the drone fly and turn at high altitude and fly near the lightning receptor for inspection. The polishing component can polish the impurities on the lightning receptor to facilitate the inspection of the inspection component. After the impurities are cleared, the detection results are more accurate and the errors are reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of a device for detecting lightning arresters of wind turbine blades based on a drone according to an embodiment of the present invention; Figure 2 It is a schematic structural diagram of a fixed component in a device for detecting lightning arresters of wind turbine blades based on a drone according to an embodiment of the present invention; Figure 3 It is a schematic diagram of the internal structure of the guide cylinder in the detection device of the wind turbine blade lightning arrester based on the drone in the embodiment of the present invention; Figure 4 is a front view of a device for detecting lightning arresters of wind turbine blades based on a drone according to an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of the first control tube in the detection device of the wind turbine blade lightning arrester based on the drone in the embodiment of the present invention; Figure 6 It is a structural schematic diagram of the first position component in the detection device of the wind turbine blade lightning receptor based on the drone according to the embodiment of the present invention; Figure 7 It is a connection diagram of the first motor in the detection device of the wind turbine blade lightning arrester based on the drone in the embodiment of the present invention; Figure 8 It is a schematic structural diagram of the first hollow rotor in the device for detecting lightning receptors of wind turbine blades based on a drone in an embodiment of the present invention; Fig. 9 It is a structural schematic diagram of a bottom plate in a device for detecting lightning receptors of wind turbine blades based on a drone according to an embodiment of the present invention; Fig.10 It is a structural schematic diagram of a grinding component in a detection device for wind turbine blade lightning arresters based on a drone according to an embodiment of the present invention; Fig.11 It is a structural schematic diagram of the second posture component in the detection device for wind turbine blade lightning arrester based on a drone according to an embodiment of the present invention; Fig.12 It is a schematic diagram of the structure of the second control tube in the detection device of the wind turbine blade lightning arrester based on the drone in the embodiment of the present invention; Fig.13 It is a second motor connection diagram in a device for detecting lightning arresters of wind turbine blades based on a drone in an embodiment of the present invention; Fig.14 It is a structural schematic diagram of the third hollow rotor in the detection device for wind turbine blade lightning arresters based on a drone in an embodiment of the present invention.

[0022] In the figure, 1. UAV, 2. fixing component, 201. connecting ring, 202. guide cylinder, 203. first track, 204. supporting ring, 205. first thread strip, 206. spur gear, 207. second track, 208. supporting circular plate, 209. second thread strip, 210. fixing column, 211. motor bracket, 212. rotating motor, 213. rotating gear, 214. motor support, 215. camera, 216. translation motor, 217. rack, 218. circular gear, 3. direction adjustment component, 301. wing rod, 302. first vector cylinder, 303. direction motor, 304. direction gear, 305. rotating shaft, 306. rotating gear, 307. second vector cylinder, 308. rotating Wing, 309. Rotating motor, 4. Detection assembly, 401. First telescopic rod, 402. First control cylinder, 403. First control assembly, 4031. First control motor, 4032. First screw rod, 4033. First telescopic guide rail, 4034. First rod convex contact, 404. First transmission rod, 405. Second telescopic rod, 406. First telescopic spring, 407. First position assembly, 4071. First motor, 4072. First rotating slide rod, 4073. First electromagnetic coil, 4074. First hollow rotor, 4075. Second electromagnetic coil, 4076. Second hollow rotor, 4077. Third electromagnetic coil, 4078. First limit plate, 4079. First convex contact, 40710. First slide rail , 40711. The second slide rail, 40712. The first magnet, 40713. The first limit cover, 40714. The second convex contact, 40715. The third slide rail, 40716. The fourth slide rail, 40717. The first hollow shell, 408. The first connecting rod assembly, 4081. The first long connecting rod, 4082. The first spherical head, 4083. The second spherical head, 4084. The first short connecting rod, 409. The detection table, 4091. The copper sheet, 5. The grinding assembly, 501. The third telescopic rod, 502. The second control cylinder, 503. The second control assembly, 5031. The second control motor, 5032. The second screw rod, 5033. The second telescopic guide rail, 5034. The second rod convex contact, 504. The second transmission rod, 505. The first Four telescopic rods, 506. Second telescopic spring, 507. Second posture adjustment assembly, 5071. Second motor, 5072. Second rotating slide bar, 5073. Fourth electromagnetic coil, 5074. Third hollow rotor, 5075. Fifth electromagnetic coil, 5076. Fourth hollow rotor, 5077. Sixth electromagnetic coil, 5078. Second limit plate, 5079. Third convex contact, 50710. Sixth slide rail, 50711. Fifth slide rail, 50712. Second magnet, 50713. Second limit cover, 50714. Fourth convex contact, 50715. Seventh slide rail, 50716. Eighth slide rail, 50717. Second hollow shell, 508. Second connecting rod assembly, 5081. Second long connecting rod, 5082.The third spherical head, 5083. The fourth spherical head, 5084. The second short connecting rod, 509. The grinding table, 5091. The bottom plate, 5092. The water permeable hole, 5093. The brush head, 5094. The brush shaft, 5095. The grinding motor, 6. The controller. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] The present invention is based on the detection device of the wind turbine blade lightning receptor by the unmanned aerial vehicle. The hinged setting of the first vector cylinder 302 and the vector cylinder 307 can ensure that the unmanned aerial vehicle 1 can complete the turning and movement during the flight; when the rotating gear 213 is meshed and rotated with the spur gear 206, the rotation of the detection component 4 and the grinding component 5 can be adjusted, and they can be rotated to the vicinity of the lightning receptor according to the demand; the rack 217 is meshed with the circular gear 218, and when rotating, the detection component 4 and the grinding component 5 can be respectively controlled to form a certain angle with the horizontal plane, so that the heads of the detection component 4 and the grinding component 5 are convenient to work directly with the lightning receptor; The camera 215 is set to obtain images of the drone 1 during flight, calculate the positions of the drone 1 and the lightning receptor in real time through the information in the image, and plan the best route from the drone 1 to the lightning receptor; the first telescopic rod 401, the second telescopic rod 405, the third telescopic rod 501 and the fourth telescopic rod 505 have a telescopic function, and when working, they will move a short distance and will not get stuck with other parts, so that the drone 1 can move flexibly during the inspection and grinding process; the second short connecting rod 5084 is hinged to the grinding table 509, and the bottom plate 5091 is divided into The first short connecting rod 4084 is hinged with the second long connecting rod 5081, and the first short connecting rod 4084 is hinged with the testing table 409, so that there is freedom in the testing and polishing process; the first telescopic spring 406 and the second telescopic spring 506 are set, and the device has a flexible pressure resistance function, which can flexibly eliminate the vibration of the fan blades, greatly reducing the impact of the fan vibration on the hovering of the drone 1; the copper sheet 4091 is set in a fan shape, which can increase the contact area with the lightning receptor during detection and improve the reliability of the detection data; the first magnet 40712 and the second magnet The setting of iron 50712, when the first electromagnetic coil 4073, the second electromagnetic coil 4075, the third electromagnetic coil 4077, the fourth electromagnetic coil 5073, the fifth electromagnetic coil 5075 and the sixth electromagnetic coil 5077 are energized, will drive the first hollow shell 40717 and the second hollow shell 50717 to move and rotate; the detection device adopts the traveling wave method for detection, which can enable the drone 1 to operate without wires; the design of the arc-shaped convex contact is mainly symmetrical arcs, with the overall form of pointed ends and wide in the middle, which eliminates the situation where the force-bearing parts collide and get stuck during movement.

