Inspection robot and system capable of adapting to tower structure of wind driven generator

Abstract

The invention relates to the technical field of wind driven generator detection, in particular to an inspection robot adaptable to a wind driven generator tower tube structure, which comprises a lifting shell, a moving assembly, an inspection assembly and an anti-falling assembly, the anti-falling assembly comprises a mounting seat, a rotating shaft, a climbing wheel, a gear, a rack, a mounting rod, a friction plate, a reset component and a driving component, when the motor is damaged, is subjected to external interference or has a power supply fault, the climbing wheel stops rotating, and when the device falls, the climbing wheel is propped against the outer wall of the tower drum, so that the climbing wheel reversely rotates during falling, and the climbing wheel is prevented from falling off. The gear is meshed with a rack, so that the gear drives the rack to move, the rack drives a mounting rod and a friction plate to move, the friction plate extends out and abuts against the outer wall of the tower drum, and therefore the device is prevented from continuously falling through friction force; and danger and economic loss caused by falling of the device are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine generator detection, and in particular to an inspection robot and system that can adapt to the tower structure of a wind turbine generator. Background Art

[0002] After long-term use, the surface coating of the wind turbine tower will fall off, causing the tower to rust, so the tower needs to be circulated regularly. However, the tower is high, and the staff can only circulate the bottom of the tower, or the staff must climb up for inspection, which not only wastes human resources but also poses a safety hazard.

[0003] Prior art CN118757349A discloses an inspection robot adaptable to the tower structure of a wind turbine generator, comprising two supporting slide rails, the bottom of each of the two supporting slide rails is provided with a lower supporting rail, multiple rotating shafts are fixedly connected to the outer sides of the cleaning rollers, multiple cleaning rollers are internally formed with worm gears, the rollers are rotatably connected to worms in an annular array, multiple worms are fixedly connected to external gears at the top, a rotating rod is rotatably connected to the rotating roller, and an intermediate gear is fixedly connected to the top of the rotating rod. When in use, the device is sleeved on the outer side of the tower of the wind turbine generator, the supporting slide rails are fixed by a clamping plate and a clamping block, the third hydraulic cylinder is started to make the suction cup fit the tower and form a negative pressure, the fixing device, the fourth hydraulic cylinder and the second hydraulic cylinder are started in sequence to make the device rise along the tower and adapt to its shape, the servo motor and the dual-axis motor are started to drive the cleaning rollers to rotate, and the moving slider is controlled by the forward and reverse motors to move along the surface of the tower for comprehensive cleaning, and the monitoring camera synchronously records the surface condition of the tower for subsequent analysis.

[0004] The above device can climb along the outer wall of the tower, thereby replacing manual climbing inspections, but no anti-fall structure is set. Especially in the event of motor damage, external interference or power failure, the robot may lose power and fall, causing danger or economic losses. Summary of the invention

[0005] The purpose of the present invention is to provide an inspection robot and system that can adapt to the tower structure of a wind turbine, so as to solve the problem that the existing inspection robot that can adapt to the tower structure of a wind turbine may lose power and fall due to motor damage, external interference or power failure, causing danger or economic loss.

[0006] To achieve the above-mentioned purpose, the present invention provides an inspection robot that can adapt to the tower structure of a wind turbine generator, including a lifting shell, a moving component and an inspection component, the moving component is arranged on the lifting shell, the inspection component is arranged on the lifting shell, and also includes an anti-falling component; the anti-falling component includes a mounting seat, a rotating shaft, a climbing wheel, a gear, a rack, a mounting rod, a friction plate, a reset component and a driving component, the mounting seat is connected to the lifting shell through the moving component, the rotating shaft is rotatably mounted on the mounting seat, the climbing wheel is fixedly connected to the rotating shaft and sleeved on the rotating shaft, the driving component is arranged on the rotating shaft, the gear is connected to the rotating shaft through the driving component, the mounting rod is slidably connected to the mounting seat and is arranged on the mounting seat, the rack is fixedly connected to the mounting rod, meshes with the gear, and is located on one side of the mounting rod, the friction plate is fixedly connected to the mounting rod and is located at one end of the mounting rod, and the reset component is arranged on the mounting seat.

