Terahertz detection equipment for blades of wind generating set

Abstract

The invention discloses wind generating set blade terahertz detection equipment, and relates to the technical field of wind generating set blade detection, the wind generating set blade terahertz detection equipment comprises a detection robot, the two sides of the detection robot are fixedly connected with bases respectively, and one side of each base is rotatably connected with a first large arm and a second large arm respectively; the other end of the first large arm is rotationally connected with a first small arm, and the other end of the second large arm is rotationally connected with a second small arm. According to the wind generating set blade terahertz detection equipment, the detection robot moves on the upper surface of the generator blade, whether the surface of the generator blade is damaged or not is detected through terahertz, the width of the generator blade is gradually decreased, and the first contact roller makes contact with the top surface of the generator blade; therefore, the detection robot moves forwards, the detection robot moves to the other end of the generator blade, and the effect of completely detecting the outer wall of the generator blade in two movement modes is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of wind turbine blade detection, and particularly to a terahertz detection device for wind turbine blades. Background Art

[0002] In recent years, the technology of wind turbine blade detection robots has been widely used and has become an important tool for quality control in the wind power industry. These robots are mainly used for structural health monitoring of wind turbine blades to ensure their safety and reliability during operation. The detection robots adopt two motion modes: one is to adsorb on the blade surface, and the other is to hang on the top of the blade. This flexible design enables the robot to perform detections under different environments and conditions. With the development of sensor technology and artificial intelligence, the detection accuracy and efficiency of blade detection robots have been significantly improved.

[0003] However, general wind turbine blade detection robots still have some limitations in use. Since existing detection robots can only choose one motion mode, some blade areas cannot be fully detected. This limitation not only reduces the practicality of the robot but also may lead to incomplete detection results, thus leaving potential safety hazards for the operation safety of wind turbines. Tiny cracks or damages in the blades may exist in the undetected areas, and if these problems are not discovered in time, they may trigger major accidents, leaving accident hazards for wind turbines and reducing safety, which cannot meet the actual needs. Summary of the Invention

[0004] The present invention discloses a terahertz detection device for wind turbine blades, aiming to solve the technical problems that general wind turbine blade detection robots still have some limitations in use. Since existing detection robots can only choose one motion mode, some blade areas cannot be fully detected. This limitation not only reduces the practicality of the robot but also may lead to incomplete detection results, thus leaving potential safety hazards for the operation safety of wind turbines. Tiny cracks or damages in the blades may exist in the undetected areas, and if these problems are not discovered in time, they may trigger major accidents, leaving accident hazards for wind turbines and reducing safety.

[0005] To achieve the above object, the present invention adopts the following technical solutions: A terahertz detection device for a wind turbine blade, comprising a detection robot. On both sides of the detection robot, there are respectively fixedly connected bases. On both sides of the bases, there are robotic arm assemblies. On the robotic arm assemblies, there are rotating seats. The other end of the rotating seat is rotatably connected to a tripod. On the tripod, there are three mounting seats. On one side of the first mounting seat, there is fixedly connected a terahertz detection sensor. On one side of the second mounting seat, there is fixedly connected an auxiliary suction cup. On one side of the auxiliary suction cup, there is an air pump. On one side of the third mounting seat, there is fixedly connected a buffer cylinder. At the bottom of the buffer cylinder, there is a buffer rod slidingly connected. One end of the buffer rod is sleeved with a buffer spring. At the bottom of the detection robot, there are two moving belts. At the bottom of the moving belts, there is a generator blade; On the bottom of both sides of the detection robot, there are respectively installed suspension mechanisms for adjusting the angle of the moving belts so that the moving belts always adhere to the outer wall of the generator blade; On one side of the suspension mechanism, there is installed an adsorption mechanism, which cooperates with the suspension mechanism to make the moving belts adsorb on the outer wall of the generator blade; Inside the detection robot, there is installed an auxiliary mechanism for assisting the detection robot to move on the surface of the generator blade when the width of the generator blade becomes smaller; On the top of the detection robot, there is installed a landing mechanism for helping the detection robot to safely land on the ground in case of an emergency.

[0006] The robotic arm assembly includes a first large arm and a second large arm respectively rotatably connected to both sides of the base. The other end of the first large arm is rotatably connected to a first small arm. The other end of the second large arm is rotatably connected to a second small arm. The other ends of the first small arm and the second small arm are respectively rotatably connected to the rotating seat; At the connection points of the rotating seat and the second small arm, the rotating seat and the first small arm, the rotating seat and the tripod, the base and the first large arm, the base and the second small arm, the second small arm and the second large arm, and the first large arm and the first small arm, there are respectively motors The air pump forms a negative pressure inside the auxiliary suction cup, thereby generating suction force inside the auxiliary suction cup. When the auxiliary suction cup adheres to the outer wall of the generator blade, the auxiliary suction cup adsorbs on the outer wall of the generator blade. The function of the terahertz detection sensor is to detect damage on the outer surface of the generator blade by terahertz.

