Method for detecting blind area of bonding tape of blade inner cavity of MW-level wind driven generator

Abstract

The invention provides an MW-level wind driven generator blade inner cavity bonding tape blind area detection method, and relates to the technical field of wind driven generator blade detection.The method comprises the following steps that a driving tractor and a driven detection vehicle are placed on the two sides of a web to be detected respectively, and the driving tractor and the driven detection vehicle are connected through a magnetic attraction assembly; the remote control device controls the driving tractor to move along the surface of one side of the web to be detected, the driving tractor drives the driven detection vehicle to synchronously move along the surface of the other side of the web to be detected, and a detection camera of the driven detection vehicle obtains real-time images of the bonding position of the web to be detected and displays the images through a driven vehicle displayer of the remote control device. In the invention, the driven detection vehicle can obtain the real-time image of the bonding position of the web to be detected through the detection camera, and the real-time image is displayed through the display screen, so that a worker can detect the bonding quality of the web in a narrow area according to the image displayed by the display screen, the detection difficulty is reduced, and the detection efficiency and the detection quality are effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of wind turbine blade detection, and in particular to a method for detecting blind areas of an inner cavity adhesive tape of a MW-class wind turbine blade. Background Art

[0002] As one of the core components of wind turbines, the quality of blades is directly related to the safe operation of wind turbines. As the size of blades continues to increase, in order to ensure the lightweight and high-strength product characteristics of blades, tubular structure design is widely used in the design of wind rotor blades. A hollow cavity is set inside the wind rotor blade, and a support mechanism is set inside the hollow cavity. In order to ensure the quality of the blades, it is necessary to test the blades through testing equipment.

[0003] For example, the application with the authorization announcement number CN219715339U discloses a fan blade crack detection device, including an ultrasonic detector body and a detection probe, the detection probe is fixedly connected to the outside with a connector, the ultrasonic detector body is plugged with a connecting wire fixed to the connector, and the ultrasonic detector body is provided with a belt assembly and a sling assembly on the outside; the belt assembly includes a mounting seat fixedly mounted on the outside of the ultrasonic detector body and a first adhesive tape and a second adhesive tape fixedly mounted on the left and right sides of the mounting seat. The fan blade crack detection device connects and fixes the first adhesive tape and the second adhesive tape through two opposite Velcro strips, then inserts the adjustment rod into the adjustment hole to connect the first sling and the second sling, and then wears the connected first sling and the second sling around the neck, so that the user can use the ultrasonic detector body conveniently, achieving the advantages of strong practicality and easy detection.

[0004] However, with the continuous development of blades, many key supporting mechanisms have been added to the hollow cavity of the blades. The blade structure has developed from the original single-beam double-web to a double-beam three-web, and in recent years it has evolved into a three-beam four-web structure. While the product realizes the designed structure, the internal supporting structure also creates a large number of confined spaces. Personnel can no longer inspect the narrow area by crawling, and blade inspection is difficult, which affects the inspection efficiency of the blades. The difficulty of inspecting the bonding quality of the second bonding angle at the trailing edge is particularly prominent. Summary of the invention

[0005] The present invention provides a method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade, which is used to solve the technical problem that personnel are currently unable to inspect a narrow area by crawling, blade inspection is difficult, and the inspection efficiency of the blade is affected.

[0006] In order to solve the above technical problems, the present invention discloses a method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade, comprising the following steps: placing an active traction vehicle and a driven detection vehicle on both sides of a web to be detected, respectively, and connecting the active traction vehicle and the driven detection vehicle via a magnetic suction component;

[0007] The remote control device controls the active tractor to move along the surface of one side of the web to be inspected, and the active tractor drives the driven inspection vehicle to move synchronously along the surface of the other side of the web to be inspected. The inspection camera of the driven inspection vehicle obtains the real-time image of the bonding position of the web to be inspected and displays it through the driven vehicle display of the remote control device.

[0008] Preferably, the magnetic attraction component includes a first electromagnet arranged on the active traction vehicle and a magnetic attraction mechanism arranged on the driven detection vehicle, the first electromagnet is electrically connected to the first controller, the first controller is electrically connected to the first power supply and the first communication module respectively, the first controller, the first power supply and the first communication module are all arranged on the active traction vehicle, the magnetic attraction mechanism includes a second electromagnet, the second electromagnet is electrically connected to the second controller, the second controller is electrically connected to the second power supply and the second communication module respectively, the second controller, the second power supply and the second communication module are all arranged on the driven detection vehicle, the first communication module and the second communication module are wirelessly connected to the main communication module respectively, the main communication module is electrically connected to the main controller, the main controller is connected to the external power supply, the remote control device includes a chassis, and the main communication module and the main controller are both arranged in the chassis.

