Flaw detection robot and flaw detection robot control method

Abstract

The application relates to the technical field of robots, and discloses a flaw detection robot which comprises a chassis, a camera module, a position adjusting module and a swing driving assembly, the camera module is used for detecting internal damage of a fan blade, the running module is installed on the chassis and can drive the chassis to move, the position adjusting module comprises a swing support and a rotary driving assembly installed on the first end of the swing support, the second end of the swing support is rotatably connected to the chassis, the rotary driving assembly is connected to the camera module and is used for driving the camera module to rotate, the swing driving assembly is used for driving the swing support to swing relative to the chassis, and the swing driving assembly and the rotary driving assembly are matched to adjust the spatial position of the camera module. The flaw detection robot can move in the fan blade and flexibly adjust the spatial position of the camera module, so that the internal damage of the fan blade can be more finely checked, and the technical problem of inconvenient fan blade checking in the prior art is solved.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a flaw detection robot and a flaw detection robot control method. Background Technology

[0002] With the implementation of the current development strategy to accelerate energy transition, wind energy has become an important part of the development of new energy sources. As a key component of wind turbine units, wind turbine blades are also the parts of wind turbine units most prone to defects and damage. Defects and damage to wind turbine blades can seriously affect the operational safety of wind turbine units.

[0003] Defects and damage can occur at various stages from production to service. Specifically, during production, limitations in technology and manual operation can lead to defects such as fiber cloth wrinkles and insufficient adhesive on the blades. During transportation and installation, improper handling can cause the blades to be bumped or knocked, resulting in damage such as cracks in the bonding area and delamination of the fiberglass. Under the combined effects of long-term alternating loads and complex weather conditions, microscopic defects may expand into fatigue damage, leading to problems such as fiberglass delamination, whitening caused by stress concentration, and delamination cracking.

[0004] Current methods for inspecting wind turbine blades mainly include: visual inspection by personnel entering the blade interior; drone inspection; and testing the bonding quality of the blade using ultrasonic flaw detectors. Personnel entering the blade interior poses significant risks, and the area accessible to them is limited, making the inspection results highly susceptible to subjective bias. Drone inspection can only examine the blade's exterior. Ultrasonic flaw detector technology is not yet fully developed and requires personnel working at height, which is difficult, dangerous, and inefficient. Therefore, current wind turbine blade inspection methods present inherent technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a flaw detection robot and a flaw detection robot control method to solve the technical problem of inconvenient wind turbine blade inspection in the prior art.

[0006] To achieve the above objectives, the present invention provides a flaw detection robot, which includes: Chassis; The camera module is used to detect internal damage to wind turbine blades; The driving module is mounted on the chassis and can drive the chassis to move; The position adjustment module includes a swing bracket and a rotation drive assembly mounted on the first end of the swing bracket. The second end of the swing bracket is rotatably connected to the chassis. The rotation drive assembly is connected to the camera module and is used to drive the camera module to rotate. The swing drive assembly is used to drive the swing bracket to swing relative to the chassis. The swing drive assembly and the rotation drive assembly work together to adjust the spatial position of the camera module.

[0007] In an embodiment of the present invention, the swing bracket includes a first bracket, a second bracket, and a third bracket. The first end of the first bracket is rotatably mounted on the chassis, and the second end is rotatably connected to the second end of the second bracket. The first end of the third bracket is equipped with a rotation drive assembly, and the second end is rotatably connected to the first end of the second bracket.

[0008] In an embodiment of the present invention, the flaw detection robot further includes a support frame mounted on a chassis, a first support shaft rotatably connected to the support frame, and a swing drive assembly comprising: The first gear is coaxially connected to the first support shaft, and the first end of the first bracket is connected to the first support shaft; First rotary drive component; The first output gear is coaxially driven and connected to the first rotary drive member. The first output gear meshes with the first gear, and the first rotary drive member is used to drive the first output gear to rotate.

[0009] In an embodiment of the present invention, the second bracket includes two parallel support plates and two spaced second support shafts rotatably connected between the two support plates. The swing drive assembly further includes: The second gear is coaxially connected to each second support shaft, and the outer circumferences of the two second gears mesh. The second end of the first bracket is coaxially connected to the first second support shaft, and the second end of the third bracket is coaxially connected to the second second support shaft.