[0007] The suspension mechanism includes a plurality of fixed seats fixedly connected to the bottom of both sides of the detection robot. At the bottom of the fixed seats, there are sleeves movably connected. At the bottom end of the sleeves, there are connecting rods slidingly connected. One end of the connecting rods is sleeved with two diagonal springs, one diagonal spring is outside the sleeve and the other diagonal spring is inside the sleeve. The other end of the connecting rods is movably connected to a second connecting seat.

[0008] The bottom of the second connecting seat is fixedly connected with a mounting frame. One side of the mounting frame is fixedly connected with a first connecting seat. The top of the first connecting seat is movably connected with a vertical rod. The top end of the vertical rod is sleeved with two vertical springs. The vertical rod is slidably connected with the inspection robot. One vertical spring is outside the inspection robot, and the other vertical spring is inside the inspection robot.

[0009] The adsorption mechanism includes a first pulley rotatably connected to one end of the mounting frame. A second pulley is rotatably connected to the other end of the mounting frame. A moving belt is movably connected between the first pulley and the second pulley. A fixed frame is fixedly connected to the inner side of the mounting frame. High protrusions are respectively arranged at both ends of the fixed frame. Low protrusions are respectively arranged at positions close to the high protrusions at both ends of the fixed frame. An installation shell is fixedly connected to the other side of the mounting frame. A plurality of spindle-shaped wheels are rotatably connected to one side of the installation shell. A first motion motor is fixedly connected to one side of the second pulley.

[0010] A plurality of circular grooves are arranged on the outer surface of the moving belt. A moving suction cup is arranged inside the circular groove. The moving suction cup is made of rubber material. A sliding rod is slidably connected to the top of the moving suction cup. A sealing plug is fixedly connected to the top end of the sliding rod. An adsorption spring is sleeved at the bottom end of the sliding rod. Two ventilation holes are arranged at the top of the moving suction cup. One side of the sealing plug is rotatably connected to a guide wheel at a position close to the fixed frame.

[0011] The auxiliary mechanism includes a plurality of second contact rollers rotatably connected to the inner wall of the top of the inspection robot. A second motion motor is arranged at the top end of the second contact roller. The bottom end of the second contact roller is rotatably connected to an intermediate plate. A plurality of first contact rollers are movably connected to the bottom of the intermediate plate. Steel wires are fixedly connected to the bottom parts of the second contact rollers. The steel wires are fixedly connected with the first contact rollers.

[0012] The bottom end of the first contact roller is movably connected with a mounting plate. A slot is arranged at the top of the mounting plate. An adjusting cylinder is rotatably connected to the inside of the slot. A threaded rod is threadedly connected to the top of the adjusting cylinder. The top end of the threaded rod is fixedly connected with an adjusting motor. The adjusting motor is rotatably connected with the inspection robot. Two guide rods are respectively slidably connected to both ends of the mounting plate.

[0013] In a preferred solution, the landing mechanism includes a safety cylinder fixedly connected to the top of the inspection robot. An expansion cylinder is arranged on the inner wall of the bottom of the safety cylinder. Ammonium nitrate and a resistance wire are arranged inside the expansion cylinder. An installation cylinder is inserted into the top of the expansion cylinder. A parachute is arranged inside the installation cylinder in a folded manner. A sealing cover is sleeved on the top of the installation cylinder. Connecting ropes are respectively fixedly connected to both bottom sides of the installation cylinder.

[0014] A plurality of fixing blocks are arranged from one end to the other end of the connecting rope. The fixing blocks are fixedly connected to the outer walls of the inspection robot, the first large arm and the second large arm respectively. A clamping groove is arranged at the top of the fixing block, and the connecting rope is clamped inside the clamping groove.

[0015] As can be seen from the above, a terahertz detection device for wind turbine blades provided by the present invention has the following technical effects.

[0016] First: By closely contacting the upper surface of the generator blade through the moving belt, a plurality of moving suction cups on the moving belt will adsorb on the outer surface of the generator blade, so that the inspection robot moves on the upper surface of the generator blade. Whether there is damage on the surface of the generator blade is detected by terahertz. The width of the generator blade gradually becomes smaller, and the moving belt separates from the surface of the generator blade. The first contact roller contacts the top surface of the generator blade, so that the inspection robot moves forward. When the width of the generator blade becomes smaller further, the second contact roller contacts the surface of the generator blade, drives the first contact roller to rotate, and makes the first contact roller stick tightly to the outer wall of the generator blade, further stabilizing the inspection robot on the top of the generator blade, so that the inspection robot moves to the other end of the generator blade, achieving the effect of completely detecting the outer wall of the generator blade by using two movement methods.

[0017] Second: During the movement of the inspection robot, the wind force at high altitude where the generator blade is located is relatively large. By controlling the rotation of the tripod, the auxiliary suction cups adsorb on the outer surface of the generator blade to assist the inspection robot in moving. When the wind force increases, the auxiliary suction cups adsorb on both sides of the generator blade respectively, fixing the inspection robot on the generator blade, achieving the effect of enhancing the wind resistance of the inspection robot. When the inspection robot sways left and right during the movement, the first small arm, the first large arm, the second large arm and the second small arm are respectively straightened, so that the two tripods are located at the bottom positions on both sides of the inspection robot. The heights of the two tripods are lower than the height of the inspection robot, achieving the effect of maintaining the balance of the inspection robot and reducing the center of gravity of the inspection robot.

