Electric drive support for wind power blade inner cavity deformation visual identification equipment and position control strategy

Abstract

The invention relates to the technical field of wind power blade internal detection equipment, and discloses an electric drive support for wind power blade inner cavity deformation visual identification equipment and a position control strategy. The device comprises two electric drive supports and a detection device, the electric drive supports are installed on a profile seat and fixed to the inner wall of a base, gear transmission systems and rotating bodies are arranged at the bottom ends of the electric drive supports, the rotating bodies are hinged to short electric push rods, rear connecting rod pieces and long electric push rods, the short electric push rods are hinged to the rear connecting rod pieces, and the long electric push rods are hinged to front connecting rod pieces. The two rod pieces are connected through the rhombic connecting piece, the two electric drive supports are fixed to the two ends of the long rod through the tail end connecting pieces respectively, the detection equipment is fixed to the long rod, and the detection equipment is hung in an inner cavity of the blade through the electric drive supports. According to the strategy, the whole system adopts a motor driving mode, a servo motor, a short electric push rod and a long electric push rod are matched to control different parts of an electric driving support, accurate positioning of detection equipment in a three-dimensional space is finally completed, scanning of different areas of an inner cavity of a blade is achieved, and the efficiency and reliability of internal defect detection are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wind turbine blade internal detection equipment, and particularly relates to an electric drive support and position control strategy for a wind turbine blade internal cavity deformation visual recognition equipment. BACKGROUND

[0002] A wind turbine blade is a core load-bearing component of a wind turbine generator set, and the health condition of the wind turbine blade directly determines the power generation efficiency, safety and service life of the entire generator set. At present, in order to reduce the power generation cost, large-scale wind turbine blades are the development trend of the wind turbine generator set, which leads to more and more complex loads borne by the wind turbine blade and higher and higher requirements for structural integrity. In addition, during the manufacturing process of the wind turbine blade, especially during the vacuum infusion and adhesive bonding processes, some internal defects are inevitably generated. Based on the above background factors, only external detection or regular shutdown maintenance cannot comprehensively and timely grasp the health condition of the wind turbine blade. Therefore, the wind turbine blade internal cavity detection technology emerges as the times require. However, the support structure of the traditional wind turbine blade internal cavity visual detection equipment has many defects. On the one hand, the flexibility is poor, and it is difficult to accurately adjust the position and posture of the detection equipment according to the complex and irregular spatial form of the wind turbine blade internal cavity. On the other hand, the driving mode of part of the support structure is not energy-saving and environmentally friendly, which does not meet the current green production concept, and also increases the detection cost and energy consumption. Therefore, the present application proposes an electric drive support and position control strategy for a wind turbine blade internal cavity deformation visual recognition equipment. The support can support the visual recognition equipment to be placed in the internal cavity of the wind turbine blade and flexibly adjust the position and posture of the detection equipment, detect the deformation of the wind turbine blade in operation, observe the operation of the wind turbine blade in real time, and improve the service life of the wind turbine blade. SUMMARY

[0003] In view of the defects and deficiencies of the existing wind turbine blade internal cavity detection equipment support, the present application proposes an electric drive support and position control strategy for a wind turbine blade internal cavity deformation visual recognition equipment, which can flexibly adjust the position and posture of the detection equipment, realize large-range and multi-angle visual detection, and solve the problems of poor flexibility of the traditional support, incomplete detection area coverage and non-energy-saving driving mode of part of the support.

