Self-growing soft robot with cutting-edge actuators for wind turbine blade lightning arrester detection

Abstract

The present invention discloses a self-growing soft robot for detecting lightning arresters of wind turbine blades with a cutting-edge actuator, comprising a hollow cylindrical base, a storage bin in the middle of the base, a growth gear pair and a gear pair motor at the front end of the storage bin; a hollow double-layer cylindrical main body fixed at the front end of the base; a cylindrical end load integrated mechanism fixed at the front end of the double-layer main body; an integrated wiring harness, the front end of which is fixedly connected to the end load integrated mechanism, and the whole passes through the double-layer main body and the hollow layer inside the base, and the integrated wiring harness makes the forward speed of the end load integrated mechanism the same as the growth speed of the double-layer main body. The present invention can accurately control the growth and steering of the double-layer main body through the growth gear pair, and realizes the integration of detection function, rust removal function and measurement connection function through the design of the end load integrated mechanism. The wind turbine blades can be detected quickly, efficiently and safely, avoiding casualties of staff or large measurement errors introduced due to the accuracy of detection equipment and human operation errors.

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] In the regular maintenance of wind turbines, the ground continuity test of the blades is a key task, but this work currently has problems with insufficient accuracy, cumbersome operation and data processing delays. Since the blades of mainstream wind turbines are made of non-conductive composite materials and are located at the top of the wind turbine, they are the most vulnerable to lightning strikes. In order to reduce the damage to the blades caused by lightning strikes, the industry generally adopts the method of installing lightning receptors on the surface of the blades and internal wiring for lightning protection. The lightning receptor plays a core role in this system. It must not only be able to effectively attract lightning, but also be able to withstand the complex mechanical effects brought by lightning. The surface resistance value of the lightning receptor that has been exposed to the outside for a long time often exceeds 200 milliohms after several months of use. The corroded lightning receptor may cause its ability to attract lightning to decrease.

[0003] In order to ensure that the lightning arrester maintains good lightning attraction performance, a variety of tests are required, including measuring soil resistance using a soil resistance tester and testing the insulation resistance between the grounding system and other equipment or loops. At present, these tests require workers to climb to the lightning arrester position on the wind turbine blade and manually test the resistance and continuity. There are two main problems with this approach: first, the accuracy of the portable detection equipment carried is insufficient, and the workers may introduce additional contact resistance when contacting the equipment, which affects the accuracy of the test results; second, the lightning arresters are distributed at the root and tip of the blade, especially the tip part is small in size and difficult for workers to reach. At present, the detection of blade tip lightning arresters mainly relies on external hanging baskets, which is inefficient, costly, and has safety risks. Therefore, the development of a self-growing soft robot that can quickly complete the grounding continuity test of the lightning arrester inside the blade is of great significance to improving the automation level of blade detection, reducing maintenance costs, and reducing detection risks. Summary of the invention

[0004] The purpose of the present invention is to provide a self-growing soft robot for detecting lightning rods on wind turbine blades with a cutting-edge actuator, 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 provide a rust removal and measurement method for lightning rods by the self-growing soft robot.

[0005] 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 with a cutting-edge actuator, comprising: A cylindrical base with a hollow interior has a storage bin in the middle of the base, and a growth gear pair and a gear pair motor at the front end of the storage bin; The double-layer cylindrical body with a hollow interior is fixed to the front end of the base; The cylindrical end load integration mechanism is fixed to the front end of the double-layer body; The integrated wiring harness has a front end fixedly connected to the end load integrated mechanism, and the entire harness passes through the double-layer body and the inner hollow layer of the base. The integrated wiring harness makes the forward speed of the end load integrated mechanism the same as the growth speed of the double-layer body.

[0006] Furthermore, the double-layer body is divided into an outer layer body and an inner layer body, wherein the outer side of the outer layer body is fixedly connected to the outer cylindrical surface of the base, the inner side of the inner layer body is fixedly connected to the inner cylindrical surface of the base, and the inner side of the outer layer body and the outer side of the inner layer body are stored in a storage bin inside the base through a pair of growing gears.