[0009] Preferably, four first Mecanum wheels are arranged on the frame of the active tractor, and the first Mecanum wheels are driven by a first drive motor, and the first drive motor is electrically connected to the first controller.

[0010] Preferably, a rotating motor is arranged on the active tractor, a rotating base is arranged at the output end of the rotating motor, a collection camera and a first lighting device are arranged on the rotating base, and the rotating motor, the collection camera and the first lighting device are electrically connected to the first controller respectively.

[0011] Preferably, an active vehicle display is provided on the chassis, and the active vehicle display is electrically connected to the main controller.

[0012] Preferably, an active vehicle control area is set on the chassis, and the active vehicle control area includes a first touch panel, a direction control button, a camera control lever, a stop button, a start button and an emergency stop button. The first touch panel, the direction control button, the camera control lever, the stop button, the start button and the emergency stop button are electrically connected to the main controller respectively.

[0013] Preferably, four second Mecanum wheels are arranged on the frame of the driven detection vehicle, the second Mecanum wheels are driven by a second drive motor, the second drive motor is electrically connected to the second controller, a multi-axis robotic arm is arranged on the driven detection vehicle, a detection camera is arranged at the output end of the multi-axis robotic arm, a second lighting device is arranged outside the multi-axis robotic arm, the multi-axis robotic arm, the detection camera and the second lighting device are electrically connected to the second controller respectively, a driven vehicle display is arranged on the chassis, and the driven vehicle display is electrically connected to the main controller.

[0014] Preferably, a slave vehicle control area is set on the chassis, and the slave vehicle control area includes a second touch panel, a fast-forward button, a pause button, a fast-rewind button and an exit button. The second touch panel, the fast-forward button, the pause button, the fast-rewind button and the exit button are electrically connected to the main controller respectively.

[0015] Preferably, the magnetic attraction mechanism includes a fixed box, which is arranged on the driven detection vehicle, a movable adjustment plate is arranged in the fixed box, first electric push rods are respectively arranged at the four corners of the bottom of the movable adjustment plate, the fixed end of the first electric push rod is connected to the inner side of the fixed box, two rows of positioning belts are symmetrically arranged on the movable adjustment plate, the positioning belts include a number of positioning grooves arranged at equal intervals, a fixed cover plate is arranged at the upper end of the fixed box, a number of placement holes are arranged on the fixed cover plate, the placement holes correspond to the positioning grooves one by one, a number of second electromagnets are arranged, the second electromagnets are installed in the placement holes, and one end of the second electromagnets extends into the positioning groove.

[0016] Preferably, an adjustment mechanism is arranged in the fixed cover plate, the adjustment mechanism includes a first installation cavity, the first installation cavity is arranged in the fixed cover plate, a first rotating shaft is arranged in the first installation cavity, one end of the first rotating shaft extends to the outside of the fixed cover plate and is arranged with a knob, a first screw is arranged at the end of the first rotating shaft away from the knob, a first slider is arranged outside the first screw, the first slider is connected to the inner wall of the first installation cavity for left and right sliding, push plates are symmetrically arranged on the front and back sides of the first slider, a plurality of first springs are arranged between the two push plates, a positioning block is arranged in the placement hole, the placement hole is connected with the inside of the first installation cavity through the connecting hole, one end of the positioning block passes through the connecting hole, extends into the first installation cavity and is connected to the side wall of the push plate, a driving strip is arranged on the side of the push plate away from the positioning block, the end of the first slider close to the driving strip is in the shape of an isosceles triangle, and the end of the driving strip close to the first slider is provided with an inclined surface matching the end of the first slider.

[0017] The technical solution of the present invention has the following advantages: The present invention provides a method for detecting blind spots of the inner cavity adhesive tape of a MW-class wind turbine blade, which relates to the technical field of wind turbine blade detection, and comprises the following steps: placing an active tractor and a driven detection vehicle on both sides of a web to be detected, respectively, and connecting the active tractor and the driven detection vehicle through a magnetic suction component; a remote control device controls the active tractor to move along the surface of one side of the web to be detected, and the active tractor drives the driven detection vehicle to move synchronously along the surface of the other side of the web to be detected, and the detection camera of the driven detection vehicle obtains a real-time image of the bonding position of the web to be detected, and displays it through the driven vehicle display of the remote control device. In the present invention, by remotely controlling the active tractor to travel on the surface of the web to be detected, the driven detection vehicle on the other side can be driven to move synchronously, and the driven detection vehicle can obtain a real-time image of the bonding position of the web to be detected through the detection camera, and display it through the display screen, and the staff can check the bonding quality of the web in a narrow area according to the image displayed on the display screen, which reduces the difficulty of detection and effectively improves the detection efficiency and detection quality.

