Wind power tower weld joint detection wall-climbing robot integrated with ACFM probe

Abstract

The invention provides a wind power tower weld joint detection wall-climbing robot integrated with an ACFM probe, belongs to the technical field of wind power equipment detection, and can at least partially solve the problems of low detection efficiency, high safety risk, poor environmental adaptability and the like due to the fact that manual climbing operation is needed in an existing method. In order to solve the problems of unstable detection precision and high working intensity caused by the fact that the traditional detection process is easily influenced by weather, a surface coating and human factors, the invention provides the ACFM detector which comprises a shell and a cover movably arranged on the shell, and a bracket, a transmission assembly, an adsorption assembly, a clamping assembly, a longitudinal walking assembly and an ACFM probe are arranged in the shell, through cooperation of the suction cup, the transmission assembly and the clamping assembly, the robot can keep stable movement on the curved surface of the tower; through the ACFM probe, crack detection without removing the coating is realized, and the detection precision and efficiency are ensured; the cleaning plate assembly keeps the detection face of the probe clean in the operation process of the robot, and signal accuracy is ensured.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wind power equipment detection, and particularly relates to a wind power tower drum weld joint detection wall-climbing robot integrated with an ACFM probe. BACKGROUND

[0002] The wind power tower drum is an important load-bearing structure of a wind turbine generator unit, which is mainly welded by a plurality of steel drum segments. The tower drum needs to bear wind load, self weight and dynamic stress in the operation process for a long time, and the weld joint part is prone to fatigue cracks, corrosion and other defects, which seriously affects the structural safety and the reliability of the wind turbine generator unit operation. Therefore, the periodic detection and state evaluation of the wind power tower drum weld joint are of great significance. The common weld joint detection methods currently include visual detection, ultrasonic detection, ray detection, magnetic powder detection and eddy current detection.

[0003] However, the existing methods usually need manual climbing operation, and have problems of low detection efficiency, high safety risk, poor environmental adaptability and the like. In the traditional detection process, the detection personnel need to carry equipment to climb to a high place of the tower drum for operation, are easily affected by weather, surface coating and human factors, the detection precision is unstable, and the working strength is large. Therefore, the present application provides a wind power tower drum weld joint detection wall-climbing robot integrated with an ACFM probe. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the prior art, and provides a wind power tower drum weld joint detection wall-climbing robot integrated with an ACFM probe.

[0005] The present application provides a wind power tower drum weld joint detection wall-climbing robot integrated with an ACFM probe, which comprises a shell and a cover movably arranged on the shell, and the shell is provided with: a support, one end of the support is fixedly connected with the cover, and a plurality of groups of tooth blocks meshing with a gear transmission assembly are arranged on the support; the gear transmission assembly; a suction assembly, comprising a mounting plate meshing with the gear transmission assembly through a tooth plate and a suction disc arranged at one end of the mounting plate, the tooth plate is fixed on the side surface of the mounting plate, so as to realize the suction and separation of the suction disc on the surface of the tower drum during work; a clamping assembly, comprising an electric push rod fixed on the support, a pair of clamping plates with one side of the clamping plates connected with the movable end of the electric push rod, and a synchronous mechanism connected with the clamping plate group and driving the opposite clamping plate, so as to clamp and fix the wall-climbing robot on the surface of the tower drum during work; A longitudinal walking assembly, comprising a motor arranged inside the clamp plate group, and at least two rollers connected with the motor and in contact with the surface of the tower drum during operation, for driving the clamp assembly to move along the weld seam direction relative to the shell during operation; and An ACFM probe arranged at the end surface of the clamp plate group away from the synchronization mechanism, a detection surface of the ACFM probe being opposite to the outer surface of the tower drum during operation and maintaining a set gap, and a scanning reference line on the detection surface being collinear with or at a fixed angle with the weld seam track.

[0006] Further, the gear transmission assembly comprises a first gear engaged with the toothed block, a first connecting shaft connected with the first gear, a first bevel gear arranged on the first connecting shaft, a second bevel gear engaged with the first bevel gear, a second connecting shaft connected with the second bevel gear, and a second gear arranged on the second connecting shaft and engaged with the toothed plate.