[0007] Furthermore, the end load integration mechanism includes an end load integration mechanism fixing wheel, a rust removal block, a camera, a measuring claw, a rust removal motor, a measuring claw base, a measuring motor, a magnet pair, and a mechanism base; the mechanism base is in direct contact with the double-layer body, and is nested on the outside of the double-layer body through the end load integration mechanism fixing wheel, and a cylindrical groove is provided inside the mechanism base for placing the camera and the measuring claw base; the measuring claw base is connected to the mechanism base through the measuring motor, and can move forward and backward in the axial direction; the measuring claw is connected to the measuring claw base through a hinge, and the measuring claw is opened outward by the tension of the spring.

[0008] Furthermore, there are three pairs of growth gear pairs, which are distributed 120° along the circumferential direction.

[0009] Furthermore, the overall growth of the double-layer body is controlled by the mutual meshing of the three pairs of growth gear pairs, and the rotation speed of the gear pair motor is controlled so that the three pairs of growth gear pairs have a certain rotation speed difference, thereby realizing the control of the growth direction of the double-layer body.

[0010] Furthermore, the camera is fixed at the center of the cylindrical groove of the mechanism base for real-time picture return.

[0011] Furthermore, the measuring claw base is a cylindrical groove structure, which is nested in the cylindrical groove inside the mechanism base.

[0012] Furthermore, the rust removal block is nested in the front end of the mechanism base, and a magnet pair is used to keep a certain axial distance between the rust removal block and the mechanism base. The axial displacement of the rust removal block is constrained by the gear rack, so that the rust removal block rotates circumferentially relative to the mechanism base.

[0013] Furthermore, a circular brush head is provided at the front end of the rust removal block for rust removal of the lightning arrester.

[0014] Furthermore, the integrated wiring harness integrates a grounding instrument lead, a power line and a data line, and the growth of the tail end of the integrated wiring harness is controlled by an integrated wiring harness motor.

[0015] Furthermore, the grounding instrument lead is connected to the measuring claw for measuring the lightning arrester resistance, the power line provides energy for the end load integration mechanism, and the data line is used for returning real-time data of the camera.

[0016] 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 by the growth gear pair, and the detection function, rust removal function and measurement connection function are integrated through the design of the end load integration mechanism. The fan blades can be detected quickly, efficiently and safely, avoiding casualties of workers or large measurement errors introduced due to the accuracy of the detection equipment and human operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a structural schematic diagram of the growth process of the double-layer main body; Figure 3 It is a structural diagram of the end load integration mechanism; Figure 4 It is a structural schematic diagram of the rust removal block; Figure 5 yes Figure 4 AA view; Figure 6 It is a schematic diagram of the structure of the measuring claw; Figure 7 This is a schematic diagram of measuring with the measuring claws open; Explanation of the accompanying drawings: end load integrated mechanism 1, double-layer body 2, base 3, integrated wiring harness 4, lightning arrester 5, end load integrated mechanism fixed wheel 11, rust removal block 12, camera 13, measuring claw 14, rust removal motor 15, measuring claw base 16, measuring motor 17, magnet pair 18, mechanism base 19, outer layer body 21, inner layer body 22, growth gear pair 31, storage bin 32, integrated wiring harness motor 41. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings.

[0019] like Figure 1 , Figure 2 The self-growing soft robot for detecting lightning arrester of wind turbine blades with a cutting-edge actuator comprises: The cylindrical base 3 is hollow inside, and a storage bin 32 is provided in the middle of the base 1 , and a growth gear pair 31 and a gear pair motor are provided at the front end of the storage bin 32 .

[0020] The double-layer cylindrical body 2 with a hollow interior is fixed to the front end of the base 3.

[0021] The cylindrical end load integration mechanism 1 is fixed at the front end of the double-layer body 2.

[0022] The integrated wiring harness 4 has a front end fixedly connected to the end load integrated mechanism 1 and passes through the double-layer body 2 and the inner hollow layer of the base 3 as a whole. The integrated wiring harness 4 makes the forward speed of the end load integrated mechanism 1 the same as the growth speed of the double-layer body 2.

[0023] When there is a certain air pressure in the base 3, the growth and steering of the double-layer body 2 can be achieved by rotating the growth gear pair 31. At the same time, in conjunction with the integrated wiring harness motor 41, it can be ensured that the end load integration mechanism 1 is always located at the front end of the double-layer body 2.