[0010] In an embodiment of the present invention, the first support includes two parallel and spaced links, wherein the first end of one link is connected to a first second support shaft and the second end is rotatably connected to the first support shaft, and the first end of the other link is pivotally connected to a support plate and the second end is pivotally connected to a support frame.

[0011] In an embodiment of the present invention, the rotation drive assembly includes: Second rotary drive component; The second output gear is coaxially driven and connected to the second rotary drive component. The third gear meshes with the second output gear, and the camera module is mounted on the end face of the third gear away from the third bracket.

[0012] In an embodiment of the present invention, the rotary drive assembly further includes a plurality of connectors and a mounting platform on which a camera module is mounted. Each connector extends along the axial direction of the third gear, and the two ends of the connector are respectively connected to the end face of the third gear and the mounting platform.

[0013] In an embodiment of the present invention, the driving module includes a third rotary drive member and a plurality of symmetrically arranged driving wheels. The number of third rotary drive members is multiple and they are arranged one-to-one with the driving wheels. The third rotary drive members are connected to the driving wheels and are used to drive the driving wheels to rotate.

[0014] In an embodiment of the present invention, the flaw detection robot further includes a control module and a positioning module for acquiring position information of the flaw detection robot inside the wind turbine blade. The flaw detection robot also includes a protective shell mounted on the chassis. The control module is mounted on the chassis and located inside the protective shell, and the positioning module is mounted on the outer wall of the protective shell.

[0015] In an embodiment of the present invention, a flaw detection robot control method is also proposed, applied to the flaw detection robot described above. The flaw detection robot further includes a control module and a positioning module for acquiring the position information of the flaw detection robot within the wind turbine blade. The control module is electrically connected to the travel module and the positioning module and is configured as follows: Receive location information sent by the positioning module; Determine whether the flaw detection robot meets the preset flaw detection requirements based on the location information; When the position of the flaw detection robot does not meet the preset flaw detection requirements, the driving module is controlled to move until the position of the flaw detection robot meets the preset flaw detection position requirements.

[0016] Through the above technical solutions, the flaw detection robot and flaw detection robot control method provided by the embodiments of the present invention have the following beneficial effects: The flaw detection robot of this application includes a chassis, a camera module, a position adjustment module, and a swing drive assembly. The camera module is used to detect internal damage to wind turbine blades. The driving module is mounted on the chassis and can drive the chassis to move. The position adjustment module includes a swing bracket and a rotary drive assembly mounted on the first end of the swing bracket. The second end of the swing bracket is rotatably connected to the chassis. The rotary drive assembly is connected to the camera module and is used to drive the camera module to rotate. The swing drive assembly is used to drive the swing bracket to swing relative to the chassis. The swing drive assembly and the rotary drive assembly cooperate to adjust the spatial position of the camera module. The flaw detection robot of this application can move inside the wind turbine blades and flexibly adjust the spatial position of the camera module to facilitate more precise inspection of internal damage to the wind turbine blades, solving the technical problem of inconvenient inspection of wind turbine blades in the prior art.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram of the structure of the flaw detection robot according to the present invention from one perspective; Figure 2 This is a structural schematic diagram of the flaw detection robot according to another perspective of the present invention; Figure 3 This is a schematic diagram of the rotary drive assembly according to the present invention; Figure 4 This is a flowchart of the flaw detection robot control method according to the present invention.

[0019] Explanation of reference numerals in the attached figures Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0021] The flaw detection robot and its control method according to the present invention are described below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, in this embodiment, the flaw detection robot of this application includes a chassis 1, a camera module 2, a position adjustment module, and a swing drive assembly. The camera module 2 is used to detect internal damage to the wind turbine blades. The driving module is mounted on the chassis 1 and can drive the chassis 1 to move. The position adjustment module includes a swing bracket 41 and a rotation drive assembly 42 mounted on the first end of the swing bracket 41. The second end of the swing bracket 41 is rotatably connected to the chassis 1. The rotation drive assembly 42 is connected to the camera module 2 and is used to drive the camera module 2 to rotate. The swing drive assembly is used to drive the swing bracket 41 to swing relative to the chassis 1. The swing drive assembly and the rotation drive assembly 42 cooperate to adjust the spatial position of the camera module 2. The flaw detection robot of this application can move inside the wind turbine blades and flexibly adjust the spatial position of the camera module 2, so as to more accurately inspect the internal damage of the wind turbine blades, solving the technical problem of inconvenient inspection of wind turbine blades in the prior art.