[0025] A communication device that can be remotely controlled by the controller 6 can be set up on the ground, and the control instructions and detection reference images in the controller 6 can be modified through the communication device; during the detection, the copper sheet 4091 is placed close to the lightning rod, and then the traveling wave is sent. The signal receiving personnel under the wind turbine use an electromagnetic coil to receive the band, and finally complete the detection.

[0026] Example 1 A detection device for wind turbine blade lightning arresters based on drones, such as Figure 1 As shown, it includes a drone 1, a side wall of the drone 1 is provided with a direction adjustment component 3, the bottom of the drone 1 is connected to a fixing component 2, the fixing component 2 is hinged with a detection component 4 and a grinding component 5 at the port away from the drone 1, and a controller 6 is provided in the drone 1, and the controller 6 is electrically connected to the direction adjustment component 2, the fixing component 3, the detection component 4 and the grinding component 5 respectively.

[0027] Example 2 A detection device for wind turbine blade lightning arresters based on drones, such as Figure 1 The figure shows that it includes a drone 1, a side wall of the drone 1 is provided with a direction adjustment component 3, a bottom of the drone 1 is connected to a fixing component 2, the fixing component 2 is hinged with a detection component 4 and a grinding component 5 at the port away from the drone 1, and a controller 6 is provided in the drone 1, and the controller 6 is electrically connected to the direction adjustment component 2, the fixing component 3, the detection component 4 and the grinding component 5 respectively.

[0028] like Figure 2As shown, the fixing assembly 2 includes a connecting ring 201, and the connecting ring 201 is vertically provided with two guide cylinders 202 in opposite positions on the surface away from the drone 1. The inner wall of the connecting ring 201 is provided with a first track 203, and a supporting ring 204 is provided inside the connecting ring 201. The outer wall of the supporting ring 204 is provided with a first threaded strip 205 close to the drone 1, and the first track 203 cooperates with the first threaded strip 205. A spur gear 206 is installed on the outer wall of the supporting ring 204 away from the drone 1, and a second track 207 is provided on the inner wall of the supporting ring 204. A supporting circular plate 208 is provided inside the supporting ring 204, and a second threaded strip 209 is provided on the outer wall of the supporting circular plate 208. The second track 207 cooperates with the second threaded strip 209, and the surface of the supporting circular plate 208 is connected to the drone 1. The plate 208 is connected to two fixed columns 210 located opposite to each other on the surface of the drone 1 away from the drone 1. The connecting ring 201 is provided with two motor brackets 211 located opposite to each other on the surface of the drone away from the drone. The motor brackets 211 and the guide cylinder 202 are arranged at equal intervals on the surface of the connecting ring 201. A rotating motor 212 is installed in the motor bracket 211. The output shaft of the rotating motor 212 is sleeved with a rotating gear 213. The rotating gear 213 is meshed with the spur gear 206. The side wall of the guide cylinder 202 is connected to a motor support 214. A camera 215 and a translation motor 216 are respectively installed on the motor support 214. The output shaft of the translation motor 216 is sleeved with a circular gear 218. A rack 217 is provided in the guide cylinder 202 along the axial direction of the guide cylinder 202. The rack 217 is meshed with the circular gear 218.

[0029] Example 3 A detection device for wind turbine blade lightning arresters based on drones, such as Figure 1 As shown, it includes a drone 1, a side wall of the drone 1 is provided with a direction adjustment component 3, the bottom of the drone 1 is connected to a fixing component 2, the fixing component 2 is hinged with a detection component 4 and a grinding component 5 at the port away from the drone 1, and a controller 6 is provided in the drone 1, and the controller 6 is electrically connected to the direction adjustment component 2, the fixing component 3, the detection component 4 and the grinding component 5 respectively.