[0018] Third: In case of emergency, heating ammonium nitrate generates a large amount of nitrogen dioxide and nitrogen, and the parachute inside the installation cylinder, the sealing cover and the installation cylinder is ejected from the inside of the safety cylinder and the parachute is opened. The first large arm and the second large arm respectively pull the connecting rope to keep the inspection robot stable. The parachute descends to decelerate the inspection robot. Before landing, the tripod is controlled to rotate so that the buffer rod faces the ground. When the inspection robot lands on the ground, the buffer rods on both sides contact the ground, and the inspection robot is buffered by squeezing the buffer springs, achieving the effect of ensuring that the inspection robot is not damaged in case of emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is an axonometric structural schematic diagram proposed by the present invention.

[0020] Figure 2 Schematic cross-sectional view proposed by the present invention.

[0021] Figure 3 Schematic partial view proposed by the present invention.

[0022] Figure 4 Schematic partial cross-sectional view proposed by the present invention.

[0023] Figure 5 Schematic internal view proposed by the present invention.

[0024] Figure 6 Schematic bottom view proposed by the present invention.

[0025] Figure 7 Schematic mounting bracket view proposed by the present invention.

[0026] Figure 8 Schematic moving suction cup view proposed by the present invention.

[0027] Figure 9 Schematic initial state view of the inspection robot proposed by the present invention.

[0028] Figure 10 Schematic intermediate state view of the inspection robot proposed by the present invention.

[0029] Figure 11 Schematic end state view of the inspection robot proposed by the present invention.

[0030] Figure 12 Schematic expansion cylinder view proposed by the present invention.

[0031] Figure 13 Schematic fixing bracket view proposed by the present invention.

[0032] In the figure: 1. Detection robot; 2. Base; 3. First small arm; 4. First large arm; 5. Movement belt; 6. Second large arm; 7. Second small arm; 8. First contact roller; 9. Adjustment motor; 10. Second contact roller; 11. Safety cylinder; 12. Rotating seat; 13. Buffer spring; 14. Buffer rod; 15. Buffer cylinder; 16. Auxiliary suction cup; 17. Tripod; 18. Terahertz detection sensor; 19. First movement motor; 20. Vertical spring; 21. Vertical rod; 22. First connection seat; 23. First pulley; 24. Mounting frame; 25. Second connection seat; 26. Connecting rod; 27. Oblique spring; 28. Sleeve; 29. Fixed seat; 30. Second movement motor; 31. Steel wire rope; 32. Intermediate plate; 33. Mounting plate; 34. Threaded rod; 35. Adjustment cylinder; 36. Guide rod; 37. Spindle wheel; 38. Mounting shell; 39. Second pulley; 40. Fixed frame; 41. Movement suction cup; 42. Adsorption spring; 43. Sliding rod; 44. Sealing plug; 45. Vent hole; 46. Generator blade; 47. Mounting cylinder; 48. Expansion cylinder; 49. Fixed block; 50. Connecting rope; 51. Sealing cover; 52. Low protrusion; 53. High protrusion. Detailed implementation manner

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0034] A terahertz detection device for wind turbine blades disclosed by the present invention is mainly applied to the situation that there are still some limitations in the use of general wind turbine blade detection robots. Since the existing detection robots can only select one movement mode, some blade areas cannot be fully detected. This limitation not only reduces the practicability of the robot, but also may lead to incomplete detection results, thus leaving potential safety hazards for the operation safety of wind turbines. Micro cracks or damages on the blades may exist in the undetected areas, and if these problems are not discovered in time, they may trigger major accidents, leaving potential accident hazards for wind turbines and reducing safety.

[0035] Refer to Figure 1 — Figure 13, A terahertz detection device for wind turbine blades, including a detection robot 1. On both sides of the detection robot 1, there are respectively fixedly connected bases 2. On both sides of the bases 2, there are robotic arm assemblies. On the robotic arm assemblies, there are rotating seats 12. The robotic arm assemblies include a first large arm 4 and a second large arm 6 respectively rotatably connected to both sides of the base 2. The other end of the first large arm 4 is rotatably connected to a first small arm 3, and the other end of the second large arm 6 is rotatably connected to a second small arm 7. The other ends of the first small arm 3 and the second small arm 7 are respectively rotatably connected to the rotating seats 12. The other end of the rotating seat 12 is rotatably connected to a tripod 17. On the tripod 17, there are three mounting seats. On one side of the first mounting seat, there is fixedly connected a terahertz detection sensor 18. On one side of the second mounting seat, there is fixedly connected an auxiliary suction cup 16. On one side of the auxiliary suction cup 16, there is an air pump. On one side of the third mounting seat, there is fixedly connected a buffer cylinder 15. At the bottom of the buffer cylinder 15, there is a buffer rod 14 slidably connected. One end of the buffer rod 14 is sleeved with a buffer spring 13. At the bottom of the detection robot 1, there are two moving belts 5. At the bottom of the moving belts 5, there is a generator blade 46. The moving belts 5 are made of flexible materials, and the outer surfaces of the moving belts 5 are soft. At the joints of the rotating seat 12 and the second small arm 7, the rotating seat 12 and the first small arm 3, the rotating seat 12 and the tripod 17, the base 2 and the first large arm 4, the base 2 and the second small arm 7, the second small arm 7 and the second large arm 6, and the first large arm 4 and the first small arm 3, there are respectively motors; On both sides of the bottom of the detection robot 1, there are respectively installed suspension mechanisms, which are used to adjust the angle of the moving belts 5 so that the moving belts 5 always adhere to the outer wall of the generator blade 46; On one side of the suspension mechanism, there is an adsorption mechanism, which cooperates with the suspension mechanism to make the moving belts 5 adsorb on the outer wall of the generator blade 46; Inside the detection robot 1, there is an auxiliary mechanism, which is used to assist the detection robot 1 to move on the surface of the generator blade 46 when the width of the generator blade 46 becomes smaller; On the top of the detection robot 1, there is a landing mechanism, which is used to help the detection robot 1 safely land on the ground in case of emergency.