[0004] This invention is achieved through the following technical solution: an electric drive bracket and position control strategy for a visual recognition device for internal deformation of wind turbine blades, comprising a profile base, wherein the profile base is bolted to the inner wall of the base, a gear transmission system is fixed above the profile base, enabling the entire electric drive bracket to rotate around the z-axis, a rotating body is fixed above the gear transmission system, the rotating body is hinged to the bottom end of a short electric push rod, the bottom end of a rear connecting rod, and the bottom end of a long electric push rod, the top end of the short electric push rod is hinged to the middle position of the rear connecting rod, enabling angle adjustment of the rear connecting rod, the top end of the rear connecting rod is connected to the bottom end of the front connecting rod through a diamond-shaped connector, the middle position of the front connecting rod is hinged to the top end of the long electric push rod, enabling angle adjustment of the front connecting rod, the end of the front connecting rod is connected to a long rod through an end connector, the end connectors of the two electric drive brackets are respectively fixed to both ends of the long rod, the detection device is fixed on the long rod, and the detection device is located inside the blade. Figure 8 As shown, the electric drive bracket passes through the round hole at the bottom of the blade and suspends the testing equipment inside the blade cavity, enabling all-round testing of the blade cavity.

[0005] Furthermore, the gear transmission system includes a large gear, a small gear, and a servo motor. The servo motor is fixed to the profile seat and connected to the small gear, so that it drives the small gear to rotate the large gear. A groove is provided above the large gear, and the rotating body is assembled in the groove of the large gear, so that the rotating body drives the electric drive bracket to rotate on the surface of the profile seat.

[0006] Furthermore, the rear connecting rod includes four square tubes, a rear reinforcing member, and a lower spring. The square tubes are divided into upper and lower groups. The bottom ends of the upper and lower groups of square tubes are connected to the rotating body by cylindrical screws, and the top ends of the upper and lower groups of square tubes are connected to the diamond-shaped connecting member by cylindrical screws. The rear reinforcing member is installed on both sides of the square tubes by cylindrical screws and is connected to the top of the short electric push rod by cylindrical screws. The lower spring is located between the rotating body and the rear reinforcing member, with cylindrical screws as supports at both ends.

[0007] Furthermore, the front connecting rod includes four square short tubes, a front reinforcing member, and an upper spring. The square short tubes are divided into upper and lower groups. The bottom ends of the upper and lower groups of square short tubes are connected to the diamond-shaped connecting members by cylindrical screws, and the top ends of the upper and lower groups of square short tubes are connected to the end connecting members by cylindrical screws. The front reinforcing member is installed on both sides of the square short tubes by cylindrical screws and is connected to the top end of the long electric actuator by cylindrical screws. The upper spring is located between the diamond-shaped connecting member and the front reinforcing member, and is supported at both ends by cylindrical screws.

[0008] Furthermore, the end connector includes a trapezoidal connector, a ball joint, and a ball joint rod. One end of the trapezoidal connector is connected to four square short tubes by a cylindrical screw, and the other end is connected to the ball joint by a cylindrical screw. One end of the ball joint rod is connected to the ball joint to form a ball joint structure, and the other end is fixed to a long rod.

[0009] Furthermore, the detection device includes a camera, a camera base, T-nuts, and a linear guide rail. The linear guide rail is fixed to a long rod. The camera base is fixed to two T-nuts by countersunk screws, and the T-nuts are installed in the slots of the linear guide rail. The camera is mounted above the two camera bases, allowing the camera to slide along the linear guide rail.

[0010] Furthermore, the profile seat, rotating body, rear connecting rod, front connecting rod, and long rod are all made of carbon fiber material.

[0011] Furthermore, the hinge point between the rectangular tube and the rotating body is defined as point O. A local coordinate system (xz coordinate system) is established with this point as the origin. Let the displacement length of the short electric actuator be d1, the angle between the rectangular tube and the profile seat be θ1, the position of the end of the outer tube of the short electric actuator be P1 (x1, 0, z1), and the distance between the end of the short electric actuator and point O be r1. Then:

[0012]

[0013] The solution is:

[0014]

[0015] in , , .

[0016] Furthermore, let point A be the hinge point between the rectangular long tube and the rectangular short tube, and point B be the hinge point between the rectangular short tube and the trapezoidal connector. Let the angle between the rectangular long tube and the rectangular short tube be θ2, the displacement length of the long electric actuator be d2, the outer tube length of the long electric actuator be r2, the total length of the long electric actuator be r3, the length of the rectangular long tube be L1, and the length of the rectangular short tube be L2. Then we have:

[0017]

[0018] The solution is:

[0019]

[0020] Where (L1-r2)≠0.

