Variable-diameter self-adaptive rotary flaw detection wind power tower inspection robot

Abstract

The invention discloses a variable-diameter self-adaptive rotary flaw detection wind power tower inspection robot. Relates to the technical field of wind power generation tower maintenance, and comprises a supporting assembly, a supporting assembly, a supporting assembly and a supporting assembly, and the supporting assembly comprises an annular guide rail and a hexagonal lantern ring; the driving device comprises frames and hub motor wheels, the multiple frames are arranged, each frame is provided with a hub motor, and the hub motor wheels are connected with the driving ends of the hub motors; the enclasping device comprises lower plates, a servo motor and mechanical clamping jaws, the two lower plates are connected with the bottom of the hexagonal lantern ring, the servo motor is arranged on the lower plates, the mechanical clamping jaws are connected with the driving end of the servo motor, and the two mechanical clamping jaws face the axis of the hexagonal lantern ring; and the flaw detection tackle is arranged on the annular guide rail. According to the variable-diameter self-adaptive rotary flaw detection wind power tower tube inspection robot, the overall structure of equipment is simple, assembly is convenient, no complex internal structure is included, and a wind power generation tower tube can be effectively detected.

Description

Technical Field

[0001] The present invention relates to the technical field, and more particularly to a wind power tower inspection robot with variable diameter adaptive rotation and flaw detection. Background Art

[0002] A wind turbine typically consists of a rotor, generator, and tower. The tower is the foundation of the entire structure, supporting heavy equipment like the rotor and gearbox, and transmitting the electricity generated by the generator to the ground. The tower, as a supporting component, is typically a frustum with a large diameter at the base and a small diameter at the top. The tower's diameter decreases from the bottom upwards. Its outer layer is typically steel and coated with a rust-resistant coating.

[0003] Because wind speeds increase with height, towers are typically taller. Existing wind turbine towers, subjected to long-term use and the impact of harsh environments and natural disasters, can cause coatings to exceed their service life, leading to powdering, flaking, blistering, and loosening of the old coating. This can also lead to rusting of the tower. If rust goes undetected, it can easily weaken the tower and pose a threat to the wind turbine tower. Wind turbine towers require regular maintenance and inspection, but their height and size make manual inspections risky and require the use of external equipment.

[0004] Therefore, how to provide a wind turbine tower inspection robot with novel structural design, which can be assembled, can adapt to changes in the tower structure, and can conduct efficient and all-round inspections with variable diameter adaptive rotation is a problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0005] In view of this, the present invention provides a wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection, which aims to solve one of the problems in the above-mentioned background technology and achieve.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection, comprising:

[0008] The support assembly includes an annular guide rail and a hexagonal collar, wherein the annular guide rail is arranged on the hexagonal collar, the annular guide rail and the hexagonal collar are coaxially arranged in correspondence, and the annular guide rail and the hexagonal collar are both arranged as a two-part splicing structure that can be disassembled in half;

[0009] The driving device includes a frame and a hub motor wheel, wherein the frame is provided in plurality and the plurality of frames are evenly distributed on the inner side of the hexagonal collar in a circumferential manner and all face the axis of the hexagonal collar. Each frame is provided with a hub motor, and the hub motor wheel is connected to the driving end of the hub motor.

[0010] The clamping device includes a lower plate, a servo motor, and a mechanical clamp. The lower plates are relatively arranged below the hexagonal collar, and the two lower plates are connected to the bottom of the hexagonal collar. The servo motor is arranged on the lower plate. The mechanical clamp is arranged below the lower plate and connected to the driving end of the servo motor. The two mechanical clamps face the axis of the hexagonal collar.

[0011] A flaw detection pulley is arranged on the annular guide rail.

[0012] Furthermore, the flaw detection pulley includes a pulley, a flaw detection sensor and a flaw detection motor. The pulley is slidably arranged on the annular guide rail, the flaw detection sensor is arranged on the pulley, and the flaw detection motor is provided on the flaw detection sensor, and the flaw detection motor is connected to the sliding rail.