[0007] Wherein, the driving component includes a ratchet and a shell, the ratchet is fixedly connected to the rotating shaft and sleeved on the rotating shaft; the shell is fixedly connected to the rotating shaft and sleeved on the ratchet.

[0008] Wherein, the driving component also includes a fixed shaft, a pawl and a compression spring, the fixed shaft is fixedly connected to the outer shell and is located inside the outer shell; the pawl is rotatably connected to the fixed shaft, contacts the ratchet wheel, and is sleeved on the fixed shaft; the two ends of the compression spring are respectively connected to the outer shell and the pawl, and the compression spring is located inside the outer shell.

[0009] Wherein, the rotating shaft has a limiting protrusion, and the limiting protrusion is arranged on the rotating shaft and located on one side of the shell.

[0010] Wherein, the reset component includes an abutment plate, a guide rod and a reset spring, the guide rod is fixedly connected to the mounting rod and is located on a side of the mounting rod away from the friction plate; the abutment plate is fixedly connected to the guide rod and is slidably connected to the mounting seat and is located at an end of the guide rod away from the mounting rod; the two ends of the reset spring are respectively connected to the mounting seat and the abutment plate, and the reset spring is sleeved on the guide rod.

[0011] Wherein, the abutment plate has a positioning protrusion, and the positioning protrusion is arranged on one side of the abutment plate; the mounting seat has a positioning groove, and the positioning groove is arranged on a side of the mounting seat close to the positioning protrusion, and the positioning groove cooperates with the positioning protrusion.

[0012] Wherein, the friction plate includes a plate body and a friction strip, the plate body is fixedly connected to the mounting rod and is located at one end of the mounting rod away from the guide rod; the friction strip is fixedly connected to the plate body and is located on a side of the plate body away from the mounting rod.

[0013] The invention discloses an inspection system capable of adapting to the tower structure of a wind turbine generator, which is suitable for the inspection robot capable of adapting to the tower structure of a wind turbine generator as described in the right.

[0014] The present invention provides an inspection robot that can adapt to the tower structure of a wind turbine. When the motor is damaged, subject to external interference or power failure, the climbing wheel stops rotating. At this time, when the device falls, the climbing wheel abuts against the outer wall of the tower, causing the climbing wheel to rotate in the opposite direction when falling. At this time, the rotating shaft rotates in the opposite direction, and the rotating shaft drives the driving component to rotate, and the driving component drives the gear to rotate. Since the gear is meshed with the rack, the gear drives the rack to move, and the rack drives the mounting rod and the friction plate to move, causing the friction plate to extend and abut against the outer wall of the tower, thereby preventing the device from continuing to fall through friction, thereby avoiding danger and economic losses caused by the fall of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0016] Figure 1 It is a schematic diagram of the overall structure of the inspection robot that can adapt to the tower structure of a wind turbine according to the first embodiment of the present invention.

[0017] Figure 2 It is a schematic diagram of the installation structure of the friction plate of the first embodiment of the present invention.

[0018] Figure 3 Schematic diagram of the structure of the driving component of the first embodiment of the present invention.

[0019] Figure 4 Schematic diagram of the installation structure of the pressure sensor according to the second embodiment of the present invention.

[0020] In the figure: 101-lifting shell, 102-moving component, 103-inspection component, 104-first shell, 105-second shell, 106-anti-falling component, 107-mounting seat, 108-rotating shaft, 109-climbing wheel, 110-gear, 111-rack, 112-mounting rod, 113-friction plate, 114-reset component, 115-driving component, 116-motor, 117-ratchet, 118-housing, 119 -fixed shaft, 120-ratchet, 121-compression spring, 122-limiting protrusion, 123-abutment plate, 124-guide rod, 125-reset spring, 126-positioning protrusion, 127-positioning groove, 128-plate body, 129-friction strip, 201-electric push rod, 202-moving seat, 203-pressure sensor, 204-slider, 205-camera, 206-tooth ring, 207-driving gear, 208-rotating motor. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0022] First embodiment:

[0023] See also Figures 1 to 3 ,in Figure 1 This is a schematic diagram of the overall structure of the inspection robot that can adapt to the tower structure of a wind turbine. Figure 2 This is a schematic diagram of the installation structure of the friction plate. Figure 3 It is a structural schematic diagram of the driving component.