[0021] Furthermore, in the local coordinate system (xz plane), the coordinates of points A and B are as follows:

[0022]

[0023]

[0024] Considering the entire electric drive bracket rotating around the z-axis under the drive of the servo motor, with a rotation angle of θ3, the coordinates of point B in the global coordinate system can be obtained as follows:

[0025]

[0026] Therefore, the relationship between camera movement and d1, d2, and θ3 can be obtained as follows:

[0027]

[0028] The position coordinates of point B can be obtained based on the lengths of d1 and d2 and the angle of θ3, thereby obtaining the position coordinates of the end connector. The two electric drive brackets are driven by the same principle, which allows the position coordinates of the camera to be calculated and the camera's movement trajectory to be precisely controlled.

[0029] Compared with the prior art, the present invention provides an electric drive support and position control strategy for a visual recognition device for the internal deformation of wind turbine blades, which has the following beneficial effects:

[0030] 1. The electric drive bracket and position control strategy for the visual recognition device of wind turbine blade internal cavity deformation, wherein the profile seat, rotating body, rear connecting rod, front connecting rod and long rod are all made of carbon fiber material, so that the main structure of the electric drive bracket is constructed of lightweight material. Among them, carbon fiber material has good stability and durability, thereby ensuring that the electric drive bracket as a whole has excellent stability, durability and strong corrosion resistance, especially suitable for the high humidity and high salinity environment of offshore wind turbine blades, solving the problems of heavy weight and easy corrosion of metal brackets.

[0031] 2. The electric drive bracket and position control strategy of the visual recognition equipment for the internal deformation of wind turbine blades adopts a motor drive method. The servo motor drives the entire electric drive bracket to rotate in the horizontal direction, the short electric push rod drives the long connecting rod to rotate around the hinge point, and the long electric push rod drives the short connecting rod to rotate around the hinge point. This drive method not only meets the requirements of low carbon and environmental protection, but also allows for flexible adjustment of the camera's position and attitude through three-point position control, realizing large-area, multi-angle visual detection, real-time observation of blade operation, and improving blade service life. It solves the problems of poor flexibility and incomplete detection area coverage of traditional brackets. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the support structure installed on the base;

[0033] Figure 2 This is a schematic diagram of the electric drive bracket;

[0034] Figure 3 This is a schematic diagram of the electric drive bracket base;

[0035] Figure 4 This is a schematic diagram of the connecting rod structure.

[0036] Figure 5 This is a schematic diagram of the end connector.

[0037] Figure 6 This is a schematic diagram of the connection between the end connector and the long rod.

[0038] Figure 7 This is a schematic diagram of the testing equipment.

[0039] Figure 8 This is a schematic diagram of the electric drive bracket suspending the testing equipment inside the blade cavity.

[0040] Figure 9 This is a schematic diagram of the position control strategy for the detection equipment.

[0041] In the diagram: 1. Base; 2. Electric drive bracket; 3. Profile seat; 4. Gear transmission system; 41. Large gear; 42. Small gear; 43. Servo motor; 5. Rotating body; 6. Short electric actuator; 7. Long electric actuator; 8. Rear connecting rod; 81. Square long tube; 82. Rear reinforcement; 83. Lower spring; 9. Front connecting rod; 91. Square short tube; 92. Front reinforcement; 93. Upper spring; 10. Diamond connector; 11. End connector; 111. Trapezoidal connector; 112. Ball head seat; 113. Ball head rod; 12. Long rod; 13. Testing equipment; 131. Camera; 132. Camera base; 133. T-nut; 134. Linear guide rail; 14. Blade inner cavity. Detailed Implementation