[0013] Furthermore, the mechanical gripper is provided with a gear, and the mechanical gripper is connected to the driving end of the servo motor through the gear.

[0014] Furthermore, the two-part spliced structure of the annular guide rail and the hexagonal collar is symmetrically arranged.

[0015] Furthermore, the frame is connected to the hexagonal collar via a spring telescopic connecting rod, and the lower plate is connected to the bottom of the hexagonal collar via a connecting rod.

[0016] Furthermore, the hexagonal collar and the annular guide rail are configured as an integrated structure.

[0017] Furthermore, the two mechanical grippers are symmetrically arranged, and patterns are provided on opposite sides of the two mechanical grippers.

[0018] Through the above technical solutions, it can be seen that compared with the prior art, the present invention discloses a wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection, which has the following beneficial effects:

[0019] The telescopic spring connecting rod structure is used, which changes the extension and contraction according to the distance between the frame and the wind tower, so that multiple hub motor wheels are closely attached to the surface of the wind tower, thus achieving the purpose of self-adaptation, so as to adapt to crawling around the periphery of wind towers with different diameters;

[0020] The drive unit consists of multiple frames and hub motor wheels, which are evenly spaced to form a circle and move forward at a constant speed to achieve balance and prevent tilting during movement. At the same time, each frame is equipped with a hub motor wheel, which can fit tightly with the wind turbine tower, driving the wheel forward to achieve linear motion and prevent yaw. In addition, the hub motor wheel has a patterned structure. This texture structure is conducive to gripping the outer wall of the wind turbine tower, which can reduce the risk of slipping when encountering dust, water stains, etc. when crawling around the outside of the wind turbine tower.

[0021] The flaw detection trolley moves on the circular guide rail, and its motion trajectory is to rotate around the outer periphery of the wind turbine tower to inspect the surface of the wind turbine tower. It is convenient and fast, and there is no need for manual climbing for inspection. It is safe and efficient.

[0022] The clamping device is used to clamp the tower for repeated inspections when it is detected that the paint on the tower is peeling or cracks appear. In addition, when the wind is too strong or the robot fails, the wind turbine tower is clamped to prevent accidental falling and ensure safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1 This is a schematic structural diagram of the wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection provided by the present invention;

[0025] Figure 2 A bottom view of the wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection provided by the present invention;

[0026] Figure 3 A schematic structural diagram of the driving device provided by the present invention;

[0027] Figure 4 A top view of the wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection provided by the present invention;

[0028] Figure 5 This is a front view of the wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection provided by the present invention;

[0029] Figure 6 This is a left view of the wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection provided by the present invention;

[0030] Figure 7This is a schematic diagram of the installation of the wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection provided by the present invention.

[0031] Among them: 1 is the frame; 2 is the hub motor wheel; 3 is the spring telescopic connecting rod; 4 is the annular guide rail; 5 is the hexagonal ring; 6 is the connecting rod; 7 is the lower plate; 8 is the servo motor; 9 is the mechanical gripper; 10 is the pulley; 11 is the flaw detection sensor; 12 is the flaw detection motor. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] See also Figure 1-7 The embodiment of the present invention discloses a wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection, comprising:

[0034] The support assembly includes an annular guide rail 4 and a hexagonal collar 5. The annular guide rail 4 is arranged on the hexagonal collar 5. The annular guide rail 4 and the hexagonal collar 5 are coaxially arranged. The annular guide rail 4 and the hexagonal collar 5 are both configured as a two-part splicing structure that can be disassembled in half; they can be opened and enclosed to be arranged on the wind turbine tower;

[0035] The drive device includes a frame 1 and a hub motor wheel 2. Multiple frames 1 are provided, and the multiple frames 1 are evenly distributed on the inner side of the hexagonal collar 5 in a circular manner. The multiple frames 1 are all oriented toward the axis of the hexagonal collar 5. Each frame 1 is provided with a hub motor, and the hub motor wheel 2 is connected to the driving end of the hub motor. Specifically, six frames 1 are provided, and the six frames 1 are all oriented toward the axis of the hexagonal collar 5. Each frame 1 is provided with a hub motor. The hub motor wheel 2 is driven by the hub motor to closely adhere to the wind turbine tower to achieve axial movement. The hub motor wheel 2 is provided with grooves to increase its grip when in contact with the wind turbine tower.

