Inspection machine for outer surface of fan tower drum

Abstract

The invention discloses a fan tower outer surface inspection machine which comprises a machine body, a first driving wheel is connected to the machine body, two connecting rods are symmetrically connected to the left side and the right side of the machine body respectively, and one end of each connecting rod is connected with a second driving wheel; the machine body is connected with a first adjusting assembly used for adjusting the advancing angle of the first driving wheel, and the connecting rod is connected with a second adjusting assembly used for adjusting the advancing angle of the second driving wheel. The machine body is connected with a first driving assembly used for driving the connecting rod to stretch out and draw back and a second driving assembly used for driving the connecting rod to rotate in the vertical direction. The machine body is provided with an inspection camera. Light weight, miniaturization and flexibility can be realized, the transportation difficulty and the transportation cost can be reduced, the stability and the safety under different wind power conditions during high-altitude operation can be improved, the weather range and the height range in which the fan tower outer surface inspection machine can operate are widened, and the working efficiency is improved. And therefore, the inspection task of the outer surface of the fan tower can be completed more efficiently and reliably.

Description

Technical Field

[0001] The invention belongs to the technical field of wind turbine tower inspection, and in particular relates to a wind turbine tower outer surface inspection machine. Background Art

[0002] With the rapid development of the wind power industry, the inspection of wind turbine towers has become increasingly important. Wind turbine towers are exposed to harsh outdoor environments for a long time, and their outer surfaces are prone to damage such as coating peeling, cracks and corrosion. If these damages are not discovered and handled in time, they will affect the structural stability and service life of the wind turbine tower, and even endanger the safe operation of the wind power generation system.

[0003] At present, some wind turbine tower outer surface inspection devices are capable of inspecting the outer surface of wind turbine towers, but existing wind turbine tower outer surface inspection devices have many defects. For example, the inspection robot that can adapt to the wind turbine tower structure with patent publication number CN118757349A is large, bulky and not flexible enough. It is subject to many restrictions when transported to wind farms. It requires special large-scale transportation tools and complex loading and unloading equipment, which not only increases transportation costs, but also becomes a problem that hinders its practical application in some wind farms with inconvenient transportation. In addition, due to its own weight and size, it is greatly affected by natural factors such as wind when working at high altitudes. It has poor stability in strong wind environments and is prone to safety accidents such as shaking or even falling, which brings great safety hazards to the inspection work and also limits the weather range and height range in which it can operate. Summary of the invention

[0004] In order to overcome the defects of the prior art, the present invention provides a wind turbine tower outer surface inspection machine, which can achieve lightness, miniaturization and flexibility.

[0005] The object of the present invention is achieved through the following technical solutions:

[0006] A wind turbine tower outer surface inspection machine comprises a machine body, a first driving wheel for contacting the front side of the wind turbine tower outer surface is connected to the machine body, two connecting rods are symmetrically connected to the left and right sides of the machine body, and the ends of the two connecting rods away from the machine body are connected to a second driving wheel for contacting the rear side of the wind turbine tower outer surface;

[0007] The machine body is connected with a first adjustment component for adjusting the travel angle of the first driving wheel, and the connecting rod is connected with a second adjustment component for adjusting the travel angle of the second driving wheel;

[0008] The machine body is connected with a first driving assembly for driving the connecting rod to extend and retract, and a second driving assembly for driving the connecting rod to rotate vertically;

[0009] An inspection camera is arranged on the machine body for inspecting the outer surface of the wind turbine tower.

[0010] The beneficial effects of adopting the above technical solution are as follows: the outer surface of the wind turbine tower can be clamped and held by the first driving wheel on the machine body and the second driving wheels on the two connecting rods, and the first driving wheel and the two second driving wheels can spirally rise or fall on the outer surface of the wind turbine tower after the travel angles are adjusted to the same angle, so that the outer surface of the wind turbine tower can be fully inspected circumferentially by the inspection camera, and the connecting rod can be retracted and rotated vertically after being driven, so that the first driving wheel and the two second driving wheels can clamp and hold wind turbine towers of different diameters, which is conducive to the inspection of wind turbine towers of various diameters, thereby achieving flexibility; in addition, the wind turbine tower outer surface inspection machine has a compact structure and a reasonable design, and can be miniaturized and lightweight, which is conducive to reducing the difficulty and cost of transportation, and can improve the stability and safety under different wind conditions during high-altitude operations, thereby broadening the weather range and height range in which the wind turbine tower outer surface inspection machine can operate, and thus can more efficiently and reliably complete the inspection task of the wind turbine tower outer surface.