[0024] The present invention provides an inspection robot that can adapt to the tower structure of a wind turbine generator, including a lifting shell 101, a moving component 102, an inspection component 103 and an anti-falling component 106, wherein the anti-falling component 106 includes a mounting seat 107, a rotating shaft 108, a climbing wheel 109, a gear 110, a rack 111, a mounting rod 112, a friction plate 113, a reset component 114 and a driving component 115, wherein the driving component 115 includes a ratchet 117, a housing 118, a fixed shaft 119, a pawl 120 and a compression spring 121, the rotating shaft 108 has a limiting protrusion 122, the reset component 114 includes an abutment plate 123, a guide rod 124 and a reset spring 125, the abutment plate 123 has a positioning protrusion 126, the mounting seat 107 has a positioning groove 127, and the friction plate 113 includes The plate body 128 and the friction strip 129 are in contact with the tower through the climbing wheel 109. When the device falls, the climbing wheel 109 rotates in the opposite direction, thereby driving the rotating shaft 108 to rotate in the opposite direction. During the reverse rotation of the rotating shaft 108, the driving member 115 and the gear 110 are driven to rotate, thereby causing the gear 110 to drive the rack 111 to move. The rack 111 drives the mounting rod 112 and the friction plate 113 to extend, thereby causing the friction plate 113 to abut against the outer wall of the tower to prevent the device from falling. It can be understood that the aforementioned scheme can be used to prevent the device from falling due to damage to the motor 116, external interference or power failure, and can also be used to drive the mounting seat 107 to move, thereby driving the climbing wheel 109 to move to adapt to changes in the tower diameter.

[0025] According to this specific embodiment, the moving component 102 is arranged on the lifting shell 101, and the inspection component 103 is arranged on the lifting shell 101. The lifting shell 101 is composed of a first shell 104 and a second shell 105. One side of the first shell 104 and the second shell 105 is rotatably connected by a hinge, and the other side of the first shell 104 and the second shell 105 can be fixed by bolts. The first shell 104 and the second shell 105 are semicircular, and a ring can be formed after the first shell 104 and the second shell 105 are combined. The moving component 102 is provided with multiple, and the multiple moving components 102 are divided into two groups and arranged on the first shell 104 and the second shell 105. The moving component 102 can drive the mounting seat 107 to move, and the inspection component 103 is used to detect the outer wall of the tower.

[0026] Among them, the mounting seat 107 is connected to the lifting shell 101 through the moving component 102, the rotating shaft 108 is rotatably installed on the mounting seat 107, the climbing wheel 109 is fixedly connected to the rotating shaft 108 and sleeved on the rotating shaft 108, the driving component 115 is arranged on the rotating shaft 108, the gear 110 is connected to the rotating shaft 108 through the driving component 115, the mounting rod 112 is slidably connected to the mounting seat 107 and is arranged on the mounting seat 107, the rack 111 is fixedly connected to the mounting rod 112, meshed with the gear 110, and located on one side of the mounting rod 112, the friction plate 113 is fixedly connected to the mounting rod 112 and located at one end of the mounting rod 112, and the reset component 114 is arranged on the mounting seat 107; the number of the anti-falling components 106 is consistent with the number of the moving components 102, one Two climbing wheels 109 are installed on the rotating shaft 108, and a motor 116 is also installed on the mounting seat 107, and the output end of the motor 116 is connected to the rotating shaft 108. When inspecting the tower, the first shell 104 and the second shell 105 are combined and sleeved on the outside of the tower, and the mounting seat 107, the rotating shaft 108 and the climbing wheel 109 are driven to move by the moving assembly 102, so that the climbing wheel 109 rises along the tower, so that the first shell 104 and the second shell 105 drive the inspection assembly 103 to rise, so that the inspection assembly 103 can detect the tower. During the rising process of the device, since the bottom diameter of the tower is large and the top diameter is small, the mounting seat 107, the rotating shaft 108 and the climbing wheel 109 are driven to move by the moving assembly 102, so that the climbing wheel 109 always abuts against the surface of the tower, thereby adapting to the change of the tower diameter.