[0036] The clamping device includes a lower plate 7, a servo motor 8 and a mechanical clamp 9. The lower plates 7 are relatively arranged below the hexagonal collar 5. The two lower plates 7 are connected to the bottom of the hexagonal collar 5. The servo motor 8 is arranged on the lower plate 7. The mechanical clamp 9 is arranged below the lower plate 7. The mechanical clamp 9 is connected to the driving end of the servo motor 8. The two mechanical clamps 9 face the axis of the hexagonal collar 5. When inspecting the wind power tower, when the wind force is too strong or when the robot fails, the servo motor 8 of the device is started, driving the gear in the mechanical clamp 9 to move, so that the mechanical clamp 9 clamps the wind power tower tightly.

[0037] The flaw detection pulley is set on the annular guide rail 4. The wind turbine tower is inspected by the flaw detection pulley. When it is detected that the paint surface of the wind turbine tower is peeling or cracks appear, the wind turbine tower is tightly held for repeated focused inspections.

[0038] In this embodiment, the flaw detection pulley includes a pulley 10, a flaw detection sensor 11 and a flaw detection motor 12. The pulley 10 is slidably arranged on the annular guide rail 4, the flaw detection sensor 11 is arranged on the pulley 10, and the flaw detection motor 12 is provided on the flaw detection sensor 11, and the flaw detection motor 12 is connected to the sliding connection; specifically, four pulleys 10 are arranged on the flaw detection sensor 11, and the flaw detection sensor 11 is driven by the flaw detection motor 12 through the four pulleys 10 to slide on the annular guide rail 4, thereby realizing 360-degree flaw detection of the periphery of the wind turbine tower during the movement of the robot.

[0039] In this embodiment, a gear is provided on the mechanical clamp 9, and the mechanical clamp 9 is connected to the driving end of the servo motor 8 through the gear; specifically, gears are provided at the ends of the two clamps of the mechanical clamp 9 that are close to each other, and the gears are driven to rotate by the servo motor 8, and the two clamps are grasped to achieve clamping of the wind turbine tower.

[0040] In this embodiment, the two-part spliced structure of the annular guide rail 4 and the hexagonal collar 5 is symmetrically arranged so as to be opened and enclosed on the wind power tower when in use.

[0041] In this embodiment, the frame 1 is connected to the hexagonal collar 5 through a spring telescopic link 3, and the lower plate 7 is connected to the bottom of the hexagonal collar 5 through a connecting rod 6; the spring telescopic link 3 structure can be extended and shortened as the hub motor wheel 2 crawls, that is, the distance between the frame 1 and the hexagonal collar 5 changes. During the crawling process, such as when crawling from the lower end of the wind turbine tower, the spring is in a compressed state and the telescopic link is in a contracted state. During the crawling process toward the top of the wind turbine tower, because the diameter of the wind turbine tower gradually becomes smaller, the size of the connected hexagonal collar 5 is fixed, and as it crawls toward the top, the spring The spring gradually stretches, and the telescopic link also stretches accordingly to adapt to the diameter of the wind tower at that time, so that the hub motor wheel 2 is in close contact with the surface of the wind tower. In order to smoothly crawl to the top of the wind tower for inspection, while ensuring that the hub motor wheel 2 is in close contact with the surface of the wind tower, the length of the spring telescopic link 3 can be changed when dealing with wind towers of different diameters to achieve the purpose of self-adaptation. It has a wide range of applications and is not limited to the inspection of one type of wind tower. It is more practical. The annular diameter is adjusted by the contraction and extension of the spring telescopic link 3 structure to adapt to the diameter change of the wind tower.