[0023] like Figure 1As shown, in this embodiment, the swing bracket 41 includes a first bracket 411, a second bracket 412 and a third bracket 413. The first end of the first bracket 411 is rotatably mounted on the chassis 1, and the second end is rotatably connected to the second end of the second bracket 412. The first end of the third bracket 413 is equipped with a rotation drive assembly 42, and the second end is rotatably connected to the first end of the second bracket 412.

[0024] Specifically, during the use of the flaw detection robot, the first support 411 can be driven to swing via the swing drive assembly, which in turn causes the second support 412 and the third support 413 to swing relative to the chassis 1. This allows the first support 411, the second support 412, and the third support 413 to extend along the height direction, thereby adjusting the camera module 2 in the height direction to adjust the shooting angle of the camera module 2 and better confirm the location of damage inside the wind turbine blades. When the flaw detection robot is no longer in use, the first support 411 can be driven to swing via the swing drive assembly, which in turn causes the second support 412 and the third support 413 to swing relative to the chassis 1. This allows the first support 411, the second support 412, and the third support 413 to fold along the height direction. After folding, the flaw detection robot occupies a small overall volume and can better adapt to different blade structures and environmental changes.

[0025] like Figure 1 As shown, in this embodiment, the flaw detection robot also includes a support frame 6 mounted on the chassis 1. A first support shaft 61 is rotatably connected to the support frame 6. The swing drive assembly includes a first gear 51, a first rotary drive member 52, and a first output gear 53. The first gear 51 is coaxially connected to the first support shaft 61. The first end of the first bracket 411 is connected to the first support shaft 61. The first output gear 53 is coaxially driven to drive the first rotary drive member 52. The first output gear 53 meshes with the first gear 51. The first rotary drive member 52 is used to drive the first output gear 53 to rotate.

[0026] Specifically, this application provides two support frames 6, each of which is equipped with a first rotary drive 52, a first output gear 53, and a first gear 51. A first support shaft 61 extends from the opposite sides of the two support frames 6, and the two first gears 51 are arranged on the opposite sides of the two support frames 6. A first rotary drive 52 is provided on the opposite side of the two support frames 6. The first rotary drive 52 can drive the first output gear 53 to rotate, thereby driving the first gear 51 to rotate, which in turn will drive the first bracket 411 to swing, thereby realizing the swing adjustment of the first bracket 411. This application provides two first rotary drive 52 to drive the first bracket 411 to swing, which can stably drive the camera module 2 to adjust its spatial position.

[0027] like Figure 1and Figure 2 As shown, in this embodiment, the second bracket 412 includes two parallel support plates 4121 and two spaced second support shafts 4122 rotatably connected between the two support plates 4121. The swing drive assembly also includes a second gear 54. Each second support shaft 4122 is coaxially connected to a second gear 54. The outer circumferences of the two second gears 54 mesh. The second end of the first bracket 411 is coaxially connected to the first second support shaft 4122, and the second end of the third bracket 413 is coaxially connected to the second second support shaft 4122.

[0028] Specifically, in this application, there are two second support shafts 4122, which are spaced apart along the height direction. An auxiliary support shaft 4123 is also provided between the two support plates 4121. The two auxiliary support shafts 4123 are respectively installed at both ends of the support plate 4121 along its length direction. The auxiliary support shaft 4123 at the top is connected to the third bracket 413, and the auxiliary support shaft 4123 at the bottom is connected to the first bracket 411, which can further improve the overall structural strength of the flaw detection robot. The height direction is the up-down direction shown in the figure.

[0029] In this embodiment, the first support 411 in this application includes two parallel and spaced connecting rods 4111, wherein the first end of one connecting rod 4111 is connected to the first second support shaft 4122, and the second end is rotatably connected to the first support shaft 61; the first end of the other connecting rod 4111 is pivotally connected to the auxiliary support shaft 4123 on the support plate 4121, and the second end is pivotally connected to the support frame 6.

[0030] Specifically, taking the upward movement of camera module 2 as an example, when the first rotary drive 52 drives the first output gear 53 to rotate, which in turn drives the first gear 51 to rotate, it will cause the two connecting rods 4111 to swing upward together, thereby driving the second support shaft 4122 to rotate. Through the meshing transmission of the two second gears 54, the third bracket 413 will then swing upward, realizing the spatial position adjustment of camera module 2. Similarly, the steps for lowering camera module 2 are the same as above, the only difference being that the first rotary drive 52 drives the first output gear 53 to rotate, which in turn drives the first gear 51 to rotate, causing the two connecting rods 4111 to swing downward together. This will not be elaborated further here.