[0018] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the devices particularly pointed out in the written description and the drawings of the description.

[0019] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a working schematic diagram of the active traction vehicle and the driven detection vehicle in the present invention;

[0022] Figure 2 It is a schematic diagram of the active tractor in the present invention;

[0023] Figure 3 It is a schematic diagram of the driven detection vehicle in the present invention;

[0024] Figure 4 It is a schematic diagram of the remote control device in the present invention;

[0025] Figure 5 It is a schematic diagram of the magnetic attraction mechanism in the present invention;

[0026] Figure 6 For the present invention Figure 5 The local structure section view at AA in the middle;

[0027] Figure 7 For the present invention Figure 6 Cross-sectional view of the local structure at point BB in the middle.

[0028] In the figure: 1, active tractor; 2, driven inspection vehicle; 3, inspection camera; 4, driven inspection vehicle display; 5, first electromagnet; 6, magnetic attraction mechanism; 61, second electromagnet; 7, chassis; 8, first Mecanum wheel; 9, rotating base; 10, acquisition camera; 11, first lighting device; 12, active tractor display; 13, active tractor control area; 14, first touch panel; 15, direction control button; 16, camera control lever; 17, stop button; 18, start button; 19, emergency stop button; 20, second Mecanum wheel; 21, multi-axis robotic arm; 22, second lighting device; 23, driven inspection vehicle control area; 24, second touch panel; 25, fast forward button; 26, pause button; 27, fast rewind button; 28. exit button; 29. ​​blade; 30. trailing edge beam; 31. main beam body; 32. trailing edge web; 33. main beam web; 34. fixed box; 35. movable adjustment plate; 36. first electric push rod; 37. fixed cover plate; 38. placement hole; 39. first installation cavity; 40. first rotating shaft; 41. knob; 42. first screw rod; 43. first slider; 44. push plate; 45. first spring; 46. positioning block; 47. drive bar; 48. second installation cavity; 49. third installation cavity; 50. fixed block; 51. second rotating shaft; 52. second bevel gear; 53. first bevel gear; 54. second screw rod; 55. second slider; 56. second electric push rod; 57. installation cylinder; 58. friction block; 59. second spring. DETAILED DESCRIPTION

[0029] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0030] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Example 1

[0032] The embodiment of the present invention provides a method for detecting blind spots of the inner cavity adhesive tape of a MW-class wind turbine blade. Figure 1-Figure 4 As shown, the following steps are included: placing the active traction vehicle 1 and the driven detection vehicle 2 on both sides of the web to be detected respectively, and connecting the active traction vehicle 1 and the driven detection vehicle 2 through a magnetic suction component;

[0033] The remote control device controls the active traction vehicle 1 to move along the surface of one side of the web to be inspected, and the active traction vehicle 1 drives the driven inspection vehicle 2 to move synchronously along the surface of the other side of the web to be inspected. The inspection camera 3 of the driven inspection vehicle 2 obtains a real-time image of the bonding position of the web to be inspected, and displays it through the driven inspection vehicle display 4 of the remote control device.

[0034] The working principle and beneficial effects of the above technical solution are as follows: Figure 1 As shown, a hollow inner cavity is provided inside the blade 29, and the blade 29 includes a trailing edge beam 30 and a main beam body 31. A trailing edge web 32 is provided between the trailing edge beams 30, and a main beam web 33 is provided between the main beam bodies 31. When inspecting the blind area of ​​the bonding tape in the inner cavity of the blade 29, the active tractor 1 is first placed on one side of the trailing edge web 32, and then the driven inspection vehicle 2 is placed on the other side of the trailing edge web 32. The magnetic suction component can generate attraction between the active tractor 1 and the driven inspection vehicle 2, so that the active tractor 1 and the driven inspection vehicle 2 are fixed on the surface of the trailing edge web 32 perpendicularly to the direction of the trailing edge web 32, and then the remote control device can be remotely controlled. The active traction vehicle 1 travels along the surface of one side of the web to be inspected. Under the action of magnetic force, the active traction vehicle 1 can drive the driven inspection vehicle 2 to move synchronously on the surface of the other side of the web to be inspected. At the same time, the inspection camera 3 arranged on the driven inspection vehicle 2 can obtain the real-time image of the bonding position of the web to be inspected, and display it through the display 4 of the driven inspection vehicle. The staff can check the bonding quality of the web in a narrow area according to the image displayed on the display screen, and effectively detect the bonding condition of the wind turbine blade 29 inside and outside the inspection blind area. The staff does not need to enter the blade 29 for inspection, and the operation can be completed by one person, which reduces the difficulty of inspection and effectively improves the inspection efficiency and quality.

