Fan blade lightning arrester detection self-growth soft robot

Abstract

The invention discloses a fan blade lightning arrester detection self-growth soft robot. A storage bin, a double-layer main body, a long steering mechanism, an auxiliary motor and a lead control motor are fixed in a base; the growth steering mechanism is composed of three gear pairs and three main motors, and the three gear pairs have a certain rotating speed difference by controlling the rotating speed of the three main motors, so that the growth direction of the double-layer main body is controlled; the storage bin is a double-layer cylindrical cavity and is used for storing a to-be-grown part of the double-layer main body, the non-grown double-layer main body in the storage bin is conveyed to the front end through the growth steering mechanism so as to grow, and a gap between the double-layer cylindrical cavity is used for allowing a grounding instrument lead to penetrate through for growth. According to the invention, the rapid, high-efficiency and safe detection of the fan blade is realized, the casualties of workers or large measurement errors caused by the precision of the detection equipment and manual operation errors are avoided, and the application possibility of the self-growing soft robot on the fan detection operation and maintenance equipment is provided at the same time.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a self-growing soft robot for detecting lightning receptors on wind turbine blades. Background Art

[0002] Blade lightning arrester grounding continuity loop testing is an important task in the routine maintenance of wind turbines, but this detection task also faces the problems of poor detection accuracy, complex operation and delayed measurement information processing.

[0003] Mainstream wind turbines use composite blades made of fiberglass. The blades themselves are non-conductive and are located at the highest position of the wind turbine, making the blades the most vulnerable parts of the wind turbine to lightning damage. In order to solve the problem of blade lightning strikes, the industry generally adopts a lightning protection solution that installs lightning receptors on the surface of the blades and arranges down conductors inside. In the entire blade lightning protection solution, the lightning receptor plays a vital role. It must ensure effective lightning protection and must be able to withstand the complex mechanical effects of lightning. After long-term exposure to outdoor environments, the surface resistance value of the blade lightning receptor often exceeds 200mΩ after several months of use. After the lightning receptor corrodes, the lightning protection performance may be reduced.

[0004] In order to maintain the lightning arrester with good lightning arrester performance, it is necessary to perform a variety of tests on the lightning arrester, including measuring soil resistance with a soil resistance tester, testing the insulation resistance between the grounding system and other equipment or loops, etc. At present, these tests are performed by staff climbing to the lightning arrester position of the wind turbine blade to test the resistance and continuity of the grounding loop. There are two problems with the current test: first, the portable detection equipment carried by the personnel is not accurate enough, and the staff will introduce additional contact resistance when contacting the equipment, affecting the accuracy of the test results. Second, the lightning arresters are distributed at the root and tip of the blade, and the blade tip is small in size and difficult for staff to reach. At present, the detection of blade tip lightning arresters mostly uses a hanging basket for external detection, which has low detection efficiency, high detection cost and the risk of casualties. Therefore, the self-growing soft robot quickly completes the grounding continuity test of the lightning arrester inside the blade, which is of great significance for improving the level of blade automation detection, reducing blade maintenance costs, and reducing the risk of blade detection. Summary of the invention

[0005] The purpose of the present invention is to provide a self-growing soft robot for detecting lightning rods on wind turbine blades, so as to realize fast, efficient and safe detection of wind turbine blades, avoid casualties of workers or large measurement errors introduced due to the accuracy of detection equipment and human operating errors, and at the same time propose a rust removal method and a measurement connection method for lightning rods by the self-growing soft robot.