[0007] Specifically, one end of the first connecting shaft is rotatably arranged on the shell, one end of the second connecting shaft is rotatably arranged on the shell, and the suction disc is a vacuum suction disc.

[0008] Specifically, a first sliding groove is arranged on the inner wall of the shell at a position corresponding to the mounting plate, and the mounting plate is movably arranged in the first sliding groove.

[0009] Preferably, the clamp assembly further comprises a sliding rail arranged on the support and a sliding block movably arranged in the sliding rail, the sliding block being connected with the clamp plate group to ensure the movement stability of the clamp plate group during operation.

[0010] Specifically, the shell is provided with a locking assembly for fixing the cover at a position corresponding to the mounting position of the cover, the locking assembly comprising a handle arranged on the shell and connected with a mounting shaft through a connecting shaft, one end of the mounting shaft being provided with a clamping block, and the shell and the cover being provided with a movable slot at positions corresponding to the mounting shaft.

[0011] Further, a spring is arranged on the side surface of the mounting shaft, one end of the spring being fixedly connected with the side surface of the mounting shaft, and the other end of the spring being fixedly connected with the inner wall of the movable slot of the shell.

[0012] Further, a second sliding groove is symmetrically arranged on the inner side surface of the shell, an L-shaped plate being movably arranged in the second sliding groove, one end of the L-shaped plate being movably clamped in the second sliding groove, and the other end of the L-shaped plate being fixedly connected with the cover.

[0013] Further, the synchronous mechanism comprises an adjusting shaft rotatably arranged on the support, two ends of the adjusting shaft are fixedly connected with a first connecting arm and a second connecting arm respectively, the first connecting arm is hinged with the first connecting plate, the second connecting arm is hinged with the second connecting plate, the first connecting plate is hinged with the one side clamping plate, and the second connecting plate is hinged with the opposite side clamping plate; wherein the first connecting plate and the second connecting plate are equal in length, so as to drive the one side clamping plate and the opposite side clamping plate to move equidistantly towards or away from each other when the adjusting shaft rotates.

[0014] Specifically, a cleaning plate assembly is arranged above the front end of the shell, the cleaning plate assembly is connected with the shell through a connecting rod, and the cleaning plate assembly is located in front of the ACFM probe in the advancing direction, so as to contact and clean the tower surface and the ACFM probe during work.

[0015] The beneficial effects of the present application are as follows: By cooperation of the suction cup, the transmission assembly and the clamping assembly, the robot can keep stable movement on the curved surface of the tower; by the ACFM probe, crack detection without removing the coating is realized, and detection accuracy and efficiency are ensured; the cleaning plate assembly keeps the detection surface of the probe clean during robot operation, and ensures signal accuracy; the robot replaces manual high-altitude operation, reduces risks, and improves detection efficiency; the storage structure such as the rotating handle and the clamping block makes the robot convenient to carry and reuse, and is suitable for multi-station detection of wind power plants. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a perspective view of a wind tower weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 2 FIG. 2 is a rear view of a wind tower weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 3 FIG. 3 is a schematic view of the internal structure of a wind tower weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 4 FIG. 4 is a side view of a support and a clamping assembly of a wind tower weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 5 FIG. 5 is a schematic view of a clamping assembly structure of a wind tower weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 6 FIG. 6 is a schematic view of a longitudinal walking assembly structure of a wind tower weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 7A schematic structural diagram of a transmission assembly of a wind power tower drum weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 8 A schematic diagram of the internal structure of a machine shell of a wind power tower drum weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application; Figure 9 A schematic structural diagram of a locking assembly of a wind power tower drum weld detection wall climbing robot integrated with an ACFM probe according to an embodiment of the present application.