[0035] Example 2

[0036] On the basis of the above-mentioned embodiment 1, Figure 1-Figure 4As shown, the magnetic attraction component includes a first electromagnet 5 arranged on the active traction vehicle 1 and a magnetic attraction mechanism 6 arranged on the driven detection vehicle 2, the first electromagnet 5 is electrically connected to the first controller, the first controller is electrically connected to the first power supply and the first communication module respectively, the first controller, the first power supply and the first communication module are all arranged on the active traction vehicle 1, the magnetic attraction mechanism 6 includes a second electromagnet 61, the second electromagnet 61 is electrically connected to the second controller, the second controller is electrically connected to the second power supply and the second communication module respectively, the second controller, the second power supply and the second communication module are all arranged on the driven detection vehicle 2, the first communication module and the second communication module are wirelessly connected to the main communication module respectively, the main communication module is electrically connected to the main controller, the main controller is connected to the external power supply, and the remote control device includes a chassis 7, the main communication module and the main controller are both arranged in the chassis 7.

[0037] The working principle and beneficial effects of the above technical solution are as follows: the magnetic attraction component includes a first electromagnet 5 and a magnetic attraction mechanism 6, the magnetic attraction mechanism 6 includes a plurality of second electromagnets 61, when the active traction vehicle 1 and the driven detection vehicle 2 are placed on both sides of the web to be detected, the first electromagnet 5 and the second electromagnet 61 are started, and under the action of magnetic force, the active traction vehicle 1 and the driven detection vehicle 2 can be fixed on the vertical surface of the web to be detected, the first electromagnet 5 and the second electromagnet 61 are both powerful electromagnets with adjustable electromagnetic strength, and the electromagnetic strength can be adjusted according to the PVC thickness of the trailing edge web 32, to ensure that the driven detection vehicle 2 can be firmly fixed on the vertical surface of the trailing edge web 32.

[0038] Example 3

[0039] On the basis of Example 2, Figure 2 , Figure 4 As shown, four first Mecanum wheels 8 are arranged on the frame of the active tractor 1, and the first Mecanum wheels 8 are driven by a first drive motor, and the first drive motor is electrically connected to a first controller;

[0040] The active tractor 1 is provided with a rotating motor, a rotating base 9 is provided at the output end of the rotating motor, a collection camera 10 and a first lighting device 11 are provided on the rotating base 9, and the rotating motor, the collection camera 10 and the first lighting device 11 are electrically connected to the first controller respectively;

[0041] An active tractor display 12 is provided on the chassis 7, and the active tractor display 12 is electrically connected to the main controller;

[0042] An active tractor control area 13 is provided on the chassis 7, and the active tractor control area 13 includes a first touch panel 14, a direction control button 15, a camera control lever 16, a stop button 17, a start button 18 and an emergency stop button 19. The first touch panel 14, the direction control button 15, the camera control lever 16, the stop button 17, the start button 18 and the emergency stop button 19 are electrically connected to the main controller respectively.

[0043] The working principle and beneficial effects of the above technical solution are as follows: four first Mecanum wheels 8 are arranged on the frame of the active tractor 1, which can realize the forward, backward, translation and 360° rotation of the active tractor 1, so that the active tractor 1 can rotate in situ in a small space, which is suitable for walking in a small space. The direction control button 15 can be used to control the active tractor 1 to walk on the vertical surface of the web to be detected, and drive the driven detection vehicle 2 to walk, which is convenient for detecting different positions and easy for the operator to control the action of the active tractor 1. The acquisition camera 10 can be used to collect the vertical surface of the web to be detected. The real-time image is displayed through the active tractor display 12, so that the inspection personnel can observe the direction and path of the active tractor 1, which is convenient for controlling the active tractor 1. The first lighting device 11 can illuminate the vertical surface of the web to be inspected, and assist the operator to observe the inner cavity environment of the blade 29. The camera control lever 16 is used to control the rotation of the rotary motor to adjust the angle of the acquisition camera 10. The stop button 17 can stop the active tractor 1 from moving, the start button can control the start of the active tractor 1, and the emergency stop button can stop the active tractor 1 immediately, thereby improving safety.

