A wind turbine blade surface defect detection device

Abstract

The present application discloses a device for detecting surface defects of wind turbine blades, and relates to the field of blade detection technology. The present application comprises: three shells, each of which is rotatably mounted with a rotating rod, and the adjacent ends of the rotating rods are interconnected by a universal shaft, so that the three shells are also connected, one of the shells is provided with a first driving member for driving the rotating rod to rotate, both sides of the shell are provided with a slide groove, and a slider is slidably fitted, the shell is provided with a driving part, and is linked with the rotating rod. Compared with the prior art, the present application is capable of articulating the three shells while transmitting and connecting the multiple rotating rods, so that when the three shells climb on the blade transition surface, the inclination angle of the adjacent shells can be adaptively adjusted according to the curvature of the blade surface, so that the shells can fit the blade surface during the climbing process, making it difficult for the device to fall off during the climbing process.

Description

Technical Field

[0001] The present application relates to the technical field of blade detection, and in particular to a device for detecting surface defects of wind turbine blades. Background Art

[0002] In recent years, the wind power industry has experienced rapid growth. With the gradual increase in the number of wind turbines, reducing the operation and maintenance costs of wind turbines has become a key challenge for the development of wind energy. Blades, as key components of wind turbines, are affected by harsh environments after long-term use. They are susceptible to wind impact and vibration, and tiny cracks are prone to appear on the surface. Once the cracks expand, they will cause the blades to break. Therefore, the inspection and maintenance of wind turbine blades are crucial.

[0003] At present, negative pressure adsorption wall-climbing robots have gradually been used to replace manual inspection of blades. However, since the shape of wind turbine blades is usually an asymmetric curved surface, and the curvature of the transition surfaces on the upper and lower sides is large, traditional negative pressure adsorption wall-climbing robots are difficult to fit with their transition surfaces when climbing, resulting in poor adsorption effect of the robot and easy falling. In order to reasonably improve this problem, the present application proposes a surface defect detection device for wind turbine blades. Summary of the Invention

[0004] The purpose of the present application is to solve the technical problem that since the shape of the wind turbine blade is usually an asymmetric curved surface and the curvature of the transition surfaces on the upper and lower sides is large, it is difficult for the traditional negative pressure adsorption wall-climbing robot to fit with its transition surface when climbing, resulting in poor adsorption effect of the robot and easy falling. The present application provides a surface defect detection device for wind turbine blades.

[0005] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0006] A wind turbine blade surface defect detection device, comprising:

[0007] Three shells, each of which has a rotating rod rotatably installed therein, and the ends of adjacent rotating rods are connected to each other by a universal shaft, so that the three shells are also connected, a first driving member is provided in one of the shells for driving the rotating rod to rotate, a slide groove is provided on both sides of each shell, and a slider is slidably matched therewith, a driving part is provided in each shell, and is linked with the rotating rod, and can drive the two sliders to slide back and forth in opposite directions through the driving part, a tube body is slidably matched on the slider, and a suction cup is connected to the bottom end of the tube body, and an actuator is provided on the outside of each shell, which is used to drive the tube body to slide upward when the slider slides toward the forward direction of the shell;

[0008] A negative pressure component is provided outside one of the shells and is connected to the multiple tubes. The air in the multiple tubes can be extracted through the negative pressure component.

[0009] Steering assembly, through which the left and right inclination angles of the three shells can be adjusted;

[0010] The camera assembly is installed on the outside of the other shell.

[0011] Furthermore, opposite sides of adjacent shells are connected to each other via a connecting member, and the connecting member includes:

[0012] The circular ring is arranged outside the universal shaft, and the opposite sides of the adjacent shells are connected with U-shaped frames. The U-shaped ends of the two U-shaped frames are staggered and hinged with the outer side of the circular ring.

[0013] Furthermore, the circular ring is connected to one of the U-shaped frames via a first torsion spring.

[0014] Furthermore, the driving part includes a first small bevel gear rotatably installed in the shell, a large bevel gear is installed on the rotating rod, and the two are engaged with each other, a rod body is rotatably installed in the shell, the rod body and the first small bevel gear are connected through a gear assembly, and the two ends of the rod body are connected to the first connecting plate in a centrally symmetrical shape, the ends of the first connecting plate are hinged to the second connecting plate, and the slider is hinged to the end of the second connecting plate.

[0015] Furthermore, the actuator includes an arc-shaped groove provided on the shell, the two ends of the arc-shaped groove are connected by a transverse groove, a resistance surface is provided obliquely in the transverse groove, and its two ends are respectively higher and lower than the bottom surface of the arc-shaped groove, a connecting block is constructed on the outside of the tube body, a cylindrical groove is provided on the connecting block, a plug-in column is slidably installed in the cylindrical groove, the plug-in column is connected to the cylindrical groove by a first compression spring, the plug-in column is movably inserted in the arc-shaped groove, and is in contact with and overlaps with the resistance surface.