[0030] The fixing assembly 2 includes a connecting ring 201, and the connecting ring 201 is vertically provided with two guide cylinders 202 in opposite positions on the surface away from the drone 1. The inner wall of the connecting ring 201 is provided with a first track 203, and a supporting ring 204 is provided inside the connecting ring 201. The outer wall of the supporting ring 204 is provided with a first threaded strip 205 close to the drone 1, and the first track 203 cooperates with the first threaded strip 205. A spur gear 206 is installed on the outer wall of the supporting ring 204 away from the drone 1, and a second track 207 is provided on the inner wall of the supporting ring 204. A supporting circular plate 208 is provided inside the supporting ring 204, and a second threaded strip 209 is provided on the outer wall of the supporting circular plate 208. The second track 207 cooperates with the second threaded strip 209, and the surface of the supporting circular plate 208 is connected to the drone 1. 08 A surface of the drone 1 is connected with two fixing columns 210 that are opposite to each other. A surface of the connecting ring 201 that is away from the drone is provided with two motor brackets 211 that are opposite to each other. The motor brackets 211 and the guide cylinder 202 are arranged at equal intervals on the surface of the connecting ring 201. A rotating motor 212 is installed in the motor bracket 211. A rotating gear 213 is sleeved on the output shaft of the rotating motor 212. The rotating gear 213 is meshed with the spur gear 206. A motor support 214 is connected to the side wall of the guide cylinder 202. A camera 215 and a translation motor 216 are respectively installed on the motor support 214. A circular gear 218 is sleeved on the output shaft of the translation motor 216. A rack 217 is arranged in the guide cylinder 202 along the axial direction of the guide cylinder 202. The rack 217 is meshed with the circular gear 218. Figure 3 shown.

[0031] like Figure 4 As shown, the direction adjustment component 3 includes four wing rods 301, the wing rods 301 are connected to the first vector cylinder 302, a direction motor 303 is arranged in the first vector cylinder 302, and a direction gear 304 is sleeved on the output shaft of the direction motor 303. A rotating shaft 305 is arranged at one end of the first vector cylinder 302 away from the drone 1, and the rotating shaft 305 is arranged parallel to the output shaft of the direction motor 303. Both ends of the rotating shaft 305 are connected to the inner wall of the first vector cylinder 302, and a rotating gear 306 is arranged on the side wall of the rotating shaft 305 along the circumferential direction of the rotating shaft 305. The rotating gear 306 is meshed with the direction gear 304. The first vector cylinder 302 is rotatably connected to the second vector cylinder 307 through the rotating shaft 305, and the second vector cylinder 307 is connected to the rotor 308. A rotating motor 309 is arranged in the second vector cylinder 307, and the output end of the rotating motor 309 is connected to the rotor 308.

[0032] Example 4 A detection device for wind turbine blade lightning arresters based on drones, such as Figure 1As shown, it includes a drone 1, a side wall of the drone 1 is provided with a direction adjustment component 3, the bottom of the drone 1 is connected to a fixing component 2, the fixing component 2 is hinged with a detection component 4 and a grinding component 5 at the port away from the drone 1, and a controller 6 is provided in the drone 1, and the controller 6 is electrically connected to the direction adjustment component 2, the fixing component 3, the detection component 4 and the grinding component 5 respectively.

[0033] The fixing component 2 includes a connecting ring 201, and the connecting ring 201 is vertically provided with two guide cylinders 202 in opposite positions on the surface away from the drone 1. The inner wall of the connecting ring 201 is provided with a first track 203, and a supporting ring 204 is provided inside the connecting ring 201. The outer wall of the supporting ring 204 is provided with a first threaded strip 205 close to the drone 1, and the first track 203 cooperates with the first threaded strip 205. A spur gear 206 is installed on the outer wall of the supporting ring 204 away from the drone 1, and a second track 207 is provided on the inner wall of the supporting ring 204. A supporting circular plate 208 is provided inside the supporting ring 204, and a second threaded strip 209 is provided on the outer wall of the supporting circular plate 208. The second track 207 cooperates with the second threaded strip 209, and the surface of the supporting circular plate 208 is connected to the drone 1. 208 is connected to the surface of the drone 1 with two oppositely positioned fixed columns 210, and the connecting ring 201 is provided with two oppositely positioned motor brackets 211 on the surface of the drone away from the connecting ring 201. The motor brackets 211 and the guide cylinder 202 are arranged at equal intervals on the surface of the connecting ring 201. A rotating motor 212 is installed in the motor bracket 211. The output shaft of the rotating motor 212 is sleeved with a rotating gear 213, and the rotating gear 213 is meshed with the spur gear 206. The side wall of the guide cylinder 202 is connected to a motor support 214, and a camera 215 and a translation motor 216 are respectively installed on the motor support 214. The output shaft of the translation motor 216 is sleeved with a circular gear 218. A rack 217 is provided in the guide cylinder 202 along the axial direction of the guide cylinder 202, and the rack 217 is meshed with the circular gear 218.

[0034] The direction adjustment component 3 includes four wing rods 301, which are connected to a first vector cylinder 302. A direction motor 303 is provided in the first vector cylinder 302. The output shaft of the direction motor 303 is sleeved with a direction gear 304. A rotating shaft 305 is provided at one end of the first vector cylinder 302 away from the drone 1. The rotating shaft 305 is arranged parallel to the output shaft of the direction motor 303. Both ends of the rotating shaft 305 are connected to the inner wall of the first vector cylinder 302. A rotating gear 306 is provided on the side wall of the rotating shaft 305 along the circumferential direction of the rotating shaft 305. The rotating gear 306 is meshed with the direction gear 304. The first vector cylinder 302 is rotatably connected to a second vector cylinder 307 through the rotating shaft 305. The second vector cylinder 307 is connected to a rotor 308. A rotating motor 309 is provided in the second vector cylinder 307, and the output end of the rotating motor 309 is connected to the rotor 308.