[0044] Example 4

[0045] On the basis of Example 2 or 3, Figure 3 , Figure 4 As shown, four second Mecanum wheels 20 are arranged on the frame of the driven detection vehicle 2, and the second Mecanum wheels 20 are driven by a second drive motor, and the second drive motor is electrically connected to the second controller;

[0046] A multi-axis mechanical arm 21 is arranged on the driven detection vehicle 2, a detection camera 3 is arranged at the output end of the multi-axis mechanical arm 21, a second lighting device 22 is arranged outside the multi-axis mechanical arm 21, and the multi-axis mechanical arm 21, the detection camera 3 and the second lighting device 22 are electrically connected to the second controller respectively;

[0047] A driven detection vehicle display 4 is arranged on the chassis 7, and the driven detection vehicle display 4 is electrically connected to the main controller;

[0048] A slave detection vehicle control area 23 is set on the chassis 7, and the slave detection vehicle control area 23 includes a second touch panel 24, a fast-forward button 25, a pause button 26, a fast-rewind button 27 and an exit button 28. The second touch panel 24, the fast-forward button 25, the pause button 26, the fast-rewind button 27 and the exit button 28 are electrically connected to the main controller respectively.

[0049] The working principle and beneficial effects of the above technical solution are as follows: four second Mecanum wheels 20 are arranged on the frame of the driven inspection vehicle 2, so that the driven inspection vehicle 2 can rotate in situ in a small space, which is suitable for walking in a small space; the inspection camera 3 is installed on the multi-axis mechanical arm 21, and the multi-axis mechanical arm 21 can be controlled to move flexibly through the second touch panel 24, so that the inspection camera 3 can be flexibly rotated for investigation, which can effectively reduce and eliminate the image shooting blind spot of the inspection camera 3; the inspection camera 3 can obtain the real-time image of the bonding position of the web to be inspected; with the assistance of the second lighting device 22, the real-time image of the bonding position of the web to be inspected is clearer; the real-time image of the bonding position of the web to be inspected is displayed on the display screen of the driven inspection vehicle, which is convenient for the inspection personnel to observe and inspect; and the real-time image of the bonding position of the web to be inspected can be stored in the main controller. A detection video is formed inside the vehicle for later inspection. The fast-forward function of the detection video can be realized by the fast-forward button, the pause function of the detection video can be realized by the pause button, the fast-rewind function of the detection video can be realized by the fast-rewind button, and the detection video interface can be exited by the exit button, thereby entering the real-time image interface of the web bonding position to be detected. By arranging a detection camera 3 on the multi-axis mechanical arm 21 of the driven detection vehicle 2, a real-time image of the web bonding position to be detected can be obtained, and displayed on the display 4 of the driven detection vehicle. The staff can check the web bonding quality in a narrow area according to the image displayed on the display screen, and effectively detect the bonding condition of the wind turbine blade 29 inside and outside the detection blind area. The staff does not need to enter the blade 29 for inspection, and the operation can be completed by a single person, which reduces the difficulty of detection and effectively improves the detection efficiency and quality.

[0050] Example 5

[0051] On the basis of any one of Examples 2-4, Figure 5 , Figure 6As shown, the magnetic attraction mechanism 6 includes a fixed box 34, which is arranged on the driven detection vehicle 2, and a movable adjustment plate 35 is arranged in the fixed box 34. The four corners at the bottom of the movable adjustment plate 35 are respectively provided with first electric push rods 36, and the fixed ends of the first electric push rods 36 are connected to the inner side of the fixed box 34. Two rows of positioning belts are symmetrically arranged on the movable adjustment plate 35, and the positioning belts include a number of positioning grooves arranged at equal intervals. A fixed cover plate 37 is arranged on the upper end of the fixed box 34, and a number of placement holes 38 are arranged on the fixed cover plate 37. The placement holes 38 correspond to the positioning grooves one by one. A number of second electromagnets 61 are provided, and the second electromagnets 61 are installed in the placement holes 38, and one end of the second electromagnet 61 extends into the positioning groove;