[0016] Furthermore, the negative pressure assembly includes a cylindrical box installed on one of the shells, a cylindrical block is eccentrically installed in the cylindrical box, the cylindrical block is connected to the rotating rod through a transmission mechanism, a plurality of sliding grooves are distributed in an annular manner on the outside of the cylindrical block, a sliding plate is slidably fitted in the sliding grooves, the sliding plate and the sliding groove are connected by a second compression spring, the sliding plate is in contact with the inner wall of the cylindrical box, an air inlet and an air outlet are constructed on the outside of the cylindrical box, the air inlet is connected with a plurality of tube body ends through the negative pressure box, an annular block is provided at the end of the tube body, the top of the annular block is constructed with an inclined surface, a conical block is provided in the tube body, the conical block is connected to the end of the tube body by a third compression spring, a trigger rod is constructed at the end of the conical block, the trigger rod passes through the annular block and is longer than the length of the suction cup.

[0017] The cam is fixed to the U-shaped frame, and the opposite sides of the U-shaped frame are rotatably mounted with bevel gear rings. A transmission rod is constructed on the cylindrical block, and the end of the transmission rod rotates through the U-shaped frame and is connected to a second small bevel gear that meshes with the two bevel gear rings. A ratchet ring is constructed on the inner sides of the two bevel gear rings, and the teeth of the two ratchet rings are in opposite directions. A circular plate is provided in the ratchet ring, and the two circular plates are connected to each other through a connecting rod and rotatably cooperate with the U-shaped frame. The outer sides of the circular plates are provided with a receiving groove, and a stop block is hinged in the receiving groove, and the stop block is connected to the receiving groove through a second torsion spring, and the stop block contacts and overlaps with the ratchet ring. A large gear is connected to the transmission rod, wherein a small gear is coaxially mounted on one of the circular plates, and the small gear meshes with the large gear. A plate body is hinged in the transverse groove, and the contact surface is constructed on the outer side of the plate body. An adjustment mechanism is provided on the housing, and the inclination angle of the two plates in the transverse groove can be adjusted by the adjustment mechanism.

[0018] Furthermore, the adjustment mechanism includes an insert constructed at the end of the plate body, the transverse groove is connected to the interior of the shell through a connecting groove, and the insert movably passes through the connecting groove. Two strip plates are slidingly fitted in the shell, and a spur gear is rotatably installed in the shell. Racks are constructed on opposite sides of the two strip plates and are respectively engaged with the two sides of the spur gear. An electric push rod is installed in the shell, and its output end is connected to one of the strip plates. A waist hole is constructed at the end of the strip plate, and a guide column is constructed on the insert, which slides tangent to the waist hole.

[0019] Furthermore, the direction adjustment component includes a fixed block symmetrically constructed on the top of one of the shells, the two fixed blocks are connected by an elastic rope, a first roller is rotatably installed on the top of the other shell, a second roller is provided on both sides of the first roller, the second roller rotates with the shell, the elastic rope is wrapped around the first roller and the second roller, a second driving member is installed in the other shell, which is used to drive the first roller to rotate, and a limit assembly is provided between adjacent shells, and each shell cannot be flipped upward under the constraint of the limit assembly.

[0020] Furthermore, the limiting assembly includes an arc-shaped protrusion, which is constructed on the opposite side of the adjacent shell and movably abuts against the arc-shaped surface of the arc-shaped protrusion, and the bottom of the arc-shaped protrusion is constructed with an arc-shaped abutting surface.

[0021] The beneficial effects of this application are as follows:

[0022] When the driving member of the present application is working, the universal shaft can drive multiple rotating rods to rotate, and drive the driving part to move, driving the sliders on both sides of the shell to slide back and forth. When the slider slides toward the forward direction of the shell, the actuator drives the tube body to slide upward, so that the tube body will separate from the blade surface when it moves forward. When the slider slides in the opposite direction, the tube body will be firmly adsorbed on the blade, and the shell will move forward when the slider slides. Compared with the existing technology, the universal shaft can not only connect the multiple rotating rods, but also articulate the three shells, so that when the three shells climb on the transition surface of the blade, the inclination angle of the adjacent shells can be adaptively adjusted according to the curvature of the blade surface, so that it can fit the blade surface during the climbing process, making the device not easy to fall off during the climbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural diagram of this application;

[0024] Figure 2 This application Figure 1 A magnified view of point A;

[0025] Figure 3 This application Figure 1 A partial structural cross-sectional view;

[0026] Figure 4 This application Figure 3 Schematic diagram of the structure at B;

[0027] Figure 5 It is a cross-sectional view of the structure of the negative pressure component of the present application;

[0028] Figure 6 It is a partial structural cross-sectional view of the shell structure of the present application;