[0036] Specifically, the air pump forms a negative pressure inside the auxiliary suction cup 16, thereby generating suction force inside the auxiliary suction cup 16. When the auxiliary suction cup 16 adheres to the outer wall of the generator blade 46, the auxiliary suction cup 16 adsorbs on the outer wall of the generator blade 46. The function of the terahertz detection sensor 18 is to detect the damage on the outer surface of the generator blade 46 by terahertz.

[0037] Further, the suspension mechanism includes a plurality of fixed seats 29 fixedly connected to the bottoms of both sides of the inspection robot 1. A sleeve 28 is movably connected to the bottom of the fixed seat 29. The bottom end of the sleeve 28 is slidably connected to a connecting rod 26. One end of the connecting rod 26 is sleeved with two diagonal springs 27. One diagonal spring 27 is outside the sleeve 28, and the other diagonal spring 27 is inside the sleeve 28. The other end of the connecting rod 26 is movably connected to a second connecting seat 25.

[0038] Specifically, the bottom of the second connecting seat 25 is fixedly connected to a mounting frame 24. One side of the mounting frame 24 is fixedly connected to a first connecting seat 22. The top of the first connecting seat 22 is movably connected to a vertical rod 21. The top end of the vertical rod 21 is sleeved with two vertical springs 20. The vertical rod 21 is slidably connected to the inspection robot 1. One vertical spring 20 is outside the inspection robot 1, and the other vertical spring 20 is inside the inspection robot 1.

[0039] Further, the adsorption mechanism includes a first pulley 23 rotatably connected to one end of the mounting frame 24. A second pulley 39 is rotatably connected to the other end of the mounting frame 24. A moving belt 5 is movably connected between the first pulley 23 and the second pulley 39. A fixed frame 40 is fixedly connected to the inner side of the mounting frame 24. High protrusions 53 are respectively arranged at both ends of the fixed frame 40. Low protrusions 52 are respectively arranged at positions close to the high protrusions 53 at both ends of the fixed frame 40. A mounting shell 38 is fixedly connected to the other side of the mounting frame 24. A plurality of spindle-shaped wheels 37 are rotatably connected to one side of the mounting shell 38. A first motion motor 19 is fixedly connected to one side of the second pulley 39.

[0040] A plurality of circular grooves are arranged on the outer surface of the moving belt 5. A moving suction cup 41 is arranged inside the circular groove. The moving suction cup 41 is made of rubber material. A sliding rod 43 is slidably connected to the top of the moving suction cup 41. A sealing plug 44 is fixedly connected to the top end of the sliding rod 43. An adsorption spring 42 is sleeved at the bottom end of the sliding rod 43. Two ventilation holes 45 are arranged at the top of the moving suction cup 41. One side of the sealing plug 44 is rotatably connected to a guide wheel at a position close to the fixed frame 40.

[0041] The auxiliary mechanism includes a plurality of second contact rollers 10 rotatably connected to the inner wall of the top of the inspection robot 1. A second motion motor 30 is arranged at the top end of the second contact roller 10. The bottom end of the second contact roller 10 is rotatably connected to an intermediate plate 32. A plurality of first contact rollers 8 are movably connected to the bottom of the intermediate plate 32. Steel wire ropes 31 are respectively fixedly connected to the bottom ends of the second contact rollers 10. The steel wire ropes 31 are fixedly connected to the first contact rollers 8.

[0042] The bottom end of the first contact roller 8 is movably connected with a mounting plate 33. A slot is arranged on the top of the mounting plate 33. An adjusting cylinder 35 is rotatably connected inside the slot. A threaded rod 34 is threadedly connected to the top of the adjusting cylinder 35. The top end of the threaded rod 34 is fixedly connected with an adjusting motor 9. The adjusting motor 9 is rotatably connected with the detection robot 1. Two guide rods 36 are respectively slidably connected to both ends of the mounting plate 33.