[0011] Furthermore, the first driving wheel includes a connecting hub connected to the machine body, two main wheels rotatably connected to both sides of the connecting hub, and a first motor fixedly connected to the machine body, and the output end of the first motor is transmission-connected to the two main wheels.

[0012] The beneficial effects of adopting the above technical solution are: the connecting hub can provide rotation support for the two main wheels, and the first motor can drive the two main wheels to rotate to realize the movement of the first driving wheel.

[0013] Furthermore, a first connecting shaft and a second connecting shaft arranged in a "T" shape are rotatably connected to the connecting hub, and one end of the first connecting shaft away from the second connecting shaft is connected to the output end of the first motor through a first gear transmission mechanism, and the first connecting shaft is connected to the second connecting shaft through a bevel gear transmission mechanism, and both ends of the second connecting shaft are fixedly connected to the two main wheels respectively.

[0014] The beneficial effect of adopting the above technical solution is that the first motor can drive the first connecting shaft to rotate through the first gear transmission mechanism, and the first connecting shaft can drive the second connecting shaft to rotate through the bevel gear transmission mechanism, thereby driving the two main wheels to rotate.

[0015] Furthermore, the connecting hub is rotatably connected to the machine body, the rotation centerline of the connecting hub coincides with the axis of the first connecting shaft, and the first adjustment component includes a second motor for driving the connecting hub to rotate, and the second motor is fixedly connected to the machine body.

[0016] The beneficial effects of adopting the above technical solution are: the second motor can drive the connecting hub to rotate, thereby adjusting the travel angle of the two main wheels on the connecting hub, and due to the presence of the bevel gear transmission mechanism, the power can be transmitted uninterruptedly by the first motor during the adjustment of the travel angle of the two main wheels, which further improves the flexibility of the wind turbine tower outer surface inspection machine.

[0017] Furthermore, the output end of the second motor is connected to the connecting hub through a second gear transmission mechanism.

[0018] The beneficial effect of adopting the above technical solution is that the second motor drives the connecting hub to rotate through the second gear transmission mechanism.

[0019] Furthermore, the second driving wheel includes a third motor connected to the connecting rod and a secondary wheel fixedly connected to the output end of the third motor.

[0020] The beneficial effect of adopting the above technical solution is that the third motor can drive the secondary wheel to rotate, so as to realize the movement of the second driving wheel.

[0021] Furthermore, the second adjustment component includes a bracket fixedly connected to the connecting rod, a fourth motor fixedly connected to the bracket and a rotating frame rotatably connected to the bracket, the output end of the fourth motor is connected to the rotating frame through a third gear transmission mechanism, and the third motor is fixedly connected to the rotating frame.

[0022] The beneficial effect of adopting the above technical solution is that the fourth motor can drive the auxiliary wheel on the third motor to rotate along with the rotating frame through the third gear transmission mechanism, thereby adjusting the travel angle of the auxiliary wheel.

[0023] Furthermore, the first driving assembly includes a bracket connected to the body, a fifth motor fixedly connected to the bracket, a driving gear fixedly connected to the output end of the fifth motor, and two driven gears rotatably connected to the bracket. A connecting rod is slidably connected to the bracket, and a first rack is provided at one end of the connecting rod along the length direction. The two sides of the two driven gears are respectively meshed with the driving gear and the first rack.

[0024] The beneficial effect of adopting the above technical solution is that the fifth motor can drive the two driven gears to rotate through the driving gear, and the two rotating driven gears can act on the first rack to make the connecting rod slide on the bracket, thereby driving the connecting rod to extend and retract.

[0025] Furthermore, the second driving assembly includes a rotating shaft vertically connected to the machine body, a second rack arranged in the machine body, a sixth motor rotatably connected to the machine body, and an adjusting gear fixedly connected to the output end of the sixth motor. One end of the rotating shaft is fixedly connected to the bracket, the axis of the second rack and the rotation center line of the sixth motor both coincide with the rotation center line of the rotating shaft, the adjusting gear is meshed with the second rack, and the output end of the sixth motor is fixedly connected to the bracket after passing through the machine body.