[0029] Figure 7 This is a schematic diagram of the structural breakdown of the transmission mechanism of this application;

[0030] Figure 8 This is a cross-sectional view of the internal structure of the shell of this application;

[0031] Figure 9 This is a cutaway top view of the shell structure of the present application;

[0032] Figure 10 It is a structural diagram of the connector of this application;

[0033] Figure 11 It is a schematic diagram of the internal structure of the pipe body of this application;

[0034] Reference numerals: 1, housing; 101, through hole; 2, rotating rod; 3, universal joint; 4, first driving member; 5, slide groove; 6, slider; 7, driving part; 701, first small bevel gear; 702, large bevel gear; 703, rod body; 704, gear assembly; 705, first connecting plate; 706, second connecting plate; 8, tube body; 801, annular block; 802, inclined surface; 803, conical block; 804, third compression spring; 805, trigger rod; 9, suction cup; 10, actuator; 1 001, arc groove; 1002, transverse groove; 1003, contact surface; 1004, connecting block; 1005, cylindrical groove; 1006, plug column; 1007, first compression spring; 11, negative pressure assembly; 1101, cylindrical box; 1102, cylindrical block; 1103, transmission mechanism; 11031, U-shaped frame; 11032, bevel gear ring; 11033, transmission rod; 11034, ratchet ring; 11035, circular plate; 11036, connecting rod; 11037, receiving groove; 1103 8. Stop block; 11039. Second torsion spring; 110310. Large gear; 110311. Small gear; 110312. Second small bevel gear; 1104. Sliding groove; 1105. Sliding plate; 1106. Second compression spring; 1107. Air inlet; 1108. Air outlet; 1109. Negative pressure box; 12. Direction adjustment assembly; 1201. Fixed block; 1202. Elastic rope; 1203. First roller; 1204. Second roller; 1205. Second driving member; 1206. Limiting assembly; 12061, arc-shaped protrusion; 12062, arc-shaped surface; 12063, arc-shaped abutment surface; 13, camera assembly; 14, connecting piece; 1401, circular ring; 1402, U-shaped frame; 1403, first torsion spring; 15, plate body; 16, adjusting mechanism; 1601, plug-in block; 1602, connecting groove; 1603, strip plate; 1604, spur gear; 1605, rack; 1606, electric push rod; 1607, waist hole; 1608, guide column; 17, guide block. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0036] like Figures 1-11 As shown, an embodiment of the present application provides a device for detecting surface defects of wind turbine blades, comprising:

[0037] Three shells 1, such as Figure 1As shown, opposite sides of adjacent shells 1 are constructed with through holes 101 for passing lines, and rotating rods 2 are rotatably installed in the shells 1. The ends of the rotating rods 2 pass through the shell 1, and the ends of adjacent rotating rods 2 are connected to each other through universal shafts 3, so that the three shells 1 are also connected. With this design, while multiple transmission rods 11033 are synchronously transmitted, adjacent shells 1 can also be connected, and when the position of the shell 1 changes, multiple rotating rods 2 can still be synchronously transmitted. A first driving member 4 is provided in one of the shells 1. The first driving member 4 is a motor for driving the rotating rod 2 to rotate. The output end of the motor is connected to the end of one of the rotating rods 2. When the motor is working, multiple rotating rods 2 can be driven to rotate through the universal shaft 3. Each shell 1 is provided with a slide groove 5 on both sides. The slide groove 5 extends along the length direction of the shell 1, is connected to the inside of the shell 1, and is slidably matched with a slider 6. A driving part 7 is provided in each shell 1 and is connected to the rotating rod 2 When the rotating rod 2 moves, the driving part 7 can be driven to move, and the two sliders 6 can be driven to slide back and forth in the opposite direction by the driving part 7. Under the action of the driving part 7, the two sliders 6 can slide back and forth, and the sliding directions of the two sliders 6 are opposite during the sliding process. A tube body 8 is slidably matched on the slider 6, and a suction cup 9 is connected to the bottom end of the tube body 8. The suction cup 9 is made of rubber material and is in the shape of a corrugated tube. An actuator 10 is provided on the outside of each shell 1, which is used to drive the tube body 8 to slide upward when the slider 6 slides toward the forward direction of the shell 1. When the driving part 7 drives the slider 6 to slide toward the forward direction of the shell 1, the actuator 10 can drive the tube body 8 to slide upward so that the tube body 8 can be separated from the blade surface when it moves forward, and when the slider 6 slides in the opposite direction, the driving part 7 will not drive the tube body 8 to slide upward. At this time, the tube body 8 moves horizontally. Because the tube body 8 has not separated from the blade, the shell 1 will move forward when the slider 6 slides. Figure 1 As shown, the sliding directions of the sliders 6 on the same side of adjacent housings 1 are opposite to each other. When the three housings 1 move, the tube body 8 in the fixed state is triangular in shape, which has good stability.