[0006] The purpose of the present invention is achieved through the following technical solutions: A self-growing soft robot for detecting lightning arresters of wind turbine blades, comprising a hollow cylindrical base, a double-layer body, and a grounding instrument lead; A storage bin, a growth steering mechanism, an auxiliary motor, and a lead control motor are fixed inside the base, wherein the growth steering mechanism is fixed at the front end, the storage bin is fixed in the middle, and the auxiliary motor and the lead control motor are fixed at the rear end; The double-layer body is a double-layer cylindrical body with a hollow interior, fixed at the front end of the base; the double-layer body is divided into an outer layer body and an inner layer body, the inner layer body is nested in the outer layer body, wherein the outer side of the outer layer body is fixedly connected to the base, the inner side of the outer layer body and the outer side of the inner layer body are stored in the storage bin, the inner side of the inner layer body is wound and fixed with the auxiliary motor, and a layer of flexible high friction coefficient film is provided on the surface of the inner layer body; The growth steering mechanism is composed of three pairs of gear pairs and three pairs of main motors. The three pairs of main motors respectively control the rotation of the three pairs of gear pairs. The three pairs of gear pairs are located at the front end of the storage bin and are distributed 120° along the circumferential direction. The growth of the double-layer body as a whole is controlled by the mutual engagement of the three pairs of gears. By controlling the rotation speed of the three pairs of main motors, the three pairs of gear pairs can have a certain rotation speed difference, thereby realizing the control of the growth direction of the double-layer body; The grounding instrument lead is wound, fixed and controlled by a lead control motor, passing through the storage bin and the double-layer body. A contact is fixed at the front end of the grounding instrument lead, and a contact control line is integrated in the grounding instrument lead. The storage bin is a double-layer cylindrical cavity, which is used to store the part of the double-layer body to be grown, wherein the outer cylindrical cavity stores the outer body, and the inner cylindrical cavity stores the inner body. The ungrown double-layer body in the storage bin is transported to the front end through a growth steering mechanism so as to grow, and the gap between the double-layer cylindrical cavities is used for the grounding instrument lead to pass through for growth.

[0007] As a further optimization of the technical solution, the grounding instrument has two leads, which are distributed 180° circumferentially and staggered with the three pairs of gears to ensure that the growth speed is controlled by the lead control motor.

[0008] As a further optimization of the technical solution, the contact contains an electromagnet, and the two contacts are controlled to adsorb each other by powering on.

[0009] A method for removing rust and measuring a self-growing soft robot for detecting lightning receptors on wind turbine blades, comprising: a self-growing robot for detecting lightning receptors on wind turbine blades enters the inside of the blade from the root of the blade with a grounding instrument lead on the ground, and controls the growth of a double-layer body and turns to avoid obstacles through three pairs of main motors. After reaching the vicinity of the lightning receptor, the inner layer of the double-layer body is controlled to grow by an auxiliary motor so that it contacts the lightning receptor, and while the three pairs of main motors control the overall forward growth of the double-layer body, the inner layer body uses the air pressure in the cavity to wrap and clamp the lightning receptor, and the auxiliary motor is reversed to pull the inner side of the inner layer body back while the lightning receptor is removed by friction; after the lightning receptor is removed by rust, the auxiliary motor is continued to be reversed to create a certain space inside the inner layer body, and at the same time, the electromagnets inside the two contacts are controlled by the contact control line integrated in the grounding instrument lead so that the two contacts are attracted to each other and the lightning receptor is clamped, thereby measuring the grounding resistance of the lightning receptor.

[0010] The present invention has the following beneficial effects: The self-growing soft robot of the present invention has good passability in narrow spaces, and a faster growth rate can also achieve efficient operation. The growth and steering of the double-layer body can be accurately controlled through the integrated gear pair, and the rust removal function and the measurement connection function are integrated through the design of the double-layer body. The fan blades can be detected quickly, efficiently and safely, avoiding casualties of workers or large measurement errors introduced by the accuracy of the detection equipment and human operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the distribution of gear pairs and grounding instrument leads; Figure 3 A schematic diagram of the structure of the double-layer main body in the base; Figure 4 It is a structural schematic diagram of the growth process of the double-layer main body; Figure 5 It is a schematic diagram of the structure of the inner layer body positioning contact lightning arrester in the double layer body; Figure 6 It is a structural schematic diagram of the process of double-layer main body wrapping and clamping the lightning receptor; Figure 7 It is a structural schematic diagram of the auxiliary motor reversing and pulling the inner layer body to realize the friction rust removal process; Figure 8 It is a structural diagram of the lead contact magnetically clamping the lightning arrester to realize the measurement process; Description of the accompanying drawings: base 1, storage bin 11, growth steering mechanism 12, auxiliary motor 13, lead control motor 14, double-layer body 2, outer body 21, inner body 22, grounding instrument lead 3, contact 31, lightning arrester 4. DETAILED DESCRIPTION

[0012] The present invention will be described in detail below with reference to the accompanying drawings.

[0013] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, a self-growing soft robot for detecting lightning arrester of wind turbine blades includes a hollow cylindrical base 1, a double-layer body 2, and a grounding instrument lead 3; a storage bin 11, a growth steering mechanism 12, an auxiliary motor 13, and a lead control motor 14 are fixed inside the base 1, wherein the growth steering mechanism 12 is fixed at the front end, the storage bin 11 is fixed in the middle, and the auxiliary motor 13 and the lead control motor 14 are fixed at the rear end.