[0024] The double-layer body 2 is divided into an outer layer body 21 and an inner layer body 22, wherein the outer side of the outer layer body 21 is fixedly connected to the outer cylindrical surface of the base 3, and the inner side of the inner layer body 22 is fixedly connected to the inner cylindrical surface of the base 3. The inner side of the outer layer body 21 and the outer side of the inner layer body 22 are stored in a storage bin 32 inside the base 3 through a growth gear pair 31; there are three pairs of growth gear pairs 31, which 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 growth gear pairs 31. By controlling the rotation speed of the gear pair motor, the three pairs of growth gear pairs 31 have a certain rotation speed difference, thereby realizing the control of the growth direction of the double-layer body 2.

[0025] like Figure 3 As shown, the end load integration mechanism 1 includes an end load integration mechanism fixing wheel 11, a rust removal block 12, a camera 13, a measuring claw 14, a rust removal motor 15, a measuring claw base 16, a measuring motor 17, a magnet pair 18, and a mechanism base 19; the mechanism base 19 is in direct contact with the double-layer body 2, and is nested on the outside of the double-layer body 2 through the end load integration mechanism fixing wheel 11, and a cylindrical groove is provided inside the mechanism base 19 for placing the camera 13 and the measuring claw base 16; the measuring claw base 16 is connected to the mechanism base 19 through the measuring motor 17, and can move forward and backward in the axial direction; the measuring claw 14 is connected to the measuring claw base 16 through a hinge, and the measuring claw 14 is opened outward by the tension of the spring.

[0026] The camera 13 is fixed at the center of the cylindrical groove of the mechanism base 19 and is used for real-time picture return.

[0027] The measuring claw base 16 is a cylindrical groove structure, which is nested in the cylindrical groove inside the mechanism base 19.

[0028] The integrated wiring harness 4 integrates the grounding instrument lead, power line and data line, wherein the grounding instrument lead is connected to the measuring claw 14 for measuring the lightning arrester resistance, the power line provides energy for the end load integration mechanism 1, and the data line is used for real-time data return of the camera 13. The tail end of the integrated wiring harness 4 is controlled by the integrated wiring harness motor 41 to control its growth.

[0029] The rust removal block 12 is nested in the front end of the mechanism base 19, and is kept at a certain axial distance from the mechanism base 19 through the magnet pair 18. The axial displacement of the rust removal block 12 is constrained by the gear rack, and the rust removal block 12 is made to rotate circumferentially relative to the mechanism base 19. A circular brush head is provided at the front end of the rust removal block 12 for rust removal of the lightning arrester.

[0030] Rust removal and measurement application scenario description: The detection self-growth robot carries the integrated wiring harness 4 on the ground and enters the inside of the blade from the root of the blade. The integrated wiring harness 4 makes the forward speed of the end load integrated mechanism 1 the same as the growth speed of the double-layer body 2. The growth and steering of the double-layer body 2 are realized by rotating the growth gear pair 31. The real-time image returned by the camera 13 controls the directional growth of the double-layer body 2 until the end load integrated mechanism 1 approaches the contact lightning rod, and the growth gear pair 31 stops rotating.

[0031] The rust removal motor 15 drives the rust removal block 12 to rotate in a circumferential direction, and the rust removal brush is used to perform friction rust removal on the lightning arrester. Before rust removal, the measuring motor 17 is used to extend the measuring claw 14, and the measuring claw 14 is closed to protect the camera 13 from being damaged by debris. After rust removal, the measuring claw 14 is opened, and the lightning arrester is observed through the camera 13 to determine whether the rust removal is completed.

[0032] After the rust removal is completed, extend the measuring claw 14 forward to make the measuring claw contact the lightning arrester. Figure 6 , Figure 7 As shown, the grounding resistance of the lightning arrester is measured, and the measurement process can be monitored in real time by the camera 13.

[0033] The above is only a specific implementation of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other implementations obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. Any changes or substitutions that can be easily thought of by any technician familiar with the field within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention.

Claims

1. A self-growing soft robot for detecting lightning arresters on wind turbine blades with a cutting-edge actuator, characterized in that: include A cylindrical base (3) with a hollow interior is provided with a storage bin (32) in the middle of the base (1), and a growth gear pair (31) and a gear pair motor are provided at the front end of the storage bin (32); A double-layer cylindrical body (2) with a hollow interior is fixed to the front end of the base (3); The cylindrical end load integration mechanism (1) is fixed to the front end of the double-layer body (2); The integrated wire harness (4) has a front end fixedly connected to the end load integrated mechanism (1) and passes through the double-layer body (2) and the inner hollow layer of the base (3) as a whole. The integrated wire harness (4) enables the forward speed of the end load integrated mechanism (1) to be the same as the growth speed of the double-layer body (2).