[0017] Wherein, 1 machine shell, 2 machine cover, 3 bracket, 4 L-shaped plate, 5 tooth block, 6 gear transmission assembly, 61 first connecting shaft, 62 first bevel gear, 63 first gear, 64 second bevel gear, 65 second connecting shaft, 66 second gear, 67 toothed plate, 68 mounting plate, 7 suction cup, 8 clamping assembly, 81 electric push rod, 82 clamping plate group, 83 adjusting shaft, 84 connecting plate assembly, 85 sliding rail, 86 sliding block, 9 ACFM probe, 10 longitudinal walking assembly, 101 motor, 102 roller, 11 first sliding groove, 12 second sliding groove, 13 connecting rod, 14 cleaning plate assembly, 15 mounting shaft, 16 connecting rotating shaft, 17 rotating handle, 18 spring, 19 clamping block. DETAILED DESCRIPTION

[0018] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be described in further detail below in conjunction with the drawings and specific embodiments.

[0019] Alternating Current Field Measurement (ACFM) is an advanced non-destructive testing method. This method identifies the presence and size of defects by introducing an alternating current on the metal surface and measuring the electromagnetic field distortion caused by cracks or defects. Compared with traditional testing methods, ACFM technology has the following advantages: no need to remove the corrosion protection coating during testing, can directly test under coating coverage; can realize quantitative analysis of crack location, length and depth; relatively simple operation, can realize online testing and data recording; especially suitable for weld detection of large volume steel structures such as wind power towers.

[0020] As shown in Figure 1 , Figure 3 , Figure 4 , Figure 6 , Figure 7 indicates that the wind power tower drum weld detection wall climbing robot integrated with an ACFM probe according to the embodiment of the present application comprises a machine shell 1 and a machine cover 2 movably arranged on the machine shell 1, and the machine shell 1 is provided with: A bracket 3 is connected and fixed with the cover 2 at one end, and a plurality of groups of tooth blocks 5 are arranged on the bracket 3 and engaged with the gear transmission assembly; the gear transmission assembly 6; the suction assembly includes a mounting plate 68 engaged with the gear transmission assembly through a toothed plate 67 and a suction disc 7 arranged at one end of the mounting plate 68, and the toothed plate 67 is fixed on the side of the mounting plate 68 to realize the suction and separation of the suction disc 7 on the surface of the tower drum during the working process; the clamping assembly includes an electric push rod 13 fixed on the bracket 3, a pair of clamping plates 82 arranged in pairs and connected with the movable end of the electric push rod on one side, and a synchronous mechanism connected with the clamping plate group 82 and driving the clamping plate on the other side, so as to clamp and fix the wall climbing robot on the surface of the tower drum during the working process; the longitudinal walking assembly 10 includes a motor 101 arranged inside the clamping plate group 82 and at least two rollers 102 connected with the motor 101 and in contact with the surface of the tower drum during the working process, so as to drive the clamping assembly 8 to move along the weld direction relative to the shell 1 during the working process; and the ACFM probe 9 is arranged on the side end face of the clamping plate group 82 away from the synchronous mechanism, the detection surface of the ACFM probe 9 is opposite to the outer surface of the tower drum during the working process and maintains a set gap, and the scanning reference line on the detection surface is collinear with or at a fixed angle with the weld trajectory; the surface of the roller 102 is made of high friction coefficient material.

[0021] Specifically, the shell 1 is a main body frame, which internally accommodates the transmission and longitudinal walking mechanism; the cover 2 is connected with the shell 1, which is used for protecting the internal components and providing a mounting base; the L-shaped plate 4 slides along the second sliding groove 12 inside the shell 1, while the tooth block 5 drives the first gear 63 to rotate, the first gear 63 drives the first bevel gear 62 through the first connecting shaft 61, and then drives the second gear 66 through the second bevel gear 64 and the second connecting shaft 65; the second gear 66 drives the toothed plate 67 to slide along the first sliding groove 11, thereby driving the mounting plate 68 and the suction disc 7 to make periodic detachment actions; When the suction disc 7 is separated from the tower drum, the roller 102 continues to push the robot to rise; when the L-shaped plate 4 rises to the limit of stroke, the shell as a whole rises.