[0042] The technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0043] Please see Figures 1-9An electric drive bracket 2 and its position control strategy for a visual recognition device for internal deformation of wind turbine blades include a profile seat 3. The profile seat 3 is connected to and fixed to the inner wall of the base 1 by a hexagonal socket head cap screw. A gear transmission system 4 is fixed above the profile seat 3, which can realize the rotation of the entire electric drive bracket 2 around the z-axis. A rotating body 5 is fixed above the gear transmission system 4. The rotating body 5 is hinged to the bottom end of a short electric push rod 6, the bottom end of a rear connecting rod 8, and the bottom end of a long electric push rod 7. The top end of the short electric push rod 6 is connected to the rear connecting rod 8. The middle of rod 8 is hinged to allow for angle adjustment of the rear connecting rod 8. The top of the rear connecting rod 8 is connected to the bottom of the front connecting rod 9 via a diamond-shaped connector 10. The middle of the front connecting rod 9 is hinged to the top of the long electric actuator 7 to allow for angle adjustment of the front connecting rod 9. The end of the front connecting rod 9 is connected to the long rod 12 via an end connector 11. The end connectors 11 of the two electric drive brackets 2 are fixed to both ends of the long rod 12, respectively. The testing device 13 is fixed on the long rod 12 and is located inside the blade. Figure 8 As shown, the electric drive bracket 2 passes through the round hole at the bottom of the blade and suspends the detection device 13 in the inner cavity 14 of the blade, enabling all-round detection of the inner cavity 14 of the blade.

[0044] Furthermore, the gear transmission system 4 includes a large gear 41, a small gear 42, and a servo motor 43. The servo motor 43 is fixed to the profile base 3. The output shaft of the servo motor 43 is engaged with the keyway of the small gear 42, driving the small gear 42 to rotate the large gear 41. A groove is provided on the top of the large gear 41, and the bottom end of the rotating body 5 is engaged with the groove of the large gear 41, so that the rotating body 5 drives the electric drive bracket 2 to rotate on the surface of the profile base 3.

[0045] Furthermore, the rear connecting rod 8 includes four square tubes 81, a rear reinforcing member 82, and a lower spring 83. The square tubes 81 are divided into upper and lower groups. The bottom ends of the upper and lower groups of square tubes 81 are connected to the rotating body 5 by cylindrical screws, so that the square tubes 81 can rotate around the cylindrical screws. The top ends of the upper and lower groups of square tubes 81 are connected to the diamond-shaped connecting member 10 by cylindrical screws. The rear reinforcing member 82 is installed on both sides of the square tubes 81 by cylindrical screws to ensure the stability of the four square tubes. The rear reinforcing member 82 is connected to the top end of the short electric push rod 6 by cylindrical screws, so that the short electric push rod 6 drives the rear connecting rod 8 to rotate. The lower spring 83 is located between the rotating body 5 and the rear reinforcing member 82, with cylindrical screws as supports at both ends, which facilitates the retraction of the short electric push rod 6 and improves its stability.

[0046] Furthermore, the front connecting rod 9 includes four square short tubes 91, a front reinforcing member 92, and an upper spring 93. The square short tubes 91 are divided into upper and lower groups. The bottom ends of the upper and lower groups of square short tubes 91 are connected to the rhomboid connector 10 by cylindrical screws, so that the square short tubes 91 can rotate around the cylindrical screws. The square long tube 81 is connected to the lower group of square short tubes 91 by a cylindrical screw. The top ends of the upper and lower groups of square short tubes 91 are connected to the end connector 11 by cylindrical screws. The front reinforcing member 92 is installed on both sides of the square short tubes 91 by cylindrical screws to ensure the stability of the four square short tubes 91. The front reinforcing member 92 is connected to the top end of the long electric actuator 7 by cylindrical screws, so that the long electric actuator 7 drives the rear connecting rod 8 to rotate. The upper spring 93 is located between the rhomboid connector 10 and the front reinforcing member 92, with cylindrical screws as supports at both ends, which helps to improve its stability.