[0026] The beneficial effect of adopting the above technical solution is: since the second rack is fixedly arranged in the machine body, when the sixth motor drives the adjusting gear to rotate, the sixth motor can rotate around the rotation center line of the rotating shaft, thereby driving the bracket to rotate around the rotation center line of the rotating shaft, and then driving the connecting rod to rotate vertically.

[0027] Furthermore, the two brackets are arranged staggered in the vertical direction.

[0028] The beneficial effect of adopting the above technical solution is: such arrangement can avoid mutual interference between the two connecting rods.

[0029] The beneficial effects of the present invention are:

[0030] The first driving wheel on the machine body and the second driving wheels on the two connecting rods can be used to clamp and hold the outer surface of the wind turbine tower, and after the travel angles of the first driving wheel and the two second driving wheels are adjusted to the same angle, they can spirally rise or fall on the outer surface of the wind turbine tower, so that the inspection camera can be used to perform a circumferential comprehensive inspection of the outer surface of the wind turbine tower, and the connecting rod can be driven to extend and retract and rotate vertically, so that the first driving wheel and the two second driving wheels can clamp and hold wind turbine towers of different diameters, which is conducive to the inspection of wind turbine towers of various diameters, thereby achieving flexibility;

[0031] In addition, the wind turbine tower outer surface inspection machine has a compact structure and reasonable design, and can be miniaturized and lightweight, which is conducive to reducing transportation difficulty and transportation costs, and can improve stability and safety under different wind conditions during high-altitude operations, thereby broadening the weather range and height range in which the wind turbine tower outer surface inspection machine can operate, and thus can more efficiently and reliably complete the inspection task of the wind turbine tower outer surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings, wherein:

[0033] Figure 1 Shows a schematic diagram of the installation of the present invention;

[0034] Figure 2 Shows a schematic diagram of the structure of the present invention;

[0035] Figure 3 The schematic diagram of the structure of the body of the present invention is shown;

[0036] Figure 4 An axonometric view of the body of the present invention is shown;

[0037] Figure 5 The schematic diagram of the structure of the first driving component in the present invention is shown;

[0038] Figure 6 The schematic diagram of the structure of the secondary wheel in the present invention is shown;

[0039] In the drawings, like reference numerals are used for like parts. The drawings are not necessarily to scale.

[0040] Reference numerals:

[0041] 1. Wind turbine tower; 2. Machine body; 3. Main wheel; 4. Connecting rod; 5. Auxiliary wheel; 6. Inspection camera; 7. First motor; 8. First gear transmission mechanism; 9. Connecting hub; 10. First connecting shaft; 11. Second connecting shaft; 12. Bevel gear transmission mechanism; 13. Second gear transmission mechanism; 14. Rotating shaft; 15. Second motor; 16. Angle guide groove; 17. Second rack; 18. Adjusting gear; 19. Sixth motor; 20. Controller; 21. Bracket; 22. Fifth motor; 23. Driving gear; 24. Driven gear; 25. First rack; 26. Track groove; 27. Bracket; 28. Fourth motor; 29. ​​Third gear transmission mechanism; 30. Rotating frame; 31. Third motor. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings.

[0043] The present invention provides a wind turbine tower outer surface inspection machine, such as Figure 1 and Figure 2 As shown, it comprises a body 2, a first driving wheel for contacting the front side of the outer surface of the wind turbine tower 1 is connected to the body 2, two connecting rods 4 are symmetrically connected to the left and right sides of the body 2, and the ends of the two connecting rods 4 away from the body 2 are connected to the second driving wheel for contacting the rear side of the outer surface of the wind turbine tower 1;

[0044] The body 2 is connected to a first adjustment component for adjusting the travel angle of the first driving wheel, and the connecting rod 4 is connected to a second adjustment component for adjusting the travel angle of the second driving wheel;

[0045] The body 2 is connected with a first driving assembly for driving the connecting rod 4 to extend and retract, and a second driving assembly for driving the connecting rod 4 to rotate vertically;

[0046] An inspection camera 6 for inspecting the outer surface of the wind turbine tower 1 is disposed on the machine body 2 . The inspection camera 6 is a binocular camera, and the camera end of the inspection camera 6 faces the outer surface of the wind turbine tower 1 .