[0027] During the climbing process of the device, the reset member 114 drives the installation rod 112 and the friction plate 113 to move, so that the friction plate 113 is away from the tower to avoid affecting the climbing of the device. When the motor 116 is damaged, interfered by external factors or has a power failure, the climbing wheel 109 stops rotating. At this time, when the device falls, the climbing wheel 109 abuts against the outer wall of the tower, so that the climbing wheel 109 rotates in the opposite direction when falling. At this time, the rotating shaft 108 rotates in the opposite direction, and the rotating shaft 108 drives the driving member 115 to rotate. The driving member 115 drives the gear 110 to rotate. Since the gear 110 is meshed with the rack 111, the gear 110 drives the rack 111 to move. The rack 111 drives the installation rod 112 and the friction plate 113 to move, so that the friction plate 113 extends out and abuts against the outer wall of the tower, thereby preventing the device from continuing to fall through friction force, thereby avoiding the danger and economic loss caused by the fall of the device.

[0028] The ratchet 117 is fixedly connected to the rotating shaft 108 and sleeved on the rotating shaft 108 ; the housing 118 is fixedly connected to the rotating shaft 108 and sleeved on the ratchet 117 .

[0029] Among them, the fixed shaft 119 is fixedly connected to the outer shell 118 and is located inside the outer shell 118; the pawl 120 is rotatably connected to the fixed shaft 119, contacts with the ratchet 117, and is sleeved on the fixed shaft 119; the two ends of the compression spring 121 are respectively connected to the outer shell 118 and the pawl 120, and the compression spring 121 is located inside the outer shell 118.

[0030] The compression spring 121 applies force to the pawl 120, so that the pawl 120 rotates along the fixed shaft 119, and then the pawl 120 contacts the ratchet 117; when the device climbs, the rotating shaft 108 rotates in the forward direction, and at this time the rotating shaft 108 drives the ratchet 117 to rotate in the forward direction. At this time, the ratchet 117 will not drive the pawl 120 to rotate, and at the same time, the pawl 120 will not interfere with the forward rotation of the ratchet 117, so as to avoid affecting the climbing of the device; when the device falls, the climbing wheel 109 rotates in the reverse direction, and the climbing wheel 109 drives the rotating shaft 108 and the ratchet 117 to rotate in the reverse direction. At this time, the pawl 120 is meshed with the ratchet 117, and then the ratchet 117 drives the pawl 120, the fixed shaft 119 and the housing 118 to rotate, thereby driving the gear 110 to rotate, thereby achieving the purpose of driving the gear 110 to rotate.

[0031] Secondly, the limiting protrusion 122 is arranged on the rotating shaft 108 and is located on one side of the outer shell 118; two limiting protrusions 122 are arranged and are respectively located on the left and right sides of the outer shell 118. The outer shell 118 is limited by the two limiting protrusions 122 so that the outer shell 118 can only be located between the two limiting protrusions 122 to prevent the outer shell 118 from being offset.

[0032] At the same time, the guide rod 124 is fixedly connected to the mounting rod 112 and is located on a side of the mounting rod 112 away from the friction plate 113; the abutment plate 123 is fixedly connected to the guide rod 124 and is slidably connected to the mounting seat 107, and is located at an end of the guide rod 124 away from the mounting rod 112; the two ends of the return spring 125 are respectively connected to the mounting seat 107 and the abutment plate 123, and the return spring 125 is sleeved on the guide rod 124; the abutment plate 123 is driven to move by the elasticity of the return spring 125, thereby driving the guide rod 124, the mounting rod 112 and the friction plate 113 to move, so that the friction plate 113 is away from the tower, thereby preventing the friction plate 113 from affecting the climbing of the device.

[0033] In addition, the positioning protrusion 126 is arranged on one side of the abutment plate 123; the positioning groove 127 is arranged on one side of the mounting seat 107 close to the positioning protrusion 126, and the positioning groove 127 cooperates with the positioning protrusion 126; the positioning protrusion 126 is located inside the positioning groove 127, so that the positioning protrusion 126 can only slide along the direction of the positioning groove 127, and then the abutment plate 123, the guide rod 124, the mounting rod 112 and the friction plate 113 can only move along the direction of the positioning groove 127, thereby improving the stability of the friction plate 113 when it is extended.