[0038] The negative pressure component 11 is provided outside one of the housings 1 and is in communication with the plurality of tubes 8. The negative pressure component 11 can extract the air in the plurality of tubes 8 so that the tubes 8 can be firmly adsorbed on the surface of the blades through the suction cups 9.

[0039] The direction adjustment component 12 can be used to adjust the left and right inclination angles of the three shells 1, thereby adjusting the forward direction of the three shells 1 to facilitate their movement on the blades;

[0040] The camera assembly 13 is a conventional camera, which is installed on the outside of the other housing 1 and is provided on the housing 1 at the forward end. The camera assembly 13 can be used to photograph the outside of the blade to detect whether there are defects and cracks on the blade surface.

[0041] When the driving member of the present application is working, the universal shaft 3 can drive multiple rotating rods 2 to rotate, and drive the driving part 7 to move, driving the sliders 6 on both sides of the shell 1 to slide back and forth. When the slider 6 slides toward the forward direction of the shell 1, the actuator 10 drives the tube body 8 to slide upward, so that the tube body 8 is separated from the blade surface when it moves forward. When the slider 6 slides in the opposite direction, the tube body 8 will be firmly adsorbed on the blade, and the shell 1 will move forward when the slider 6 slides. Compared with the prior art, the universal shaft 3 can not only drive and connect multiple rotating rods 2, but also articulate the three shells 1, so that when the three shells 1 climb on the blade transition surface, the inclination angle of the adjacent shells 1 can be adaptively adjusted according to the curvature of the blade surface, so that it can fit the blade surface during the climbing process, making the device not easy to fall off during the climbing process.

[0042] like Figure 6 and Figure 10 As shown, in some embodiments, the opposite sides of adjacent housings 1 are connected to each other by a connector 14, and the connector 14 includes:

[0043] The circular ring 1401 is arranged on the outside of the universal joint 3, and the universal joint 3 is located in the middle of the circular ring 1401. The opposite sides of adjacent shells 1 are connected with U-shaped frames 1402. The U-shaped ends of the two U-shaped frames 1402 are staggered and hinged with the outside of the circular ring 1401. Such a design, on the one hand, the two U-shaped frames 1402 can only be flipped up, down, left and right under the action of the circular ring 1401, thereby restricting the movement of the three shells 1 and facilitating their climbing on the blade surface. On the other hand, the above structure can protect the universal joint 3, making it difficult for it to get stuck when the shell 1 moves due to the small angle of the axis of the two rotating rods 2.

[0044] like Figure 10 As shown, in some embodiments, the ring 1401 is connected to one of the U-shaped frames 1402 through a first torsion spring 1403. The U-shaped frame 1402 here is a horizontally arranged U-shaped frame 1402. The fixed end of the first torsion spring 1403 is connected to the ring 1401, and the movable end is connected to the U-shaped frame 1402. The first torsion spring 1403 can force the U-shaped frame 1402 to flip toward the blade surface. This design makes it easier for the shell 1 to get close to the blade surface when climbing up the blade.

[0045] like Figure 6 and Figure 8As shown, in some embodiments, the driving part 7 includes a first small bevel gear 701 rotatably mounted in the housing 1, a large bevel gear 702 is mounted on the rotating rod 2, and the two are meshed with each other. A rod body 703 is rotatably mounted in the housing 1, and the axis of the rod body 703 is perpendicular to the axis of the rotating rod 2. The rod body 703 and the first small bevel gear 701 are connected to each other through a gear assembly 704. The gear assembly 704 includes two mutually meshing transmission gears, which are respectively mounted on the rod body 703 and the first small bevel gear 701. When the rotating rod 2 rotates, the first small bevel gear 701 can be driven to rotate by the large bevel gear 702, and the first small bevel gear 701 The rod body 703 is driven to rotate by the transmission gear, and the two ends of the rod body 703 are connected with the first connecting plate 705 in a centrally symmetrical shape. The first connecting plate 705 is vertically connected to the rod body 703, and the ends of the first connecting plate 705 are hinged with the second connecting plate 706. The slider 6 is hinged to the end of the second connecting plate 706. The structure here is similar to a crank rocker. When the first connecting plate 705 rotates, the slider 6 can be driven to slide back and forth in the slide groove 5 through the second connecting plate 706. It should be specifically explained here that the extension directions of the first connecting plates 705 at both ends of the rod body 703 are opposite. When the rod body 703 rotates, the sliding directions of the two sliders 6 are opposite to each other.