[0022] Further, the gear transmission assembly 6 includes the first gear 63 engaged with the tooth block 5, the first connecting shaft 61 connected with the first gear 63, the first bevel gear 62 arranged on the first connecting shaft 61, the second bevel gear 64 engaged with the first bevel gear 62, the second connecting shaft 65 connected with the second bevel gear 64, and the second gear 66 arranged on the second connecting shaft 65, and the second gear 66 is engaged with the toothed plate 67; one end of the first connecting shaft 61 is rotatably arranged on the shell 1, one end of the second connecting shaft 65 is rotatably arranged on the shell 1, and the suction disc 7 is a vacuum suction disc.

[0023] Furthermore, as the robot gradually ascends, the ACFM probe 9 continuously inspects the weld surface. When the ACFM probe 9 moves on the tower weld, it can collect electromagnetic field distortion signals caused by cracks or defects in real time and transmit the data to the ground inspection terminal. The inspection software can automatically analyze the crack location, length, and depth to form a defect distribution map.

[0024] Based on the above basic implementation method, such as Figure 2 , Figure 8 As shown, the inner wall of the housing 1 is provided with a first slide groove 11 at the corresponding position of the mounting plate 67, and the mounting plate 68 is movably disposed in the first slide groove 11.

[0025] Specifically, the clamping assembly 8 also includes a slide rail 85 disposed on the bracket 3 and a slider 86 slidably disposed within the slide rail 85. The slider 86 is connected to the clamping plate assembly 82 to ensure the movement stability of the clamping plate assembly 82 during operation.

[0026] In one specific implementation, such as Figure 9 As shown, the housing 1 is provided with a locking component for fixing the cover 2 at the corresponding installation position of the cover 2. The locking component includes a handle 17 provided on the housing 1. The handle 17 is connected to the mounting shaft 15 through a connecting shaft 16. A locking block 19 is provided at one end of the mounting shaft 15 facing the cover 2. The housing 1 and the cover 2 are provided with movable grooves at the corresponding positions of the mounting shaft 15.

[0027] In this embodiment, after the inspection is completed, the operator turns the handle 17 to release the spring 18, which drives the telescopic shaft 15 to push the locking block 19 to slide inside the housing 1, so that the locking block 19 enters the cover 2, thereby realizing the structural fixation and storage of the housing 1 and the cover 2; the entire robot is folded into a portable state, which is convenient to disassemble and carry to the next inspection station.

[0028] Furthermore, a spring 18 is provided on the side of the mounting shaft 15. One end of the spring 18 is connected and fixed to the side of the mounting shaft 15, and the other end of the spring 18 is connected and fixed to the inner wall of the movable groove of the housing 1.

[0029] In another specific embodiment, a second slide groove 12 is symmetrically provided on the inner side of the housing 1. An L-shaped plate 4 is movably disposed in the second slide groove 12. One end of the L-shaped plate 4 is movably locked in the second slide groove 12, and the other end of the L-shaped plate 4 is connected and fixed to the cover 2.

[0030] Specifically, a linear guide rail is formed by the cooperation of the L-shaped plate 4 and the second slide groove 12. The cover 2 and the bracket 3 are constrained to translate along the direction of the second slide groove 12 by the cooperation of the L-shaped plate 4 and the second slide groove 12, so as to avoid rotation and sway.

[0031] In one specific implementation, such asFigure 5 As shown, the synchronous mechanism comprises an adjusting shaft 83 rotatably arranged on the bracket 3, two ends of the adjusting shaft 83 are fixedly connected with a first connecting arm and a second connecting arm respectively, the first connecting arm is hingedly connected with a first connecting plate, the second connecting arm is hingedly connected with a second connecting plate, the first connecting plate is hingedly connected with one side of the clamping plate, the second connecting plate is hingedly connected with the opposite side of the clamping plate; wherein the first connecting plate and the second connecting plate are equal in length, so as to drive the one side of the clamping plate and the opposite side of the clamping plate to move equidistantly towards or away from each other when the adjusting shaft rotates; the first connecting arm, the second connecting arm, the first connecting plate and the second connecting plate form a connecting plate assembly 84.