[0043] In this embodiment, the moving belt 5 is in close contact with the upper surface of the generator blade 46. A plurality of moving suction cups 41 on the moving belt 5 will adsorb on the outer surface of the generator blade 46. Start the first moving motor 19 to drive the second pulley 39 to rotate, thereby driving the moving belt 5 and the first pulley 23 to rotate. During the rotation of the moving belt 5, the guide wheel on one side of the sealing plug 44 rolls on the upper surface of the fixed frame 40. When the sealing plug 44 passes over the high protrusion 53, the guide wheel drives the sliding rod 43 to squeeze the adsorption spring 42, so that the sealing plug 44 moves upward, and the ventilation hole 45 connects the inside of the moving suction cup 41 with the outside air, and the air pressure inside and outside the moving suction cup 41 is balanced.

[0044] More specifically, when the sealing plug 44 passes over the low protrusion 52, the sealing plug 44 returns to its original position, isolating the inside of the moving suction cup 41 from the outside air. The low protrusion 52 squeezes the top of the moving suction cup 41, so that the air inside the moving suction cup 41 is squeezed out from between the moving suction cup 41 and the generator blade 46, generating a negative pressure inside the moving suction cup 41, thereby causing the moving suction cup 41 to adsorb on the outer surface of the generator blade 46. When the guide wheel at the other end of the fixed frame 40 passes over the high protrusion 53, the negative pressure inside the moving suction cup 41 disappears, so that during the movement of the detection robot 1 on the upper surface of the generator blade 46, the detection robot 1 is always adsorbed on the generator blade 46.

[0045] Among them, since the outer wall of the generator blade 46 is arc-shaped, by squeezing the vertical spring 20 and the oblique spring 27, the vertical rod 21 and the connecting rod 26 can slide, causing the moving belt 5 to tilt, and the moving belt 5 always clings to the outer wall of the generator blade 46. By controlling the rotation of the first forearm 3, the first upper arm 4, the second upper arm 6 and the second forearm 7, the terahertz detection sensors 18 on both sides are respectively driven to approach the outer wall of the generator blade 46, and the surface of the generator blade 46 is detected by terahertz for damage. The lengths of the first forearm 3, the first upper arm 4, the second upper arm 6 and the second forearm 7 are sufficient to detect the entire surface of the generator blade 46.

[0046] During the process of detecting the movement of the inspection robot 1, the width of the generator blade 46 gradually decreases until the two-sided moving belts 5 can no longer adsorb on the surface of the generator blade 46, and the moving belts 5 are separated from the surface of the generator blade 46, causing multiple spindle-shaped wheels 37 on the other side of the mounting bracket 24 to contact the surface of the generator blade 46. The material of the spindle-shaped wheels 37 is rubber, and the spindle-shaped wheels 37 will not damage the surface of the generator blade 46.

[0047] Furthermore, the inspection robot 1 is stuck at the top of the generator blade 46, and the first contact roller 8 contacts the top surface of the generator blade 46. By starting the second motion motor 30 to drive the second contact roller 10 and the first contact roller 8 to rotate, the inspection robot 1 can move forward. When the width of the generator blade 46 further decreases and the second contact roller 10 contacts the surface of the generator blade 46, since the contact surface between the second contact roller 10 and the generator blade 46 is small, the adjustment motor 9 is started to drive the mounting bracket 24 to rotate, causing the adjustment cylinder 35 to move downward, thereby driving the first contact roller 8 to rotate and making the first contact roller 8 closely adhere to the outer wall of the generator blade 46, further stabilizing the inspection robot 1 at the top of the generator blade 46, so that the inspection robot 1 can move to the other end of the generator blade 46, achieving the effect of completely detecting the outer wall of the generator blade 46 using two motion methods.

[0048] In this embodiment, during the movement of the inspection robot 1, the wind force is relatively strong at the high altitude where the generator blade 46 is located. By controlling the rotation of the tripod 17, the auxiliary suction cup 16 adsorbs on the outer surface of the generator blade 46 to assist the movement of the inspection robot 1. When the wind force increases, the auxiliary suction cups 16 adsorb on both sides of the generator blade 46 respectively to fix the inspection robot 1 on the generator blade 46, achieving the effect of enhancing the wind resistance of the inspection robot 1. When the inspection robot 1 sways left and right during the movement, the first small arm 3, the first large arm 4, the second large arm 6, and the second small arm 7 are respectively controlled to straighten, so that the two tripods 17 are located at the bottom positions on both sides of the inspection robot 1, and the heights of the two tripods 17 are lower than the height of the inspection robot 1, achieving the effects of maintaining the balance of the inspection robot 1 and reducing the center of gravity of the inspection robot 1.

[0049] Refer to Figure 1 、 Figure 2 、 Figure 11 and Figure 12 In a preferred embodiment, the landing mechanism includes a safety cylinder 11 fixedly connected to the top of the inspection robot 1. An expansion cylinder 48 is provided on the bottom inner wall of the safety cylinder 11. Ammonium nitrate and heating wires are arranged inside the expansion cylinder 48. An installation cylinder 47 is inserted into the top of the expansion cylinder 48. A parachute is arranged inside the installation cylinder 47 in a folded manner. A sealing cover 51 is sleeved on the top of the installation cylinder 47. Connecting ropes 50 are respectively fixedly connected to the bottom parts on both sides of the installation cylinder 47.