[0046] like Figure 1 、 Figure 3 、 Figure 4 、 Figure 6 and Figure 9As shown, in some embodiments, the actuator 10 includes an arc-shaped groove 1001 provided on the housing 1, and the two ends of the arc-shaped groove 1001 are connected by a transverse groove 1002. The width of the arc-shaped groove 1001 is the same as that of the transverse groove 1002. The transverse groove 1002 is located below the arc-shaped groove 1001. A contact surface 1003 is inclined in the transverse groove 1002, and its two ends are respectively higher and lower than the bottom surface of the arc-shaped groove 1001. A connecting block 1004 is constructed on the outside of the tube body 8, and a guide block 17 is constructed on the slider 6, and slides through the connecting block 1004. A cylindrical groove 1005 is provided on the connecting block 1004, and a plug 1006 is slidably installed in the cylindrical groove 1005. The plug 1006 is connected to the cylindrical groove 1005 by a first compression spring 1007. The first compression spring 1007 pushes the plug 1006 to extend, and the plug The column 1006 is movably inserted in the arc groove 1001 and is in contact with the resistance surface 1003. It should be specifically explained that when the slider 6 slides in the forward direction away from the shell 1, the column 1006 slides in the transverse groove 1002 from the end of the resistance surface 1003 which is lower than the bottom surface of the arc groove 1001 toward the end thereof which is higher than the bottom surface of the arc groove 1001. At this time, the column 1006 retracts into the cylindrical groove 1005 under the resistance of the resistance surface 1003 and compresses the first compression spring 1007. When passing through the resistance surface 1003, the column 1006 extends out under the action of the first compression spring 1007 and is inserted into the arc groove 1001. When the slider 6 slides in the forward direction of the shell 1, the column 1006 can slide along the length direction of the arc groove 1001 and drive the tube body 8 on the slider 6.

[0047] like Figure 1 、 Figure 3 、 Figure 5 、 Figure 6 and Figure 7As shown, in some embodiments, the negative pressure component 11 includes a cylindrical box 1101 installed on one of the shells 1, and a cylindrical block 1102 is eccentrically installed in the cylindrical box 1101. The cylindrical block 1102 rolls and overlaps with the inner wall of the cylindrical box 1101. The cylindrical block 1102 is connected to the rotating rod 2 through a transmission mechanism 1103. The cylindrical block 1102 is linked to the rotating rod 2 to simplify the device structure without the need for an additional power source. A plurality of sliding grooves 1104 are distributed in an annular manner on the outer side of the cylindrical block 1102. The number of sliding grooves 1104 is three, and a sliding plate is slidably fitted in each of the sliding grooves 1104. 1105, the sliding plate 1105 is connected to the sliding groove 1104 by a second compression spring 1106, and the second compression spring 1106 is used to provide a thrust forcing the sliding plate 1105 to extend. The sliding plate 1105 is in contact with the inner wall of the cylindrical box 1101, and the outer side of the cylindrical box 1101 is provided with an air inlet 1107 and an air outlet 1108. The air outlet 1108 is connected to the outside, and the air inlet 1107 is connected to the ends of the multiple tubes 8 through the negative pressure box 1109. The structure here is similar to an eccentric pump. The adjacent sliding plates 1105 that extend out can form a closed space with the inner wall of the cylindrical box 1101, and as the cylindrical block 1 102 rotates, the gas in the negative pressure box 1109 can continuously enter the space formed from the air inlet 1107, so that the air inside the multiple tube bodies 8 can be extracted, and when the extended sliding plate 1105 retracts into the sliding groove 1104 under the resistance of the inner wall of the cylindrical box 1101, the volume of the formed space becomes smaller, and the air inside it is compressed and pushed toward the air outlet 1108. An annular block 801 is provided at the end of the tube body 8, and the top of the annular block 801 is constructed with an inclined surface 802. A conical block 803 is provided in the tube body 8, and the conical block 803 is connected to the end of the tube body 8 by a third compression spring 804. The conical block 803 A trigger rod 805 is constructed at the end, which passes through the annular block 801 and is longer than the length of the suction cup 9. With this design, when the tube body 8 is lifted, the third compression spring 804 can drive the conical block 803 to move and abut against the inclined surface 802. At this time, the end of the tube body 8 is blocked by the conical block 803, and the trigger rod 805 extends out of the suction cup 9. When the tube body 8 slides down, the trigger rod 805 first contacts the blade and pushes the conical block 803 away from the inclined surface 802. At this time, the tube body 8 is turned on and the suction cup 9 can be firmly adsorbed on the surface of the blade. With this design, the device will not be separated from the blade when it stops on the blade.