[0014] The double-layer body 2 is a double-layer cylindrical shape as a whole, hollow inside, and fixed at the front end of the base 1; the double-layer body 2 is divided into an outer layer body 21 and an inner layer body 22, and the inner layer body 22 is nested in the outer layer body 21, wherein the outer side of the outer layer body 21 is fixedly connected to the base 1, the inner side of the outer layer body 21 and the outer side of the inner layer body 22 are stored in the storage bin 11, the inner side of the inner layer body 22 is wound and fixed with the auxiliary motor 13, and a layer of flexible high friction coefficient film is provided on the surface of the inner layer body 22.

[0015] The growth steering mechanism 12 is composed of three pairs of gear pairs and three pairs of main motors. The three pairs of main motors respectively control the rotation of the three pairs of gear pairs. The three pairs of gear pairs are located at the front end of the storage bin 11 and are distributed 120° along the circumferential direction. The overall growth of the double-layer body 2 is controlled by the mutual engagement of the three pairs of gears. By controlling the rotational speed of the three pairs of main motors, the three pairs of gear pairs can have a certain rotational speed difference, thereby realizing the control of the growth direction of the double-layer body 2.

[0016] The grounding instrument lead wire 3 is wound, fixed and controlled to grow by the lead wire control motor 14, passes through the storage bin 11 and the double-layer body 2, and a contact 31 is fixed at the front end of the grounding instrument lead wire 3, and a contact control line is integrated in the grounding instrument lead wire 3. There are two grounding instrument leads 3, which are staggered with three pairs of gears at 180° along the circumferential direction to ensure that their growth speed can be controlled by the lead wire control motor 14. The contact 31 contains an electromagnet, and the two contacts 31 are controlled to adsorb each other by powering on.

[0017] The storage bin 11 is a double-layer cylindrical cavity, used to store the part to be grown of the double-layer body 2, wherein the outer cylindrical cavity stores the outer body 21, and the inner cylindrical cavity stores the inner body 22. The ungrown double-layer body 2 in the storage bin 11 is transported to the front end through the growth steering mechanism 12 so as to grow, and the gap between the double-layer cylindrical cavities is used for the grounding instrument lead 3 to pass through for growth.

[0018] Constant pressure gas is input into the base 1 as the driving force for the movement of the double-layer body 2 .

[0019] By controlling the rotation of three pairs of gear pairs through three pairs of main motors in the growth steering mechanism 12, the forward growth of the double-layer body 2 can be achieved, and the growth rate can be controlled by the rotation speed of the main motor; by adjusting the rotation speed difference of the three pairs of gear pairs, the deflection of the double-layer body 2 in the corresponding direction can be achieved, and the deflection angle can be controlled by the rotation speed difference of the gear pairs.

[0020] like Figure 5 , Figure 6 As shown, the overall growth of the double-layer body 2 stops after approaching the lightning receptor 4, and the inner layer body 22 continues to grow forward by controlling the auxiliary motor 13 until it contacts the lightning receptor 4. The inner layer body 22 stops growing after contacting the lightning receptor 4, and the auxiliary motor 13 stops rotating. The double-layer body 2 continues to grow by controlling the gear pair. While growing, the surface of the inner layer body 22 can be wrapped around the lightning receptor 4 due to the air pressure in the cavity of the inner layer body 22, and a certain friction resistance is generated between the two so that the inner layer body 22 clamps the lightning receptor 4.

[0021] like Figure 7 , Figure 8 As shown, the surface of the inner layer body 22 is pulled back by reversing the auxiliary motor 13, and the surface of the flasher 4 can be derusted under the action of friction. The derusting operation can be repeated to reduce subsequent measurement errors.

[0022] After the rust removal is completed, the polarity of the electromagnet inside the two contacts 31 at the front end of the grounding instrument lead 3 is controlled so that the contacts 31 attract each other and the lightning arrester 4 can be clamped, thereby performing resistance measurement.

[0023] The grounding instrument lead 3 is sandwiched between the double-layer body 2 and grows along with the double-layer body 2. To ensure that the growth rate of the grounding instrument lead 3 is consistent with that of the double-layer body 2, the growth rate of the grounding instrument lead 3 is controlled by the lead control motor 14.