[0035] The detection component 4 includes a first telescopic rod 401, one end of the first telescopic rod 401 is hinged to the guide cylinder 202, the side wall of the first telescopic rod 401 near the other end is hinged to the fixed column 210, the other end of the first telescopic rod 401 is connected to the first control cylinder 402, the first control cylinder 402 is provided with a first control component 403 and a hollow first transmission rod 404, the first control component 403 is connected to the first transmission rod 404, the first transmission rod 404 is connected to the second telescopic rod 405, the second telescopic rod 405 is covered with a first telescopic spring 406, the second telescopic rod 405 is connected to a first posture adjustment component 407 in a columnar shape, and the side wall of the first posture adjustment component 407 is connected to the detection platform 409 through a first connecting rod component 408; The first control assembly 403 includes a first control motor 4031, the side wall of the first control motor 4031 is connected to the inner wall of the first control cylinder 402, the output shaft of the first control motor 4031 is connected to the first screw rod 4032, the first transmission rod 404 is provided with a thread near the inner wall of the first screw rod 4032, the screw rod 4032 is threadedly connected to the first transmission rod 404, the first transmission rod 404 is provided with a first telescopic guide rail 4033 near the inner wall of the second telescopic rod 405, the second telescopic rod 405 is provided with a first rod convex contact 4034 near the outer wall of the first transmission rod 404, the first telescopic guide rail 4033 cooperates with the first rod convex contact 4034, as shown in FIG. Figure 5 As shown; The first posture adjustment component 407 includes a first motor 4071, the output end of the first motor 4071 is connected to a first rotating slide bar 4072, the first electromagnetic coil 4073, the first hollow rotor 4074, the second electromagnetic coil 4075, the second hollow rotor 4076 and the third electromagnetic coil 4077 are sequentially sleeved on the first rotating slide bar 4072 away from the first motor 4071, the outer wall of the rotating slide bar 4072 is provided with a second slide rail 40711, the end of the first rotating slide bar 4072 is connected to a first limit plate 4078, the inner wall of the second hollow rotor 4076 is provided with a first convex contact 4079 in the shape of a tooth arc, the second slide rail 40711 cooperates with the first convex contact 4079, and the second hollow rotor 4076 is provided with a first convex contact 4079. 076 is provided with a first slide rail 40710 on its outer wall, the first hollow rotor 4074 includes a first hollow shell 40717, a first magnet 40712 is sleeved between the first hollow shell 40717 and the first rotating slide bar 4072, a first limit cover 40713 is connected to the first magnet 40712 near the port of the second hollow rotor 4076, a second convex contact 40714 is provided on the outer wall of the first hollow shell 40717, the first hollow rotor 4074 is covered with the first hollow shell 40717, a third slide rail 40715 is provided on the inner wall of the first hollow rotor 4074, the third slide rail 40715 cooperates with the second convex contact 40714, and a fourth slide rail 40716 is provided on the outer wall of the first hollow rotor 4074, as shown in FIG. Figure 6 and Figure 7 shown.

[0036] Example 5 Another technical solution adopted by the present invention is a method for detecting lightning receptors of wind turbine blades based on drones, using a detection device for detecting lightning receptors of wind turbine blades based on drones, and the specific operation steps are as follows: Step 1, editing control instructions and detecting reference images in the controller 6; Step 2: Start the rotating motor 309, the directional motor 303 and the camera 215, adjust the rotating motor 309 and the directional motor 303 according to the photos taken by the camera 215, and control the drone 1 to fly near the lightning receptor; Step 3, use camera 215 to take a photo of the lightning rod, and compare the photo with the detection reference image. If the comparison is inconsistent, control the polishing component 5 to polish the lightning rod; if the comparison is consistent, control the detection component 4 to detect the lightning rod to obtain the detection result.

[0037] Example 6 A detection device for wind turbine blade lightning arresters based on a drone comprises a drone 1, a side wall of the drone 1 is provided with a direction adjustment component 3, a bottom of the drone 1 is connected with a fixing component 2, a detection component 4 and a grinding component 5 are respectively hingedly connected to the fixed component 2 away from the port of the drone 1, a controller 6 is provided in the drone 1, and the controller 6 is respectively electrically connected to the direction adjustment component 2, the fixing component 3, the detection component 4 and the grinding component 5.

[0038] The fixing component 2 includes a connecting ring 201, and the connecting ring 201 is vertically provided with two guide cylinders 202 in opposite positions on the surface away from the drone 1. The inner wall of the connecting ring 201 is provided with a first track 203, and a supporting ring 204 is provided inside the connecting ring 201. The outer wall of the supporting ring 204 is provided with a first threaded strip 205 close to the drone 1, and the first track 203 cooperates with the first threaded strip 205. A spur gear 206 is installed on the outer wall of the supporting ring 204 away from the drone 1, and a second track 207 is provided on the inner wall of the supporting ring 204. A supporting circular plate 208 is provided inside the supporting ring 204, and a second threaded strip 209 is provided on the outer wall of the supporting circular plate 208. The second track 207 cooperates with the second threaded strip 209, and the surface of the supporting circular plate 208 is connected to the drone 1. 208 is connected to the surface of the drone 1 with two oppositely positioned fixed columns 210, and the connecting ring 201 is provided with two oppositely positioned motor brackets 211 on the surface of the drone away from the connecting ring 201. The motor brackets 211 and the guide cylinder 202 are arranged at equal intervals on the surface of the connecting ring 201. A rotating motor 212 is installed in the motor bracket 211. The output shaft of the rotating motor 212 is sleeved with a rotating gear 213, and the rotating gear 213 is meshed with the spur gear 206. The side wall of the guide cylinder 202 is connected to a motor support 214, and a camera 215 and a translation motor 216 are respectively installed on the motor support 214. The output shaft of the translation motor 216 is sleeved with a circular gear 218. A rack 217 is provided in the guide cylinder 202 along the axial direction of the guide cylinder 202, and the rack 217 is meshed with the circular gear 218.