[0050] A plurality of fixing blocks 49 are arranged from one end to the other end of the connecting rope 50. The fixing blocks 49 are respectively fixedly connected to the outer walls of the inspection robot 1, the first boom 4 and the second boom 6. A card slot is arranged at the top of the fixing block 49, and the connecting rope 50 is stuck inside the card slot.

[0051] In this embodiment, in an emergency, the inspection robot 1 falls off the generator blade 46. By energizing the resistance wire inside the expansion cylinder 48, heating ammonium nitrate, a large amount of nitrogen dioxide and nitrogen are generated, and the installation cylinder 47, the sealing cover 51 and the parachute inside the installation cylinder 47 are ejected from the inside of the safety cylinder 11. The parachute opens. By controlling the first boom 4 and the second boom 6 to extend to both sides, the first boom 4 and the second boom 6 respectively pull the connecting rope 50 to keep the inspection robot 1 stable. The parachute descent decelerates the inspection robot 1. Before landing, control the tripod 17 to rotate so that the buffer rod 14 faces the ground. When the inspection robot 1 lands on the ground, the buffer rods 14 on both sides contact the ground, and the inspection robot 1 is buffered by squeezing the buffer spring 13, which has the effect of ensuring that the inspection robot 1 is not damaged in an emergency.

[0052] Working principle: When in use, the inspection robot 1 is lifted by a crane and placed on the upper surface of the generator blade 46 to perform quality inspection on the outer surface of the generator blade 46. Due to the special shape of the generator blade 46, one end of the generator blade 46 is cylindrical, and the width gradually decreases from one end to the other end of the generator blade 46. The other end of the generator blade 46 is feather-shaped. The inspection robot 1 is placed at the cylindrical end position of the generator blade 46. The moving belt 5 is in close contact with the upper surface of the generator blade 46. Multiple moving suction cups 41 on the moving belt 5 will adsorb on the outer surface of the generator blade 46. The first moving motor 19 is started to drive the second pulley 39 to rotate, thereby driving the moving belt 5 and the first pulley 23 to rotate. During the rotation of the moving belt 5, the guide wheel on one side of the sealing plug 44 rolls on the upper surface of the fixed frame 40. When the sealing plug 44 passes over the high protrusion 53, the guide wheel drives the sliding rod 43 to squeeze the adsorption spring 42, causing the sealing plug 44 to move upward. The air vent 45 connects the inside of the moving suction cup 41 with the outside air, and the air pressure inside and outside the moving suction cup 41 is balanced. When the sealing plug 44 passes over the low protrusion 52, the sealing plug 44 returns to its original position, isolating the inside of the moving suction cup 41 from the outside air. The low protrusion 52 squeezes the top of the moving suction cup 41, causing the air inside the moving suction cup 41 to be squeezed out from between the moving suction cup 41 and the generator blade 46, generating negative pressure inside the moving suction cup 41, thereby enabling the moving suction cup 41 to adsorb on the outer surface of the generator blade 46. When the guide wheel at the other end of the fixed frame 40 passes over the high protrusion 53, the negative pressure inside the moving suction cup 41 disappears, enabling the inspection robot 1 to be adsorbed on the generator blade 46 at all times during the movement on the upper surface of the generator blade 46. Since the outer wall of the generator blade 46 is arc-shaped, by squeezing the vertical spring 20 and the oblique spring 27, the vertical rod 21 and the connecting rod 26 can slide, causing the moving belt 5 to tilt, and the moving belt 5 always adheres to the outer wall of the generator blade 46. By controlling the rotation of the first forearm 3, the first upper arm 4, the second upper arm 6, and the second forearm 7, the terahertz detection sensors 18 on both sides are respectively driven to approach the outer wall of the generator blade 46. Whether there are damages on the surface of the generator blade 46 is detected by terahertz. The model of the terahertz detection sensor 18 is THZ-B, which is an existing technology. The lengths of the first forearm 3, the first upper arm 4, the second upper arm 6, and the second forearm 7 are sufficient to detect the entire surface of the generator blade 46. During the movement of the inspection robot 1, the width of the generator blade 46 gradually decreases until the moving belts 5 on both sides cannot adsorb on the surface of the generator blade 46, and the moving belts 5 are separated from the surface of the generator blade 46, causing the multiple spindle-shaped wheels 37 on the other side of the mounting frame 24 to contact the surface of the generator blade 46. The material of the spindle-shaped wheels 37 is rubber, and the spindle-shaped wheels 37 will not damage the surface of the generator blade 46. The inspection robot 1 is stuck at the top of the generator blade 46, and the first contact roller 8 contacts the top surface of the generator blade 46.By starting the second motion motor 30 to drive the second contact roller 10 and the first contact roller 8 to rotate, the inspection robot 1 is thus driven to move forward. When the width of the generator blade 46 further becomes smaller, the second contact roller 10 contacts the surface of the generator blade 46. Since the contact surface between the second contact roller 10 and the generator blade 46 is small, the adjustment motor 9 is started to drive the mounting bracket 24 to rotate, causing the adjustment cylinder 35 to move downward, thereby driving the first contact roller 8 to rotate, making the first contact roller 8 closely adhere to the outer wall of the generator blade 46, further stabilizing the inspection robot 1 at the top of the generator blade 46, so that the inspection robot 1 moves to the other end of the generator blade 46, achieving the effect of completely inspecting the outer wall of the generator blade 46 using two motion modes. During the movement of the inspection robot 1, the wind force is relatively large at high altitude where the generator blade 46 is located. By controlling the rotation of the tripod 17, the auxiliary suction cup 16 is adsorbed on the outer surface of the generator blade 46 to assist the movement of the inspection robot 1. When the wind force increases, the auxiliary suction cups 16 are respectively adsorbed on both sides of the generator blade 46 to fix the inspection robot 1 on the generator blade 46, achieving the effect of enhancing the wind resistance of the inspection robot 1. When the inspection robot 1 sways left and right during movement, the first forearm 3, the first upper arm 4, the second upper arm 6, and the second forearm 7 are respectively controlled to straighten, so that the two tripods 17 are located at the bottom positions on both sides of the inspection robot 1, and the height of the two tripods 17 is lower than the height of the inspection robot 1, achieving the effect of maintaining the balance of the inspection robot 1 and reducing the center of gravity of the inspection robot 1. In case of an emergency, when the inspection robot 1 falls from the generator blade 46, the resistance wire inside the expansion cylinder 48 is energized to heat ammonium nitrate, generating a large amount of nitrogen dioxide and nitrogen, ejecting the installation cylinder 47, the sealing cover 51, and the parachute inside the installation cylinder 47 from the inside of the safety cylinder 11, and the parachute opens. By controlling the first upper arm 4 and the second upper arm 6 to straighten to both sides, the first upper arm 4 and the second upper arm 6 respectively pull the connecting rope 50 to keep the inspection robot 1 stable. The parachute descent decelerates the descent of the inspection robot 1. Before landing, the tripod 17 is controlled to rotate so that the buffer rod 14 faces the ground. When the inspection robot 1 lands on the ground, the two buffer rods 14 contact the ground, and the inspection robot 1 is buffered by squeezing the buffer spring 13, achieving the effect of ensuring that the inspection robot 1 is not damaged in case of an emergency.