[0042] In this embodiment, the hexagonal collar 5 and the annular guide rail 4 are configured as an integrated structure to improve stability.

[0043] In this embodiment, the two mechanical grippers 9 are symmetrically arranged, and the opposite sides of the two mechanical grippers 9 are provided with textures, which can increase the gripping ability when contacting the wind power tower.

[0044] Specific implementation methods

[0045] The various parts are installed on the wind turbine tower, and the entire device has a symmetrical structure. After the installation is completed, the drive device is started, and the hub motor drives the hub motor wheel 2 to drive the entire device to move. The six hub motor wheels 2 have the same speed and move forward at a constant speed. As they move toward the top of the wind turbine tower, the spring telescopic connecting rod 3 gradually extends to adapt to the change in the diameter of the wind turbine tower;

[0046] During the movement, when the flaw detection sensor 11 detects that the surface protective coating of the wind power tower is damaged, the clamping device is started, and the servo motor 8 drives the gear to move so that the mechanical clamp 9 starts to clamp the wind power tower, so that the entire device is fixed. At this time, the flaw detection pulley rotates around the tower for multiple circles on the annular guide rail 4, and repeatedly detects the protective coating on the surface of the wind power tower. After the detection is completed and recorded, the mechanical clamp 9 opens, and the hub motor wheel 2 continues to crawl to detect other protective coatings. This is carried out in sequence to complete the detection of the wind power tower from the bottom to the top.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0048] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection, characterized in that: include: The support assembly includes an annular guide rail and a hexagonal collar, wherein the annular guide rail is arranged on the hexagonal collar, the annular guide rail and the hexagonal collar are coaxially arranged in correspondence, and the annular guide rail and the hexagonal collar are both arranged as a two-part splicing structure that can be disassembled in half; The driving device includes a frame and a hub motor wheel, wherein the frame is provided in plurality and the plurality of frames are evenly distributed on the inner side of the hexagonal collar in a circumferential manner and all face the axis of the hexagonal collar. Each frame is provided with a hub motor, and the hub motor wheel is connected to the driving end of the hub motor. The clamping device includes a lower plate, a servo motor, and a mechanical clamp. The lower plates are relatively arranged below the hexagonal collar, and the two lower plates are connected to the bottom of the hexagonal collar. The servo motor is arranged on the lower plate. The mechanical clamp is arranged below the lower plate and connected to the driving end of the servo motor. The two mechanical clamps face the axis of the hexagonal collar. A flaw detection pulley is arranged on the annular guide rail.

2. The wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection according to claim 1 is characterized in that: The flaw detection pulley includes a pulley, a flaw detection sensor and a flaw detection motor. The pulley is slidably arranged on the annular guide rail, the flaw detection sensor is arranged on the pulley, and the flaw detection motor is provided on the flaw detection sensor. The flaw detection motor is connected to the sliding rail.

3. The wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection according to claim 1 is characterized in that: The mechanical clamp is provided with a gear, and the mechanical clamp is connected to the driving end of the servo motor through the gear.

4. The wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection according to claim 1 is characterized in that: The two-part splicing structure of the annular guide rail and the hexagonal collar is symmetrically arranged.

5. The wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection according to claim 1 is characterized in that: The vehicle frame is connected to the hexagonal collar through a spring telescopic connecting rod, and the lower plate is connected to the bottom of the hexagonal collar through a connecting rod.

6. The wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection according to claim 1, characterized in that: The hexagonal collar and the annular guide rail are configured as an integrated structure.

7. The wind turbine tower inspection robot with variable diameter adaptive rotation flaw detection according to claim 3 is characterized in that: The two mechanical clamps are symmetrically arranged, and patterns are provided on opposite sides of the two mechanical clamps.

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