[0032] In this embodiment, during clamping, the electric push rod 81 pushes the one side of the clamping plate to slide along the slide rail 85; the movement of the one side of the clamping plate 82 drives the adjusting shaft 83 to rotate, and the adjusting shaft 83 drives the first connecting plate 84 to rotate, so as to synchronously move the opposite side of the clamping plate; the clamping plate group clamps the tower drum curved surface to form stable adhesion; the sliding block 86 slides on the slide rail 85 to ensure stable movement of the clamping plate and avoid misalignment of the ACFM probe 9 due to deflection.

[0033] Specifically, the front end of the shell 1 is provided with a cleaning plate assembly 14, the cleaning plate assembly 14 is connected with the shell 1 through a connecting rod 13, and the cleaning plate assembly 14 is located in front of the forward direction of the ACFM probe 9, so as to contact and clean the tower drum surface and the ACFM probe 9 during work; the cleaning plate assembly 14 comprises a segmented rigid ring, a tensioned surrounding belt, a micro inflatable bag and a probe cleaning plate, is hingedly connected into a near circular ring by multiple aluminum alloy segments, is sleeved on the tower drum surface, and an inner side is attached with a ring of cleaning sponge strips; a flexible surrounding belt on the outer periphery is self-tightened through a ratchet tensioner or a micro motor belt winder; a small cross-section inflatable bag is arranged on the back of the cleaning sponge strip to provide uniform and adjustable normal adhesion force, automatically compensates the diameter change and roundness error of the tower drum, and a probe cleaning plate is correspondingly arranged at the ACFM probe 9.

[0034] In another specific embodiment, the working process of the robot is as follows: S1, first place the wall climbing robot at the starting position of the weld of the wind turbine tower to be detected, and the suction cup 7 is adsorbed on the outer wall surface of the tower; then the electric push rod 81 is started to push the clamping plate group 82 to move along the slide rail 85 and clamp the tower drum curved surface; after clamping is completed, the position of the cleaning plate assembly 14 is adjusted according to the diameter of the tower drum, so that one side of the cleaning plate assembly 14 is coplanar with the detection surface of the ACFM probe 9; then the ACFM probe 9 is started to establish a baseline electromagnetic field on the weld surface, ready for detection; S2, when the robot needs to automatically rise along the weld, first start the motor 101, drive the roller 102 to rotate on the surface of the tower drum; the roller 102 drives the clamping assembly 8, the cover 2, the support 3, the L-shaped plate 4 to rise as a whole, the L-shaped plate 4 slides in the inside of the casing 1 through the second sliding groove 12; at the same time, the support 3 drives the gear block 5 to rotate the first gear wheel 63, the first gear wheel 63 drives the first bevel gear 62 through the first connecting shaft 61, and then drives the second gear wheel 66 through the second bevel gear 64 and the second connecting shaft 65; the second gear wheel 66 drives the toothed plate 67 and the mounting plate 68 to slide in the inside of the casing 1, so that the suction cup 7 is sequentially separated from the surface of the tower drum; when the L-shaped plate 4 rises to the highest position in the inside of the casing 1, the casing 1 rises as a whole; at this time, the roller 102 gradually climbs to the vicinity of the end of the weld and is sequentially separated from the surface of the tower drum; when the last roller 102 is separated, the motor 101 stops running; at this time, the cleaning plate assembly 14 is tightened and rubs against the surface of the tower drum, and the cover 2, the support 3, the L-shaped plate 4 and the clamping assembly 8 fall back to the inside of the casing 1 under the action of gravity, and the transmission assembly 6 drives the suction cup 7 to slide again and re-adsorb on the surface of the tower drum, so as to complete a cycle of automatic rising.

[0035] Further, while the robot is automatically rising, the ACFM probe 9 will periodically pass through the surface of the cleaning plate assembly 14, and the detection surface is cleaned, so as to maintain the accuracy of the detection signal and avoid the influence of dust, water stains or coating fragments on the electromagnetic field detection result; after the robot is stably attached, the ACFM probe 9 is started, and an alternating current field is formed on the surface of the weld; the probe collects electromagnetic field data in real time through the built-in sensing coil, and establishes the baseline signal of the weld area; at this time, the cleaning plate assembly 14 can preliminarily wipe the detection surface of the ACFM probe 9, so as to ensure that the detection surface is dust-free and water stain-free.