[0034] Finally, the plate body 128 is fixedly connected to the mounting rod 112 and is located at an end of the mounting rod 112 away from the guide rod 124; the friction strip 129 is fixedly connected to the plate body 128 and is located on a side of the plate body 128 away from the mounting rod 112; a plurality of friction strips 129 are provided and are evenly arranged on the plate body 128, and the friction strips 129 are made of rubber with a high friction coefficient. The friction between the plate body 128 and the outer wall of the tower is increased by the friction strips 129, thereby improving the anti-fall effect.

[0035] When the inspection robot that can adapt to the tower structure of a wind turbine generator of the present embodiment is used, when the device climbs, the motor 116 drives the rotating shaft 108 to rotate in the forward direction, thereby driving the climbing wheel 109 to rotate in the forward direction, so that the climbing wheel 109 can rise along the outer wall of the tower, thereby driving the device to rise, and at this time the ratchet 117 will not drive the pawl 120 to rotate; when the motor 116 is damaged, subjected to external interference or power failure, the device falls, and at this time the climbing wheel 109 descends along the tower and rotates in the reverse direction, thereby driving the rotating shaft 108 to rotate in the reverse direction, and the rotating shaft 108 drives the ratchet 117 to rotate in the reverse direction, and at this time the ratchet 117 is engaged with the ratchet 120, thereby causing the ratchet 117 to drive the ratchet 120 to rotate. 20. The fixed shaft 119 and the housing 118 rotate, and the housing 118 drives the gear 110 to rotate, thereby driving the rack 111 to move, and the rack 111 drives the mounting rod 112, the plate 128 and the friction strip 129 to move, so that the friction strip 129 abuts against the outer wall of the tower, thereby preventing the device from falling through friction. The inspection robot that can adapt to the tower structure of a wind turbine of the present invention can not only prevent the device from falling, but also the anti-falling structure is completely composed of a mechanical structure, and does not rely on electronic components or control systems. Therefore, it has higher safety and reliability. This purely mechanical anti-falling mechanism can more effectively ensure the safety of the inspection robot and avoid falling accidents caused by failure of electronic components or control systems.

[0036] Second embodiment:

[0037] Based on the first embodiment, please refer to Figure 4 , Figure 4 Schematic diagram of the installation structure of the pressure sensor of the second embodiment. The moving component 102 of this embodiment includes an electric push rod 201, a moving seat 202 and a pressure sensor 203, and the inspection component 103 includes a slider 204 and a camera 205.

[0038] According to this specific embodiment, the electric push rod 201 is connected to the lifting shell 101 and is arranged on the lifting shell 101; the moving seat 202 is arranged on the electric push rod 201, and is connected to the output end of the electric push rod 201, and is slidably connected to the mounting seat 107; the pressure sensor 203 is fixedly connected to the moving seat 202, and is located between the moving seat 202 and the mounting seat 107; the moving seat 202 is driven to move by the electric push rod 201, thereby driving the mounting seat 107, the rotating shaft 108 and the climbing wheel 109 to move, so that the climbing The climbing wheel 109 can abut against the outer wall of the tower, and at the same time, the pressure change between the moving seat 202 and the mounting seat 107 is monitored in real time through the pressure sensor 203 to ensure that the contact force between the climbing wheel 109 and the outer wall of the tower is maintained within an appropriate range. The tower surface will not be damaged due to excessive pressure, and the climbing will not be unstable due to insufficient pressure. When the pressure sensor 203 detects an abnormal pressure value, the telescopic length of the electric push rod 201 can be adjusted in time through the control system, thereby adjusting the compression degree of the climbing wheel 109 to achieve stable climbing and efficient inspection operations.

[0039] The slider 204 is slidably connected to the housing 118 and is located on one side of the lifting housing 101; the camera 205 is fixedly connected to the slider 204 and is located on the top of the slider 204; the first housing 104 and the second housing 105 are provided with a slide groove for the slider 204 to slide, and a gear ring 206 is also installed in the slide groove on the first housing 104 and the second housing 105. A rotating motor 208 is installed in the slider 204, and a rotating gear 110 is installed on the output end of the rotating motor 208. The rotating gear 110 is meshed with the gear ring 206. When the first housing 10 After the first shell 104 and the second shell 105 form a ring, the slide grooves on the first shell 104 and the second shell 105 are connected, and the two gear rings 206 are also combined into a whole. At this time, the rotating motor 208 drives the rotating gear 110 to rotate, and then the rotating gear 110 moves along the gear ring 206, thereby driving the slider 204 and the camera 205 to move, so that the camera 205 can rotate and shoot along the tower, and send the picture to the remote monitoring center through wireless transmission. The operator can view the picture in real time at the monitoring center and carefully analyze and judge the condition of the tower surface.