[0052] The fixed cover plate 37 is provided with an adjustment mechanism, which includes a first installation cavity 39, the first installation cavity 39 is provided in the fixed cover plate 37, a first rotating shaft 40 is provided in the first installation cavity 39, one end of the first rotating shaft 40 extends to the outside of the fixed cover plate 37 and is provided with a knob 41, a first screw rod 42 is provided at one end of the first rotating shaft 40 away from the knob 41, a first slider 43 is provided outside the first screw rod 42, the first slider 43 is connected to the inner wall of the first installation cavity 39 for sliding left and right, and push plates 43 are symmetrically provided on the front and rear sides of the first slider 43 4. A plurality of first springs 45 are arranged between the two push plates 44. A positioning block 46 is arranged in the placement hole 38. The placement hole 38 is communicated with the interior of the first mounting cavity 39 through a connecting hole. One end of the positioning block 46 passes through the connecting hole, extends into the first mounting cavity 39 and is connected to the side wall of the push plate 44. A driving bar 47 is arranged on the side of the push plate 44 away from the positioning block 46. The end of the first slider 43 close to the driving bar 47 is in the shape of an isosceles triangle. The end of the driving bar 47 close to the first slider 43 is arranged with an inclined surface matched with the end of the first slider 43.

[0053] The working principle and beneficial effects of the above technical solution are as follows: the fixed box 34 is arranged on the driven detection vehicle 2, a fixed cover plate 37 is arranged on the fixed box 34, a plurality of placement holes 38 are arranged on the fixed cover plate 37, the front and rear placement holes 38 are symmetrically arranged, a single second electromagnet 61 is installed in the placement hole 38, a plurality of second electromagnets 61 are arranged, and they are respectively placed in the fixed box 34 through different placement holes 38. When in use, even if a single second electromagnet 61 fails, the overall adsorption force can still be maintained, and the problem of falling will not occur, thereby improving the reliability of mutual attraction between the driven detection vehicle 2 and the active traction vehicle 1, and placing the second electromagnet 61 After being placed in the fixed box 34, the end of the second electromagnet 61 contacts the positioning groove on the movable adjustment plate 35, and starting the first electric push rod 36 can drive the movable adjustment plate 35 to move, thereby adjusting the distance from the second electromagnet 61 to the upper surface of the driven detection vehicle 2. The spacing between the second electromagnet 61 and the first electromagnet can be adjusted according to the webs of different thicknesses, ensuring that the magnetic force between the first electromagnet and the second electromagnet 61 is maintained within a preset range, further improving the reliability of the driven detection vehicle 2 and the active traction vehicle 1, and ensuring the detection efficiency and detection quality. After the spacing is adjusted, turning the knob 41 can drive the first rotating shaft 40 to rotate, and the first The rotation of the rotating shaft 40 drives the first screw rod 42 to rotate, and the first slider 43 is threadedly connected with the first screw rod 42. The rotation of the first screw rod 42 can drive the first slider 43 to slide in the first mounting cavity 39. The end of the first slider 43 drives the driving bar 47 to move to both sides by cooperating with the inclined surface. The driving bar 47 drives the push plate 44 to move in the directions away from each other. The push plate 44 drives the positioning block 46 to slide in the connecting hole. The positioning block 46 gradually contacts the second electromagnet 61 until the knob 41 cannot rotate. At this time, the positioning block 46 is in close contact with the second electromagnet 61, and the positioning block 46 fixes the second electromagnet 61 in the placement hole 38 The second electromagnet 61 is prevented from sliding off the placement hole 38. By rotating the knob 41 in the opposite direction, the first slider 43 can be moved toward the knob 41. Under the action of the first spring 45, the push plate 44 returns to its original position, and the positioning block 46 is separated from the second electromagnet 61. Then, the second electromagnet 61 can be taken out from the placement hole 38, which is convenient for replacing the failed second electromagnet 61 or replacing the second electromagnet 61 with a different magnetic force range according to the webs of different thicknesses. By setting an adjustment mechanism, the positioning block 46 can be used to fix the second electromagnets 61 of different sizes at the placement hole 38, which is suitable for webs of different thicknesses, thereby expanding the scope of application.