Claims

1. A self-growing soft robot for detecting lightning arresters on wind turbine blades, characterized in that: It comprises a hollow cylindrical base (1), a double-layer body (2), and a grounding instrument lead (3); A storage bin (11), a growth steering mechanism (12), an auxiliary motor (13), and a lead wire control motor (14) are fixed inside the base (1), wherein the growth steering mechanism (12) is fixed at the front end, the storage bin (11) is fixed at the middle, and the auxiliary motor (13) and the lead wire control motor (14) are fixed at the rear end; The double-layer body (2) is in the shape of a double-layer cylinder, is hollow inside, and is fixed to the front end of the base (1); the double-layer body (2) is divided into an outer layer body (21) and an inner layer body (22), the inner layer body (22) is nested in the outer layer body (21), wherein the outer side of the outer layer body (21) is fixedly connected to the base (1), the inner side of the outer layer body (21) and the outer side of the inner layer body (22) are stored inside the storage bin (11), the inner side of the inner layer body (22) is wound and fixed to the auxiliary motor (13), and a layer of flexible film with a high friction coefficient is provided on the surface of the inner layer body (22); The growth steering mechanism (12) is composed of three pairs of gear pairs and three pairs of main motors. The three pairs of main motors respectively control the rotation of the three pairs of gear pairs. The three pairs of gear pairs are located at the front end of the storage bin (11) and are distributed 120° along the circumferential direction. The three pairs of gear pairs are meshed with each other to control the overall growth of the double-layer body (2). By controlling the rotation speed of the three pairs of main motors, the three pairs of gear pairs can have a certain rotation speed difference, thereby realizing the control of the growth direction of the double-layer body (2); The grounding instrument lead wire (3) is wound and fixed by a lead wire control motor (14) and controlled to grow, and passes through the storage bin (11) and the double-layer body (2). A contact (31) is fixed at the front end of the grounding instrument lead wire (3), and a contact control line is integrated in the grounding instrument lead wire (3); The storage bin (11) is a double-layer cylindrical cavity, used to store the to-be-grown portion of the double-layer body (2), wherein the outer cylindrical cavity stores the outer layer body (21), and the inner cylindrical cavity stores the inner layer body (22). The ungrown double-layer body (2) in the storage bin (11) is transported to the front end through a growth steering mechanism (12) for growth, and the gap between the double-layer cylindrical cavities is used for the grounding instrument lead (3) to pass through for growth.

2. The wind turbine blade lightning receptor detection self-growing soft robot according to claim 1, characterized in that: The grounding instrument lead wires (3) are provided with two leads, which are staggered and distributed 180° along the circumferential direction with respect to the three pairs of gears, so as to ensure that the growth speed thereof can be controlled by the lead wire control motor (14).

3. The wind turbine blade lightning receptor detection self-growing soft robot according to claim 1, characterized in that: The contact (31) contains an electromagnet inside, and the two contacts (31) are controlled to attract each other by powering on.

4. A method for rust removal and measurement of a self-growing soft robot for detecting lightning arresters on wind turbine blades, characterized in that: The wind turbine blade lightning receptor detection self-growing soft robot according to claims 1 to 3 comprises: the wind turbine blade lightning receptor detection self-growing robot carries a grounding instrument lead (3) on the ground and enters the inside of the blade from the root of the blade, controls the growth of the double-layer body (2) and turns to avoid obstacles through three pairs of main motors, and after reaching the vicinity of the lightning receptor (4), controls the growth of the inner layer of the double-layer body (2) through the auxiliary motor (13) so that it contacts the lightning receptor (4), and controls the overall forward growth of the double-layer body (2) through the three pairs of main motors, while the inner layer body (22) The air pressure in the cavity is used to wrap and clamp the lightning receptor (4), and the auxiliary motor (13) is reversed to pull the inner side of the inner body (22) back while the lightning receptor (4) is derusted by friction. After the lightning receptor (4) is derusted, the auxiliary motor (13) is further reversed to create a certain space inside the inner body (22), and at the same time, the electromagnets inside the two contacts (31) are controlled by a contact control line integrated in the grounding instrument lead, so that the two contacts (31) are attracted to each other and the lightning receptor (4) is clamped, thereby measuring the grounding resistance of the lightning receptor (4).

Images