2. A self-growing soft robot for detecting lightning arresters of wind turbine blades with a tip actuator according to claim 1, characterized in that: The double-layer body (2) is divided into an outer layer body (21) and an inner layer body (22), wherein the outer side of the outer layer body (21) is fixedly connected to the outer cylindrical surface of the base (3), and the inner side of the inner layer body (22) is fixedly connected to the inner cylindrical surface of the base (3), and the inner side of the outer layer body (21) and the outer side of the inner layer body (22) are stored in a storage bin (32) inside the base (3) via a growth gear pair (31).

3. A self-growing soft robot for detecting lightning arresters of wind turbine blades with a tip actuator according to claim 2, characterized in that: The end load integration mechanism (1) comprises an end load integration mechanism fixing wheel (11), a rust removal block (12), a camera (13), a measuring claw (14), a rust removal motor (15), a measuring claw base (16), a measuring motor (17), a magnet pair (18), and a mechanism base (19); the mechanism base (19) is in direct contact with the double-layer body (2) and is nested on the outside of the double-layer body (2) via the end load integration mechanism fixing wheel (11); a cylindrical groove is provided inside the mechanism base (19) for accommodating the camera (13) and the measuring claw base (16); the measuring claw base (16) is connected to the mechanism base (19) via the measuring motor (17) and is capable of moving forward and backward in the axial direction; the measuring claw (14) is connected to the measuring claw base (16) via a hinge, and the measuring claw (14) is opened outward by utilizing the tension of a spring.

4. The self-growing soft robot for detecting lightning arrester of wind turbine blades with a tip actuator according to claim 3, characterized in that: There are three pairs of growth gear pairs (31) in total, distributed along a circumferential angle of 120°.

5. A self-growing soft robot for detecting lightning arresters of wind turbine blades with a tip actuator according to claim 4, characterized in that: The overall growth of the double-layer body (2) is controlled by the mutual meshing of the three pairs of growth gear pairs (31), and the rotation speed of the gear pair motor is controlled so that the three pairs of growth gear pairs (31) have a certain rotation speed difference, thereby achieving control of the growth direction of the double-layer body (2).

6. A self-growing soft robot for detecting lightning receptors of wind turbine blades with a tip actuator according to claim 5, characterized in that: The camera (13) is fixed at the center of the cylindrical groove of the mechanism base (19) and is used for real-time picture return.

7. A self-growing soft robot for detecting lightning receptors on wind turbine blades with a tip actuator according to claim 6, characterized in that: The measuring claw base (16) is a cylindrical groove structure and is nested in the cylindrical groove inside the mechanism base (19).

8. The self-growing soft robot for detecting lightning receptors of wind turbine blades with a tip actuator according to claim 7, characterized in that: The rust removal block (12) is nested in the front end of the mechanism base (19), and a certain axial distance is maintained between the rust removal block (12) and the mechanism base (19) by means of a magnet pair (18). The axial displacement of the rust removal block (12) is constrained by a gear rack, so that the rust removal block (12) rotates circumferentially relative to the mechanism base (19).

9. The wind turbine blade lightning receptor detection self-growing soft robot with a tip actuator according to claim 8, characterized in that: A circular brush head is provided at the front end of the rust removal block (12) for removing rust from the lightning arrester.

10. The self-growing soft robot for detecting lightning receptors of wind turbine blades with a tip actuator according to claim 9, characterized in that: The integrated wiring harness (4) integrates a grounding instrument lead, a power line and a data line, and the growth of the tail end of the integrated wiring harness (4) is controlled by an integrated wiring harness motor (41).

11. The wind turbine blade lightning receptor detection self-growing soft robot with a tip actuator according to claim 10, characterized in that: The grounding instrument lead is connected to the measuring claw (14) for measuring the lightning arrester resistance, the power line provides energy for the end load integration mechanism (1), and the data line is used for returning real-time data from the camera (13).

Images