[0036] Further, the robot is provided with a gap / displacement sensor on the side of the ACFM probe 9; a clamping force sensor is arranged on the clamping plate and the push rod; a normal force / displacement sensor is arranged at each roller swing arm; the motor 101 is provided with an encoder; a line laser and a camera are used for weld tracking to measure the lateral deviation and the heading angle; the cleaning / probe micro-actuator is provided with a travel switch / limit; a traction force sensor is arranged on the cable / drum; current / temperature sensors are arranged on the electrical side to make fault prediction. The external controller is an industrial embedded main control / micro-PLC, which is provided with a brushless / stepping motor driver, a safety relay / emergency stop circuit, a 24V power supply, EMI filtering / isolation and an external communication module.

[0037] In order to help better understand the present application, a more comprehensive and specific embodiment of the present application is described, in which the present application provides a wind power tower drum weld detection wall climbing robot integrated with an ACFM probe, which comprises a casing 1 and a cover 2 movably arranged on the casing 1, and the casing 1 is provided with: A support 3 is connected and fixed with the cover 2, and a plurality of groups of tooth blocks 5 are arranged on the support 3 and engaged with a gear transmission assembly; the gear transmission assembly 6; a suction assembly, including a mounting plate 68 engaged with the gear transmission assembly through a toothed plate 67 and a suction disc 7 arranged at one end of the mounting plate 68, the toothed plate 67 is fixed on the side of the mounting plate 68, so as to realize the suction and separation of the suction disc 7 on the surface of the tower drum during the working process; a clamping assembly, including an electric push rod 13 fixed on the support 3, a pair of clamping plates 82 arranged in pairs and connected with the movable end of the electric push rod on one side, and a synchronization mechanism connected with the clamping plate group 82 and driving the clamping plate on the other side, so as to clamp and fix the wall climbing robot on the surface of the tower drum during the working process; a longitudinal walking assembly 10, including a motor 101 arranged in the clamping plate group 82 and at least two rollers 102 connected with the motor 101 and in contact with the surface of the tower drum during the working process, so as to drive the clamping assembly 8 to move along the weld direction relative to the shell 1 during the working process; and an ACFM probe 9 arranged on the end surface of the clamping plate group 82 away from the synchronization mechanism, the detection surface of the ACFM probe 9 is opposite to the outer surface of the tower drum during the working process and maintains a set gap, and the scanning reference line on the detection surface is collinear with or forms a fixed angle with the weld trajectory.

[0038] In the embodiment, the gear transmission assembly includes a first gear 63 engaged with the tooth block 5, a first connecting shaft 61 connected with the first gear 63, a first bevel gear 62 arranged on the first connecting shaft 61, a second bevel gear 64 engaged with the first bevel gear 62, a second connecting shaft 65 connected with the second bevel gear 64, and a second gear 66 arranged on the second connecting shaft 65, the second gear 66 is engaged with the toothed plate 67; one end of the first connecting shaft 61 is rotatably arranged on the shell 1, one end of the second connecting shaft 65 is rotatably arranged on the shell 1, and the suction disc 7 is a vacuum suction disc; a first sliding groove 11 is arranged on the inner wall of the shell 1 at the corresponding position of the mounting plate 67, and the mounting plate 68 is movably arranged in the first sliding groove 11; the clamping assembly 8 further includes a sliding rail 85 arranged on the support 3 and a sliding block 86 slidably arranged in the sliding rail 85, the sliding block 86 is connected with the clamping plate group 82, so as to ensure the movement stability of the clamping plate group 82 during the working process.