[0039] The direction adjustment component 3 includes four wing rods 301, which are connected to a first vector cylinder 302. A direction motor 303 is provided in the first vector cylinder 302. The output shaft of the direction motor 303 is sleeved with a direction gear 304. A rotating shaft 305 is provided at one end of the first vector cylinder 302 away from the drone 1. The rotating shaft 305 is arranged parallel to the output shaft of the direction motor 303. Both ends of the rotating shaft 305 are connected to the inner wall of the first vector cylinder 302. A rotating gear 306 is provided on the side wall of the rotating shaft 305 along the circumferential direction of the rotating shaft 305. The rotating gear 306 is meshed with the direction gear 304. The first vector cylinder 302 is rotatably connected to a second vector cylinder 307 through the rotating shaft 305. The second vector cylinder 307 is connected to a rotor 308. A rotating motor 309 is provided in the second vector cylinder 307, and the output end of the rotating motor 309 is connected to the rotor 308.

[0040] The detection component 4 includes a first telescopic rod 401, one end of the first telescopic rod 401 is hinged to the guide cylinder 202, the side wall of the first telescopic rod 401 near the other end is hinged to the fixed column 210, the other end of the first telescopic rod 401 is connected to the first control cylinder 402, the first control cylinder 402 is provided with a first control component 403 and a hollow first transmission rod 404, the first control component 403 is connected to the first transmission rod 404, the first transmission rod 404 is connected to the second telescopic rod 405, the second telescopic rod 405 is covered with a first telescopic spring 406, the second telescopic rod 405 is connected to a first posture adjustment component 407 in a columnar shape, and the side wall of the first posture adjustment component 407 is connected to the detection platform 409 through a first connecting rod component 408; The first control assembly 403 includes a first control motor 4031, the side wall of the first control motor 4031 is connected to the inner wall of the first control cylinder 402, the output shaft of the first control motor 4031 is connected to the first screw rod 4032, the first transmission rod 404 is provided with a thread near the inner wall of the first screw rod 4032, the screw rod 4032 is threadedly connected to the first transmission rod 404, the first transmission rod 404 is provided with a first telescopic guide rail 4033 near the inner wall of the second telescopic rod 405, the second telescopic rod 405 is provided with a first rod convex contact 4034 near the outer wall of the first transmission rod 404, and the first telescopic guide rail 4033 cooperates with the first rod convex contact 4034; The first posture adjustment component 407 includes a first motor 4071, the output end of the first motor 4071 is connected to a first rotating slide bar 4072, the first electromagnetic coil 4073, the first hollow rotor 4074, the second electromagnetic coil 4075, the second hollow rotor 4076 and the third electromagnetic coil 4077 are sequentially sleeved on the first rotating slide bar 4072 away from the first motor 4071, the outer wall of the rotating slide bar 4072 is provided with a second slide rail 40711, the end of the first rotating slide bar 4072 is connected to a first limit plate 4078, the inner wall of the second hollow rotor 4076 is provided with a first convex contact 4079 in the shape of a tooth arc, the second slide rail 40711 cooperates with the first convex contact 4079, and the second hollow rotor 4076 is provided with a first convex contact 4079. 076 is provided with a first slide rail 40710 on its outer wall, the first hollow rotor 4074 includes a first hollow shell 40717, a first magnet 40712 is sleeved between the first hollow shell 40717 and the first rotating slide bar 4072, a first limit cover 40713 is connected to the first magnet 40712 near the port of the second hollow rotor 4076, a second convex contact 40714 is provided on the outer wall of the first hollow shell 40717, the first hollow rotor 4074 is covered with the first hollow shell 40717, a third slide rail 40715 is provided on the inner wall of the first hollow rotor 4074, the third slide rail 40715 cooperates with the second convex contact 40714, and a fourth slide rail 40716 is provided on the outer wall of the first hollow rotor 4074, as shown in FIG. Figure 8 shown.

[0041] The first connecting rod assembly 408 includes a plurality of first long connecting rods 4081, one end of the first long connecting rod 4081 is connected to the first spherical head 4082, the first spherical head 4082 cooperates with the fourth slide rail 40716, the other end of the first long connecting rod 4081 is hinged to the detection platform 409, the first slide rail 40710 is cooperated with the second spherical head 4083, the second spherical head 4083 is connected to the first short connecting rod 4084, and the first short connecting rod 4084 is hinged to the detection platform 409.

[0042] The surface of the testing platform 409 is connected with a plurality of sector-shaped copper sheets 4091 . The surface of the testing platform 409 is circular, and the plurality of copper sheets 4091 form a circle with a diameter equal to that of the surface of the testing platform 409 .