[0048] like Figure 6 and Figure 7As shown, in some embodiments, the transmission mechanism 1103 includes a U-shaped frame 11031 fixed to the inside of the shell 1, and the opposite sides of the U-shaped frame 11031 are rotatably mounted with bevel gear rings 11032. A transmission rod 11033 is constructed on the cylindrical block 1102, and the end of the transmission rod 11033 rotates through the U-shaped frame 11031 and is connected to a second small bevel gear 110312 that meshes with the two bevel gear rings 11032. A ratchet ring 11034 is constructed on the inner side of the two bevel gear rings 11032, and the teeth of the two ratchet rings 11034 are in opposite directions. A circular plate 11035 is provided in the ratchet ring 11034, and the two circular plates 11035 are connected by The rods 11036 are connected to each other and rotate with the U-shaped frame 11031. The outer sides of the circular plates 11035 are provided with receiving grooves 11037. A stop block 11038 is hinged in the receiving groove 11037. The stop block 11038 is connected to the receiving groove 11037 through a second torsion spring 11039. The fixed end of the second torsion spring 11039 is connected to the receiving groove 11037, and its movable end is connected to the stop block 11038. The stop block 11038 is in contact with the ratchet ring 11034. A large gear 110310 is connected to the transmission rod 11033. A small gear 110311 is coaxially mounted on one of the circular plates 11035. The small gear 110311 is coaxially mounted on the small gear 110311. 0311 is meshed with the large gear 110310. The design here is that when the rotating rod 2 rotates forward, the circular plate 11035 can be driven to rotate forward. At this time, the upper block 11038 of one of the circular plates 11035 contacts the ratchet ring and drives the corresponding bevel gear ring 11032 to rotate. At this time, the bevel gear is the driving wheel, which can drive the second small bevel gear 110312 to rotate forward, and the upper block 11038 of the other circular plate 11035 retracts into the accommodating groove 11037. The corresponding bevel gear ring 11032 is the driven wheel, which can rotate with the second small bevel gear 110312. When the rotating rod 2 is reversed, the driving wheels of the two bevel gear rings 11032 and the bodies of the driven wheels The second small bevel gear 110312 is rotated forwardly, that is, no matter whether the rotating rod 2 rotates forward or backward, the second small bevel gear 110312 will rotate in one direction. A plate body 15 is hinged in the transverse groove 1002, and the contact surface 1003 is constructed on the outside of the plate body 15. An adjustment mechanism 16 is provided on the shell 1, and the inclination angle of the two plate bodies 15 in the transverse groove 1002 can be adjusted by the adjustment mechanism 16. By rotating the plate body 15, the state of the end of the contact surface 1003 lower than the bottom surface of the arc groove 1001 and the state of the end higher than the bottom surface of the arc groove 1001 can be reversed. Such a design enables the device to move at the end of the blade, and it can retreat when the moving surface is smaller.

[0049] like Figure 6 and Figure 9As shown, in some embodiments, the adjustment mechanism 16 includes an insert 1601 constructed at the end of the plate body 15, the transverse groove 1002 is connected to the interior of the shell 1 through the connecting groove 1602, the insert 1601 movably penetrates the connecting groove 1602, and two strip plates 1603 are slidably matched in the shell 1. The sliding directions of the two strip plates 1603 are parallel to each other. A spur gear 1604 is rotatably installed in the shell 1, and racks 1605 are constructed on the opposite sides of the two strip plates 1603, and are respectively engaged with the two sides of the spur gear 1604. An electric push rod 1606 is installed in the shell 1, and its output end is connected to one of the strip plates 1603. When the electric push rod 1606 is extended or retracted, it can drive one of the strip plates 1603 to rotate. The plate 1603 slides and drives the other strip plate 1603 to slide through the spur gear 1604. A waist hole 1607 is constructed at the end of the strip plate 1603, and a guide column 1608 is constructed on the insert block 1601. The guide column 1608 slides tangentially with the waist hole 1607. When the plate body 15 rotates to be parallel to the bottom surface of the arc groove 1001, the contact surface 1003 is coplanar with the bottom surface of the arc groove 1001. When the two strip plates 1603 slide relative to each other or slide back and forth, the waist hole 1607 and the guide column 1608 can drive the two plate bodies 15 to flip relative to each other or flip relative to each other, thereby reversing the state of the end of the contact surface 1003 lower than the bottom surface of the arc groove 1001 and the end higher than the bottom surface of the arc groove 1001.

[0050] like Figure 1 and Figure 3As shown, in some embodiments, the direction adjustment component 12 includes a fixed block 1201 symmetrically constructed on the top of one of the shells 1, the two fixed blocks 1201 are connected by an elastic rope 1202, and a first roller 1203 is rotatably installed on the top of the other shell 1, where the shell 1 is farthest away from the above-mentioned shell 1, the first roller 1203 is close to the fixed block 1201, and second rollers 1204 are provided on both sides of the first roller 1203, and the second rollers 1204 are far away from the fixed block 1201, and the second roller (1204) rotates with the shell 1, the elastic rope 1202 is wound around the first roller 1203 and the second roller 1204, and a second driving member 1205 is installed in the other shell 1, which is used to drive the first roller 1203 to rotate. When the lengths of the elastic ropes 1202 on both sides of the first roller 1203 are equal, , the tension provided by the elastic rope 1202 to the fixed block 1201 is consistent. At this time, the rotating rods 2 on the three shells 1 are on the same axis, and when the second driving member 1205 drives the first roller 1203 to rotate, the length of the elastic rope 1202 on one side of the first roller 1203 becomes shorter, and the tension it generates on the fixed block 1201 increases, while the length of the elastic rope 1202 on the other side increases, and the tension it generates on the other fixed block 1201 becomes less. At this time, the inclination angles of the two shells 1 that are away from each other change, and force the middle shell 1 to move, so that the forward direction of the three shells 1 can be adjusted. A limit assembly 1206 is provided between adjacent shells 1. Each shell 1 cannot flip upward under the constraint of the limit assembly 1206. The above design can prevent the two shells 1 that are away from each other from flipping in the direction away from the blades.