[0047] It can be understood that the first driving wheel on the machine body 2 and the second driving wheels on the two connecting rods 4 can be used to clamp the outer surface of the wind turbine tower 1 to ensure the reliability of the wind turbine tower outer surface inspection machine during operation, which enables the wind turbine tower outer surface inspection machine to maintain a stable operating attitude during the spiral ascent process, and it can be tightly attached to the outer surface of the wind turbine tower 1 even in a windy environment, and is not easy to shake or fall off due to wind interference, which reduces the risk of damage to the wind turbine tower 1 caused by the wind turbine tower outer surface inspection machine, and provides a strong guarantee for the safe and stable operation of the wind turbine generator;

[0048] After the travel angles of the first drive wheel and the two second drive wheels are adjusted to the same angle, they can spirally rise or fall on the outer surface of the wind turbine tower 1, so that the inspection camera 6 can be used to perform a circumferential and comprehensive inspection of the outer surface of the wind turbine tower 1, thereby leaving no blind spots for inspection;

[0049] The connecting rod 4 can be extended and retracted and rotated vertically after being driven, so that the first driving wheel and the two second driving wheels can clamp and hold the wind turbine towers 1 of different diameters, which is conducive to the inspection of wind turbine towers 1 of various diameters, and can be adaptively adjusted according to the actual diameter of the wind turbine tower 1, ensuring that the wind turbine tower outer surface inspection machine is closely fitted with the outer surface of the wind turbine tower 1, which not only improves the accuracy and stability of the detection, but also realizes flexibility;

[0050] In addition, the wind turbine tower outer surface inspection machine has a compact structure and reasonable design. The overall size is significantly smaller than that of the existing patent, and it can easily pass through various conventional transportation channels, which reduces transportation costs and transportation difficulties; at the same time, the lightweight design makes the installation and disassembly process simpler and faster, and only a small number of people are needed to complete the operation in a short time, thereby greatly improving work efficiency, and no shutdown maintenance is required, which improves power generation efficiency;

[0051] Secondly, due to the lightweight design of the wind turbine tower outer surface inspection machine, the impact of wind on it when working at high altitude is significantly reduced, which greatly improves the stability and safety of the wind turbine tower outer surface inspection machine under different wind conditions, which broadens its operational weather range and tower height range, so that it can efficiently and reliably complete the inspection task of the outer surface of the wind turbine tower 1.

[0052] It should be noted that the travel angles of the first drive wheel and the second drive wheel need to be consistent, and the image height captured by the inspection camera 6 should be consistent with the height that rises or falls when the wind turbine tower outer surface inspection machine travels in spiral form, so as to facilitate the inspection of the entire wind turbine tower 1 outer surface.

[0053] It should also be noted that due to the portability of the wind turbine tower outer surface inspection machine, it can be transported to the wind farm by ordinary small trucks or pickup trucks, and no special fixing and protective measures are required during transportation, which reduces transportation complexity and cost.

[0054] In one embodiment, Figure 3 As shown, the first driving wheel includes a connecting hub 9 connected to the body 2, two main wheels 3 rotatably connected to both sides of the connecting hub 9, and a first motor 7 fixedly connected to the body 2, and the output end of the first motor 7 is transmission-connected to the two main wheels 3; wherein the main wheels 3 are rubber wheels.

[0055] It can be understood that the connecting hub 9 can provide rotation support for the two main wheels 3, and the first motor 7 can drive the two main wheels 3 to rotate to enable the first driving wheel to move.

[0056] In one embodiment, a first connecting shaft 10 and a second connecting shaft 11 arranged in a "T" shape are rotatably connected to the connecting hub 9, and one end of the first connecting shaft 10 away from the second connecting shaft 11 is connected to the output end of the first motor 7 through the first gear transmission mechanism 8, and the first connecting shaft 10 is connected to the second connecting shaft 11 through the bevel gear transmission mechanism 12, and both ends of the second connecting shaft 11 are respectively fixedly connected to the two main wheels 3.