[0047] Furthermore, the end connector 11 includes a trapezoidal connector 111, a ball joint seat 112, and a ball joint rod 113. One end of the trapezoidal connector 111 is connected to four square short tubes 91 by a cylindrical screw, and the other end is connected and fixed to the ball joint seat 112 by a cylindrical screw. One end of the ball joint rod 113 is connected to the ball joint seat 112 to form a ball joint structure, and the other end is fixed to the long rod 12.

[0048] Furthermore, the testing device 13 includes a camera 131, a camera base 132, a T-nut 133, and a linear guide rail 134. The linear guide rail 134 is fixed to the long rod 12 by cylindrical screws and wing nuts. The camera base 132 is fixed to two T-nuts 133 by countersunk screws, and the T-nuts 133 are installed in the slots of the linear guide rail 134. The camera 131 is installed above the two camera bases 132, so that the camera 131 can slide along the linear guide rail 134.

[0049] Furthermore, the hinge point between the rectangular tube 81 and the rotating body 5 is defined as point O. A local coordinate system (xz coordinate system) is established with this point as the origin. The hinge point between the rectangular tube 81 and the rectangular short tube 91 is point A, and the hinge point between the rectangular short tube 91 and the trapezoidal connector 111 is point B. Let the displacement length of the short electric actuator 6 be d1, the angle between the rectangular tube 81 and the profile seat 3 be θ1, the position of the outer tube end of the short electric actuator 6 be P1 (x1, 0, z1), and the distance between the end of the short electric actuator 6 and point O be r1. Then:

[0050]

[0051] The solution is:

[0052]

[0053] in , , .

[0054] Furthermore, let the angle between the rectangular long tube 81 and the rectangular short tube 91 be θ2, the displacement length of the long electric actuator 7 be d2, the outer tube length of the long electric actuator 7 be r2, the total length of the long electric actuator 7 be r3, the length of the rectangular long tube 81 be L1, and the length of the rectangular short tube 91 be L2, then we have:

[0055]

[0056] The solution is:

[0057]

[0058] Where (L1-r2)≠0.

[0059] Furthermore, in the local coordinate system (xz plane), the coordinates of points A and B are as follows:

[0060]

[0061]

[0062] Considering that the entire electric drive bracket 2 rotates around the z-axis under the drive of servo motor 43, with a rotation angle of θ3, the coordinates of point B in the global coordinate system can be obtained as follows:

[0063]

[0064] Therefore, the relationship between the movement of camera 131 and d1, d2, and θ3 can be obtained as follows:

[0065]

[0066] The position coordinates of point B can be obtained based on the lengths of d1 and d2 and the angle of θ3, thereby obtaining the position coordinates of the end connector 11. The two electric drive brackets 2 are driven by the same principle, and the position coordinates of the camera 131 can be calculated, thus enabling precise control of the movement trajectory of the camera 131.

[0067] The specific usage and function of this embodiment.

[0068] 1. First, fix the two profile seats 3 to the base 1 in the appropriate position using cylindrical screws, laying the foundation for the subsequent construction of the support structure. Install the gear transmission system 4 on top of the profile seats 3 to ensure that the servo motor 43 can control the rotation of the large gear 41. The groove of the large gear 41 fits with the rotating body 5 and is fixed with adhesive to ensure the stability of the entire support. Then, connect the bottom end of the rear connecting rod 8 to the rotating body 5 and the top end to the diamond-shaped connector 10 to ensure that the four square tubes 81 do not shift. Connect the bottom end of the front connecting rod 9 to the diamond-shaped connector 10 and the top end to the diamond-shaped connector 10. The end connector 11 is connected, and then the short electric push rod 6 is connected to the rear connecting rod 8, and the long electric push rod 7 is connected to the front connecting rod 9, ensuring that the push rod can drive the rod to rotate. Then, the camera 131 is installed on the linear guide rail 134, and the linear guide rail 134 is fixed to the middle of the long rod 12 with cylindrical screws and wing nuts. Then, the two electric drive brackets 2 are connected inside the wind turbine blade by the long rod 12 with the detection equipment 13 installed, so as to flexibly control the position of the camera 131. At this point, the electric drive bracket 2 for the visual recognition equipment for the deformation of the wind turbine blade cavity is completed.