[0040] The invention discloses an inspection system capable of adapting to the tower structure of a wind turbine generator, which is suitable for the inspection robot capable of adapting to the tower structure of a wind turbine generator as described in the right.

[0041] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. An inspection robot adaptable to a wind turbine tower structure, comprising a lifting shell, a moving component and an inspection component, wherein the moving component is arranged on the lifting shell, and the inspection component is arranged on the lifting shell, characterized in that: Also included is a fall prevention component; The anti-fall assembly includes a mounting seat, a rotating shaft, a climbing wheel, a gear, a rack, a mounting rod, a friction plate, a reset member and a driving member. The mounting seat is connected to the lifting shell through the moving assembly, the rotating shaft is rotatably mounted on the mounting seat, the climbing wheel is fixedly connected to the rotating shaft and sleeved on the rotating shaft, the driving member is arranged on the rotating shaft, the gear is connected to the rotating shaft through the driving member, the mounting rod is slidably connected to the mounting seat and is arranged on the mounting seat, the rack is fixedly connected to the mounting rod, meshes with the gear, and is located on one side of the mounting rod, the friction plate is fixedly connected to the mounting rod and is located at one end of the mounting rod, and the reset member is arranged on the mounting seat.

2. The inspection robot capable of adapting to the tower structure of a wind turbine as claimed in claim 1, characterized in that: The driving component comprises a ratchet and a housing. The ratchet is fixedly connected to the rotating shaft and sleeved on the rotating shaft; the housing is fixedly connected to the rotating shaft and sleeved on the ratchet.

3. The inspection robot capable of adapting to the tower structure of a wind turbine as claimed in claim 2, characterized in that: The driving component also includes a fixed shaft, a pawl and a compression spring. The fixed shaft is fixedly connected to the outer shell and is located inside the outer shell; the pawl is rotatably connected to the fixed shaft, contacts the ratchet wheel, and is sleeved on the fixed shaft; the two ends of the compression spring are respectively connected to the outer shell and the pawl, and the compression spring is located inside the outer shell.

4. The inspection robot capable of adapting to the tower structure of a wind turbine as claimed in claim 3, characterized in that: The rotating shaft has a limiting protrusion, and the limiting protrusion is arranged on the rotating shaft and located on one side of the shell.

5. The inspection robot capable of adapting to the tower structure of a wind turbine as claimed in claim 1, characterized in that: The reset component includes an abutment plate, a guide rod and a reset spring. The guide rod is fixedly connected to the mounting rod and is located on a side of the mounting rod away from the friction plate. The abutment plate is fixedly connected to the guide rod and is slidably connected to the mounting seat and is located at an end of the guide rod away from the mounting rod. The two ends of the reset spring are respectively connected to the mounting seat and the abutment plate, and the reset spring is sleeved on the guide rod.

6. The inspection robot capable of adapting to the tower structure of a wind turbine as claimed in claim 5, characterized in that: The abutment plate has a positioning protrusion, and the positioning protrusion is arranged on one side of the abutment plate; the mounting seat has a positioning groove, and the positioning groove is arranged on one side of the mounting seat close to the positioning protrusion, and the positioning groove cooperates with the positioning protrusion.

7. The inspection robot capable of adapting to the tower structure of a wind turbine as claimed in claim 5, characterized in that: The friction plate includes a plate body and a friction strip. The plate body is fixedly connected to the mounting rod and is located at one end of the mounting rod away from the guide rod. The friction strip is fixedly connected to the plate body and is located at a side of the plate body away from the mounting rod.

8. An inspection system that can adapt to the tower structure of a wind turbine, characterized in that: Suitable for the inspection robot capable of adapting to the tower structure of a wind turbine as described in any one of claims 1 to 7.

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