[0039] Further, the shell 1 is provided with a locking assembly for fixing the cover 2 at the corresponding mounting position of the cover 2, the locking assembly comprises a handle 17 arranged on the shell 1, the handle 17 is connected with the mounting shaft 15 through the connecting shaft 16, one end of the mounting shaft 15 is provided with a clamping block 19, the shell 1 and the cover 2 are provided with a movable slot at the corresponding position of the mounting shaft 15; the side surface of the mounting shaft 15 is provided with a spring 18, one end of the spring 18 is fixedly connected with the side surface of the mounting shaft 15, and the other end of the spring 18 is fixedly connected with the inner wall of the movable slot of the shell 1; the inner side surface of the shell 1 is symmetrically provided with a second sliding groove 12, an L-shaped plate 4 is movably arranged in the second sliding groove 12, one end of the L-shaped plate 4 is movably clamped in the second sliding groove 12, and the other end of the L-shaped plate 4 is fixedly connected with the cover 2; the synchronous mechanism comprises an adjusting shaft 83 rotatably arranged on the bracket 3, the two ends of the adjusting shaft 83 are respectively fixedly connected with a first connecting arm and a second connecting arm, the first connecting arm is hingedly connected with a first connecting plate, the second connecting arm is hingedly connected with a second connecting plate, the first connecting plate is hingedly connected with one side of a clamping plate, and the second connecting plate is hingedly connected with the other side of the clamping plate; wherein, the first connecting plate and the second connecting plate are equal in length, so as to drive the one side of the clamping plate and the other side of the clamping plate to move equidistantly towards or away from each other when the adjusting shaft rotates; the first connecting arm, the second connecting arm, the first connecting plate and the second connecting plate form a connecting plate assembly 84; a cleaning plate assembly 14 is arranged above the front end of the shell 1, the cleaning plate assembly 14 is connected with the shell 1 through a connecting rod 13, and the cleaning plate assembly 14 is located in front of the forward direction of the ACFM probe 9, so as to contact and clean the surface of the tower drum and the ACFM probe 9 during the working process.

[0040] To sum up, the embodiments of the present disclosure have at least the following technical effects: Adsorption + clamping "double insurance": vacuum / magnetic chuck and electric push rod driven clamping plate group cooperate, significantly improve the adhesion reliability on the tower drum curved surface, avoid slipping or falling off; Synchronous mechanism equidistant clamping: adjusting shaft + equal length connecting plate four-bar linkage, ensure that the two sides of the clamping plate move equidistantly towards or away from each other, balanced force, stable clamping, not easy to deviate; Guiding and anti-deflection: slide rail-slip block, first / second sliding groove and L-shaped plate constitute linear guidance, constrain the translation of the clamping plate relative to the shell and the cover, inhibit rotation and deflection, improve the smoothness of operation; Longitudinal walking closed loop: built-in motor driven roller and tower drum surface rolling friction matching, realize controllable uniform speed climbing along the weld direction, good adaptability to different spraying / roughness surfaces; Gear-toothed plate transmission: multi-stage gear / bevel gear meshing with toothed plate, programmatic control of adsorption and separation of chuck, forming "segmented relay" wall climbing rhythm; Constant attitude and gap: ACFM probe is installed on the end face away from the synchronization mechanism, the detection surface maintains a set gap with the outer surface of the tower drum, and the scanning reference line is collinear or angular with the weld trajectory, improving positioning and repeatability; Online data acquisition and analysis: The probe collects electromagnetic field distortion in real time during movement, the software automatically analyzes the crack position, length and depth, and generates a defect distribution map, supporting rapid damage judgment and traceability; Self-cleaning detection surface: The probe periodically sweeps the cleaning plate assembly to remove dust and water stains, suppress signal drift and noise, and ensure data stability and accuracy during long-term operation.

[0041] It can be understood that the above embodiments are only exemplary embodiments adopted for illustrating the principles of the present application, and the present application is not limited thereto. Various modifications and improvements can be made by those of ordinary skill in the art without departing from the spirit and essence of the present application, and these modifications and improvements are also considered within the protection scope of the present application.