[0051] like Figure 1-Figure 3 As shown, in some embodiments, the limiting assembly 1206 includes an arc-shaped protrusion 12061, which is constructed on the opposite side of the adjacent shell 1, and the arc-shaped surface 12062 relative to the arc-shaped protrusion 12061 is movably in contact with each other, and the contact part between the two is linear. By adopting the design of the arc-shaped protrusion 12061, the shell 1 can be limited from flipping in the direction away from the blade. The bottom of the arc-shaped protrusion 12061 is constructed with an arc-shaped contact surface 12063. With this design, when the shell 1 is flipped toward the blade and fits with the blade, the contact parts of the two arc-shaped protrusions 12061 can move from the arc-shaped contact surface 12063 to the arc-shaped contact surface 12063.

[0052] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine blade surface defect detection device, characterized in that: include: Three shells (1), each of which has a rotating rod (2) rotatably installed therein, and the ends of adjacent rotating rods (2) are connected to each other through a universal shaft (3), so that the three shells (1) are also connected, one of the shells (1) is provided with a first driving member (4) for driving the rotating rod (2) to rotate, each of the shells (1) is provided with a slide groove (5) on both sides, and is slidably matched with a slider (6), each of the shells (1) is provided with a driving part (7), and is linked with the rotating rod (2), and can drive the two sliders (6) to slide back and forth through the driving part (7), the slider (6) is slidably matched with a tube (8), and the bottom end of the tube (8) is connected to a suction cup (9), and the outer side of each shell (1) is provided with an actuator (10), which is used to drive the tube (8) to slide upward when the slider (6) slides toward the forward direction of the shell (1); A negative pressure component (11) is arranged outside one of the housings (1) and is connected to the plurality of tubes (8). The air in the plurality of tubes (8) can be extracted through the negative pressure component (11); A direction adjustment component (12), through which the left and right inclination angles of the three shells (1) can be adjusted; The camera assembly (13) is mounted on the outside of the other housing (1).

2. The wind turbine blade surface defect detection device according to claim 1, characterized in that: Opposite sides of adjacent housings (1) are connected to each other via a connecting member (14), and the connecting member (14) comprises: A circular ring (1401) is arranged outside the universal shaft (3), and opposite sides of adjacent housings (1) are connected to U-shaped frames (1402). The U-shaped ends of the two U-shaped frames (1402) are staggered and hinged to the outside of the circular ring (1401).

3. The wind turbine blade surface defect detection device according to claim 2, characterized in that: The circular ring (1401) is connected to one of the U-shaped frames (1402) via a first torsion spring (1403).

4. The wind turbine blade surface defect detection device according to claim 1, characterized in that: The driving portion (7) comprises a first small bevel gear (701) rotatably mounted in the housing (1); a large bevel gear (702) is mounted on the rotating rod (2), and the two are meshed with each other; a rod body (703) is rotatably mounted in the housing (1); the rod body (703) is transmission-connected to the first small bevel gear (701) via a gear assembly (704); both ends of the rod body (703) are centrally symmetrically connected to first connecting plates (705); the ends of the first connecting plates (705) are hingedly connected to second connecting plates (706); and the slider (6) is hingedly connected to the ends of the second connecting plates (706).

5. The wind turbine blade surface defect detection device according to claim 1, characterized in that: The actuator (10) includes an arcuate groove (1001) provided on the housing (1), the two ends of the arcuate groove (1001) are connected via a transverse groove (1002), a contact surface (1003) is provided in an inclined manner in the transverse groove (1002), and the two ends thereof are respectively higher and lower than the bottom surface of the arcuate groove (1001), a connecting block (1004) is constructed on the outside of the tube body (8), a columnar groove (1005) is provided on the connecting block (1004), a plug-in column (1006) is slidably installed in the columnar groove (1005), the plug-in column (1006) is connected to the columnar groove (1005) via a first compression spring (1007), the plug-in column (1006) is movably inserted in the arcuate groove (1001), and contacts and overlaps with the contact surface (1003).