[0053] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A terahertz detection device for a wind turbine blade, comprising a detection robot (1), characterized in that, On both sides of the detection robot (1), there are respectively fixedly connected with bases (2). On both sides of the bases (2), there are mechanical arm assemblies. On the mechanical arm assemblies, there is a rotating seat (12). The other end of the rotating seat (12) is rotatably connected with a tripod (17). On the tripod (17), there are three mounting seats. On one side of the first mounting seat, there is fixedly connected with a terahertz detection sensor (18). On one side of the second mounting seat, there is fixedly connected with an auxiliary suction cup (16). On one side of the auxiliary suction cup (16), there is an air pump. On one side of the third mounting seat, there is fixedly connected with a buffer cylinder (15). At the bottom of the buffer cylinder (15), there is a buffer rod (14) slidably connected. One end of the buffer rod (14) is sleeved with a buffer spring (13). At the bottom of the detection robot (1), there are two moving belts (5). At the bottom of the moving belts (5), there are generator blades (46). On both sides of the bottom of the detection robot (1), there are respectively installed suspension mechanisms, which are used to adjust the angle of the moving belts (5) so that the moving belts (5) always adhere to the outer wall of the generator blades (46). On one side of the suspension mechanism, there is installed an adsorption mechanism, which cooperates with the suspension mechanism to make the moving belts (5) adsorb on the outer wall of the generator blades (46). Inside the detection robot (1), there is installed an auxiliary mechanism, which is used to assist the detection robot (1) to move on the surface of the generator blades (46) when the width of the generator blades (46) becomes smaller. On the top of the detection robot (1), there is installed a landing mechanism, which is used to help the detection robot (1) land safely on the ground in case of emergency.

2. The terahertz detection device for the blade of a wind turbine generator according to claim 1, wherein The mechanical arm assembly includes a first large arm (4) and a second large arm (6) respectively rotatably connected to both sides of the base (2). The other end of the first large arm (4) is rotatably connected with a first small arm (3). The other end of the second large arm (6) is rotatably connected with a second small arm (7). The other ends of the first small arm (3) and the second small arm (7) are respectively rotatably connected with the rotating seat (12). At the connection points between the rotating seat (12) and the second small arm (7), between the rotating seat (12) and the first small arm (3), between the rotating seat (12) and the tripod (17), between the base (2) and the first large arm (4), between the base (2) and the second small arm (7), between the second small arm (7) and the second large arm (6), and between the first large arm (4) and the first small arm (3), there are respectively motors.