[0054] Example 6

[0055] On the basis of Example 5, Figure 7As shown, an anti-rotation mechanism is arranged on the side wall of the fixed box 34, and the anti-rotation mechanism includes a second installation cavity 48, and the second installation cavity 48 is arranged on a side wall of the fixed box 34 close to the knob 41, and a third installation cavity 49 is symmetrically arranged on the front and rear sides of the second installation cavity 48, a fixed block 50 is arranged in the second installation cavity 48, and a second rotating shaft 51 is rotatably arranged in the fixed block 50, a second bevel gear 52 is arranged on the upper end of the second rotating shaft 51, a first bevel gear 53 is arranged on the first rotating shaft 40, and the second bevel gear 52 is meshed with the first bevel gear 53, a second screw rod 54 is arranged at the lower end of the second rotating shaft 51, and a second slider 55 is arranged outside the second screw 54, and the second slider 55 is connected to the inner wall of the second installation cavity 48 for sliding up and down, a second electric push rod 56 is arranged in the third installation cavity 49, and one end of the second electric push rod 56 away from the second slider 55 is connected to the inner wall of the third installation cavity 49, and a mounting cylinder 57 is arranged at the other end of the second electric push rod 56, and a friction block 58 is slidably arranged in the mounting cylinder 57, and the friction block 58 is connected to the inner wall of the mounting cylinder 57 through a second spring 59.

[0056] The working principle and beneficial effects of the above technical solution are as follows: when the second electromagnet 61 is fixed, the knob 41 is turned, the knob 41 rotates to drive the first shaft 40 to rotate, the first shaft 40 rotates to drive the first bevel gear 53 to rotate, the first bevel gear 53 meshes with the second bevel gear 52 to drive the second shaft 51 to rotate, the second shaft 51 rotates to drive the second screw 54 to rotate, the second screw 54 rotates to drive the second slider 55 to slide downward in the second installation cavity 48, the positioning block 46 is in close contact with the second electromagnet 61, the knob 41 stops rotating, and then the second electric push rod 56 is pushed out, and the installation cylinder 5 7 moves toward the direction approaching the second slider 55, and the friction block 58 contacts the side wall of the second slider 55. At this time, the knob 41 cannot be rotated in the reverse direction, so as to avoid the separation of the positioning block 46 and the second electromagnet 61, thereby improving the stability of the second electromagnet 61 in the placement hole 38; when the second electromagnet 61 needs to be removed, the second electric push rod 56 is first controlled to retract so that the friction block 58 is separated from the side wall of the second slider 55, and then the knob 41 is rotated in the reverse direction, so that the positioning block 46 can be separated from the side wall of the second electromagnet 61, so that the second electromagnet 61 can be quickly taken out and the second electromagnet 61 can be quickly replaced.

[0057] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade, characterized in that: The following steps are involved: The active traction vehicle (1) and the driven inspection vehicle (2) are respectively placed on both sides of the web to be inspected, and the active traction vehicle (1) and the driven inspection vehicle (2) are connected via a magnetic attraction component; The remote control device controls the active traction vehicle (1) to move along the surface of one side of the web to be inspected, and the active traction vehicle (1) drives the driven inspection vehicle (2) to move synchronously along the surface of the other side of the web to be inspected. The inspection camera (3) of the driven inspection vehicle (2) obtains a real-time image of the bonding position of the web to be inspected, and displays it through the driven inspection vehicle display (4) of the remote control device.

2. A method for detecting blind spots of inner cavity adhesive tapes of MW-class wind turbine blades according to claim 1, characterized in that: The magnetic attraction assembly comprises a first electromagnet (5) arranged on the active traction vehicle (1) and a magnetic attraction mechanism (6) arranged on the driven detection vehicle (2); the first electromagnet (5) is electrically connected to a first controller; the first controller is electrically connected to a first power supply and a first communication module respectively; the first controller, the first power supply and the first communication module are all arranged on the active traction vehicle (1); the magnetic attraction mechanism (6) comprises a second electromagnet (61); the second electromagnet (61) is electrically connected to a second controller; the second controller is electrically connected to a second power supply and a second communication module respectively; the second controller, the second power supply and the second communication module are all arranged on the driven detection vehicle (2); the first communication module and the second communication module are wirelessly connected to a general communication module respectively; the general communication module is electrically connected to a general controller; the general controller is connected to an external power supply; the remote control device comprises a chassis (7); the general communication module and the general controller are both arranged in the chassis (7).

3. A method for detecting blind spots of inner cavity adhesive tapes of MW-class wind turbine blades according to claim 2, characterized in that: Four first Mecanum wheels (8) are arranged on the frame of the active tractor (1), and the first Mecanum wheels (8) are driven by a first drive motor, and the first drive motor is electrically connected to a first controller.