[0043] like Fig.10 and Fig.12 As shown, the grinding assembly 5 includes a third telescopic rod 501, one end of the third telescopic rod 501 is hinged to the guide cylinder 202, the side wall of the third telescopic rod 501 near the other end is hinged to the fixed column 210, the other end of the third telescopic rod 501 is connected to the second control cylinder 502, the second control cylinder 502 is provided with a second control assembly 503 and a hollow second transmission rod 504, the second control assembly 503 is connected to the second transmission rod 504, the second transmission rod 504 is connected to the fourth telescopic rod 505, the fourth telescopic rod 505 is covered with a second telescopic spring 506, the fourth telescopic rod 505 is connected to a columnar second posture adjustment assembly 507, and the side wall of the second posture adjustment assembly 507 is connected to the grinding table 509 through a second connecting rod assembly 508; The second control assembly 503 includes a second control motor 5031, the side wall of the second control motor 5031 is connected to the inner wall of the second control cylinder 502, the output shaft of the second control motor 5031 is connected to the second screw rod 5032, the second transmission rod 504 is provided with a thread near the inner wall of the second screw rod 5032, the second screw rod 5032 is threadedly connected to the second transmission rod 504, the second transmission rod 504 is provided with a second telescopic guide rail 5033 near the inner wall of the fourth telescopic rod 505, the fourth telescopic rod 505 is provided with a second rod convex contact 5034 near the outer wall of the second transmission rod 504, and the second telescopic guide rail 5033 cooperates with the second rod convex contact 5034; like Fig.11 , Fig.13 and Fig.14As shown, the second posture adjustment component 507 includes a second motor 5071, the output end of the second motor 5071 is connected to a second rotating slide bar 5072, the second rotating slide bar 5072 is sleeved with a fourth electromagnetic coil 5073, a third hollow rotor 5074, a fifth electromagnetic coil 5075, a fourth hollow rotor 5076 and a sixth electromagnetic coil 5077 in sequence in a direction away from the second motor 5071, a fifth slide rail 50711 is provided on the outer wall of the second rotating slide bar 5072, a second limiting piece 5078 is connected to the end of the second rotating slide bar 5072, a third convex contact 5079 in the shape of a tooth arc is provided on the inner wall of the fourth hollow rotor 5076, the fifth slide rail 50711 cooperates with the third convex contact 5079, and the fourth hollow rotor 5076 is provided with a tooth arc. A sixth slide rail 50710 is provided on the outer wall of the rotor 5076, the third hollow rotor 5074 includes a second hollow shell 50717, a second magnet 50712 is sleeved between the second hollow shell 50717 and the second rotating slide bar 5072, the second magnet 50712 is connected to a second limit cover 50713 near the end of the fourth hollow rotor 5076, a fourth convex contact 50714 is provided on the outer wall of the second hollow shell 50717, the third hollow rotor 5074 is outer-mounted on the second hollow shell 50717, a seventh slide rail 50715 is provided on the inner wall of the third hollow rotor 5074, the seventh slide rail 50715 cooperates with the fourth convex contact 50714, and an eighth slide rail 50716 is provided on the outer wall of the third hollow rotor 5074.

[0044] The second connecting rod assembly 508 includes a plurality of second long connecting rods 5081, one end of the second long connecting rod 5081 is connected to the third spherical head 5082, the third spherical head 5082 cooperates with the eighth slide rail 50716, the other end of the second long connecting rod 5081 is hinged to the grinding table 509, the sixth slide rail 50710 is cooperated with the fourth spherical head 5083, the fourth spherical head 5083 is connected to the second short connecting rod 5084, and the second short connecting rod 5084 is hinged to the grinding table 509.

[0045] The grinding table 509 includes a bottom plate 5091, a water permeable hole 5092 is opened on the surface of the bottom plate 5091, a brush head 5093 is connected to the surface of the bottom plate 5091, and a brush shaft 5094 is connected to the surface of the bottom plate 5091 away from the brush head 5093. Fig. 9 As shown, the brush shaft 5094 is connected to the output end of the grinding motor 5095, and the bottom plate 5091 is hinged to the second short connecting rod 5084 and the second long connecting rod 5081 respectively.

[0046] The controller 6 is electrically connected to the rotating motor 212 , the camera 215 , the translation motor 216 , the direction motor 303 , the rotation motor 309 , the first control motor 4031 , the first motor 4071 , the second control motor 5031 , the second motor 5071 and the grinding motor 5095 , respectively.

[0047] Another technical solution adopted by the present invention is a method for detecting lightning receptors of wind turbine blades based on drones, using a detection device for detecting lightning receptors of wind turbine blades based on drones, and the specific operation steps are as follows: Step 1, editing control instructions and detecting reference images in the controller 6; Step 2: Start the rotating motor 309, the directional motor 303 and the camera 215, adjust the rotating motor 309 and the directional motor 303 according to the photos taken by the camera 215, and control the drone 1 to fly near the lightning receptor; Step 3, use camera 215 to take a photo of the lightning rod, and compare the photo with the detection reference image. If the comparison is inconsistent, control the polishing component 5 to polish the lightning rod; if the comparison is consistent, control the detection component 4 to detect the lightning rod to obtain the detection result.

Claims

1. A detection device for wind turbine blade lightning arresters based on drones, characterized in that: The invention comprises an unmanned aerial vehicle (1), wherein a direction adjustment component (3) is provided on a side wall of the unmanned aerial vehicle (1), a fixing component (2) is connected to the bottom of the unmanned aerial vehicle (1), a detection component (4) and a grinding component (5) are respectively hingedly connected to the fixing component (2) away from a port of the unmanned aerial vehicle (1), and a controller (6) is provided inside the unmanned aerial vehicle (1), and the controller (6) is respectively electrically connected to the direction adjustment component (2), the fixing component (3), the detection component (4) and the grinding component (5).