[0031] like Figure 3As shown, in this embodiment, the rotary drive assembly 42 includes a second rotary drive member 421, a second output gear 422, and a third gear 423. The second output gear 422 is coaxially driven and connected to the second rotary drive member 421, and the third gear 423 meshes with the second output gear 422. The camera module 2 is mounted on the end face of the third gear 423 opposite to the third bracket 413. By providing the second rotary drive member 421, this application ensures that the camera module 2 can switch to different angles according to the needs of the operator, enabling better imaging of the damage location inside the wind turbine blades for accurate damage localization and facilitating subsequent maintenance of the damaged areas.

[0032] like Figure 1 and Figure 2 As shown, in this embodiment, the rotary drive assembly 42 further includes multiple connectors 424 and a mounting platform 425 on which the camera module 2 is mounted. Each connector 424 extends along the axial direction of the third gear 423, and both ends of the connector 424 are connected to the end face of the third gear 423 and the mounting platform 425, respectively. Specifically, in this application, there are four connectors 424, which are spaced apart on the end face of the third gear 423 to ensure a stable connection between the mounting platform 425 on which the camera module 2 is mounted and the third gear 423, resulting in good structural stability. The number of connectors 424 can be adjusted according to actual needs. Furthermore, the mounting platform 425 is also provided with a mounting base, on which the camera module 2 is mounted and can rotate relative to the mounting base, thereby further increasing the shooting range of the camera module 2.

[0033] like Figure 1 and Figure 2 As shown, in this embodiment, the driving module includes a third rotary drive component 31 and a plurality of symmetrically arranged driving wheels 32. The number of third rotary drive components 31 is multiple, and each component corresponds one-to-one with a driving wheel 32. The third rotary drive component 31 is connected to the driving wheel 32 and drives the driving wheel 32 to rotate. Specifically, this application provides four driving wheels 32, and similarly, the number of third rotary drive components 31 is also four, ensuring that the flaw detection robot can stably move within the wind turbine blades and perform flaw detection work. The number of driving wheels 32 can be adjusted according to actual needs.

[0034] like Figure 2As shown, in this embodiment, the flaw detection robot also includes a control module and a positioning module 7 for acquiring the position information of the flaw detection robot inside the wind turbine blade. The flaw detection robot also includes a protective shell 8 mounted on the chassis 1. The control module is mounted on the chassis 1 and located inside the protective shell 8, and the positioning module 7 is mounted on the outer wall of the protective shell 8. The protective shell 8 serves to protect the control unit from impact damage, and the positioning module, located on the outer wall of the protective shell 8, allows for better information transmission and reception, achieving efficient information transmission.

[0035] like Figure 4 As shown, in this embodiment, a flaw detection robot control method is also proposed, applied to the flaw detection robot described above. The flaw detection robot further includes a control module and a positioning module 7 for acquiring the position information of the flaw detection robot within the wind turbine blade. The control module is electrically connected to the travel module and the positioning module 7 and is configured as follows: S10: Receive location information sent by positioning module 7; S20: Determine whether the flaw detection robot meets the preset flaw detection requirements based on the location information; S30: When the position of the flaw detection robot does not meet the preset flaw detection requirements, control the movement module to move until the position of the flaw detection robot meets the preset flaw detection position requirements.

[0036] Using the flaw detection robot control method of this application, it is possible to determine whether the current position of the flaw detection robot can meet the flaw detection requirements, i.e. whether the damage location inside the wind turbine blade can be determined, based on the information transmitted by the positioning module 7 and the images observed by the staff based on the camera module 2. The staff can adjust the position of the flaw detection robot based on the information captured by the camera module 2 in order to better determine the damage inside the wind turbine blade.

[0037] like Figure 2 As shown, the flaw detection robot also includes an auxiliary camera 9 mounted on the protective shell 8, which is used to assist in observing the forward direction of the flaw detection robot. The auxiliary camera 9 can also transmit the acquired image information to the staff so that the staff can operate the flaw detection robot efficiently. The flaw detection robot also includes a signal transceiver connected to the control module [1]. The images captured by the auxiliary camera 9 and the camera module 2 can be transmitted to the staff via the signal transceiver.