Claims

1. A wall-climbing robot for inspecting weld seams in wind turbine towers with an integrated ACFM probe, characterized in that, Includes a housing and a cover movably mounted on the housing, the housing containing: A bracket, one end of which is connected and fixed to the cover, and the bracket is provided with multiple sets of tooth blocks that mesh with the gear transmission assembly; The gear transmission assembly; The adsorption assembly includes a mounting plate that meshes with the gear transmission assembly via a toothed plate and a suction cup disposed at one end of the mounting plate. The toothed plate is fixed to the side of the mounting plate to enable the adsorption and detachment of the suction cup on the surface of the tower during operation. The clamping assembly includes an electric push rod fixed on the bracket, a pair of clamping plates with one side clamping plate connected to the movable end of the electric push rod, and a synchronization mechanism connecting the clamping plate group and driving the opposite side clamping plate, for clamping and fixing the wall-climbing robot on the surface of the tower during operation. The longitudinal travel assembly includes a motor disposed inside the clamping plate assembly and at least two rollers connected to the motor and in contact with the tower surface during operation, for driving the clamping assembly to move relative to the housing along the weld direction during operation; as well as An ACFM probe is disposed on the side of the clamping plate assembly facing away from the synchronization mechanism. When the ACFM probe is in operation, the detection surface of the ACFM probe is opposite to the outer surface of the tower and maintains a set gap. The scanning reference line on the detection surface is collinear with the weld trajectory or forms a fixed angle with it.

2. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 1, characterized in that, The gear transmission assembly includes a first gear meshing with the tooth block, a first connecting shaft connecting the first gear, a first bevel gear disposed on the first connecting shaft, a second bevel gear meshing with the first bevel gear, a second connecting shaft connected to the second bevel gear, and a second gear disposed on the second connecting shaft, wherein the second gear meshes with the tooth plate.

3. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 2, characterized in that, One end of the first connecting shaft is rotatably mounted on the housing, and one end of the second connecting shaft is rotatably mounted on the housing. The suction cup is a vacuum suction cup.

4. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 1, characterized in that, The inner wall of the housing is provided with a first sliding groove at the corresponding position of the mounting plate, and the mounting plate is movably disposed in the first sliding groove.

5. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 1, characterized in that, The clamping assembly also includes a slide rail disposed on the bracket and a slider slidably disposed within the slide rail. The slider is connected to the clamping plate assembly to ensure the movement stability of the clamping plate assembly during operation.

6. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 1, characterized in that, The housing is provided with a locking assembly for fixing the cover at the corresponding installation position of the cover. The locking assembly includes a handle on the housing, which is connected to the mounting shaft via a connecting shaft. A locking block is provided at the end of the mounting shaft facing the cover. The housing and the cover are provided with movable grooves at the corresponding positions of the mounting shaft.

7. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 6, characterized in that, A spring is provided on the side of the mounting shaft. One end of the spring is connected and fixed to the side of the mounting shaft, and the other end of the spring is connected and fixed to the inner wall of the movable groove of the housing.

8. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 1, characterized in that, The inner side of the housing is symmetrically provided with a second sliding groove. An L-shaped plate is movably disposed in the second sliding groove. One end of the L-shaped plate is movably locked in the second sliding groove, and the other end of the L-shaped plate is connected and fixed to the cover.

9. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to claim 1, characterized in that, The synchronization mechanism includes an adjusting shaft rotatably mounted on the bracket. The two ends of the adjusting shaft are respectively fixedly connected to a first connecting arm and a second connecting arm. The first connecting arm is hinged to a first connecting plate, and the second connecting arm is hinged to a second connecting plate. The first connecting plate is hinged to the side clamping plate, and the second connecting plate is hinged to the opposite side clamping plate. The first connecting plate and the second connecting plate are of equal length, so as to drive the side clamping plate and the opposite side clamping plate to move equidistantly towards or away from each other when the adjusting shaft rotates.

10. The wind turbine tower weld inspection climbing robot with integrated ACFM probe according to any one of claims 1 to 9, characterized in that, A cleaning plate assembly is provided above the front end of the housing. The cleaning plate assembly is connected to the housing via a connecting rod. The cleaning plate assembly is located in front of the ACFM probe in the forward direction to contact the tower surface and clean the tower surface and the ACFM probe during operation.

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