2. The detection device for wind turbine blade lightning arrester based on drone according to claim 1 is characterized in that: The fixing assembly (2) comprises a connecting ring (201), the connecting ring (201) being vertically provided with two guide cylinders (202) in opposite positions on a surface away from the drone (1), the connecting ring (201) being provided with a first track (203) on an inner wall, a supporting ring (204) being provided inside the connecting ring (201), the supporting ring (204) being provided with a first threaded strip (205) on an outer wall close to the drone (1), the first track (203) cooperating with the first threaded strip (205), a spur gear (206) being installed on an outer wall of the supporting ring (204) being away from the drone (1), the supporting ring (204) being provided with a second track (207) on an inner wall, a supporting circular plate (208) being provided inside the supporting ring (204), the supporting circular plate (208) being provided with a second threaded strip (209) on an outer wall, the second track (207) cooperating with the second threaded strip (209), the surface of the supporting circular plate (208) being connected to the drone (1), the The support circular plate (208) is connected to a surface away from the drone (1) with two fixed columns (210) located opposite to each other. The connection ring (201) is provided with two motor brackets (211) located opposite to each other on a surface away from the drone. The motor brackets (211) and the guide cylinder (202) are arranged at equal intervals on the surface of the connection ring (201). A rotating motor (212) is installed in the motor bracket (211). The output shaft of the rotating motor (212) is sleeved with a rotating gear (213). The rotating gear (213) meshes with the spur gear (206); the side wall of the guide cylinder (202) is connected to a motor support (214); a camera (215) and a translation motor (216) are respectively mounted on the motor support (214); a circular gear (218) is sleeved on an output shaft of the translation motor (216); a rack (217) is provided inside the guide cylinder (202) along the axial direction of the guide cylinder (202); the rack (217) meshes with the circular gear (218).

3. The detection device for wind turbine blade lightning arrester based on drone according to claim 2 is characterized in that: The direction adjustment component (3) comprises four wing rods (301), the wing rods (301) are connected to a first vector cylinder (302), a direction motor (303) is arranged in the first vector cylinder (302), the output shaft of the direction motor (303) is sleeved with a direction gear (304), a rotating shaft (305) is arranged at one end of the first vector cylinder (302) away from the drone (1), the rotating shaft (305) is arranged in parallel with the output shaft of the direction motor (303), and both ends of the rotating shaft (305) are connected to the first vector cylinder (3 02), a rotating gear (306) is provided on the side wall of the rotating shaft (305) along the circumferential direction of the rotating shaft (305), the rotating gear (306) is meshed with the direction gear (304), the first vector cylinder (302) is rotatably connected to the second vector cylinder (307) via the rotating shaft (305), the second vector cylinder (307) is connected to the rotor (308), a rotating motor (309) is provided in the second vector cylinder (307), and the output end of the rotating motor (309) is connected to the rotor (308).

4. The detection device for wind turbine blade lightning arrester based on drone according to claim 3 is characterized in that: The detection component (4) comprises a first telescopic rod (401), one end of the first telescopic rod (401) is hinged to the guide cylinder (202), the side wall of the first telescopic rod (401) close to the other end is hinged to the fixed column (210), the other end of the first telescopic rod (401) is connected to the first control cylinder (402), the first control cylinder (402) is provided with a first control component (403) and a hollow first transmission rod (404), the first control component (403) is connected to the first transmission rod (404), the first transmission rod (404) is connected to a second telescopic rod (405), the second telescopic rod (405) is covered with a first telescopic spring (406), the second telescopic rod (405) is connected to a first posture adjustment component (407) in a columnar shape, and the side wall of the first posture adjustment component (407) is connected to a detection platform (409) via a first connecting rod component (408); The first control assembly (403) comprises a first control motor (4031), the side wall of the first control motor (4031) is connected to the inner wall of the first control cylinder (402), the output shaft of the first control motor (4031) is connected to a first screw rod (4032), the first transmission rod (404) is provided with a thread near the inner wall of the first screw rod (4032), the screw rod (4032) is threadedly connected to the first transmission rod (404), the first transmission rod (404) is provided with a first telescopic guide rail (4033) near the inner wall of the second telescopic rod (405), the second telescopic rod (405) is provided with a first rod convex contact (4034) near the outer wall of the first transmission rod (404), and the first telescopic guide rail (4033) cooperates with the first rod convex contact (4034); The first posture adjustment component (407) comprises a first motor (4071), the output end of the first motor (4071) is connected to a first rotating slide bar (4072), the first electromagnetic coil (4073), the first hollow rotor (4074), the second electromagnetic coil (4075), the second hollow rotor (4076) and the third electromagnetic coil (4077) are sequentially sleeved on the first rotating slide bar (4072) in a direction away from the first motor (4071), the outer wall of the rotating slide bar (4072) is provided with a second slide rail (40711), the end of the first rotating slide bar (4072) is connected to a first limiting plate (4078), the inner wall of the second hollow rotor (4076) is provided with a first convex contact (4079) in the shape of a tooth arc, the second slide rail (40711) cooperates with the first convex contact (4079), and the second hollow rotor (4076) is provided with a first convex contact (4079) in the shape of a tooth arc. 076) The outer wall is provided with a first slide rail (40710), the first hollow rotor (4074) includes a first hollow shell (40717), a first magnet (40712) is sleeved between the first hollow shell (40717) and the first rotating slide bar (4072), the first magnet (40712) is connected to a first limit cover (40713) near the port of the second hollow rotor (4076), the outer wall of the first hollow shell (40717) is provided with a second convex contact (40714), the first hollow shell (40717) is covered with the first hollow rotor (4074), the inner wall of the first hollow rotor (4074) is provided with a third slide rail (40715), the third slide rail (40715) cooperates with the second convex contact (40714), and the outer wall of the first hollow rotor (4074) is provided with a fourth slide rail (40716); The first connecting rod assembly (408) includes a plurality of first long connecting rods (4081), one end of the first long connecting rod (4081) is connected to a first spherical head (4082), the first spherical head (4082) cooperates with a fourth slide rail (40716), the other end of the first long connecting rod (4081) is hinged to a detection platform (409), the first slide rail (40710) is cooperated with a second spherical head (4083), the second spherical head (4083) is connected to a first short connecting rod (4084), and the first short connecting rod (4084) is hinged to the detection platform (409).