[0057] It can be understood that the first motor 7 can drive the first connecting shaft 10 to rotate through the first gear transmission mechanism 8, and the first connecting shaft 10 can drive the second connecting shaft 11 to rotate through the bevel gear transmission mechanism 12, thereby driving the two main wheels 3 to rotate.

[0058] In one embodiment, the connecting hub 9 is rotatably connected to the body 2, and the rotation center line of the connecting hub 9 coincides with the axis of the first connecting shaft 10. The first adjustment component includes a second motor 15 for driving the connecting hub 9 to rotate, and the second motor 15 is fixedly connected to the body 2.

[0059] It can be understood that the second motor 15 can drive the connecting hub 9 to rotate, thereby adjusting the travel angle of the two main wheels 3 on the connecting hub 9, and due to the presence of the bevel gear transmission mechanism 12, the power can be transmitted uninterruptedly by the first motor 7 during the adjustment of the travel angle of the two main wheels 3, which further improves the flexibility of the wind turbine tower outer surface inspection machine.

[0060] In one embodiment, the output end of the second motor 15 is connected to the connecting hub 9 via the second gear transmission mechanism 13 , that is, the second motor 15 drives the connecting hub 9 to rotate via the second gear transmission mechanism 13 .

[0061] In one embodiment, Figure 6As shown, the second driving wheel includes a third motor 31 connected to the connecting rod 4 and a secondary wheel 5 fixedly connected to the output end of the third motor 31, that is, the third motor 31 can drive the secondary wheel 5 to rotate to realize the movement of the second driving wheel; wherein, the secondary wheel 5 is a rubber wheel.

[0062] In one embodiment, the second adjustment component includes a bracket 27 fixedly connected to the connecting rod 4, a fourth motor 28 fixedly connected to the bracket 27, and a rotating frame 30 rotatably connected to the bracket 27, the output end of the fourth motor 28 is connected to the rotating frame 30 through a third gear transmission mechanism 29, and the third motor 31 is fixedly connected to the rotating frame 30.

[0063] It can be understood that the fourth motor 28 can drive the auxiliary wheel 5 on the third motor 31 to rotate along with the rotating frame 30 through the third gear transmission mechanism 29, so as to adjust the travel angle of the auxiliary wheel 5.

[0064] It should be noted that the second driving wheel has a simple structure and a small mass, which can ensure basic power output and effectively reduce the strength reduction and reliability problems caused by the cantilever.

[0065] In one embodiment, Figure 4 and Figure 5 As shown, the first driving assembly includes a bracket 21 connected to the body 2, a fifth motor 22 fixedly connected to the bracket 21, a driving gear 23 fixedly connected to the output end of the fifth motor 22, and two driven gears 24 rotatably connected to the bracket 21. The connecting rod 4 is slidably connected to the bracket 21, and one end of the connecting rod 4 is provided with a first rack 25 along the length direction. The two sides of the two driven gears 24 are respectively meshed with the driving gear 23 and the first rack 25; the two brackets 21 are staggered in the vertical direction to avoid interference between the two connecting rods 4 and further reduce the structural space.

[0066] It can be understood that the fifth motor 22 can drive the two driven gears 24 to rotate through the driving gear 23, and the two rotating driven gears 24 can act on the first rack 25 to make the connecting rod 4 slide on the bracket 21, thereby driving the connecting rod 4 to extend and retract.

[0067] It should be noted that the bracket 21 is provided with a track groove 26 for slidingly connecting the connecting rod 4 .

[0068] In one embodiment, Figure 3-5As shown, the second driving assembly includes a rotating shaft 14 connected to the body 2 for vertical rotation, a second rack 17 arranged in the body 2, a sixth motor 19 rotatably connected to the body 2, and an adjusting gear 18 fixedly connected to the output end of the sixth motor 19, one end of the rotating shaft 14 is fixedly connected to the bracket 21, the axis of the second rack 17 and the rotation center line of the sixth motor 19 both coincide with the rotation center line of the rotating shaft 14, the adjusting gear 18 is meshed with the second rack 17, and the output end of the sixth motor 19 passes through the body 2 and is fixedly connected to the bracket 21.