3. The terahertz detection device for a wind turbine blade according to claim 2, characterized in that The air pump forms a negative pressure inside the auxiliary suction cup (16), so as to generate suction force inside the auxiliary suction cup (16). When the auxiliary suction cup (16) adheres to the outer wall of the generator blade (46), the auxiliary suction cup (16) adsorbs on the outer wall of the generator blade (46). The function of the terahertz detection sensor (18) is to detect the damage on the outer surface of the generator blade (46) by terahertz.

4. The terahertz detection device for the blade of a wind turbine generator according to claim 3, wherein, The suspension mechanism includes a plurality of fixed seats (29) fixedly connected to the bottoms of both sides of the detection robot (1). The bottom of the fixed seat (29) is movably connected to a sleeve (28). The bottom end of the sleeve (28) is slidably connected to a connecting rod (26). One end of the connecting rod (26) is sleeved with two inclined springs (27). One inclined spring (27) is outside the sleeve (28), and the other inclined spring (27) is inside the sleeve (28). The other end of the connecting rod (26) is movably connected to a second connecting seat (25). The bottom of the second connecting seat (25) is fixedly connected to a mounting frame (24). One side of the mounting frame (24) is fixedly connected to a first connecting seat (22). The top of the first connecting seat (22) is movably connected to a vertical rod (21). The top end of the vertical rod (21) is sleeved with two vertical springs (20). The vertical rod (21) is slidably connected to the detection robot (1). One vertical spring (20) is outside the detection robot (1), and the other vertical spring (20) is inside the detection robot (1).

5. The terahertz detection device for the blade of a wind turbine generator according to claim 4, wherein, The adsorption mechanism includes a first pulley (23) rotatably connected to one end of the mounting frame (24). The other end of the mounting frame (24) is rotatably connected to a second pulley (39). A moving belt (5) is movably connected between the first pulley (23) and the second pulley (39). The inner side of the mounting frame (24) is fixedly connected to a fixed frame (40). High protrusions (53) are respectively arranged at both ends of the fixed frame (40). Low protrusions (52) are respectively arranged at positions close to the high protrusions (53) at both ends of the fixed frame (40). The other side of the mounting frame (24) is fixedly connected to a mounting shell (38). A plurality of spindle-shaped wheels (37) are rotatably connected to one side of the mounting shell (38). A first motion motor (19) is fixedly connected to one side of the second pulley (39).

6. The terahertz detection device for a wind turbine blade according to claim 5, wherein, A plurality of circular grooves are arranged on the outer surface of the moving belt (5). A moving suction cup (41) is arranged inside the circular groove. The moving suction cup (41) is made of rubber material. The top of the moving suction cup (41) is slidably connected to a sliding rod (43). The top end of the sliding rod (43) is fixedly connected to a sealing plug (44). The bottom end of the sliding rod (43) is sleeved with an adsorption spring (42). Two ventilation holes (45) are arranged on the top of the moving suction cup (41). One side of the sealing plug (44) close to the fixed frame (40) is rotatably connected to a guide wheel.

7. The terahertz detection device for the blade of a wind turbine generator according to claim 6, characterized in that, The auxiliary mechanism includes a plurality of second contact rollers (10) rotatably connected to the inner wall of the top of the detection robot (1). A second motion motor (30) is arranged at the top end of the second contact roller (10). The bottom end of the second contact roller (10) is rotatably connected to an intermediate plate (32). The bottom of the intermediate plate (32) is movably connected to a plurality of first contact rollers (8). Steel wires (31) are respectively fixedly connected to the bottom ends of the second contact rollers (10). The steel wires (31) are fixedly connected to the first contact rollers (8).

8. The terahertz detection device for the blade of a wind turbine generator according to claim 7, characterized in that, The bottom end of the first contact roller (8) is movably connected to a mounting plate (33). A slot is provided at the top of the mounting plate (33). An adjusting cylinder (35) is rotatably connected inside the slot. A threaded rod (34) is threadedly connected to the top of the adjusting cylinder (35). The top end of the threaded rod (34) is fixedly connected to an adjusting motor (9). The adjusting motor (9) is rotatably connected to the detection robot (1). Two guide rods (36) are respectively slidably connected to both ends of the mounting plate (33).

9. The terahertz detection device for the blade of a wind turbine generator according to claim 8, characterized in that, The landing mechanism includes a safety cylinder (11) fixedly connected to the top of the detection robot (1). An expansion cylinder (48) is provided on the bottom inner wall of the safety cylinder (11). Ammonium nitrate and a heating wire are provided inside the expansion cylinder (48). A mounting cylinder (47) is inserted into the top of the expansion cylinder (48). A parachute is arranged inside the mounting cylinder (47) in a folding manner. A sealing cover (51) is sleeved on the top of the mounting cylinder (47). Connecting ropes (50) are respectively fixedly connected to both bottom sides of the mounting cylinder (47).

10. The terahertz detection device for the blade of a wind turbine generator according to claim 9, wherein, A plurality of fixing blocks (49) are arranged from one end to the other end of the connecting rope (50). The fixing blocks (49) are respectively fixedly connected to the outer walls of the detection robot (1), the first large arm (4), and the second large arm (6). A card slot is provided at the top of the fixing block (49). The connecting rope (50) is stuck inside the card slot.

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