[0069] 2. After the assembly is completed, the adjustable electric drive bracket 2 is set up. First, the servo motor 43 drives the gear to rotate the rotating body 5, which in turn drives the entire connecting rod assembly to deflect horizontally around the profile seat 3, thereby adjusting the azimuth angle of the electric drive bracket 2. Then, the short electric push rod 6 controls the rear connecting rod 8 to change the tilt angle by connecting with the rear reinforcing member 82. At the same time, the long electric push rod 7 controls the angle between the front connecting rod 9 and the rear connecting rod 8 by connecting with the front reinforcing member 92. Then, it is linked with the end connector 11 to form a multi-degree-of-freedom motion chain. Thus, the three electric drive controllers work together to achieve the precise positioning of the end of the electric drive bracket 2 in three-dimensional space. The two electric drive brackets 2 work together to ensure the flexibility and stability of the detection equipment 13, realize the coverage scanning of different areas of the blade cavity 14, and effectively improve the efficiency and reliability of internal defect detection.

[0070] Although embodiments of the present invention have been shown and described, those skilled in the art should understand that various modifications, changes, substitutions or variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of protection of the present invention should be determined by the claims and their equivalents.

Claims

1. An electric drive bracket (2) and position control strategy for a visual recognition device for the internal deformation of wind turbine blades, comprising a profile seat (3), wherein the profile seat (3) is fixed to the inner wall of the base (1) by bolts, and a gear transmission system (4) is fixed above the profile seat (3), which can realize the rotation of the entire electric drive bracket (2) around the z-axis. A rotating body (5) is fixed above the gear transmission system (4), and the rotating body (5) is hinged to the bottom end of the short electric push rod (6), the bottom end of the rear connecting rod (8), and the bottom end of the long electric push rod (7). The top end of the short electric push rod (6) is hinged to the middle position of the rear connecting rod (8) to realize the angle adjustment of the rear connecting rod (8). The top end of the rod (8) is connected to the bottom end of the front connecting rod (9) through a diamond-shaped connector (10). The middle part of the front connecting rod (9) is hinged to the top end of the long electric push rod (7) to realize the angle adjustment of the front connecting rod (9). The end of the front connecting rod (9) is connected to the long rod (12) through the end connector (11). The end connectors (11) of the two electric drive brackets (2) are fixed to the two ends of the long rod (12) respectively. The detection device (13) is fixed on the long rod (12). The detection device (13) is located inside the blade. The electric drive bracket (2) passes through the round hole at the bottom of the blade and suspends the detection device (13) in the inner cavity (14) of the blade, which can realize all-round detection of the inner cavity (14) of the blade.

2. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claim 1, characterized in that: The gear transmission system (4) includes a large gear (41), a small gear (42), and a servo motor (43). The servo motor (43) is fixed to the profile seat (3). The output shaft of the servo motor (43) is engaged with the keyway of the small gear (42) to drive the small gear (42) to rotate the large gear (41). A groove is provided above the large gear (41). The bottom end of the rotating body (5) is engaged with the groove of the large gear (41) to realize that the rotating body (5) drives the electric drive bracket (2) to rotate on the surface of the profile seat (3).

3. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claim 1, characterized in that: The rear connecting rod (8) includes four square tubes (81), a rear reinforcing member (82), and a lower spring (83). The square tubes (81) are divided into upper and lower groups. The bottom ends of the upper and lower groups of square tubes (81) are connected to the rotating body (5) by cylindrical screws, and the top ends of the upper and lower groups of square tubes (81) are connected to the rhomboid connector (10) by cylindrical screws. The rear reinforcing member (82) is installed on both sides of the square tubes (81) by cylindrical screws and is connected to the top end of the short electric push rod (6) by cylindrical screws. The lower spring (83) is located between the rotating body (5) and the rear reinforcing member (82), with cylindrical screws as the supports at both ends.

4. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claim 1, characterized in that: The front connecting rod (9) includes four square short tubes (91), a front reinforcing member (92), and an upper spring (93). The square short tubes (91) are divided into upper and lower groups. The bottom ends of the upper and lower groups of square short tubes (91) are connected to the rhomboid connector (10) by cylindrical screws, and the top ends of the upper and lower groups of square short tubes (91) are connected to the end connector (11) by cylindrical screws. The front reinforcing member (92) is installed on both sides of the square short tubes (91) by cylindrical screws and is connected to the top end of the long electric push rod (7) by cylindrical screws. The upper spring (93) is located between the rhomboid connector (10) and the front reinforcing member (92), with cylindrical screws as the supports at both ends.

5. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claim 1, characterized in that: The end connector (11) includes a trapezoidal connector (111), a ball head seat (112), and a ball head rod (113). One end of the trapezoidal connector (111) is connected to four square short tubes (91) by a cylindrical screw, and the other end is connected to the ball head seat (112) by a cylindrical screw. One end of the ball head rod (113) is connected to the ball head seat (112) to form a ball joint structure, and the other end is fixed to the long rod (12).

6. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claim 1, characterized in that: The detection device (13) includes a camera (131), a camera base (132), a T-nut (133), and a linear guide rail (134). The linear guide rail (134) is fixed to a long rod (12). The camera base (132) is fixed to two T-nuts (133) by countersunk screws, and the T-nuts (133) are installed in the slots of the linear guide rail (134). The camera (131) is installed above the two camera bases (132) so that the camera (131) can slide along the linear guide rail (134).

7. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claim 1, characterized in that: The profile seat (3), rotating body (5), rear connecting rod (8), front connecting rod (9), and long rod (12) are all made of carbon fiber material.

8. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claims 1 and 3, characterized in that: The hinge point between the rectangular tube (81) and the rotating body (5) is defined as point O. A local coordinate system (xz coordinate system) is established with this point as the origin. Let the displacement length of the short electric actuator (6) be d1, the angle between the rectangular tube (81) and the profile seat (3) be θ1, the position of the outer tube end of the short electric actuator (6) be P1(x1,0,z1), and the distance between the end of the short electric actuator (6) and point O be r1. Then: （1） The solution is: （2） in , , .

9. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claims 1, 4 and 8, characterized in that: Let point A be the hinge point between the rectangular long tube (81) and the rectangular short tube (91), and point B be the hinge point between the rectangular short tube (91) and the trapezoidal connector (111). Let θ2 be the angle between the rectangular long tube (81) and the rectangular short tube (91), d2 be the displacement length of the long electric actuator (7), r2 be the outer tube length of the long electric actuator (7), r3 be the total length of the long electric actuator (7), L1 be the length of the rectangular long tube (81), and L2 be the length of the rectangular short tube (91). Then we have: （3） The solution is: （4） Where (L1-r2)≠0.

10. The electric drive bracket (2) and position control strategy for a visual recognition device for internal deformation of wind turbine blades according to claims 1, 8 and 9, characterized in that: In the local coordinate system (xz plane), the coordinates of points A and B are as follows: （5） （6） Considering the entire electric drive bracket (2) rotating around the z-axis under the drive of the servo motor (43) with a rotation angle of θ3, the coordinates of point B in the global coordinate system can be obtained as follows: （7） Therefore, the relationship between the movement of camera (131) and d1, d2, and θ3 can be obtained as follows: （8） The position coordinates of point B can be obtained based on the lengths of d1 and d2 and the angle of θ3, thereby obtaining the position coordinates of the end connector (11). The two electric drive brackets (2) are driven by the same principle, and the position coordinates of the camera (131) can be calculated, thus enabling precise control of the movement trajectory of the camera (131).

Images