[0069] It can be understood that since the second rack 17 is fixedly arranged in the body 2, when the sixth motor 19 drives the adjusting gear 18 to rotate, the sixth motor 19 can rotate around the rotation center line of the rotating shaft 14, thereby driving the bracket 21 to rotate around the rotation center line of the rotating shaft 14, and then driving the connecting rod 4 to rotate vertically.

[0070] It should be noted that the second rack 17 extends in the direction of an arc, and the center of the arc is on the rotation center line of the rotating shaft 14; an angle guide groove 16 extending in the direction of an arc is provided in the body 2 for slidingly connecting the sixth motor 19, and the center of the arc is on the rotation center line of the rotating shaft 14. When the sixth motor 19 rotates around the rotating shaft 14, the sixth motor 19 also slides in the angle guide groove 16, so that the sixth motor 19 rotates around the rotating shaft 14 more stably.

[0071] In one embodiment, a controller 20 electrically connected to the first motor 7, the second motor 15, the third motor 31, the fourth motor 28, the fifth motor 22, the sixth motor 19 and the inspection camera 6 is also provided in the body 2. The controller 20 realizes signal transmission with the ground control terminal so that the ground control terminal controls the first motor 7, the second motor 15, the third motor 31, the fourth motor 28, the fifth motor 22, the sixth motor 19 and the inspection camera 6 and other components and receives the collected data.

[0072] The working process of the present invention is:

[0073] When the wind turbine tower outer surface inspection machine arrives at the inspection location, its various components are assembled according to the design requirements to ensure that the main wheel 3 and the two secondary wheels 5 clamp the wind turbine tower 1 flexibly and reliably, that the main wheel 3 and the two secondary wheels 5 can adjust the travel angle normally, and that the inspection camera 6 is installed firmly and debugged to the best working state;

[0074] After arriving at the wind farm, a small crane or a manual hoist or other simple lifting equipment is used to lift the wind turbine tower outer surface inspection machine to the bottom of the wind turbine tower 1; then, several workers manually install it by adjusting the fifth motor 22 and the sixth motor 19 so that the wind turbine tower outer surface inspection machine adapts to the diameter of the outer surface of the wind turbine tower 1, and the main wheel 3 and the auxiliary wheel 5 are closely fitted to the outer surface of the wind turbine tower 1, thereby ensuring that the wind turbine tower outer surface inspection machine is firmly fixed on the wind turbine tower 1; the wind turbine tower outer surface inspection machine is retrogradely debugged using the ground control terminal to check the operating status of each component, especially the travel angle control accuracy of the main wheel 3 and the auxiliary wheel 5 and the data collection function of the inspection camera 6, so as to ensure subsequent inspection operations;

[0075] To drive the wind turbine tower outer surface inspection machine, the ground control personnel send instructions through the wireless control system to accurately control the travel angles of the main wheel 3 and the auxiliary wheel 5, so that the wind turbine tower outer surface inspection machine moves along the outer surface of the wind turbine tower 1 in a stable spiral ascending manner; during the ascending process, the inspection camera 6 on the wind turbine tower outer surface inspection machine collects data such as the image, thickness and internal defects of the outer surface of the wind turbine tower 1, and transmits the data back to the ground control terminal through the wireless transmission module; the ground control personnel analyze and judge the condition of the outer surface of the wind turbine tower 1 based on the real-time transmitted data. If any abnormality is found, the operation can be paused and more detailed detection and recording can be carried out to ensure that no potential safety hazards are missed;

[0076] After the wind turbine tower outer surface inspection machine completes the inspection of the entire wind turbine tower 1 outer surface, it is lowered to the bottom of the wind turbine tower 1; the clamping state of the main wheel 3 and the secondary wheel 5 is released, and the wind turbine tower outer surface inspection machine is disassembled for simple cleaning and maintenance, and each component is checked for damage or wear. If necessary, the corresponding components are replaced in time to prepare for the next inspection task.