5. The detection device for wind turbine blade lightning arrester based on drone according to claim 4 is characterized in that: The surface of the detection platform (409) is connected to a plurality of fan-shaped copper sheets (4091), the surface of the detection platform (409) is circular, and the plurality of copper sheets (4091) form a circle with a diameter equal to that of the surface of the detection platform (409).

6. The detection device for wind turbine blade lightning arrester based on drone according to claim 5 is characterized in that: The grinding assembly (5) comprises a third telescopic rod (501), one end of the third telescopic rod (501) is hinged to the guide cylinder (202), the side wall of the third telescopic rod (501) close to the other end is hinged to the fixed column (210), the other end of the third telescopic rod (501) is connected to the second control cylinder (502), the second control cylinder (502) is provided with a second control assembly (503) and a hollow second transmission rod (504), the second control assembly (503) is connected to the second transmission rod (504), the second transmission rod (504) is connected to a fourth telescopic rod (505), the fourth telescopic rod (505) is covered with a second telescopic spring (506), the fourth telescopic rod (505) is connected to a columnar second posture adjustment assembly (507), and the side wall of the second posture adjustment assembly (507) is connected to the grinding table (509) via a second connecting rod assembly (508); The second control assembly (503) comprises a second control motor (5031), the side wall of the second control motor (5031) is connected to the inner wall of the second control cylinder (502), the output shaft of the second control motor (5031) is connected to a second screw rod (5032), the second transmission rod (504) is provided with a thread near the inner wall of the second screw rod (5032), the second screw rod (5032) is threadedly connected to the second transmission rod (504), the second transmission rod (504) is provided with a second telescopic guide rail (5033) near the inner wall of the fourth telescopic rod (505), the fourth telescopic rod (505) is provided with a second rod convex contact (5034) near the outer wall of the second transmission rod (504), and the second telescopic guide rail (5033) cooperates with the second rod convex contact (5034); The second posture adjustment component (507) comprises a second motor (5071), the output end of the second motor (5071) is connected to a second rotating slide bar (5072), the second rotating slide bar (5072) is sleeved with a fourth electromagnetic coil (5073), a third hollow rotor (5074), a fifth electromagnetic coil (5075), a fourth hollow rotor (5076) and a sixth electromagnetic coil (5077) in sequence in a direction away from the second motor (5071), the outer wall of the second rotating slide bar (5072) is provided with a fifth slide rail (50711), the end of the second rotating slide bar (5072) is connected to a second limiting plate (5078), the inner wall of the fourth hollow rotor (5076) is provided with a third convex contact (5079) in the shape of a tooth arc, the fifth slide rail (50711) cooperates with the third convex contact (5079), and the fourth hollow rotor (5076) is provided with a third convex contact (5079). 5076) is provided with a sixth slide rail (50710) on its outer wall, the third hollow rotor (5074) comprises a second hollow shell (50717), a second magnet (50712) is sleeved between the second hollow shell (50717) and the second rotating slide bar (5072), a second limit cover (50713) is connected to the second magnet (50712) near the port of the fourth hollow rotor (5076), a fourth convex contact (50714) is provided on the outer wall of the second hollow shell (50717), the third hollow rotor (5074) is sleeved on the second hollow shell (50717), a seventh slide rail (50715) is provided on the inner wall of the third hollow rotor (5074), the seventh slide rail (50715) cooperates with the fourth convex contact (50714), and an eighth slide rail (50716) is provided on the outer wall of the third hollow rotor (5074); The second connecting rod assembly (508) comprises a plurality of second long connecting rods (5081), one end of the second long connecting rod (5081) is connected to a third spherical head (5082), the third spherical head (5082) cooperates with the eighth slide rail (50716), the other end of the second long connecting rod (5081) is hinged to the grinding table (509), the sixth slide rail (50710) is cooperated with a fourth spherical head (5083), the fourth spherical head (5083) is connected to a second short connecting rod (5084), and the second short connecting rod (5084) is hinged to the grinding table (509).

7. The detection device for wind turbine blade lightning arrester based on drone according to claim 6 is characterized in that: The grinding table (509) comprises a bottom plate (5091), a water permeable hole (5092) is provided on the surface of the bottom plate (5091), a brush head (5093) is connected to the surface of the bottom plate (5091), a brush shaft (5094) is connected to the surface of the bottom plate (5091) away from the brush head (5093), the brush shaft (5094) is connected to the output end of the grinding motor (5095), and the bottom plate (5091) is hinged to the second short connecting rod (5084) and the second long connecting rod (5081), respectively.

8. The detection device for wind turbine blade lightning arrester based on drone according to claim 7 is characterized in that: The controller (6) is electrically connected to the rotating motor (212), the camera (215), the translation motor (216), the direction motor (303), the rotation motor (309), the first control motor (4031), the first motor (4071), the second control motor (5031), the second motor (5071), and the grinding motor (5095), respectively.

9. A method for detecting lightning arresters of wind turbine blades based on drones, characterized in that: Using the wind turbine blade lightning arrester detection device based on a drone as described in claim 8, the specific operating steps are as follows: Step 1, editing control instructions and detecting reference images in the controller (6); Step 2, starting the rotating motor (309), the directional motor (303) and the camera (215), adjusting the rotating motor (309) and the directional motor (303) by using the photos taken by the camera (215), and controlling the drone (1) to fly to the vicinity of the lightning arrester; Step 3: Use the camera (215) to take a photo of the lightning receptor, and compare the photo with the detection reference image. If the comparison is inconsistent, control the polishing component (5) to polish the surface of the lightning receptor; if the comparison is consistent, control the detection component (4) to detect the lightning receptor to obtain the detection result.

Images