4. A method for detecting blind spots of inner cavity adhesive tapes of MW-class wind turbine blades according to claim 3, characterized in that: The active tractor (1) is provided with a rotating motor, the output end of the rotating motor is provided with a rotating base (9), the rotating base (9) is provided with a collection camera (10) and a first lighting device (11), and the rotating motor, the collection camera (10) and the first lighting device (11) are respectively electrically connected to a first controller.

5. A method for detecting blind spots of inner cavity adhesive tapes of MW-class wind turbine blades according to claim 4, characterized in that: An active tractor display (12) is arranged on the chassis (7), and the active tractor display (12) is electrically connected to the main controller.

6. A method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade according to claim 5, characterized in that: An active tractor control area (13) is arranged on the chassis (7), and the active tractor control area (13) comprises a first touch panel (14), a direction control button (15), a camera control lever (16), a stop button (17), a start button (18) and an emergency stop button (19). The first touch panel (14), the direction control button (15), the camera control lever (16), the stop button (17), the start button (18) and the emergency stop button (19) are electrically connected to the main controller respectively.

7. A method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade according to claim 2, characterized in that: Four second Mecanum wheels (20) are arranged on the frame of the driven detection vehicle (2), the second Mecanum wheels (20) are driven by a second drive motor, the second drive motor is electrically connected to a second controller, a multi-axis mechanical arm (21) is arranged on the driven detection vehicle (2), a detection camera (3) is arranged at the output end of the multi-axis mechanical arm (21), a second lighting device (22) is arranged outside the multi-axis mechanical arm (21), the multi-axis mechanical arm (21), the detection camera (3) and the second lighting device (22) are electrically connected to the second controller respectively, a driven detection vehicle display (4) is arranged on the chassis (7), and the driven detection vehicle display (4) is electrically connected to the main controller.

8. A method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade according to claim 7, characterized in that: A driven detection vehicle control area (23) is arranged on the chassis (7), and the driven detection vehicle control area (23) comprises a second touch panel (24), a fast forward button (25), a pause button (26), a fast rewind button (27) and an exit button (28), and the second touch panel (24), the fast forward button (25), the pause button (26), the fast rewind button (27) and the exit button (28) are electrically connected to the main controller respectively.

9. A method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade according to claim 2, characterized in that: The magnetic attraction mechanism (6) comprises a fixed box (34), which is arranged on the driven detection vehicle (2). A movable adjustment plate (35) is arranged in the fixed box (34). First electric push rods (36) are arranged at four corners of the bottom of the movable adjustment plate (35). The fixed end of the first electric push rod (36) is connected to the inner side of the fixed box (34). Two rows of positioning belts are symmetrically arranged on the movable adjustment plate (35). The positioning belts include a plurality of positioning grooves arranged at equal intervals. A fixed cover plate (37) is arranged at the upper end of the fixed box (34). A plurality of placement holes (38) are arranged on the fixed cover plate (37). The placement holes (38) correspond to the positioning grooves one by one. A plurality of second electromagnets (61) are arranged. The second electromagnets (61) are installed in the placement holes (38). One end of the second electromagnets (61) extends into the positioning grooves.

10. A method for detecting blind spots of bonding tapes in the inner cavity of a MW-class wind turbine blade according to claim 9, characterized in that: An adjustment mechanism is arranged in the fixed cover plate (37), and the adjustment mechanism comprises a first installation cavity (39), the first installation cavity (39) is arranged in the fixed cover plate (37), a first rotating shaft (40) is arranged in the first installation cavity (39), one end of the first rotating shaft (40) extends to the outside of the fixed cover plate (37) and is provided with a knob (41), a first screw rod (42) is arranged at one end of the first rotating shaft (40) away from the knob (41), a first slider (43) is arranged outside the first screw rod (42), the first slider (43) is connected to the inner wall of the first installation cavity (39) in a left-right sliding manner, and push plates (43) are symmetrically arranged on the front and rear sides of the first slider (43). 4), a plurality of first springs (45) are arranged between the two push plates (44), a positioning block (46) is arranged in the placement hole (38), the placement hole (38) is connected with the inside of the first installation cavity (39) through the connecting hole, one end of the positioning block (46) passes through the connecting hole, extends into the first installation cavity (39) and is connected to the side wall of the push plate (44), a driving bar (47) is arranged on the side of the push plate (44) away from the positioning block (46), the end of the first slider (43) close to the driving bar (47) is in the shape of an isosceles triangle, and the end of the driving bar (47) close to the first slider (43) is arranged with an inclined surface adapted to the end of the first slider (43).

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