[0077] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0078] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A wind turbine tower outer surface inspection machine, characterized in that: The invention comprises a machine body (2), the machine body (2) being connected to a first driving wheel for contacting the front side of the outer surface of a wind turbine tower (1), the left side and the right side of the machine body (2) being symmetrically connected to two connecting rods (4), and the ends of the two connecting rods (4) away from the machine body (2) being connected to a second driving wheel for contacting the rear side of the outer surface of the wind turbine tower (1); The machine body (2) is connected to a first adjustment component for adjusting the travel angle of the first drive wheel, and the connecting rod (4) is connected to a second adjustment component for adjusting the travel angle of the second drive wheel; The machine body (2) is connected to a first driving assembly for driving the connecting rod (4) to extend and retract, and a second driving assembly for driving the connecting rod (4) to rotate vertically. The machine body (2) is provided with an inspection camera (6) for inspecting the outer surface of the wind turbine tower (1).

2. A wind turbine tower outer surface inspection machine according to claim 1, characterized in that: The first driving wheel comprises a connecting hub (9) connected to the machine body (2), two main wheels (3) rotatably connected to two sides of the connecting hub (9), and a first motor (7) fixedly connected to the machine body (2), wherein an output end of the first motor (7) is drivingly connected to the two main wheels (3).

3. A wind turbine tower outer surface inspection machine according to claim 2, characterized in that: The connecting hub (9) is rotatably connected to a first connecting shaft (10) and a second connecting shaft (11) arranged in a "T" shape; one end of the first connecting shaft (10) away from the second connecting shaft (11) is connected to the output end of the first motor (7) via a first gear transmission mechanism (8); the first connecting shaft (10) is connected to the second connecting shaft (11) via a bevel gear transmission mechanism (12); and both ends of the second connecting shaft (11) are respectively fixedly connected to the two main wheels (3).

4. A wind turbine tower outer surface inspection machine according to claim 3, characterized in that: The connecting hub (9) is rotatably connected to the machine body (2), and the rotation center line of the connecting hub (9) coincides with the axis line of the first connecting shaft (10). The first adjustment component includes a second motor (15) for driving the connecting hub (9) to rotate, and the second motor (15) is fixedly connected to the machine body (2).

5. A wind turbine tower outer surface inspection machine according to claim 4, characterized in that: The output end of the second motor (15) is connected to the connecting hub (9) via a second gear transmission mechanism (13).

6. The wind turbine tower outer surface inspection machine according to claim 1, characterized in that: The second driving wheel comprises a third motor (31) connected to the connecting rod (4) and a secondary wheel (5) fixedly connected to the output end of the third motor (31).

7. A wind turbine tower outer surface inspection machine according to claim 6, characterized in that: The second adjustment component comprises a bracket (27) fixedly connected to the connecting rod (4), a fourth motor (28) fixedly connected to the bracket (27), and a rotating frame (30) rotatably connected to the bracket (27), the output end of the fourth motor (28) being connected to the rotating frame (30) via a third gear transmission mechanism (29), and the third motor (31) being fixedly connected to the rotating frame (30).

8. The wind turbine tower outer surface inspection machine according to claim 1, characterized in that: The first driving assembly comprises a bracket (21) connected to the machine body (2), a fifth motor (22) fixedly connected to the bracket (21), a driving gear (23) fixedly connected to the output end of the fifth motor (22), and two driven gears (24) rotatably connected to the bracket (21); the connecting rod (4) is slidably connected to the bracket (21); one end of the connecting rod (4) is provided with a first rack (25) along the length direction; and two sides of the two driven gears (24) are respectively meshed with the driving gear (23) and the first rack (25).

9. A wind turbine tower outer surface inspection machine according to claim 8, characterized in that: The second driving assembly comprises a rotating shaft (14) connected to the machine body (2) in a vertically rotatable manner, a second rack (17) arranged in the machine body (2), a sixth motor (19) rotatably connected to the machine body (2), and an adjusting gear (18) fixedly connected to the output end of the sixth motor (19), one end of the rotating shaft (14) is fixedly connected to the bracket (21), the axis of the second rack (17) and the rotation center line of the sixth motor (19) both coincide with the rotation center line of the rotating shaft (14), the adjusting gear (18) is meshed with the second rack (17), and the output end of the sixth motor (19) passes through the machine body (2) and is fixedly connected to the bracket (21).

10. The wind turbine tower outer surface inspection machine according to claim 8, characterized in that: The two brackets (21) are arranged staggered in the vertical direction.

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