6. The wind turbine blade surface defect detection device according to claim 5, characterized in that: The negative pressure assembly (11) includes a cylindrical box (1101) installed on one of the shells (1), a cylindrical block (1102) is eccentrically installed in the cylindrical box (1101), the cylindrical block (1102) is connected to the rotating rod (2) through a transmission mechanism (1103), a plurality of sliding grooves (1104) are distributed in an annular shape on the outer side of the cylindrical block (1102), and a sliding plate (1105) is slidably fitted in each of the sliding grooves (1104), the sliding plate (1105) is connected to the sliding groove (1104) through a second compression spring (1106), and the sliding plate (1105) is in contact with and overlaps the inner wall of the cylindrical box (1101). The outer side of the cylindrical box (1101) is constructed with an air inlet (1107) and an air outlet (1108), and the air inlet (1107) is connected to the ends of multiple tubes (8) through a negative pressure box (1109), and the ends of the tubes (8) are provided with an annular block (801), and the top of the annular block (801) is constructed with an inclined surface (802), and the tubes (8) are provided with a conical block (803), and the conical block (803) is connected to the end of the tube (8) through a third compression spring (804), and the end of the conical block (803) is constructed with a trigger rod (805), and the trigger rod (805) passes through the annular block (801) and is longer than the length of the suction cup (9).

7. The wind turbine blade surface defect detection device according to claim 6, characterized in that: The transmission mechanism (1103) comprises a U-shaped frame (11031) fixed inside the housing (1), with bevel gear rings (11032) rotatably mounted on opposite sides of the U-shaped frame (11031), a transmission rod (11033) being constructed on the columnar block (1102), the end of the transmission rod (11033) rotatably passing through the U-shaped frame (11031) and being connected to a second small bevel gear (110312) meshing with the two bevel gear rings (11032), ratchet rings (11034) being constructed inside the two bevel gear rings (11032), and the teeth of the two ratchet rings (11034) being in opposite directions, a circular plate (11035) being provided inside the ratchet rings (11034), the two circular plates (11035) being connected to each other via a connecting rod (11036) and rotatably cooperating with the U-shaped frame (11031), the circular plates (11035) being externally A receiving groove (11037) is provided on each side, a stopper (11038) is hinged in the receiving groove (11037), the stopper (11038) is connected to the receiving groove (11037) through a second torsion spring (11039), the stopper (11038) is in contact with the ratchet ring (11034), and a large gear (110310) is connected to the transmission rod (11033), wherein one of the circular plates (11 035) is coaxially mounted with a small gear (110311), the small gear (110311) meshing with the large gear (110310), a plate body (15) is hinged in the transverse groove (1002), a contact surface (1003) is constructed on the outside of the plate body (15), and an adjustment mechanism (16) is provided on the housing (1), and the inclination angle of the two plate bodies (15) in the transverse groove (1002) can be adjusted by the adjustment mechanism (16).

8. The wind turbine blade surface defect detection device according to claim 7, characterized in that: The regulating mechanism (16) comprises an insert (1601) constructed at the end of the plate body (15); the transverse groove (1002) is connected to the interior of the housing (1) through the connecting groove (1602); the insert (1601) movably penetrates the connecting groove (1602); two strip plates (1603) are slidably fitted in the housing (1); a spur gear (1604) is rotatably installed in the housing (1); racks (1605) are constructed on opposite sides of the two strip plates (1603) and respectively mesh with the two sides of the spur gear (1604); an electric push rod (1606) is installed in the housing (1), and its output end is connected to one of the strip plates (1603); a waist hole (1607) is constructed at the end of the strip plate (1603); a guide column (1608) is constructed on the insert (1601), and the guide column (1608) is tangent to the waist hole (1607) in a sliding manner.

9. The wind turbine blade surface defect detection device according to claim 3, characterized in that: The direction adjustment component (12) comprises a fixed block (1201) symmetrically constructed on the top of one of the shells (1), the two fixed blocks (1201) are connected by an elastic rope (1202), a first roller (1203) is rotatably mounted on the top of the other shell (1), a second roller (1204) is provided on both sides of the first roller (1203), the second roller (1204) and the shell (1) are rotatably matched, the elastic rope (1202) is wound around the first roller (1203) and the second roller (1204), a second driving member (1205) is installed in the other shell (1), and is used to drive the first roller (1203) to rotate, and a limiting component (1206) is provided between adjacent shells (1), and each shell (1) cannot flip upward under the restriction of the limiting component (1206).

10. The wind turbine blade surface defect detection device according to claim 9, characterized in that: The limiting assembly (1206) comprises an arc-shaped protrusion (12061) which is constructed on the opposite side of the adjacent shell (1) and is in active contact with the arc-shaped surface (12062) of the arc-shaped protrusion (12061). The bottom of the arc-shaped protrusion (12061) is constructed with an arc-shaped contact surface (12063).

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