[0038] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A flaw detection robot, characterized in that, The flaw detection robot includes: Chassis (1); Camera module (2) is used to detect internal damage to wind turbine blades; A driving module is installed on the chassis (1) and is capable of driving the chassis (1) to move; The position adjustment module includes a swing bracket (41) and a rotation drive assembly (42) mounted on the first end of the swing bracket (41). The second end of the swing bracket (41) is rotatably connected to the chassis (1). The rotation drive assembly (42) is connected to the camera module (2) and used to drive the camera module (2) to rotate. The swing bracket (41) includes a first bracket (411), a second bracket (412), and a third bracket (413). The first end of the first bracket (411) is rotatably mounted on the chassis (1), and the second end is rotatably connected to the second end of the second bracket (412). The first end of the third bracket (413) is equipped with the rotation drive assembly (42). The end is rotatably connected to the first end of the second bracket (412). The second bracket (412) includes two parallel support plates (4121) and two spaced second support shafts (4122) rotatably connected between the two support plates (4121). The rotary drive assembly (42) includes a second rotary drive member (421), a second output gear (422) and a third gear (423). The second output gear (422) is coaxially driven connected to the second rotary drive member (421), and the third gear (423) meshes with the second output gear (422). The camera module (2) is mounted on the end face of the third gear (423) away from the end of the third bracket (413). A support frame (6) is mounted on a chassis (1), and a first support shaft (61) is rotatably connected to the support frame (6). A swing drive assembly is used to drive the swing bracket (41) to swing relative to the chassis (1). The swing drive assembly and the rotation drive assembly (42) cooperate to adjust the spatial position of the camera module (2). The swing drive assembly includes a first gear (51), a first rotation drive component (52), a first output gear (53), and a second gear (54). The first gear (51) is coaxially connected to the first support shaft (61). The first end of the first bracket (411) is connected to the first support shaft (61). The first output gear (53) is connected to the first support shaft (61). The rotary drive (52) is coaxially driven and connected. The first output gear (53) meshes with the first gear (51). The first rotary drive (52) is used to drive the first output gear (53) to rotate. Each second support shaft (4122) is coaxially connected with a second gear (54). The outer circumferences of the two second gears (54) mesh. The second end of the first bracket (411) is coaxially connected with the first second support shaft (4122). The second end of the third bracket (413) is coaxially connected with the second second support shaft (4122).

2. The flaw detection robot according to claim 1, characterized in that, The first support (411) includes two parallel and spaced connecting rods (4111), wherein the first end of one connecting rod (4111) is connected to the first second support shaft (4122), and the second end is rotatably connected to the first support shaft (61), and the first end of the other connecting rod (4111) is pivotally connected to the support plate (4121), and the second end is pivotally connected to the support frame (6).

3. The flaw detection robot according to claim 1, characterized in that, The rotary drive assembly (42) also includes a plurality of connectors (424) and a mounting platform (425) on which the camera module (2) is mounted. Each connector (424) extends along the axial direction of the third gear (423), and the two ends of the connector (424) are respectively connected to the end face of the third gear (423) and the mounting platform (425).

4. The flaw detection robot according to any one of claims 1 to 3, characterized in that, The driving module includes a third rotary drive (31) and a plurality of symmetrically arranged driving wheels (32). The number of the third rotary drive (31) is multiple and they are arranged one-to-one with the driving wheels (32). The third rotary drive (31) is connected to the driving wheels (32) and is used to drive the driving wheels (32) to rotate.

5. The flaw detection robot according to claim 1, characterized in that, The flaw detection robot also includes a control module and a positioning module (7) for obtaining the position information of the flaw detection robot inside the wind turbine blade. The flaw detection robot also includes a protective shell (8) installed on the chassis (1). The control module is installed on the chassis (1) and located inside the protective shell (8). The positioning module (7) is installed on the outer wall of the protective shell (8).

6. A flaw detection robot control method, applied to a flaw detection robot according to any one of claims 1 to 5, characterized in that, The flaw detection robot also includes a control module and a positioning module (7) for acquiring the position information of the flaw detection robot inside the wind turbine blade. The control module is electrically connected to the travel module and the positioning module (7) and is configured as follows: Receive the location information sent by the positioning module (7); Based on the location information, determine whether the flaw detection robot meets the preset flaw detection requirements; When the position of the flaw detection robot does not meet the preset flaw detection requirements, the driving module is controlled to move until the position of the flaw detection robot meets the preset flaw detection position requirements.

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